28 lines
529 B
C++
28 lines
529 B
C++
#pragma once
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#include <cstdint>
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#include "protocol.h"
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#include <MPU6050/MPU6050.h>
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class IMU {
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public:
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IMU();
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void init();
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bool read(Protocol::IMU* pinto);
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void check();
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private:
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friend class I2Cdev;
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static uint8_t wait();
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static int8_t read_bytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
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static int8_t write_byte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
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static int8_t set_address(uint8_t device, uint8_t address);
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MPU6050 mpu_;
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bool good_;
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};
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