File content as of revision 3:aa8f84e4244f:

#include "MPU9250.h"

MPU9250::MPU9250(PinName sda,PinName scl) : i2c(sda,scl){
    wakeUp();
};

int MPU9250::wakeUp(){
    int errorFlag = write2Bytes(MPU9250_ADDRESS,PWR_MGMT_1,0x00);
    int errorFlag2 = write2Bytes(MPU9250_ADDRESS,0x37,0x02);
    if(errorFlag ==0 && errorFlag2==0){
        return 0;
    }
    return -1;
}

int MPU9250::getAccelAndGyroRawData(float* accelX,float* accelY,float* accelZ,float* gyroX,float* gyroY,float* gyroZ){
    int16_t ax,ay,az,gx,gy,gz;
    int errorFlag = getAccelAndGyroBitData(&ax,&ay,&az,&gx,&gy,&gz);
    
    /*実際の値に変換*/
    *accelX = (float)ax * ACCEL_RANGE / 32768.0;
    *accelY = (float)ay * ACCEL_RANGE / 32768.0;
    *accelZ = (float)az * ACCEL_RANGE / 32768.0;
    
    /*あとで*/
    *gyroX = gx;
    *gyroY = gy;
    *gyroZ = gz;
    return errorFlag;
}

int MPU9250::getAccelAndGyroBitData(int16_t* ax,int16_t* ay,int16_t* az,int16_t* gx,int16_t* gy,int16_t* gz){
    const char cmd[1] = {0x3b};
    char data[14];
    int errorFlag = i2c.write(MPU9250_ADDRESS,cmd,1);
    int errorFlag2 = i2c.read(MPU9250_ADDRESS,data,14);
    if(errorFlag == 0 && errorFlag2 == 0){
        *ax = ((int)data[0] << 8) | (int)data[1];
        *ay = ((int)data[2] << 8) | (int)data[3];
        *az = ((int)data[4] << 8) | (int)data[5];
        *gx = ((int)data[8] << 8) | (int)data[9];
        *gy = ((int)data[10] << 8) | (int)data[11];
        *gz = ((int)data[12] << 8) | (int)data[13];
        return 0;
    }
    return -1;
}

int MPU9250::whoAmI(char* address){
    char data = WHO_AM_I;
    i2c.write(MPU9250_ADDRESS,&data,1);
    wait(0.07);
    int errorFlag = i2c.read(MPU9250_ADDRESS,&data,1);;
    *address = data;
    return errorFlag;
}

int MPU9250::write2Bytes(char address,char reg,char data){
    char tmp[2] = {reg,data};
    return i2c.write(address,tmp,2);
}