mbedbidos / MPU6050

MPU6050 library that is kinda beta and will probably never leave beta but it might help some people.

Dependents:   recoge_manzanas recoge_manzanas_2 recoge_manzanas_3 recoge_manzanas_4 ... more

MPU6050.h@3:0e4b60792553, 2018-11-08 (annotated)

Committer:
jiuk
Date:
Thu Nov 08 12:53:16 2018 +0000
Revision:
3:0e4b60792553
Parent:
2:5c63e20c50f3 
funciona accel y gyro falta ver si es necesario filtrar la informacion.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sissors 1:a3366f09e95c 1 /*Use #define MPU6050_ES before you include this file if you have an engineering sample (older EVBs will have them), to find out if you have one, check your accelerometer output.
Sissors 0:6757f7363a9f 2 If it is half of what you expected, and you still are on the correct planet, you got an engineering sample
Sissors 0:6757f7363a9f 3 */
Sissors 0:6757f7363a9f 4
Sissors 0:6757f7363a9f 5
Sissors 0:6757f7363a9f 6 #ifndef MPU6050_H
Sissors 0:6757f7363a9f 7 #define MPU6050_H
Sissors 0:6757f7363a9f 8
Sissors 0:6757f7363a9f 9 /**
Sissors 0:6757f7363a9f 10 * Includes
Sissors 0:6757f7363a9f 11 */
Sissors 0:6757f7363a9f 12 #include "mbed.h"
Sissors 1:a3366f09e95c 13
Sissors 0:6757f7363a9f 14
Sissors 0:6757f7363a9f 15 /**
Sissors 0:6757f7363a9f 16 * Defines
Sissors 0:6757f7363a9f 17 */
Sissors 1:a3366f09e95c 18 #ifndef MPU6050_ADDRESS
jiuk 3:0e4b60792553 19 #define MPU6050_ADDRESS 0x68 // address pin low (GND), default for InvenSense evaluation board
Sissors 1:a3366f09e95c 20 #endif
Sissors 1:a3366f09e95c 21
Sissors 0:6757f7363a9f 22 #ifdef MPU6050_ES
Sissors 0:6757f7363a9f 23 #define DOUBLE_ACCELERO
Sissors 0:6757f7363a9f 24 #endif
Sissors 0:6757f7363a9f 25
Sissors 0:6757f7363a9f 26 /**
Sissors 0:6757f7363a9f 27 * Registers
Sissors 0:6757f7363a9f 28 */
Sissors 0:6757f7363a9f 29 #define MPU6050_CONFIG_REG 0x1A
Sissors 0:6757f7363a9f 30 #define MPU6050_GYRO_CONFIG_REG 0x1B
Sissors 0:6757f7363a9f 31 #define MPU6050_ACCELERO_CONFIG_REG 0x1C
Sissors 0:6757f7363a9f 32
Sissors 0:6757f7363a9f 33 #define MPU6050_INT_PIN_CFG 0x37
Sissors 0:6757f7363a9f 34
Sissors 0:6757f7363a9f 35 #define MPU6050_ACCEL_XOUT_H_REG 0x3B
Sissors 0:6757f7363a9f 36 #define MPU6050_ACCEL_YOUT_H_REG 0x3D
Sissors 0:6757f7363a9f 37 #define MPU6050_ACCEL_ZOUT_H_REG 0x3F
Sissors 0:6757f7363a9f 38
Sissors 0:6757f7363a9f 39 #define MPU6050_TEMP_H_REG 0x41
Sissors 0:6757f7363a9f 40
Sissors 0:6757f7363a9f 41 #define MPU6050_GYRO_XOUT_H_REG 0x43
Sissors 0:6757f7363a9f 42 #define MPU6050_GYRO_YOUT_H_REG 0x45
Sissors 0:6757f7363a9f 43 #define MPU6050_GYRO_ZOUT_H_REG 0x47
Sissors 0:6757f7363a9f 44
Sissors 0:6757f7363a9f 45
Sissors 0:6757f7363a9f 46
Sissors 0:6757f7363a9f 47 #define MPU6050_PWR_MGMT_1_REG 0x6B
Sissors 0:6757f7363a9f 48 #define MPU6050_WHO_AM_I_REG 0x75
Sissors 0:6757f7363a9f 49
Sissors 0:6757f7363a9f 50
Sissors 0:6757f7363a9f 51
Sissors 0:6757f7363a9f 52 /**
Sissors 0:6757f7363a9f 53 * Definitions
Sissors 0:6757f7363a9f 54 */
Sissors 0:6757f7363a9f 55 #define MPU6050_SLP_BIT 6
Sissors 0:6757f7363a9f 56 #define MPU6050_BYPASS_BIT 1
Sissors 0:6757f7363a9f 57
Sissors 0:6757f7363a9f 58 #define MPU6050_BW_256 0
Sissors 0:6757f7363a9f 59 #define MPU6050_BW_188 1
Sissors 0:6757f7363a9f 60 #define MPU6050_BW_98 2
Sissors 0:6757f7363a9f 61 #define MPU6050_BW_42 3
Sissors 0:6757f7363a9f 62 #define MPU6050_BW_20 4
Sissors 0:6757f7363a9f 63 #define MPU6050_BW_10 5
Sissors 0:6757f7363a9f 64 #define MPU6050_BW_5 6
Sissors 0:6757f7363a9f 65
Sissors 0:6757f7363a9f 66 #define MPU6050_ACCELERO_RANGE_2G 0
Sissors 0:6757f7363a9f 67 #define MPU6050_ACCELERO_RANGE_4G 1
Sissors 0:6757f7363a9f 68 #define MPU6050_ACCELERO_RANGE_8G 2
Sissors 0:6757f7363a9f 69 #define MPU6050_ACCELERO_RANGE_16G 3
Sissors 0:6757f7363a9f 70
Sissors 0:6757f7363a9f 71 #define MPU6050_GYRO_RANGE_250 0
Sissors 0:6757f7363a9f 72 #define MPU6050_GYRO_RANGE_500 1
Sissors 0:6757f7363a9f 73 #define MPU6050_GYRO_RANGE_1000 2
Sissors 0:6757f7363a9f 74 #define MPU6050_GYRO_RANGE_2000 3
Sissors 0:6757f7363a9f 75
Sissors 0:6757f7363a9f 76
Sissors 2:5c63e20c50f3 77 /** MPU6050 IMU library.
Sissors 2:5c63e20c50f3 78 *
Sissors 2:5c63e20c50f3 79 * Example:
Sissors 2:5c63e20c50f3 80 * @code
Sissors 2:5c63e20c50f3 81 * Later, maybe
Sissors 2:5c63e20c50f3 82 * @endcode
Sissors 2:5c63e20c50f3 83 */
Sissors 0:6757f7363a9f 84 class MPU6050 {
Sissors 0:6757f7363a9f 85 public:
Sissors 0:6757f7363a9f 86 /**
Sissors 0:6757f7363a9f 87 * Constructor.
Sissors 0:6757f7363a9f 88 *
Sissors 0:6757f7363a9f 89 * Sleep mode of MPU6050 is immediatly disabled
Sissors 0:6757f7363a9f 90 *
Sissors 0:6757f7363a9f 91 * @param sda - mbed pin to use for the SDA I2C line.
Sissors 0:6757f7363a9f 92 * @param scl - mbed pin to use for the SCL I2C line.
Sissors 0:6757f7363a9f 93 */
Sissors 0:6757f7363a9f 94 MPU6050(PinName sda, PinName scl);
Sissors 0:6757f7363a9f 95
Sissors 0:6757f7363a9f 96
Sissors 0:6757f7363a9f 97 /**
Sissors 0:6757f7363a9f 98 * Tests the I2C connection by reading the WHO_AM_I register.
Sissors 0:6757f7363a9f 99 *
Sissors 0:6757f7363a9f 100 * @return True for a working connection, false for an error
Sissors 0:6757f7363a9f 101 */
Sissors 0:6757f7363a9f 102 bool testConnection( void );
Sissors 0:6757f7363a9f 103
Sissors 0:6757f7363a9f 104 /**
Sissors 0:6757f7363a9f 105 * Sets the bandwidth of the digital low-pass filter
Sissors 0:6757f7363a9f 106 *
Sissors 0:6757f7363a9f 107 * Macros: MPU6050_BW_256 - MPU6050_BW_188 - MPU6050_BW_98 - MPU6050_BW_42 - MPU6050_BW_20 - MPU6050_BW_10 - MPU6050_BW_5
Sissors 0:6757f7363a9f 108 * Last number is the gyro's BW in Hz (accelero BW is virtually identical)
Sissors 0:6757f7363a9f 109 *
Sissors 0:6757f7363a9f 110 * @param BW - The three bits that set the bandwidth (use the predefined macros)
Sissors 0:6757f7363a9f 111 */
Sissors 0:6757f7363a9f 112 void setBW( char BW );
Sissors 0:6757f7363a9f 113
Sissors 0:6757f7363a9f 114 /**
Sissors 0:6757f7363a9f 115 * Sets the auxiliary I2C bus in bypass mode to read the sensors behind the MPU6050 (useful for eval board, otherwise just connect them to primary I2C bus)
Sissors 0:6757f7363a9f 116 *
Sissors 0:6757f7363a9f 117 * @param state - Enables/disables the I2C bypass mode
Sissors 0:6757f7363a9f 118 */
Sissors 0:6757f7363a9f 119 void setI2CBypass ( bool state );
Sissors 0:6757f7363a9f 120
Sissors 0:6757f7363a9f 121 /**
Sissors 0:6757f7363a9f 122 * Sets the Accelero full-scale range
Sissors 0:6757f7363a9f 123 *
Sissors 0:6757f7363a9f 124 * Macros: MPU6050_ACCELERO_RANGE_2G - MPU6050_ACCELERO_RANGE_4G - MPU6050_ACCELERO_RANGE_8G - MPU6050_ACCELERO_RANGE_16G
Sissors 0:6757f7363a9f 125 *
Sissors 0:6757f7363a9f 126 * @param range - The two bits that set the full-scale range (use the predefined macros)
Sissors 0:6757f7363a9f 127 */
Sissors 0:6757f7363a9f 128 void setAcceleroRange(char range);
Sissors 0:6757f7363a9f 129
Sissors 0:6757f7363a9f 130 /**
Sissors 0:6757f7363a9f 131 * Reads the accelero x-axis.
Sissors 0:6757f7363a9f 132 *
Sissors 0:6757f7363a9f 133 * @return 16-bit signed integer x-axis accelero data
Sissors 0:6757f7363a9f 134 */
Sissors 0:6757f7363a9f 135 int getAcceleroRawX( void );
Sissors 0:6757f7363a9f 136
Sissors 0:6757f7363a9f 137 /**
Sissors 0:6757f7363a9f 138 * Reads the accelero y-axis.
Sissors 0:6757f7363a9f 139 *
Sissors 0:6757f7363a9f 140 * @return 16-bit signed integer y-axis accelero data
Sissors 0:6757f7363a9f 141 */
Sissors 0:6757f7363a9f 142 int getAcceleroRawY( void );
Sissors 0:6757f7363a9f 143
Sissors 0:6757f7363a9f 144 /**
Sissors 0:6757f7363a9f 145 * Reads the accelero z-axis.
Sissors 0:6757f7363a9f 146 *
Sissors 0:6757f7363a9f 147 * @return 16-bit signed integer z-axis accelero data
Sissors 0:6757f7363a9f 148 */
Sissors 0:6757f7363a9f 149 int getAcceleroRawZ( void );
Sissors 0:6757f7363a9f 150
Sissors 0:6757f7363a9f 151 /**
Sissors 0:6757f7363a9f 152 * Reads all accelero data.
Sissors 0:6757f7363a9f 153 *
Sissors 0:6757f7363a9f 154 * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 155 */
Sissors 0:6757f7363a9f 156 void getAcceleroRaw( int *data );
Sissors 0:6757f7363a9f 157
Sissors 0:6757f7363a9f 158 /**
Sissors 0:6757f7363a9f 159 * Reads all accelero data, gives the acceleration in m/s2
Sissors 0:6757f7363a9f 160 *
Sissors 0:6757f7363a9f 161 * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
Sissors 0:6757f7363a9f 162 *
Sissors 0:6757f7363a9f 163 * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 164 */
Sissors 0:6757f7363a9f 165 void getAccelero( float *data );
Sissors 0:6757f7363a9f 166
Sissors 0:6757f7363a9f 167 /**
Sissors 0:6757f7363a9f 168 * Sets the Gyro full-scale range
Sissors 0:6757f7363a9f 169 *
Sissors 0:6757f7363a9f 170 * Macros: MPU6050_GYRO_RANGE_250 - MPU6050_GYRO_RANGE_500 - MPU6050_GYRO_RANGE_1000 - MPU6050_GYRO_RANGE_2000
Sissors 0:6757f7363a9f 171 *
Sissors 0:6757f7363a9f 172 * @param range - The two bits that set the full-scale range (use the predefined macros)
Sissors 0:6757f7363a9f 173 */
Sissors 0:6757f7363a9f 174 void setGyroRange(char range);
Sissors 0:6757f7363a9f 175
Sissors 0:6757f7363a9f 176 /**
Sissors 0:6757f7363a9f 177 * Reads the gyro x-axis.
Sissors 0:6757f7363a9f 178 *
Sissors 0:6757f7363a9f 179 * @return 16-bit signed integer x-axis gyro data
Sissors 0:6757f7363a9f 180 */
Sissors 0:6757f7363a9f 181 int getGyroRawX( void );
Sissors 0:6757f7363a9f 182
Sissors 0:6757f7363a9f 183 /**
Sissors 0:6757f7363a9f 184 * Reads the gyro y-axis.
Sissors 0:6757f7363a9f 185 *
Sissors 0:6757f7363a9f 186 * @return 16-bit signed integer y-axis gyro data
Sissors 0:6757f7363a9f 187 */
Sissors 0:6757f7363a9f 188 int getGyroRawY( void );
Sissors 0:6757f7363a9f 189
Sissors 0:6757f7363a9f 190 /**
Sissors 0:6757f7363a9f 191 * Reads the gyro z-axis.
Sissors 0:6757f7363a9f 192 *
Sissors 0:6757f7363a9f 193 * @return 16-bit signed integer z-axis gyro data
Sissors 0:6757f7363a9f 194 */
Sissors 0:6757f7363a9f 195 int getGyroRawZ( void );
Sissors 0:6757f7363a9f 196
Sissors 0:6757f7363a9f 197 /**
Sissors 0:6757f7363a9f 198 * Reads all gyro data.
Sissors 0:6757f7363a9f 199 *
Sissors 0:6757f7363a9f 200 * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 201 */
Sissors 0:6757f7363a9f 202 void getGyroRaw( int *data );
Sissors 0:6757f7363a9f 203
Sissors 0:6757f7363a9f 204 /**
Sissors 0:6757f7363a9f 205 * Reads all gyro data, gives the gyro in rad/s
Sissors 0:6757f7363a9f 206 *
Sissors 0:6757f7363a9f 207 * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
Sissors 0:6757f7363a9f 208 *
Sissors 0:6757f7363a9f 209 * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 210 */
Sissors 0:6757f7363a9f 211 void getGyro( float *data);
Sissors 0:6757f7363a9f 212
Sissors 0:6757f7363a9f 213 /**
Sissors 0:6757f7363a9f 214 * Reads temperature data.
Sissors 0:6757f7363a9f 215 *
Sissors 0:6757f7363a9f 216 * @return 16 bit signed integer with the raw temperature register value
Sissors 0:6757f7363a9f 217 */
Sissors 0:6757f7363a9f 218 int getTempRaw( void );
Sissors 0:6757f7363a9f 219
Sissors 0:6757f7363a9f 220 /**
Sissors 0:6757f7363a9f 221 * Returns current temperature
Sissors 0:6757f7363a9f 222 *
Sissors 0:6757f7363a9f 223 * @returns float with the current temperature
Sissors 0:6757f7363a9f 224 */
Sissors 0:6757f7363a9f 225 float getTemp( void );
Sissors 0:6757f7363a9f 226
Sissors 0:6757f7363a9f 227 /**
Sissors 0:6757f7363a9f 228 * Sets the sleep mode of the MPU6050
Sissors 0:6757f7363a9f 229 *
Sissors 0:6757f7363a9f 230 * @param state - true for sleeping, false for wake up
Sissors 0:6757f7363a9f 231 */
Sissors 0:6757f7363a9f 232 void setSleepMode( bool state );
Sissors 0:6757f7363a9f 233
Sissors 0:6757f7363a9f 234
Sissors 0:6757f7363a9f 235 /**
Sissors 0:6757f7363a9f 236 * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU.
Sissors 0:6757f7363a9f 237 *
Sissors 0:6757f7363a9f 238 * @param adress - register address to write to
Sissors 0:6757f7363a9f 239 * @param data - data to write
Sissors 0:6757f7363a9f 240 */
Sissors 0:6757f7363a9f 241 void write( char address, char data);
Sissors 0:6757f7363a9f 242
Sissors 0:6757f7363a9f 243 /**
Sissors 0:6757f7363a9f 244 * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU.
Sissors 0:6757f7363a9f 245 *
Sissors 0:6757f7363a9f 246 * @param adress - register address to write to
Sissors 0:6757f7363a9f 247 * @return - data from the register specified by RA
Sissors 0:6757f7363a9f 248 */
Sissors 0:6757f7363a9f 249 char read( char adress);
Sissors 0:6757f7363a9f 250
Sissors 0:6757f7363a9f 251 /**
Sissors 0:6757f7363a9f 252 * Read multtiple regigsters from the device, more efficient than using multiple normal reads.
Sissors 0:6757f7363a9f 253 *
Sissors 0:6757f7363a9f 254 * @param adress - register address to write to
Sissors 0:6757f7363a9f 255 * @param length - number of bytes to read
Sissors 0:6757f7363a9f 256 * @param data - pointer where the data needs to be written to
Sissors 0:6757f7363a9f 257 */
Sissors 0:6757f7363a9f 258 void read( char adress, char *data, int length);
Sissors 0:6757f7363a9f 259
Sissors 0:6757f7363a9f 260
Sissors 0:6757f7363a9f 261
Sissors 0:6757f7363a9f 262
Sissors 0:6757f7363a9f 263 private:
Sissors 0:6757f7363a9f 264
Sissors 1:a3366f09e95c 265 I2C connection;
Sissors 0:6757f7363a9f 266 char currentAcceleroRange;
Sissors 0:6757f7363a9f 267 char currentGyroRange;
Sissors 0:6757f7363a9f 268
Sissors 0:6757f7363a9f 269
Sissors 0:6757f7363a9f 270 };
Sissors 0:6757f7363a9f 271
Sissors 0:6757f7363a9f 272
Sissors 0:6757f7363a9f 273
Sissors 0:6757f7363a9f 274 #endif