Sérgio Natan
/
luva_tatil_repo
teste
Diff: MPU6050.h
- Revision:
- 0:cf17b1f16335
diff -r 000000000000 -r cf17b1f16335 MPU6050.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.h Tue Oct 24 20:12:54 2017 +0000 @@ -0,0 +1,70 @@ +/* +* Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr +* +* Permission is hereby granted, free of charge, to any person obtaining a copy +* of this software and associated documentation files (the "Software"), to deal +* in the Software without restriction, including without limitation the rights +* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +* copies of the Software, and to permit persons to whom the Software is +* furnished to do so, subject to the following conditions: +* +* The above copyright notice and this permission notice shall be included in +* all copies or substantial portions of the Software. +* +* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +* THE SOFTWARE. +* +*/ + +// Most of the code is adapted from Kris Winer's MPU6050 library + +#ifndef MPU6050_H +#define MPU6050_H + +#include "mbed.h" +#include "math.h" +#include "MPU6050RegDef.h" + +//#define PI 3.14159265359 // This value will be used when calculating angles +#define dt 0.005 // 200 Hz sampling period + +extern float aRes, gRes; + +/* whoAmI func uses this func, variables etc */ +//extern Ticker toggler1; +extern Serial pc; +extern DigitalOut led2; +//extern void toggle_led1(); + +/* Sensor datas to be used in program */ +extern float ax,ay,az; +extern float gx,gy,gz; +extern int16_t accelData[3],gyroData[3],tempData; +extern float accelBias[3], gyroBias[3]; + +/* Function Prototypes */ +class MPU6050 +{ + protected: + public: + void getAres(); + void getGres(); + void writeByte(uint8_t address, uint8_t subAddress, uint8_t data); + char readByte(uint8_t address, uint8_t subAddress); + void readBytes(uint8_t address, uint8_t subAddress, uint8_t byteNum, uint8_t* dest); + void whoAmI(); + void init(); + void reset(); + void readAccelData(int16_t* dest); + void readGyroData(int16_t* dest); + int16_t readTempData(); + void calibrate(float* dest1, float* dest2); + void complementaryFilter(float* pitch, float* roll); +}; + +#endif \ No newline at end of file