SSSUP
加速度・ジャイロセンサ―
Fork of
MPU-6050
by 
SSSRC 2016s
Diff: MPU6050.h
- Revision:
- 4:88b9eb734fca
- Parent:
- 3:1e6e76e5348f
- Child:
- 5:15198869706e
--- a/MPU6050.h Sat May 14 11:52:13 2016 +0000
+++ b/MPU6050.h Sun May 15 06:24:43 2016 +0000
@@ -23,127 +23,6 @@
protected:
public:
-// Define registers per MPU6050, Register Map and Descriptions, Rev 4.2, 08/19/2013 6 DOF Motion sensor fusion device
-// Invensense Inc., www.invensense.com
-// See also MPU-6050 Register Map and Descriptions, Revision 4.0, RM-MPU-6050A-00, 9/12/2012 for registers not listed in
-// above document; the MPU6050 and MPU 9150 are virtually identical but the latter has an on-board magnetic sensor
- enum register_adr{
- XGOFFS_TC = 0x00, // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD
- YGOFFS_TC = 0x01,
- ZGOFFS_TC = 0x02,
- X_FINE_GAIN = 0x03, // [7:0] fine gain
- Y_FINE_GAIN = 0x04,
- Z_FINE_GAIN = 0x05,
- XA_OFFSET_H = 0x06, // User-defined trim values for accelerometer
- XA_OFFSET_L_TC = 0x07,
- YA_OFFSET_H = 0x08,
- YA_OFFSET_L_TC = 0x09,
- ZA_OFFSET_H = 0x0A,
- ZA_OFFSET_L_TC = 0x0B,
- SELF_TEST_X = 0x0D,
- SELF_TEST_Y = 0x0E,
- SELF_TEST_Z = 0x0F,
- SELF_TEST_A = 0x10,
- XG_OFFS_USRH = 0x13, // User-defined trim values for gyroscope; supported in MPU-6050?
- XG_OFFS_USRL = 0x14,
- YG_OFFS_USRH = 0x15,
- YG_OFFS_USRL = 0x16,
- ZG_OFFS_USRH = 0x17,
- ZG_OFFS_USRL = 0x18,
- SMPLRT_DIV = 0x19,
- CONFIG = 0x1A,
- GYRO_CONFIG = 0x1B,
- ACCEL_CONFIG = 0x1C,
- FF_THR = 0x1D, // Free-fall
- FF_DUR = 0x1E, // Free-fall
- MOT_THR = 0x1F, // Motion detection threshold bits [7:0]
- MOT_DUR = 0x20, // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
- ZMOT_THR = 0x21, // Zero-motion detection threshold bits [7:0]
- ZRMOT_DUR = 0x22, // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
- FIFO_EN = 0x23,
- I2C_MST_CTRL = 0x24,
- I2C_SLV0_ADDR = 0x25,
- I2C_SLV0_REG = 0x26,
- I2C_SLV0_CTRL = 0x27,
- I2C_SLV1_ADDR = 0x28,
- I2C_SLV1_REG = 0x29,
- I2C_SLV1_CTRL = 0x2A,
- I2C_SLV2_ADDR = 0x2B,
- I2C_SLV2_REG = 0x2C,
- I2C_SLV2_CTRL = 0x2D,
- I2C_SLV3_ADDR = 0x2E,
- I2C_SLV3_REG = 0x2F,
- I2C_SLV3_CTRL = 0x30,
- I2C_SLV4_ADDR = 0x31,
- I2C_SLV4_REG = 0x32,
- I2C_SLV4_DO = 0x33,
- I2C_SLV4_CTRL = 0x34,
- I2C_SLV4_DI = 0x35,
- I2C_MST_STATUS = 0x36,
- INT_PIN_CFG = 0x37,
- INT_ENABLE = 0x38,
- DMP_INT_STATUS = 0x39, // Check DMP interrupt
- INT_STATUS = 0x3A,
- ACCEL_XOUT_H = 0x3B,
- ACCEL_XOUT_L = 0x3C,
- ACCEL_YOUT_H = 0x3D,
- ACCEL_YOUT_L = 0x3E,
- ACCEL_ZOUT_H = 0x3F,
- ACCEL_ZOUT_L = 0x40,
- TEMP_OUT_H = 0x41,
- TEMP_OUT_L = 0x42,
- GYRO_XOUT_H = 0x43,
- GYRO_XOUT_L = 0x44,
- GYRO_YOUT_H = 0x45,
- GYRO_YOUT_L = 0x46,
- GYRO_ZOUT_H = 0x47,
- GYRO_ZOUT_L = 0x48,
- EXT_SENS_DATA_00 = 0x49,
- EXT_SENS_DATA_01 = 0x4A,
- EXT_SENS_DATA_02 = 0x4B,
- EXT_SENS_DATA_03 = 0x4C,
- EXT_SENS_DATA_04 = 0x4D,
- EXT_SENS_DATA_05 = 0x4E,
- EXT_SENS_DATA_06 = 0x4F,
- EXT_SENS_DATA_07 = 0x50,
- EXT_SENS_DATA_08 = 0x51,
- EXT_SENS_DATA_09 = 0x52,
- EXT_SENS_DATA_10 = 0x53,
- EXT_SENS_DATA_11 = 0x54,
- EXT_SENS_DATA_12 = 0x55,
- EXT_SENS_DATA_13 = 0x56,
- EXT_SENS_DATA_14 = 0x57,
- EXT_SENS_DATA_15 = 0x58,
- EXT_SENS_DATA_16 = 0x59,
- EXT_SENS_DATA_17 = 0x5A,
- EXT_SENS_DATA_18 = 0x5B,
- EXT_SENS_DATA_19 = 0x5C,
- EXT_SENS_DATA_20 = 0x5D,
- EXT_SENS_DATA_21 = 0x5E,
- EXT_SENS_DATA_22 = 0x5F,
- EXT_SENS_DATA_23 = 0x60,
- MOT_DETECT_STATUS = 0x61,
- I2C_SLV0_DO = 0x63,
- I2C_SLV1_DO = 0x64,
- I2C_SLV2_DO = 0x65,
- I2C_SLV3_DO = 0x66,
- I2C_MST_DELAY_CTRL = 0x67,
- SIGNAL_PATH_RESET = 0x68,
- MOT_DETECT_CTRL = 0x69,
- USER_CTRL = 0x6A, // Bit 7 enable DMP, bit 3 reset DMP
- PWR_MGMT_1 = 0x6B, // Device defaults to the SLEEP mode
- PWR_MGMT_2 = 0x6C,
- DMP_BANK = 0x6D, // Activates a specific bank in the DMP
- DMP_RW_PNT = 0x6E, // Set read/write pointer to a specific start address in specified DMP bank
- DMP_REG = 0x6F, // Register in DMP from which to read or to which to write
- DMP_REG_1 = 0x70,
- DMP_REG_2 = 0x71,
- FIFO_COUNTH = 0x72,
- FIFO_COUNTL = 0x73,
- FIFO_R_W = 0x74,
- WHO_AM_I_MPU6050 = 0x75, // Should return 0x68
- };
-
// Set initial input parameters
enum Ascale {
AFS_2G = 0,
@@ -249,7 +128,6 @@
void readAccelData(int16_t * destination) {
/** 加速度の読み出し
- *
* @param destination int[3]の配列を渡してください、加速度をxyz順に返します
*/
uint8_t rawData[6]; // x/y/z accel register data stored here
@@ -261,7 +139,6 @@
void readGyroData(int16_t * destination) {
/** 角速度の読み出し
- *
* @param destination int[3]の配列を渡してください、角速度をxyz順に返します
*/
uint8_t rawData[6]; // x/y/z gyro register data stored here
@@ -273,7 +150,6 @@
int16_t readTempData() {
/** 温度の読み出し
- *
* @return int型の変数に代入してください、温度を返します
*/
uint8_t rawData[2]; // x/y/z gyro register data stored here
@@ -668,6 +544,127 @@
}
private:
+// Define registers per MPU6050, Register Map and Descriptions, Rev 4.2, 08/19/2013 6 DOF Motion sensor fusion device
+// Invensense Inc., www.invensense.com
+// See also MPU-6050 Register Map and Descriptions, Revision 4.0, RM-MPU-6050A-00, 9/12/2012 for registers not listed in
+// above document; the MPU6050 and MPU 9150 are virtually identical but the latter has an on-board magnetic sensor
+ enum register_adr{
+ XGOFFS_TC = 0x00, // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD
+ YGOFFS_TC = 0x01,
+ ZGOFFS_TC = 0x02,
+ X_FINE_GAIN = 0x03, // [7:0] fine gain
+ Y_FINE_GAIN = 0x04,
+ Z_FINE_GAIN = 0x05,
+ XA_OFFSET_H = 0x06, // User-defined trim values for accelerometer
+ XA_OFFSET_L_TC = 0x07,
+ YA_OFFSET_H = 0x08,
+ YA_OFFSET_L_TC = 0x09,
+ ZA_OFFSET_H = 0x0A,
+ ZA_OFFSET_L_TC = 0x0B,
+ SELF_TEST_X = 0x0D,
+ SELF_TEST_Y = 0x0E,
+ SELF_TEST_Z = 0x0F,
+ SELF_TEST_A = 0x10,
+ XG_OFFS_USRH = 0x13, // User-defined trim values for gyroscope; supported in MPU-6050?
+ XG_OFFS_USRL = 0x14,
+ YG_OFFS_USRH = 0x15,
+ YG_OFFS_USRL = 0x16,
+ ZG_OFFS_USRH = 0x17,
+ ZG_OFFS_USRL = 0x18,
+ SMPLRT_DIV = 0x19,
+ CONFIG = 0x1A,
+ GYRO_CONFIG = 0x1B,
+ ACCEL_CONFIG = 0x1C,
+ FF_THR = 0x1D, // Free-fall
+ FF_DUR = 0x1E, // Free-fall
+ MOT_THR = 0x1F, // Motion detection threshold bits [7:0]
+ MOT_DUR = 0x20, // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
+ ZMOT_THR = 0x21, // Zero-motion detection threshold bits [7:0]
+ ZRMOT_DUR = 0x22, // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
+ FIFO_EN = 0x23,
+ I2C_MST_CTRL = 0x24,
+ I2C_SLV0_ADDR = 0x25,
+ I2C_SLV0_REG = 0x26,
+ I2C_SLV0_CTRL = 0x27,
+ I2C_SLV1_ADDR = 0x28,
+ I2C_SLV1_REG = 0x29,
+ I2C_SLV1_CTRL = 0x2A,
+ I2C_SLV2_ADDR = 0x2B,
+ I2C_SLV2_REG = 0x2C,
+ I2C_SLV2_CTRL = 0x2D,
+ I2C_SLV3_ADDR = 0x2E,
+ I2C_SLV3_REG = 0x2F,
+ I2C_SLV3_CTRL = 0x30,
+ I2C_SLV4_ADDR = 0x31,
+ I2C_SLV4_REG = 0x32,
+ I2C_SLV4_DO = 0x33,
+ I2C_SLV4_CTRL = 0x34,
+ I2C_SLV4_DI = 0x35,
+ I2C_MST_STATUS = 0x36,
+ INT_PIN_CFG = 0x37,
+ INT_ENABLE = 0x38,
+ DMP_INT_STATUS = 0x39, // Check DMP interrupt
+ INT_STATUS = 0x3A,
+ ACCEL_XOUT_H = 0x3B,
+ ACCEL_XOUT_L = 0x3C,
+ ACCEL_YOUT_H = 0x3D,
+ ACCEL_YOUT_L = 0x3E,
+ ACCEL_ZOUT_H = 0x3F,
+ ACCEL_ZOUT_L = 0x40,
+ TEMP_OUT_H = 0x41,
+ TEMP_OUT_L = 0x42,
+ GYRO_XOUT_H = 0x43,
+ GYRO_XOUT_L = 0x44,
+ GYRO_YOUT_H = 0x45,
+ GYRO_YOUT_L = 0x46,
+ GYRO_ZOUT_H = 0x47,
+ GYRO_ZOUT_L = 0x48,
+ EXT_SENS_DATA_00 = 0x49,
+ EXT_SENS_DATA_01 = 0x4A,
+ EXT_SENS_DATA_02 = 0x4B,
+ EXT_SENS_DATA_03 = 0x4C,
+ EXT_SENS_DATA_04 = 0x4D,
+ EXT_SENS_DATA_05 = 0x4E,
+ EXT_SENS_DATA_06 = 0x4F,
+ EXT_SENS_DATA_07 = 0x50,
+ EXT_SENS_DATA_08 = 0x51,
+ EXT_SENS_DATA_09 = 0x52,
+ EXT_SENS_DATA_10 = 0x53,
+ EXT_SENS_DATA_11 = 0x54,
+ EXT_SENS_DATA_12 = 0x55,
+ EXT_SENS_DATA_13 = 0x56,
+ EXT_SENS_DATA_14 = 0x57,
+ EXT_SENS_DATA_15 = 0x58,
+ EXT_SENS_DATA_16 = 0x59,
+ EXT_SENS_DATA_17 = 0x5A,
+ EXT_SENS_DATA_18 = 0x5B,
+ EXT_SENS_DATA_19 = 0x5C,
+ EXT_SENS_DATA_20 = 0x5D,
+ EXT_SENS_DATA_21 = 0x5E,
+ EXT_SENS_DATA_22 = 0x5F,
+ EXT_SENS_DATA_23 = 0x60,
+ MOT_DETECT_STATUS = 0x61,
+ I2C_SLV0_DO = 0x63,
+ I2C_SLV1_DO = 0x64,
+ I2C_SLV2_DO = 0x65,
+ I2C_SLV3_DO = 0x66,
+ I2C_MST_DELAY_CTRL = 0x67,
+ SIGNAL_PATH_RESET = 0x68,
+ MOT_DETECT_CTRL = 0x69,
+ USER_CTRL = 0x6A, // Bit 7 enable DMP, bit 3 reset DMP
+ PWR_MGMT_1 = 0x6B, // Device defaults to the SLEEP mode
+ PWR_MGMT_2 = 0x6C,
+ DMP_BANK = 0x6D, // Activates a specific bank in the DMP
+ DMP_RW_PNT = 0x6E, // Set read/write pointer to a specific start address in specified DMP bank
+ DMP_REG = 0x6F, // Register in DMP from which to read or to which to write
+ DMP_REG_1 = 0x70,
+ DMP_REG_2 = 0x71,
+ FIFO_COUNTH = 0x72,
+ FIFO_COUNTL = 0x73,
+ FIFO_R_W = 0x74,
+ WHO_AM_I_MPU6050 = 0x75, // Should return 0x68
+ };
+
int _Gscale;
int _Ascale;