Diff: MPU6050.h

Revision:

2:e2081d9de7af

Parent:

1:1e0baaf91e96

Child:

3:3c0727618a3b

--- a/MPU6050.h	Wed May 08 00:34:55 2013 +0000
+++ b/MPU6050.h	Wed Feb 01 11:09:14 2017 +0000
@@ -50,6 +50,18 @@
 #define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
 #define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW
 
+
+//#define ADO 0
+//#if ADO
+//#define MPU6050_DEFAULT_ADDRESS 0x69<<1  // Device address when ADO = 1
+//#else
+//#define MPU6050_DEFAULT_ADDRESS 0x68<<1  // Device address when ADO = 0
+//#endif
+
+
+
+
+
 #define MPU6050_RA_XG_OFFS_TC       0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
 #define MPU6050_RA_YG_OFFS_TC       0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
 #define MPU6050_RA_ZG_OFFS_TC       0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
@@ -399,7 +411,16 @@
 #define MPU6050_DMP_MEMORY_BANKS        8
 #define MPU6050_DMP_MEMORY_BANK_SIZE    256
 #define MPU6050_DMP_MEMORY_CHUNK_SIZE   16
+extern float aRes, gRes; 
+ 
+//extern DigitalOut LED2;
 
+/* Sensor datas to be used in program */
+extern float ax,ay,az;
+extern float gx,gy,gz;
+extern Serial pc;
+extern int16_t accelData[3],gyroData[3],tempData;
+extern float accelBias[3], gyroBias[3];
 // note: DMP code memory blocks defined at end of header file
 
 class MPU6050 {
@@ -412,7 +433,12 @@
 
         void initialize();
         bool testConnection();
-
+        void calibrate(float* dest1, float* dest2);
+        void getAres();
+        void readAccelData(int16_t* dest);
+        void getGres();
+        void readGyroData(int16_t* dest);
+        uint8_t readThisByte(uint8_t address);
         // AUX_VDDIO register
         uint8_t getAuxVDDIOLevel();
         void setAuxVDDIOLevel(uint8_t level);