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32 lines
525 B
C++
32 lines
525 B
C++
#ifndef MPU6050DMP_H
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#define MPU6050DMP_H
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#include "MPU6050_6Axis_MotionApps20.h"
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#include "helper_3dmath.h"
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class MPU6050dmp
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{
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public:
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MPU6050dmp( int devAddr = 0x68 );
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int update();
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Quaternion q;
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VectorInt16 aa;
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VectorInt16 aaReal;
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VectorInt16 aaWorld;
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VectorFloat gravity;
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int16_t xg;
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int16_t yg;
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int16_t zg;
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private:
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MPU6050 mpu;
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bool dmpReady = false;
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uint8_t mpuIntStatus;
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uint16_t packetSize;
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uint16_t fifoCount;
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uint8_t fifoBuffer[ 64 ];
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};
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#endif |