hiroya taura / Mbed 2 deprecated LAURUS_program

MPU6050のサンプルプログラム２

Dependencies:   ConfigFile SDFileSystem mbed

Fork of LAURUS_program by LAURUS

Diff: MPU6050/MPU6050.cpp

Revision:
1:6cd6d2760856
Parent:
0:bc6f14fc60c7
--- a/MPU6050/MPU6050.cpp	Fri May 15 17:24:32 2015 +0000
+++ b/MPU6050/MPU6050.cpp	Sun May 24 17:32:47 2015 +0000
@@ -1,8 +1,7 @@
 #include "mbed.h"
 #include "MPU6050.h"
 
-MPU6050::MPU6050(I2C* i2c) {
-    this->i2c = i2c;
+MPU6050::MPU6050(I2C* p_i2c): i2c(p_i2c){
 }
 
 MPU6050::~MPU6050() {
@@ -10,10 +9,21 @@
 }
 
 int MPU6050::init() {
+    // スリープモード解除
     char cmd[2] = {0x6b, 0x00};
     int ret = i2c->write(mpu_addr, cmd, 2);
+    if(ret != 0) return 0;
     
+    // ジャイロのレンジを500deg/sに設定
+    char data = 0;
+    cmd[0] = 0x1b;
+    ret = i2c->write(mpu_addr, cmd, 1, true);
     if(ret != 0) return 0;
+    i2c->read(mpu_addr | 0x01, &data, 1, false);
+    cmd[1] = data | 0x08;
+    ret = i2c->write(mpu_addr, cmd, 2);
+    if(ret != 0) return 0;
+    
     return 1;
 }