motion library for mpu6050, mpu9250 and etc, supports i2c and spi
mpu_mbed_config.h
- Committer:
- yihui
- Date:
- 2016-07-05
- Revision:
- 0:814475fdc553
File content as of revision 0:814475fdc553:
#ifndef _MPU_MBED_CONFIG_H_ #define _MPU_MBED_CONFIG_H_ #include "wait_api.h" #include "us_ticker_api.h" //#define MPU_USE_I2C #define MPU_USE_SPI #define MPU9250 //#define MPU6050 #ifdef MPU_USE_I2C #include "mbed_i2c.h" #define mpu_hal_write(a, b, c, d) mbed_i2c_write(a, b, c, d) #define mpu_hal_read(a, b, c, d) mbed_i2c_read(a, b, c, d) #else // MPU_USE_SPI #include "mbed_spi.h" #define mpu_hal_write(a, b, c, d) mbed_spi_write(b, c, d) #define mpu_hal_read(a, b, c, d) mbed_spi_read(b, c, d) #endif #define __no_operation __nop #define delay_ms wait_ms #define log_i(args...) //printf(args) #define log_e(args...) //printf(args) #define labs abs #define fabs(x) (((x)>0)?(x):-(x)) #define min(x, y) (((x) < (y)) ? (x) : (y)) static inline unsigned long get_ms(unsigned long *t) { unsigned long ms = us_ticker_read() / 1000; *t = ms; return ms; } static inline int reg_int_cb(struct int_param_s *int_param) { return 0; } #endif // _MPU_MBED_CONFIG_H_