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-rw-r--r--include/driver/mpu9250.h30
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 &copy);
+ 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