840eab60aa
The Arduino IDE requires that a sketch be located in a folder of the same name. Although the name of the repository does match the sketch name, when GitHub's popular Clone or download > Download ZIP feature is used to download the contents of a repository the branch/release/commit name is appended to the folder name, causing a mismatch. When opening a file that does not meet this sketch/folder name matching requirement the Arduino IDE presents a dialog: The file "TWANG32.ino" needs to be inside a sketch folder named "TWANG32". Create this folder, move the file, and continue? After clicking "OK" the Arduino IDE currently moves only the file TWANG32.ino to the new folder, leaving behind the other source files. This causes compilation of the sketch to fail: TWANG32-master\TWANG32\TWANG32.ino:30:23: fatal error: twang_mpu.h: No such file or directory
56 lines
1.7 KiB
C++
56 lines
1.7 KiB
C++
// A very simple implementation of the MPU-6050 limited to the
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// TWANG requirements
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// I reused the function names to make it compatible
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// B. Dring 2/2018
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class Twang_MPU
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{
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public:
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void initialize();
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void getMotion6(int16_t* xAccel, int16_t* yAccel, int16_t* zAccel, int16_t* xGyro, int16_t* yGyro, int16_t* zGyro);
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bool verify();
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private:
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static const uint8_t MPU_ADDR = 0x68;
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static const uint8_t PWR_MGMT_1 = 0x6B;
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static const uint8_t MPU_DATA_REG_START = 0x3B;
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static const uint8_t MPU_DATA_LEN = 14;
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static const uint8_t MPU_DATA_WHO_AM_I = 0x75;
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};
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void Twang_MPU::initialize()
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{
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Wire.beginTransmission(MPU_ADDR);
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Wire.write(PWR_MGMT_1); // PWR_MGMT_1 register
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Wire.write(0); // set to zero (wakes up the MPU-6050)
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Wire.endTransmission(true);
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}
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bool Twang_MPU::verify()
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{
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Wire.beginTransmission(MPU_ADDR);
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Wire.write(MPU_DATA_WHO_AM_I);
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Wire.endTransmission(false);
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Wire.requestFrom(MPU_ADDR,1,true); // read the whole MPU data section
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return (Wire.read() == MPU_ADDR);
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}
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void Twang_MPU::getMotion6(int16_t* xAccel, int16_t* yAccel, int16_t* zAccel, int16_t* xGyro, int16_t* yGyro, int16_t* zGyro)
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{
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Wire.beginTransmission(MPU_ADDR);
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Wire.write(MPU_DATA_REG_START); // starting with register 0x3B (ACCEL_XOUT_H)
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Wire.endTransmission(false);
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Wire.requestFrom(MPU_ADDR,MPU_DATA_LEN,true); // read the whole MPU data section
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*xAccel=Wire.read()<<8|Wire.read(); // x Accel
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*yAccel=Wire.read()<<8|Wire.read(); // y Accel
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*zAccel=Wire.read()<<8|Wire.read(); // z Accel
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Wire.read(); Wire.read(); // Temperature..not used, but need to read it
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*xGyro=Wire.read()<<8|Wire.read(); // x Gyro
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*yGyro=Wire.read()<<8|Wire.read(); // y Gyro
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*zGyro=Wire.read()<<8|Wire.read(); // z Gyro
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}
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