MPU6050.h

00001 /*     
00002 *   Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
00003 *
00004 *   Permission is hereby granted, free of charge, to any person obtaining a copy
00005 *   of this software and associated documentation files (the "Software"), to deal
00006 *   in the Software without restriction, including without limitation the rights
00007 *   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008 *   copies of the Software, and to permit persons to whom the Software is
00009 *   furnished to do so, subject to the following conditions:
00010 *
00011 *   The above copyright notice and this permission notice shall be included in
00012 *   all copies or substantial portions of the Software.
00013 *
00014 *   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015 *   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016 *   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017 *   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018 *   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019 *   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020 *   THE SOFTWARE.
00021 *
00022 */
00023 
00024 // Most of the code is adapted from Kris Winer's MPU6050 library
00025 
00026 #ifndef MPU6050_H
00027 #define MPU6050_H
00028 
00029 #include "mbed.h"
00030 #include "math.h"
00031 #include "MPU6050RegDef.h"
00032 
00033 //#define PI 3.14159265359    // This value will be used when calculating angles
00034 #define dt 0.005            // 200 Hz sampling period
00035 
00036 extern float aRes, gRes; 
00037 
00038 /* whoAmI func uses this func, variables etc */
00039 //extern Ticker toggler1;  
00040 extern Serial pc;   
00041 extern DigitalOut led2;
00042 //extern void toggle_led1();
00043 
00044 /* Sensor datas to be used in program */
00045 extern float ax,ay,az;
00046 extern float gx,gy,gz;
00047 extern int16_t accelData[3],gyroData[3],tempData;
00048 extern float accelBias[3], gyroBias[3];
00049  
00050 /* Function Prototypes */
00051 class MPU6050 
00052 {
00053     protected:
00054     public: 
00055     void getAres();
00056     void getGres();
00057     void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
00058     char readByte(uint8_t address, uint8_t subAddress); 
00059     void readBytes(uint8_t address, uint8_t subAddress, uint8_t byteNum, uint8_t* dest);
00060     void whoAmI();
00061     void init();
00062     void reset();
00063     void readAccelData(int16_t* dest);
00064     void readGyroData(int16_t* dest);
00065     int16_t readTempData();
00066     void calibrate(float* dest1, float* dest2);
00067     void complementaryFilter(float* pitch, float* roll);
00068 };
00069 
00070 #endif