Revision 4:52b05c0e09a6, committed 2018-01-18

Comitter:

vinajarr

Date:

Thu Jan 18 07:52:45 2018 +0000

Parent:

3:6d0ea7c8c5c4

Commit message:

implement interrupt

Changed in this revision

diff -r 6d0ea7c8c5c4 -r 52b05c0e09a6 MPU6050.cpp
--- a/MPU6050.cpp	Thu Dec 01 08:16:02 2016 +0000
+++ b/MPU6050.cpp	Thu Jan 18 07:52:45 2018 +0000
@@ -3,8 +3,12 @@
  */
 #include "MPU6050.h"
 
-MPU6050::MPU6050(PinName sda, PinName scl) : connection(sda, scl) {
+MPU6050::MPU6050(I2C * puntero) : connection(puntero) {
     this->setSleepMode(false);
+    write(0x19, 19);    //configure Fs Accel = 400Hz
+    write(0x1A, 0x00);  //Gyroscope Output Rate = 8kHz  Bandwidth (Hz) Acele= 260Hz
+    write(0x37, 0xE0);  //Interrupcion activa a nivel bajo , open drail, mantener interrupcion
+    write(0x38, 0x01);  //activa interrupcion  por data Redy
     
     //Initializations:
     currentGyroRange = 0;
@@ -20,19 +24,19 @@
     temp[0]=address;
     temp[1]=data;
     
-    connection.write(MPU6050_ADDRESS * 2,temp,2);
+    connection->write(MPU6050_ADDRESS * 2,temp,2);
 }
 
 char MPU6050::read(char address) {
     char retval;
-    connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
-    connection.read(MPU6050_ADDRESS * 2, &retval, 1);
+    connection->write(MPU6050_ADDRESS * 2, &address, 1, true);
+    connection->read(MPU6050_ADDRESS * 2, &retval, 1);
     return retval;
 }
 
 void MPU6050::read(char address, char *data, int length) {
-    connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
-    connection.read(MPU6050_ADDRESS * 2, data, length);
+    connection->write(MPU6050_ADDRESS * 2, &address, 1, true);
+    connection->read(MPU6050_ADDRESS * 2, data, length);
 }
 
 void MPU6050::setSleepMode(bool state) {

diff -r 6d0ea7c8c5c4 -r 52b05c0e09a6 MPU6050.h
--- a/MPU6050.h	Thu Dec 01 08:16:02 2016 +0000
+++ b/MPU6050.h	Thu Jan 18 07:52:45 2018 +0000
@@ -1,4 +1,4 @@
-/*Use #define MPU6050_ES before you include this file if you have an engineering sample (older EVBs will have them), to find out if you have one, check your accelerometer output. 
+ /*Use #define MPU6050_ES before you include this file if you have an engineering sample (older EVBs will have them), to find out if you have one, check your accelerometer output. 
 If it is half of what you expected, and you still are on the correct planet, you got an engineering sample
 */
 
@@ -91,7 +91,7 @@
      * @param sda - mbed pin to use for the SDA I2C line.
      * @param scl - mbed pin to use for the SCL I2C line.
      */
-     MPU6050(PinName sda, PinName scl);
+     MPU6050(I2C * puntero);
      
 
      /**
@@ -262,7 +262,7 @@
         
      private:
 
-     I2C connection;
+     I2C *connection;
      char currentAcceleroRange;
      char currentGyroRange;