diff options
Diffstat (limited to 'include/driver')
| -rw-r--r-- | include/driver/mpu9250.h | 30 |
1 files changed, 30 insertions, 0 deletions
diff --git a/include/driver/mpu9250.h b/include/driver/mpu9250.h new file mode 100644 index 0000000..e362994 --- /dev/null +++ b/include/driver/mpu9250.h @@ -0,0 +1,30 @@ +#ifndef MPU9250_H +#define MPU9250_H + +class MPU9250 { + private: + MPU9250(const MPU9250 ©); + unsigned char const address = 0x68; + unsigned char txbuf[3]; + unsigned char rxbuf[8]; + signed int getWordReg(unsigned char const regBase); + + public: + MPU9250() {} + void init(); + int getAccelX() { return getWordReg(59); } + int getAccelY() { return getWordReg(61); } + int getAccelZ() { return getWordReg(63); } + int getGyroX() { return getWordReg(67); } + int getGyroY() { return getWordReg(69); } + int getGyroZ() { return getWordReg(71); } + void getMagnet(int *x, int *y, int *z); + void setAccelEnable(bool x, bool y, bool z); + void setGyroEnable(bool x, bool y, bool z); + void setPower(bool sleep, bool gyroStandby); + float getTemperature(); +}; + +extern MPU9250 mpu9250; + +#endif |