Affordable Smart Wheelchair / IMU6050Ver11

a

MPU6050.h@9:898effccce30, 2015-02-19 (annotated)

Committer:
moklumbys
Date:
Thu Feb 19 00:15:52 2015 +0000
Revision:
9:898effccce30
Parent:
8:b1570b99df9e
Child:
10:bd9665d14241
additional fnctions - done.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sissors 1:a3366f09e95c 1 /*Use #define MPU6050_ES before you include this file if you have an engineering sample (older EVBs will have them), to find out if you have one, check your accelerometer output.
Sissors 0:6757f7363a9f 2 If it is half of what you expected, and you still are on the correct planet, you got an engineering sample
Sissors 0:6757f7363a9f 3 */
Sissors 0:6757f7363a9f 4
Sissors 0:6757f7363a9f 5
Sissors 0:6757f7363a9f 6 #ifndef MPU6050_H
Sissors 0:6757f7363a9f 7 #define MPU6050_H
Sissors 0:6757f7363a9f 8
Sissors 0:6757f7363a9f 9 /**
Sissors 0:6757f7363a9f 10 * Includes
Sissors 0:6757f7363a9f 11 */
Sissors 0:6757f7363a9f 12 #include "mbed.h"
Sissors 1:a3366f09e95c 13
Sissors 0:6757f7363a9f 14
Sissors 0:6757f7363a9f 15 /**
Sissors 0:6757f7363a9f 16 * Defines
Sissors 0:6757f7363a9f 17 */
Sissors 1:a3366f09e95c 18 #ifndef MPU6050_ADDRESS
moklumbys 3:187152513f8d 19 #define MPU6050_ADDRESS 0x68 // address pin low (GND), default for InvenSense evaluation board
Sissors 1:a3366f09e95c 20 #endif
Sissors 1:a3366f09e95c 21
Sissors 0:6757f7363a9f 22 #ifdef MPU6050_ES
Sissors 0:6757f7363a9f 23 #define DOUBLE_ACCELERO
Sissors 0:6757f7363a9f 24 #endif
Sissors 0:6757f7363a9f 25
Sissors 0:6757f7363a9f 26 /**
Sissors 0:6757f7363a9f 27 * Registers
Sissors 0:6757f7363a9f 28 */
Sissors 0:6757f7363a9f 29 #define MPU6050_CONFIG_REG 0x1A
Sissors 0:6757f7363a9f 30 #define MPU6050_GYRO_CONFIG_REG 0x1B
Sissors 0:6757f7363a9f 31 #define MPU6050_ACCELERO_CONFIG_REG 0x1C
Sissors 0:6757f7363a9f 32
Sissors 0:6757f7363a9f 33 #define MPU6050_INT_PIN_CFG 0x37
Sissors 0:6757f7363a9f 34
Sissors 0:6757f7363a9f 35 #define MPU6050_ACCEL_XOUT_H_REG 0x3B
Sissors 0:6757f7363a9f 36 #define MPU6050_ACCEL_YOUT_H_REG 0x3D
Sissors 0:6757f7363a9f 37 #define MPU6050_ACCEL_ZOUT_H_REG 0x3F
Sissors 0:6757f7363a9f 38
Sissors 0:6757f7363a9f 39 #define MPU6050_TEMP_H_REG 0x41
Sissors 0:6757f7363a9f 40
Sissors 0:6757f7363a9f 41 #define MPU6050_GYRO_XOUT_H_REG 0x43
Sissors 0:6757f7363a9f 42 #define MPU6050_GYRO_YOUT_H_REG 0x45
Sissors 0:6757f7363a9f 43 #define MPU6050_GYRO_ZOUT_H_REG 0x47
Sissors 0:6757f7363a9f 44
Sissors 0:6757f7363a9f 45
Sissors 0:6757f7363a9f 46
Sissors 0:6757f7363a9f 47 #define MPU6050_PWR_MGMT_1_REG 0x6B
Sissors 0:6757f7363a9f 48 #define MPU6050_WHO_AM_I_REG 0x75
Sissors 0:6757f7363a9f 49
Sissors 0:6757f7363a9f 50
Sissors 0:6757f7363a9f 51
Sissors 0:6757f7363a9f 52 /**
Sissors 0:6757f7363a9f 53 * Definitions
Sissors 0:6757f7363a9f 54 */
Sissors 0:6757f7363a9f 55 #define MPU6050_SLP_BIT 6
Sissors 0:6757f7363a9f 56 #define MPU6050_BYPASS_BIT 1
Sissors 0:6757f7363a9f 57
Sissors 0:6757f7363a9f 58 #define MPU6050_BW_256 0
Sissors 0:6757f7363a9f 59 #define MPU6050_BW_188 1
Sissors 0:6757f7363a9f 60 #define MPU6050_BW_98 2
Sissors 0:6757f7363a9f 61 #define MPU6050_BW_42 3
Sissors 0:6757f7363a9f 62 #define MPU6050_BW_20 4
Sissors 0:6757f7363a9f 63 #define MPU6050_BW_10 5
Sissors 0:6757f7363a9f 64 #define MPU6050_BW_5 6
Sissors 0:6757f7363a9f 65
Sissors 0:6757f7363a9f 66 #define MPU6050_ACCELERO_RANGE_2G 0
Sissors 0:6757f7363a9f 67 #define MPU6050_ACCELERO_RANGE_4G 1
Sissors 0:6757f7363a9f 68 #define MPU6050_ACCELERO_RANGE_8G 2
Sissors 0:6757f7363a9f 69 #define MPU6050_ACCELERO_RANGE_16G 3
Sissors 0:6757f7363a9f 70
Sissors 0:6757f7363a9f 71 #define MPU6050_GYRO_RANGE_250 0
Sissors 0:6757f7363a9f 72 #define MPU6050_GYRO_RANGE_500 1
Sissors 0:6757f7363a9f 73 #define MPU6050_GYRO_RANGE_1000 2
Sissors 0:6757f7363a9f 74 #define MPU6050_GYRO_RANGE_2000 3
Sissors 0:6757f7363a9f 75
moklumbys 8:b1570b99df9e 76
moklumbys 8:b1570b99df9e 77 #define MPU6050_RA_INT_ENABLE 0x38 //interrupt address
moklumbys 8:b1570b99df9e 78
moklumbys 4:268d3fcb92ba 79 //define how the accelerometer is placed on surface
moklumbys 4:268d3fcb92ba 80 #define X_AXIS 1
moklumbys 4:268d3fcb92ba 81 #define Y_AXIS 2
moklumbys 4:268d3fcb92ba 82 #define Z_AXIS 0
Sissors 0:6757f7363a9f 83
moklumbys 6:502448484f91 84 #define RADIANS_TO_DEGREES 180/3.1415926536
moklumbys 6:502448484f91 85
moklumbys 9:898effccce30 86 #define ALPHA 0.96 //filter constant
moklumbys 7:56e591a74939 87
moklumbys 9:898effccce30 88 #define GYRO_SCALE 2.7176 //scale the gyro
moklumbys 7:56e591a74939 89
Sissors 2:5c63e20c50f3 90 /** MPU6050 IMU library.
Sissors 2:5c63e20c50f3 91 *
Sissors 2:5c63e20c50f3 92 * Example:
Sissors 2:5c63e20c50f3 93 * @code
Sissors 2:5c63e20c50f3 94 * Later, maybe
Sissors 2:5c63e20c50f3 95 * @endcode
Sissors 2:5c63e20c50f3 96 */
Sissors 0:6757f7363a9f 97 class MPU6050 {
Sissors 0:6757f7363a9f 98 public:
Sissors 0:6757f7363a9f 99 /**
Sissors 0:6757f7363a9f 100 * Constructor.
Sissors 0:6757f7363a9f 101 *
Sissors 0:6757f7363a9f 102 * Sleep mode of MPU6050 is immediatly disabled
Sissors 0:6757f7363a9f 103 *
Sissors 0:6757f7363a9f 104 * @param sda - mbed pin to use for the SDA I2C line.
Sissors 0:6757f7363a9f 105 * @param scl - mbed pin to use for the SCL I2C line.
Sissors 0:6757f7363a9f 106 */
Sissors 0:6757f7363a9f 107 MPU6050(PinName sda, PinName scl);
Sissors 0:6757f7363a9f 108
Sissors 0:6757f7363a9f 109
Sissors 0:6757f7363a9f 110 /**
Sissors 0:6757f7363a9f 111 * Tests the I2C connection by reading the WHO_AM_I register.
Sissors 0:6757f7363a9f 112 *
Sissors 0:6757f7363a9f 113 * @return True for a working connection, false for an error
Sissors 0:6757f7363a9f 114 */
Sissors 0:6757f7363a9f 115 bool testConnection( void );
Sissors 0:6757f7363a9f 116
Sissors 0:6757f7363a9f 117 /**
Sissors 0:6757f7363a9f 118 * Sets the bandwidth of the digital low-pass filter
Sissors 0:6757f7363a9f 119 *
Sissors 0:6757f7363a9f 120 * Macros: MPU6050_BW_256 - MPU6050_BW_188 - MPU6050_BW_98 - MPU6050_BW_42 - MPU6050_BW_20 - MPU6050_BW_10 - MPU6050_BW_5
Sissors 0:6757f7363a9f 121 * Last number is the gyro's BW in Hz (accelero BW is virtually identical)
Sissors 0:6757f7363a9f 122 *
Sissors 0:6757f7363a9f 123 * @param BW - The three bits that set the bandwidth (use the predefined macros)
Sissors 0:6757f7363a9f 124 */
Sissors 0:6757f7363a9f 125 void setBW( char BW );
Sissors 0:6757f7363a9f 126
Sissors 0:6757f7363a9f 127 /**
Sissors 0:6757f7363a9f 128 * Sets the auxiliary I2C bus in bypass mode to read the sensors behind the MPU6050 (useful for eval board, otherwise just connect them to primary I2C bus)
Sissors 0:6757f7363a9f 129 *
Sissors 0:6757f7363a9f 130 * @param state - Enables/disables the I2C bypass mode
Sissors 0:6757f7363a9f 131 */
Sissors 0:6757f7363a9f 132 void setI2CBypass ( bool state );
Sissors 0:6757f7363a9f 133
Sissors 0:6757f7363a9f 134 /**
Sissors 0:6757f7363a9f 135 * Sets the Accelero full-scale range
Sissors 0:6757f7363a9f 136 *
Sissors 0:6757f7363a9f 137 * Macros: MPU6050_ACCELERO_RANGE_2G - MPU6050_ACCELERO_RANGE_4G - MPU6050_ACCELERO_RANGE_8G - MPU6050_ACCELERO_RANGE_16G
Sissors 0:6757f7363a9f 138 *
Sissors 0:6757f7363a9f 139 * @param range - The two bits that set the full-scale range (use the predefined macros)
Sissors 0:6757f7363a9f 140 */
Sissors 0:6757f7363a9f 141 void setAcceleroRange(char range);
Sissors 0:6757f7363a9f 142
Sissors 0:6757f7363a9f 143 /**
Sissors 0:6757f7363a9f 144 * Reads the accelero x-axis.
Sissors 0:6757f7363a9f 145 *
Sissors 0:6757f7363a9f 146 * @return 16-bit signed integer x-axis accelero data
Sissors 0:6757f7363a9f 147 */
Sissors 0:6757f7363a9f 148 int getAcceleroRawX( void );
Sissors 0:6757f7363a9f 149
Sissors 0:6757f7363a9f 150 /**
Sissors 0:6757f7363a9f 151 * Reads the accelero y-axis.
Sissors 0:6757f7363a9f 152 *
Sissors 0:6757f7363a9f 153 * @return 16-bit signed integer y-axis accelero data
Sissors 0:6757f7363a9f 154 */
Sissors 0:6757f7363a9f 155 int getAcceleroRawY( void );
Sissors 0:6757f7363a9f 156
Sissors 0:6757f7363a9f 157 /**
Sissors 0:6757f7363a9f 158 * Reads the accelero z-axis.
Sissors 0:6757f7363a9f 159 *
Sissors 0:6757f7363a9f 160 * @return 16-bit signed integer z-axis accelero data
Sissors 0:6757f7363a9f 161 */
Sissors 0:6757f7363a9f 162 int getAcceleroRawZ( void );
Sissors 0:6757f7363a9f 163
Sissors 0:6757f7363a9f 164 /**
Sissors 0:6757f7363a9f 165 * Reads all accelero data.
Sissors 0:6757f7363a9f 166 *
Sissors 0:6757f7363a9f 167 * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 168 */
Sissors 0:6757f7363a9f 169 void getAcceleroRaw( int *data );
Sissors 0:6757f7363a9f 170
Sissors 0:6757f7363a9f 171 /**
Sissors 0:6757f7363a9f 172 * Reads all accelero data, gives the acceleration in m/s2
Sissors 0:6757f7363a9f 173 *
Sissors 0:6757f7363a9f 174 * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
Sissors 0:6757f7363a9f 175 *
Sissors 0:6757f7363a9f 176 * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 177 */
Sissors 0:6757f7363a9f 178 void getAccelero( float *data );
Sissors 0:6757f7363a9f 179
Sissors 0:6757f7363a9f 180 /**
Sissors 0:6757f7363a9f 181 * Sets the Gyro full-scale range
Sissors 0:6757f7363a9f 182 *
Sissors 0:6757f7363a9f 183 * Macros: MPU6050_GYRO_RANGE_250 - MPU6050_GYRO_RANGE_500 - MPU6050_GYRO_RANGE_1000 - MPU6050_GYRO_RANGE_2000
Sissors 0:6757f7363a9f 184 *
Sissors 0:6757f7363a9f 185 * @param range - The two bits that set the full-scale range (use the predefined macros)
Sissors 0:6757f7363a9f 186 */
Sissors 0:6757f7363a9f 187 void setGyroRange(char range);
Sissors 0:6757f7363a9f 188
Sissors 0:6757f7363a9f 189 /**
Sissors 0:6757f7363a9f 190 * Reads the gyro x-axis.
Sissors 0:6757f7363a9f 191 *
Sissors 0:6757f7363a9f 192 * @return 16-bit signed integer x-axis gyro data
Sissors 0:6757f7363a9f 193 */
Sissors 0:6757f7363a9f 194 int getGyroRawX( void );
Sissors 0:6757f7363a9f 195
Sissors 0:6757f7363a9f 196 /**
Sissors 0:6757f7363a9f 197 * Reads the gyro y-axis.
Sissors 0:6757f7363a9f 198 *
Sissors 0:6757f7363a9f 199 * @return 16-bit signed integer y-axis gyro data
Sissors 0:6757f7363a9f 200 */
Sissors 0:6757f7363a9f 201 int getGyroRawY( void );
Sissors 0:6757f7363a9f 202
Sissors 0:6757f7363a9f 203 /**
Sissors 0:6757f7363a9f 204 * Reads the gyro z-axis.
Sissors 0:6757f7363a9f 205 *
Sissors 0:6757f7363a9f 206 * @return 16-bit signed integer z-axis gyro data
Sissors 0:6757f7363a9f 207 */
Sissors 0:6757f7363a9f 208 int getGyroRawZ( void );
Sissors 0:6757f7363a9f 209
Sissors 0:6757f7363a9f 210 /**
Sissors 0:6757f7363a9f 211 * Reads all gyro data.
Sissors 0:6757f7363a9f 212 *
Sissors 0:6757f7363a9f 213 * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 214 */
Sissors 0:6757f7363a9f 215 void getGyroRaw( int *data );
Sissors 0:6757f7363a9f 216
Sissors 0:6757f7363a9f 217 /**
Sissors 0:6757f7363a9f 218 * Reads all gyro data, gives the gyro in rad/s
Sissors 0:6757f7363a9f 219 *
Sissors 0:6757f7363a9f 220 * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
Sissors 0:6757f7363a9f 221 *
Sissors 0:6757f7363a9f 222 * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 223 */
Sissors 0:6757f7363a9f 224 void getGyro( float *data);
Sissors 0:6757f7363a9f 225
Sissors 0:6757f7363a9f 226 /**
Sissors 0:6757f7363a9f 227 * Reads temperature data.
Sissors 0:6757f7363a9f 228 *
Sissors 0:6757f7363a9f 229 * @return 16 bit signed integer with the raw temperature register value
Sissors 0:6757f7363a9f 230 */
Sissors 0:6757f7363a9f 231 int getTempRaw( void );
Sissors 0:6757f7363a9f 232
Sissors 0:6757f7363a9f 233 /**
Sissors 0:6757f7363a9f 234 * Returns current temperature
Sissors 0:6757f7363a9f 235 *
Sissors 0:6757f7363a9f 236 * @returns float with the current temperature
Sissors 0:6757f7363a9f 237 */
Sissors 0:6757f7363a9f 238 float getTemp( void );
Sissors 0:6757f7363a9f 239
Sissors 0:6757f7363a9f 240 /**
Sissors 0:6757f7363a9f 241 * Sets the sleep mode of the MPU6050
Sissors 0:6757f7363a9f 242 *
Sissors 0:6757f7363a9f 243 * @param state - true for sleeping, false for wake up
Sissors 0:6757f7363a9f 244 */
Sissors 0:6757f7363a9f 245 void setSleepMode( bool state );
Sissors 0:6757f7363a9f 246
Sissors 0:6757f7363a9f 247
Sissors 0:6757f7363a9f 248 /**
Sissors 0:6757f7363a9f 249 * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU.
Sissors 0:6757f7363a9f 250 *
Sissors 0:6757f7363a9f 251 * @param adress - register address to write to
Sissors 0:6757f7363a9f 252 * @param data - data to write
Sissors 0:6757f7363a9f 253 */
Sissors 0:6757f7363a9f 254 void write( char address, char data);
Sissors 0:6757f7363a9f 255
Sissors 0:6757f7363a9f 256 /**
Sissors 0:6757f7363a9f 257 * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU.
Sissors 0:6757f7363a9f 258 *
Sissors 0:6757f7363a9f 259 * @param adress - register address to write to
Sissors 0:6757f7363a9f 260 * @return - data from the register specified by RA
Sissors 0:6757f7363a9f 261 */
Sissors 0:6757f7363a9f 262 char read( char adress);
Sissors 0:6757f7363a9f 263
Sissors 0:6757f7363a9f 264 /**
Sissors 0:6757f7363a9f 265 * Read multtiple regigsters from the device, more efficient than using multiple normal reads.
Sissors 0:6757f7363a9f 266 *
Sissors 0:6757f7363a9f 267 * @param adress - register address to write to
Sissors 0:6757f7363a9f 268 * @param length - number of bytes to read
Sissors 0:6757f7363a9f 269 * @param data - pointer where the data needs to be written to
Sissors 0:6757f7363a9f 270 */
Sissors 0:6757f7363a9f 271 void read( char adress, char *data, int length);
Sissors 0:6757f7363a9f 272
moklumbys 5:5873df1e58be 273 //added aditional functions
moklumbys 5:5873df1e58be 274 void getAcceleroAngle( float *data );
moklumbys 5:5873df1e58be 275 void getOffset(float *accOffset, float *gyroOffset, int sampleSize);
moklumbys 7:56e591a74939 276 void computeAngle (float *angle, float *accOffset, float *gyroOffset, float *currTime, float *prevTime);
moklumbys 8:b1570b99df9e 277 void enableInt( void );
moklumbys 8:b1570b99df9e 278 void disableInt( void );
moklumbys 9:898effccce30 279 void setAlpha(float val);
moklumbys 8:b1570b99df9e 280
Sissors 0:6757f7363a9f 281 private:
Sissors 0:6757f7363a9f 282
Sissors 1:a3366f09e95c 283 I2C connection;
Sissors 0:6757f7363a9f 284 char currentAcceleroRange;
Sissors 0:6757f7363a9f 285 char currentGyroRange;
moklumbys 9:898effccce30 286 float alpha;
Sissors 0:6757f7363a9f 287
Sissors 0:6757f7363a9f 288
Sissors 0:6757f7363a9f 289 };
Sissors 0:6757f7363a9f 290
Sissors 0:6757f7363a9f 291
Sissors 0:6757f7363a9f 292
Sissors 0:6757f7363a9f 293 #endif