Revision 1:a709b716b73f, committed 2018-05-23

Comitter:

titanium

Date:

Wed May 23 01:24:26 2018 +0000

Parent:

0:c2e3402eabec

Commit message:

flat directory;

Changed in this revision

diff -r c2e3402eabec -r a709b716b73f MPU6050.cpp
--- /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); }
+}
+

diff -r c2e3402eabec -r a709b716b73f MPU6050.h
--- /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

diff -r c2e3402eabec -r a709b716b73f MPU6050.lib
--- a/MPU6050.lib	Thu May 10 05:22:50 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/ritarosakai/code/MPU6050/#36716fbc5f04