Diff: MPU6050.h

Revision:

1:a709b716b73f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.h	Wed May 23 01:24:26 2018 +0000
@@ -0,0 +1,132 @@
+#ifndef __MPU6050_H
+#define __MPU6050_H
+
+#include "mbed.h"
+
+#define MPU6050_XG_OFFS_TC       0x00
+#define MPU6050_YG_OFFS_TC       0x01
+#define MPU6050_ZG_OFFS_TC       0x02
+#define MPU6050_X_FINE_GAIN      0x03
+#define MPU6050_Y_FINE_GAIN      0x04
+#define MPU6050_Z_FINE_GAIN      0x05
+#define MPU6050_XA_OFFS_H        0x06
+#define MPU6050_XA_OFFS_L_TC     0x07
+#define MPU6050_YA_OFFS_H        0x08
+#define MPU6050_YA_OFFS_L_TC     0x09
+#define MPU6050_ZA_OFFS_H        0x0A
+#define MPU6050_ZA_OFFS_L_TC     0x0B
+#define MPU6050_XG_OFFS_USRH     0x13
+#define MPU6050_XG_OFFS_USRL     0x14
+#define MPU6050_YG_OFFS_USRH     0x15
+#define MPU6050_YG_OFFS_USRL     0x16
+#define MPU6050_ZG_OFFS_USRH     0x17
+#define MPU6050_ZG_OFFS_USRL     0x18
+#define MPU6050_SMPLRT_DIV       0x19
+#define MPU6050_CONFIG           0x1A
+#define MPU6050_GYRO_CONFIG      0x1B
+#define MPU6050_ACCEL_CONFIG     0x1C
+#define MPU6050_FF_THR           0x1D
+#define MPU6050_FF_DUR           0x1E
+#define MPU6050_MOT_THR          0x1F
+#define MPU6050_MOT_DUR          0x20
+#define MPU6050_ZRMOT_THR        0x21
+#define MPU6050_ZRMOT_DUR        0x22
+#define MPU6050_FIFO_EN          0x23
+#define MPU6050_I2C_MST_CTRL     0x24
+#define MPU6050_I2C_SLV0_ADDR    0x25
+#define MPU6050_I2C_SLV0_REG     0x26
+#define MPU6050_I2C_SLV0_CTRL    0x27
+#define MPU6050_I2C_SLV1_ADDR    0x28
+#define MPU6050_I2C_SLV1_REG     0x29
+#define MPU6050_I2C_SLV1_CTRL    0x2A
+#define MPU6050_I2C_SLV2_ADDR    0x2B
+#define MPU6050_I2C_SLV2_REG     0x2C
+#define MPU6050_I2C_SLV2_CTRL    0x2D
+#define MPU6050_I2C_SLV3_ADDR    0x2E
+#define MPU6050_I2C_SLV3_REG     0x2F
+#define MPU6050_I2C_SLV3_CTRL    0x30
+#define MPU6050_I2C_SLV4_ADDR    0x31
+#define MPU6050_I2C_SLV4_REG     0x32
+#define MPU6050_I2C_SLV4_DO      0x33
+#define MPU6050_I2C_SLV4_CTRL    0x34
+#define MPU6050_I2C_SLV4_DI      0x35
+#define MPU6050_I2C_MST_STATUS   0x36
+#define MPU6050_INT_PIN_CFG      0x37
+#define MPU6050_INT_ENABLE       0x38
+#define MPU6050_DMP_INT_STATUS   0x39
+#define MPU6050_INT_STATUS       0x3A
+#define MPU6050_ACCEL_XOUT_H     0x3B
+#define MPU6050_ACCEL_XOUT_L     0x3C
+#define MPU6050_ACCEL_YOUT_H     0x3D
+#define MPU6050_ACCEL_YOUT_L     0x3E
+#define MPU6050_ACCEL_ZOUT_H     0x3F
+#define MPU6050_ACCEL_ZOUT_L     0x40
+#define MPU6050_TEMP_OUT_H       0x41
+#define MPU6050_TEMP_OUT_L       0x42
+#define MPU6050_GYRO_XOUT_H      0x43
+#define MPU6050_GYRO_XOUT_L      0x44
+#define MPU6050_GYRO_YOUT_H      0x45
+#define MPU6050_GYRO_YOUT_L      0x46
+#define MPU6050_GYRO_ZOUT_H      0x47
+#define MPU6050_GYRO_ZOUT_L      0x48
+#define MPU6050_EXT_SENS_DATA_00 0x49
+#define MPU6050_EXT_SENS_DATA_01 0x4A
+#define MPU6050_EXT_SENS_DATA_02 0x4B
+#define MPU6050_EXT_SENS_DATA_03 0x4C
+#define MPU6050_EXT_SENS_DATA_04 0x4D
+#define MPU6050_EXT_SENS_DATA_05 0x4E
+#define MPU6050_EXT_SENS_DATA_06 0x4F
+#define MPU6050_EXT_SENS_DATA_07 0x50
+#define MPU6050_EXT_SENS_DATA_08 0x51
+#define MPU6050_EXT_SENS_DATA_09 0x52
+#define MPU6050_EXT_SENS_DATA_10 0x53
+#define MPU6050_EXT_SENS_DATA_11 0x54
+#define MPU6050_EXT_SENS_DATA_12 0x55
+#define MPU6050_EXT_SENS_DATA_13 0x56
+#define MPU6050_EXT_SENS_DATA_14 0x57
+#define MPU6050_EXT_SENS_DATA_15 0x58
+#define MPU6050_EXT_SENS_DATA_16 0x59
+#define MPU6050_EXT_SENS_DATA_17 0x5A
+#define MPU6050_EXT_SENS_DATA_18 0x5B
+#define MPU6050_EXT_SENS_DATA_19 0x5C
+#define MPU6050_EXT_SENS_DATA_20 0x5D
+#define MPU6050_EXT_SENS_DATA_21 0x5E
+#define MPU6050_EXT_SENS_DATA_22 0x5F
+#define MPU6050_EXT_SENS_DATA_23 0x60
+#define MPU6050_MOT_DETECT_STATUS    0x61
+#define MPU6050_I2C_SLV0_DO      0x63
+#define MPU6050_I2C_SLV1_DO      0x64
+#define MPU6050_I2C_SLV2_DO      0x65
+#define MPU6050_I2C_SLV3_DO      0x66
+#define MPU6050_I2C_MST_DELAY_CTRL   0x67
+#define MPU6050_SIGNAL_PATH_RESET    0x68
+#define MPU6050_MOT_DETECT_CTRL      0x69
+#define MPU6050_USER_CTRL        0x6A
+#define MPU6050_PWR_MGMT_1       0x6B
+#define MPU6050_PWR_MGMT_2       0x6C
+#define MPU6050_BANK_SEL         0x6D
+#define MPU6050_MEM_START_ADDR   0x6E
+#define MPU6050_MEM_R_W          0x6F
+#define MPU6050_DMP_CFG_1        0x70
+#define MPU6050_DMP_CFG_2        0x71
+#define MPU6050_FIFO_COUNTH      0x72
+#define MPU6050_FIFO_COUNTL      0x73
+#define MPU6050_FIFO_R_W         0x74
+#define MPU6050_WHO_AM_I         0x75
+class MPU6050
+{
+public:
+    MPU6050(PinName sda, PinName scl);
+    void start(void);
+    char getID(void);
+    bool read(float *gx, float *gy, float *gz,float *ax, float *ay, float *az);
+    bool readraw(int *gx, int *gy, int *gz,int *ax, int *ay, int *az);
+private:
+    I2C _MPU6050;
+    float gx, gy, gz,ax,ay,az;
+    bool write_reg(int addr_i2c,int addr_reg, char v);
+    bool read_reg(int addr_i2c,int addr_reg, char *v);
+    bool read_data(char sad, char sub, char *buf, int length);
+};
+
+#endif