sa
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);