3 axis gyroscope & 3 axis accelerometer
Dependents: sgam-lib sgam_mdw_NUCLEOF429ZI_impl
Fork of MPU6050 by
Usage
#include "mbed.h" #include "MPU6050.h" DigitalOut myled(LED1); Serial pc(USBTX, USBRX); I2C i2c(I2C_SDA, I2C_SCL); MPU6050 mpu(i2c); int16_t ax, ay, az; int16_t gx, gy, gz; int main() { pc.printf("MPU6050 test\n\n"); pc.printf("MPU6050 initialize \n"); mpu.initialize(); pc.printf("MPU6050 testConnection \n"); bool mpu6050TestResult = mpu.testConnection(); if(mpu6050TestResult) { pc.printf("MPU6050 test passed \n"); } else { pc.printf("MPU6050 test failed \n"); } while(1) { wait(1); mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //writing current accelerometer and gyro position pc.printf("%d;%d;%d;%d;%d;%d\n",ax,ay,az,gx,gy,gz); } }
Diff: I2Cdev.h
- Revision:
- 0:662207e34fba
- Child:
- 2:8c562a8fed36
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/I2Cdev.h Fri Jan 11 00:54:28 2013 +0000 @@ -0,0 +1,44 @@ +//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 +//written by szymon gaertig (email: szymon@gaertig.com.pl) +// +//Changelog: +//2013-01-08 - first beta release + +#ifndef I2Cdev_h +#define I2Cdev_h + +#include "mbed.h" + +#define I2C_SDA p28 +#define I2C_SCL p27 + +class I2Cdev { + private: + I2C i2c; + Serial debugSerial; + public: + I2Cdev(); + I2Cdev(PinName i2cSda, PinName i2cScl); + + int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); + + bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data); + bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data); + bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data); + bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data); + bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data); + bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data); + bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data); + bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data); + + static uint16_t readTimeout(void); +}; + +#endif \ No newline at end of file