Diff: MPU6050.cpp

Revision:

1:a709b716b73f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.cpp	Wed May 23 01:24:26 2018 +0000
@@ -0,0 +1,121 @@
+#include "mbed.h"
+#include "MPU6050.h"
+
+#define ADDRESS 0xD1
+
+MPU6050::MPU6050(PinName sda, PinName scl):
+    _MPU6050(sda, scl)
+{
+    _MPU6050.frequency(400000);
+}
+
+void MPU6050::start(void)
+{
+    write_reg(ADDRESS,MPU6050_PWR_MGMT_1,0x00);//disable sleep mode
+    write_reg(ADDRESS,MPU6050_GYRO_CONFIG,0x10);//gyro +-1000deg/s
+    write_reg(ADDRESS,MPU6050_ACCEL_CONFIG,0x08);//accel +-4G
+    write_reg(ADDRESS,MPU6050_SMPLRT_DIV,0x10);//sample rate 470Hz
+    //to set more, see MPU6000 Register Map
+}
+
+char MPU6050::getID(void)
+{
+    char devID;
+    read_reg(ADDRESS,MPU6050_WHO_AM_I,&devID);
+    return devID;
+}
+
+bool MPU6050::read(float *gx, float *gy, float *gz,float *ax, float *ay, float *az)
+{
+    char data[6];
+    char data2[6];
+    if (read_data(ADDRESS, MPU6050_GYRO_XOUT_H, data, 6)) {
+        read_data(ADDRESS, MPU6050_ACCEL_XOUT_H, data2, 6);
+        *gx = float(short(data[0] << 8 | data[1]))*0.0305f;
+        *gy =  float(short(data[2] << 8 | data[3]))*0.0305f;
+        *gz =  float(short(data[4] << 8 | data[5]))*0.0305f;
+        *ax = float(short(data2[0] << 8 | data2[1]))*0.000122f;
+        *ay =  float(short(data2[2] << 8 | data2[3]))*0.000122f;
+        *az =  float(short(data2[4] << 8 | data2[5]))*0.000122f;
+        return true;
+    }
+    return false;
+}
+
+bool MPU6050::readraw(int *gx, int *gy, int *gz,int *ax, int *ay, int *az)
+{
+    char data[6];
+    char data2[6];
+    if (read_data(ADDRESS, MPU6050_GYRO_XOUT_H, data, 6)) {
+        read_data(ADDRESS, MPU6050_ACCEL_XOUT_H, data2, 6);
+        *gx = int(short(data[0] << 8 | data[1]));
+        *gy =  int(short(data[2] << 8 | data[3]));
+        *gz =  int(short(data[4] << 8 | data[5]));
+        *ax = int(short(data2[0] << 8 | data2[1]));
+        *ay =  int(short(data2[2] << 8 | data2[3]));
+        *az =  int(short(data2[4] << 8 | data2[5]));
+        return true;
+    }
+    return false;
+}
+
+bool MPU6050::write_reg(int addr_i2c,int addr_reg, char v)
+{
+    char data[2] = {addr_reg, v};
+    return MPU6050::_MPU6050.write(addr_i2c, data, 2) == 0;
+}
+
+bool MPU6050::read_reg(int addr_i2c,int addr_reg, char *v)
+{
+    char data = addr_reg;
+    bool result = false;
+    __disable_irq();
+    if ((_MPU6050.write(addr_i2c, &data, 1) == 0) && (_MPU6050.read(addr_i2c, &data, 1) == 0)) {
+        *v = data;
+        result = true;
+    }
+    __enable_irq();
+    return result;
+}
+
+
+bool MPU6050::read_data(char sad, char sub, char *buf, int length)
+{
+    if (length > 1) sub |= 0x80;
+
+    return _MPU6050.write(sad, &sub, 1, true) == 0 && _MPU6050.read(sad, buf, length) == 0;
+}
+
+/********************************************************************************/
+/* sample main function  */
+#include "mbed.h"
+#include "MPU6050.h"
+
+MPU6050 mpu(p9,p10);
+Serial pc(USBTX,USBRX);
+Ticker mputicker;
+
+/* three gyro rotation and three acceleration in x, y, z */
+float gx,gy,gz,ax,ay,az;
+
+void mpu_read()
+{  mpu.read(&gx,&gy,&gz,&ax,&ay,&az); }
+
+int main()
+{
+    pc.baud(9600);
+    if(mpu.getID()==0x68) { /*I2C device has the own ID*/
+        pc.printf("MPU6050 OK\n\r");
+        wait(1);
+    } else {
+        pc.printf("MPU6050 error ID=0x%x\r\n",mpu.getID());
+        while(1) {
+        }
+    }
+    mpu.start();
+    mputicker.attach(mpu_read, 0.01); /*read mpu every 10ms*/
+    while(1) {
+        pc.printf("gx,gy,gz,ax,ay,az %6.1f,%6.1f,%6.1f,%6.2f,%6.2f,%6.2f\r\n",gx,gy,gz,ax,ay,az);
+        wait(0.76); }
+}
+