Seeed
3 axis gyroscope & 3 axis accelerometer
Dependents: sgam-lib sgam_mdw_NUCLEOF429ZI_impl
Fork of
MPU6050
by 
Yihui Xiong
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);
}
}
Revision 2:8c562a8fed36, committed 2014-09-12
- Comitter:
- Yihui Xiong
- Date:
- Fri Sep 12 09:28:14 2014 +0800
- Parent:
- 1:1e0baaf91e96
- Commit message:
- update
Changed in this revision
--- a/I2Cdev.cpp Wed May 08 00:34:55 2013 +0000
+++ b/I2Cdev.cpp Fri Sep 12 09:28:14 2014 +0800
@@ -5,14 +5,8 @@
#include "I2Cdev.h"
-#define useDebugSerial
-I2Cdev::I2Cdev(): debugSerial(USBTX, USBRX), i2c(I2C_SDA,I2C_SCL)
-{
-
-}
-
-I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): debugSerial(USBTX, USBRX), i2c(i2cSda,i2cScl)
+I2Cdev::I2Cdev(I2C &interface) : i2c(interface)
{
}
@@ -254,18 +248,31 @@
bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
{
- i2c.start();
- i2c.write(devAddr<<1);
- i2c.write(regAddr);
- for(int i = 0; i < length; i++) {
- i2c.write(data[i]);
+ int len = length + 1;
+ char *buf = (char*)malloc(len);
+ buf[0] = regAddr;
+ for (int i = 0; i < length; i++) {
+ buf[i + 1] = data[i];
}
- i2c.stop();
+ i2c.write(devAddr << 1 , buf, len);
+
+ free (buf);
return true;
}
bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
{
+ int len = length * 2 + 1;
+ char *buf = (char*)malloc(len);
+ buf[0] = regAddr;
+ for (int i = 0; i < length; i++) {
+ uint16_t word = data[i];
+ buf[2*i + 1] = word >> 8;
+ buf[2*i + 2] = word & 0xFF;
+ }
+ i2c.write(devAddr << 1 , buf, len);
+
+ free (buf);
return true;
}
--- a/I2Cdev.h Wed May 08 00:34:55 2013 +0000
+++ b/I2Cdev.h Fri Sep 12 09:28:14 2014 +0800
@@ -9,16 +9,12 @@
#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);
+ I2Cdev(I2C &interface);
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());
@@ -41,4 +37,4 @@
static uint16_t readTimeout(void);
};
-#endif
\ No newline at end of file
+#endif
--- a/MPU6050.cpp Wed May 08 00:34:55 2013 +0000
+++ b/MPU6050.cpp Fri Sep 12 09:28:14 2014 +0800
@@ -42,28 +42,20 @@
#include "MPU6050.h"
-#define useDebugSerial
+#define LOG(args...) // printf(args)
//instead of using pgmspace.h
typedef const unsigned char prog_uchar;
#define pgm_read_byte_near(x) (*(prog_uchar*)x)
#define pgm_read_byte(x) (*(prog_uchar*)x)
-/** Default constructor, uses default I2C address.
- * @see MPU6050_DEFAULT_ADDRESS
- */
-MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
-{
- devAddr = MPU6050_DEFAULT_ADDRESS;
-}
-
/** Specific address constructor.
* @param address I2C address
* @see MPU6050_DEFAULT_ADDRESS
* @see MPU6050_ADDRESS_AD0_LOW
* @see MPU6050_ADDRESS_AD0_HIGH
*/
-MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
+MPU6050::MPU6050(I2C &i2c, uint8_t address) : i2Cdev(i2c)
{
devAddr = address;
}
@@ -77,19 +69,14 @@
*/
void MPU6050::initialize()
{
-
-#ifdef useDebugSerial
- debugSerial.printf("MPU6050::initialize start\n");
-#endif
+ LOG("MPU6050::initialize start\n");
setClockSource(MPU6050_CLOCK_PLL_XGYRO);
setFullScaleGyroRange(MPU6050_GYRO_FS_250);
setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
-#ifdef useDebugSerial
- debugSerial.printf("MPU6050::initialize end\n");
-#endif
+ LOG("MPU6050::initialize end\n");
}
/** Verify the I2C connection.
@@ -98,13 +85,12 @@
*/
bool MPU6050::testConnection()
{
-#ifdef useDebugSerial
- debugSerial.printf("MPU6050::testConnection start\n");
-#endif
+ LOG("MPU6050::testConnection start\n");
+
uint8_t deviceId = getDeviceID();
-#ifdef useDebugSerial
- debugSerial.printf("DeviceId = %d\n",deviceId);
-#endif
+
+ LOG("DeviceId = %d\n",deviceId);
+
return deviceId == 0x34;
}
@@ -3429,4 +3415,4 @@
void MPU6050::setDMPConfig2(uint8_t config)
{
i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
-}
\ No newline at end of file
+}
--- a/MPU6050.h Wed May 08 00:34:55 2013 +0000
+++ b/MPU6050.h Fri Sep 12 09:28:14 2014 +0800
@@ -48,7 +48,7 @@
#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
-#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
+#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_HIGH
#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
@@ -405,10 +405,8 @@
class MPU6050 {
private:
I2Cdev i2Cdev;
- Serial debugSerial;
public:
- MPU6050();
- MPU6050(uint8_t address);
+ MPU6050(I2C &i2c, uint8_t address = MPU6050_DEFAULT_ADDRESS);
void initialize();
bool testConnection();
@@ -991,4 +989,4 @@
uint8_t buffer[14];
};
-#endif /* _MPU6050_H_ */
\ No newline at end of file
+#endif /* _MPU6050_H_ */
--- a/helper_3dmath.h Wed May 08 00:34:55 2013 +0000
+++ b/helper_3dmath.h Fri Sep 12 09:28:14 2014 +0800
@@ -213,4 +213,4 @@
}
};
-#endif /* _HELPER_3DMATH_H_ */
\ No newline at end of file
+#endif /* _HELPER_3DMATH_H_ */