/*----------------------------------------------------*/
void mpu_get_accel(MPU* self, float *x, float *y, float *z)
{
uint8_t buffer[6];
int16_t ix, iy, iz;
i2c_read_buffer(self->slave_address, MPU_ACCEL_X_ADDRESS, buffer, 6);
ix = MAKEWORD(buffer[0], buffer[1]);
iy = MAKEWORD(buffer[2], buffer[3]);
iz = MAKEWORD(buffer[4], buffer[5]);
*x = ix / self->accel_scaling;
*y = iy / self->accel_scaling;
*z = iz / self->accel_scaling;
}
/*----------------------------------------------------*/
void mpu_get_mag (MPU* self, float *x, float *y, float *z)
{
uint8_t buffer[6];
int16_t ix, iy, iz;
i2c_read_buffer(self->slave_address, MPU_MAG_X_ADDRESS, buffer, 6);
ix = MAKEWORD(buffer[0], buffer[1]);
iy = MAKEWORD(buffer[2], buffer[3]);
iz = MAKEWORD(buffer[4], buffer[5]);
*x = PI * ix / 4096.0;
*y = PI * iy / 4096.0;
*z = PI * iz / 4096.0;
}
/**
* @brief read length data from reg
* @param mpu6050_reg
* @retval None
**/
void mpu6050_read_buffer(unsigned char mpu6050_reg,unsigned char *buffer,unsigned char length)
{
i2c_read_buffer(MPU6050_DEV_ADDR<<1, mpu6050_reg ,buffer, length);
}
