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.cpp@0:6757f7363a9f, 2012-07-11 (annotated)

Committer:
Sissors
Date:
Wed Jul 11 12:26:47 2012 +0000
Revision:
0:6757f7363a9f
Child:
1:a3366f09e95c
[mbed] converted /Quadrocopter/MPU6050

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sissors 0:6757f7363a9f 1 /**
Sissors 0:6757f7363a9f 2 * Includes
Sissors 0:6757f7363a9f 3 */
Sissors 0:6757f7363a9f 4 #include "MPU6050.h"
Sissors 0:6757f7363a9f 5
Sissors 0:6757f7363a9f 6 MPU6050::MPU6050(PinName sda, PinName scl) : connection(sda, scl) {
Sissors 0:6757f7363a9f 7 this->setSleepMode(false);
Sissors 0:6757f7363a9f 8
Sissors 0:6757f7363a9f 9 //Initializations:
Sissors 0:6757f7363a9f 10 currentGyroRange = 0;
Sissors 0:6757f7363a9f 11 currentAcceleroRange=0;
Sissors 0:6757f7363a9f 12 }
Sissors 0:6757f7363a9f 13
Sissors 0:6757f7363a9f 14 //--------------------------------------------------
Sissors 0:6757f7363a9f 15 //-------------------General------------------------
Sissors 0:6757f7363a9f 16 //--------------------------------------------------
Sissors 0:6757f7363a9f 17
Sissors 0:6757f7363a9f 18 void MPU6050::write(char address, char data) {
Sissors 0:6757f7363a9f 19 char temp[2];
Sissors 0:6757f7363a9f 20 temp[0]=address;
Sissors 0:6757f7363a9f 21 temp[1]=data;
Sissors 0:6757f7363a9f 22
Sissors 0:6757f7363a9f 23 connection.write(MPU6050_ADDRESS * 2,temp,2);
Sissors 0:6757f7363a9f 24 }
Sissors 0:6757f7363a9f 25
Sissors 0:6757f7363a9f 26 char MPU6050::read(char address) {
Sissors 0:6757f7363a9f 27 char retval;
Sissors 0:6757f7363a9f 28 connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
Sissors 0:6757f7363a9f 29 connection.read(MPU6050_ADDRESS * 2, &retval, 1);
Sissors 0:6757f7363a9f 30 return retval;
Sissors 0:6757f7363a9f 31 }
Sissors 0:6757f7363a9f 32
Sissors 0:6757f7363a9f 33 void MPU6050::read(char address, char *data, int length) {
Sissors 0:6757f7363a9f 34 connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
Sissors 0:6757f7363a9f 35 connection.read(MPU6050_ADDRESS * 2, data, length);
Sissors 0:6757f7363a9f 36 }
Sissors 0:6757f7363a9f 37
Sissors 0:6757f7363a9f 38 void MPU6050::setSleepMode(bool state) {
Sissors 0:6757f7363a9f 39 char temp;
Sissors 0:6757f7363a9f 40 temp = this->read(MPU6050_PWR_MGMT_1_REG);
Sissors 0:6757f7363a9f 41 if (state == true)
Sissors 0:6757f7363a9f 42 temp |= 1<<MPU6050_SLP_BIT;
Sissors 0:6757f7363a9f 43 if (state == false)
Sissors 0:6757f7363a9f 44 temp &= ~(1<<MPU6050_SLP_BIT);
Sissors 0:6757f7363a9f 45 this->write(MPU6050_PWR_MGMT_1_REG, temp);
Sissors 0:6757f7363a9f 46 }
Sissors 0:6757f7363a9f 47
Sissors 0:6757f7363a9f 48 bool MPU6050::testConnection( void ) {
Sissors 0:6757f7363a9f 49 char temp;
Sissors 0:6757f7363a9f 50 temp = this->read(MPU6050_WHO_AM_I_REG);
Sissors 0:6757f7363a9f 51 return (temp == (MPU6050_ADDRESS & 0xFE));
Sissors 0:6757f7363a9f 52 }
Sissors 0:6757f7363a9f 53
Sissors 0:6757f7363a9f 54 void MPU6050::setBW(char BW) {
Sissors 0:6757f7363a9f 55 char temp;
Sissors 0:6757f7363a9f 56 BW=BW & 0x07;
Sissors 0:6757f7363a9f 57 temp = this->read(MPU6050_CONFIG_REG);
Sissors 0:6757f7363a9f 58 temp &= 0xF8;
Sissors 0:6757f7363a9f 59 temp = temp + BW;
Sissors 0:6757f7363a9f 60 this->write(MPU6050_CONFIG_REG, temp);
Sissors 0:6757f7363a9f 61 }
Sissors 0:6757f7363a9f 62
Sissors 0:6757f7363a9f 63 void MPU6050::setI2CBypass(bool state) {
Sissors 0:6757f7363a9f 64 char temp;
Sissors 0:6757f7363a9f 65 temp = this->read(MPU6050_INT_PIN_CFG);
Sissors 0:6757f7363a9f 66 if (state == true)
Sissors 0:6757f7363a9f 67 temp |= 1<<MPU6050_BYPASS_BIT;
Sissors 0:6757f7363a9f 68 if (state == false)
Sissors 0:6757f7363a9f 69 temp &= ~(1<<MPU6050_BYPASS_BIT);
Sissors 0:6757f7363a9f 70 this->write(MPU6050_INT_PIN_CFG, temp);
Sissors 0:6757f7363a9f 71 }
Sissors 0:6757f7363a9f 72
Sissors 0:6757f7363a9f 73 //--------------------------------------------------
Sissors 0:6757f7363a9f 74 //----------------Accelerometer---------------------
Sissors 0:6757f7363a9f 75 //--------------------------------------------------
Sissors 0:6757f7363a9f 76
Sissors 0:6757f7363a9f 77 void MPU6050::setAcceleroRange( char range ) {
Sissors 0:6757f7363a9f 78 char temp;
Sissors 0:6757f7363a9f 79 range = range & 0x03;
Sissors 0:6757f7363a9f 80 currentAcceleroRange = range;
Sissors 0:6757f7363a9f 81
Sissors 0:6757f7363a9f 82 temp = this->read(MPU6050_ACCELERO_CONFIG_REG);
Sissors 0:6757f7363a9f 83 temp &= ~(3<<3);
Sissors 0:6757f7363a9f 84 temp = temp + (range<<3);
Sissors 0:6757f7363a9f 85 this->write(MPU6050_ACCELERO_CONFIG_REG, temp);
Sissors 0:6757f7363a9f 86 }
Sissors 0:6757f7363a9f 87
Sissors 0:6757f7363a9f 88 int MPU6050::getAcceleroRawX( void ) {
Sissors 0:6757f7363a9f 89 short retval;
Sissors 0:6757f7363a9f 90 char data[2];
Sissors 0:6757f7363a9f 91 this->read(MPU6050_ACCEL_XOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 92 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 93 return (int)retval;
Sissors 0:6757f7363a9f 94 }
Sissors 0:6757f7363a9f 95
Sissors 0:6757f7363a9f 96 int MPU6050::getAcceleroRawY( void ) {
Sissors 0:6757f7363a9f 97 short retval;
Sissors 0:6757f7363a9f 98 char data[2];
Sissors 0:6757f7363a9f 99 this->read(MPU6050_ACCEL_YOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 100 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 101 return (int)retval;
Sissors 0:6757f7363a9f 102 }
Sissors 0:6757f7363a9f 103
Sissors 0:6757f7363a9f 104 int MPU6050::getAcceleroRawZ( void ) {
Sissors 0:6757f7363a9f 105 short retval;
Sissors 0:6757f7363a9f 106 char data[2];
Sissors 0:6757f7363a9f 107 this->read(MPU6050_ACCEL_ZOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 108 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 109 return (int)retval;
Sissors 0:6757f7363a9f 110 }
Sissors 0:6757f7363a9f 111
Sissors 0:6757f7363a9f 112 void MPU6050::getAcceleroRaw( int *data ) {
Sissors 0:6757f7363a9f 113 char temp[6];
Sissors 0:6757f7363a9f 114 this->read(MPU6050_ACCEL_XOUT_H_REG, temp, 6);
Sissors 0:6757f7363a9f 115 data[0] = (int)(short)((temp[0]<<8) + temp[1]);
Sissors 0:6757f7363a9f 116 data[1] = (int)(short)((temp[2]<<8) + temp[3]);
Sissors 0:6757f7363a9f 117 data[2] = (int)(short)((temp[4]<<8) + temp[5]);
Sissors 0:6757f7363a9f 118 }
Sissors 0:6757f7363a9f 119
Sissors 0:6757f7363a9f 120 void MPU6050::getAccelero( float *data ) {
Sissors 0:6757f7363a9f 121 int temp[3];
Sissors 0:6757f7363a9f 122 this->getAcceleroRaw(temp);
Sissors 0:6757f7363a9f 123 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_2G) {
Sissors 0:6757f7363a9f 124 data[0]=(float)temp[0] / 16384.0 * 9.81;
Sissors 0:6757f7363a9f 125 data[1]=(float)temp[1] / 16384.0 * 9.81;
Sissors 0:6757f7363a9f 126 data[2]=(float)temp[2] / 16384.0 * 9.81;
Sissors 0:6757f7363a9f 127 }
Sissors 0:6757f7363a9f 128 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_4G){
Sissors 0:6757f7363a9f 129 data[0]=(float)temp[0] / 8192.0 * 9.81;
Sissors 0:6757f7363a9f 130 data[1]=(float)temp[1] / 8192.0 * 9.81;
Sissors 0:6757f7363a9f 131 data[2]=(float)temp[2] / 8192.0 * 9.81;
Sissors 0:6757f7363a9f 132 }
Sissors 0:6757f7363a9f 133 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_8G){
Sissors 0:6757f7363a9f 134 data[0]=(float)temp[0] / 4096.0 * 9.81;
Sissors 0:6757f7363a9f 135 data[1]=(float)temp[1] / 4096.0 * 9.81;
Sissors 0:6757f7363a9f 136 data[2]=(float)temp[2] / 4096.0 * 9.81;
Sissors 0:6757f7363a9f 137 }
Sissors 0:6757f7363a9f 138 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_16G){
Sissors 0:6757f7363a9f 139 data[0]=(float)temp[0] / 2048.0 * 9.81;
Sissors 0:6757f7363a9f 140 data[1]=(float)temp[1] / 2048.0 * 9.81;
Sissors 0:6757f7363a9f 141 data[2]=(float)temp[2] / 2048.0 * 9.81;
Sissors 0:6757f7363a9f 142 }
Sissors 0:6757f7363a9f 143
Sissors 0:6757f7363a9f 144 #ifdef DOUBLE_ACCELERO
Sissors 0:6757f7363a9f 145 data[0]*=2;
Sissors 0:6757f7363a9f 146 data[1]*=2;
Sissors 0:6757f7363a9f 147 data[2]*=2;
Sissors 0:6757f7363a9f 148 #endif
Sissors 0:6757f7363a9f 149 }
Sissors 0:6757f7363a9f 150
Sissors 0:6757f7363a9f 151 //--------------------------------------------------
Sissors 0:6757f7363a9f 152 //------------------Gyroscope-----------------------
Sissors 0:6757f7363a9f 153 //--------------------------------------------------
Sissors 0:6757f7363a9f 154 void MPU6050::setGyroRange( char range ) {
Sissors 0:6757f7363a9f 155 char temp;
Sissors 0:6757f7363a9f 156 currentGyroRange = range;
Sissors 0:6757f7363a9f 157 range = range & 0x03;
Sissors 0:6757f7363a9f 158 temp = this->read(MPU6050_GYRO_CONFIG_REG);
Sissors 0:6757f7363a9f 159 temp &= ~(3<<3);
Sissors 0:6757f7363a9f 160 temp = temp + range<<3;
Sissors 0:6757f7363a9f 161 this->write(MPU6050_GYRO_CONFIG_REG, temp);
Sissors 0:6757f7363a9f 162 }
Sissors 0:6757f7363a9f 163
Sissors 0:6757f7363a9f 164 int MPU6050::getGyroRawX( void ) {
Sissors 0:6757f7363a9f 165 short retval;
Sissors 0:6757f7363a9f 166 char data[2];
Sissors 0:6757f7363a9f 167 this->read(MPU6050_GYRO_XOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 168 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 169 return (int)retval;
Sissors 0:6757f7363a9f 170 }
Sissors 0:6757f7363a9f 171
Sissors 0:6757f7363a9f 172 int MPU6050::getGyroRawY( void ) {
Sissors 0:6757f7363a9f 173 short retval;
Sissors 0:6757f7363a9f 174 char data[2];
Sissors 0:6757f7363a9f 175 this->read(MPU6050_GYRO_YOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 176 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 177 return (int)retval;
Sissors 0:6757f7363a9f 178 }
Sissors 0:6757f7363a9f 179
Sissors 0:6757f7363a9f 180 int MPU6050::getGyroRawZ( void ) {
Sissors 0:6757f7363a9f 181 short retval;
Sissors 0:6757f7363a9f 182 char data[2];
Sissors 0:6757f7363a9f 183 this->read(MPU6050_GYRO_ZOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 184 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 185 return (int)retval;
Sissors 0:6757f7363a9f 186 }
Sissors 0:6757f7363a9f 187
Sissors 0:6757f7363a9f 188 void MPU6050::getGyroRaw( int *data ) {
Sissors 0:6757f7363a9f 189 char temp[6];
Sissors 0:6757f7363a9f 190 this->read(MPU6050_GYRO_XOUT_H_REG, temp, 6);
Sissors 0:6757f7363a9f 191 data[0] = (int)(short)((temp[0]<<8) + temp[1]);
Sissors 0:6757f7363a9f 192 data[1] = (int)(short)((temp[2]<<8) + temp[3]);
Sissors 0:6757f7363a9f 193 data[2] = (int)(short)((temp[4]<<8) + temp[5]);
Sissors 0:6757f7363a9f 194 }
Sissors 0:6757f7363a9f 195
Sissors 0:6757f7363a9f 196 void MPU6050::getGyro( float *data ) {
Sissors 0:6757f7363a9f 197 int temp[3];
Sissors 0:6757f7363a9f 198 this->getGyroRaw(temp);
Sissors 0:6757f7363a9f 199 if (currentAcceleroRange == MPU6050_GYRO_RANGE_250) {
Sissors 0:6757f7363a9f 200 data[0]=(float)temp[0] / 7505.7;
Sissors 0:6757f7363a9f 201 data[1]=(float)temp[1] / 7505.7;
Sissors 0:6757f7363a9f 202 data[2]=(float)temp[2] / 7505.7;
Sissors 0:6757f7363a9f 203 }
Sissors 0:6757f7363a9f 204 if (currentAcceleroRange == MPU6050_GYRO_RANGE_500){
Sissors 0:6757f7363a9f 205 data[0]=(float)temp[0] / 3752.9;
Sissors 0:6757f7363a9f 206 data[1]=(float)temp[1] / 3752.9;
Sissors 0:6757f7363a9f 207 data[2]=(float)temp[2] / 3752.9;
Sissors 0:6757f7363a9f 208 }
Sissors 0:6757f7363a9f 209 if (currentAcceleroRange == MPU6050_GYRO_RANGE_1000){
Sissors 0:6757f7363a9f 210 data[0]=(float)temp[0] / 1879.3;;
Sissors 0:6757f7363a9f 211 data[1]=(float)temp[1] / 1879.3;
Sissors 0:6757f7363a9f 212 data[2]=(float)temp[2] / 1879.3;
Sissors 0:6757f7363a9f 213 }
Sissors 0:6757f7363a9f 214 if (currentAcceleroRange == MPU6050_GYRO_RANGE_2000){
Sissors 0:6757f7363a9f 215 data[0]=(float)temp[0] / 939.7;
Sissors 0:6757f7363a9f 216 data[1]=(float)temp[1] / 939.7;
Sissors 0:6757f7363a9f 217 data[2]=(float)temp[2] / 939.7;
Sissors 0:6757f7363a9f 218 }
Sissors 0:6757f7363a9f 219 }
Sissors 0:6757f7363a9f 220 //--------------------------------------------------
Sissors 0:6757f7363a9f 221 //-------------------Temperature--------------------
Sissors 0:6757f7363a9f 222 //--------------------------------------------------
Sissors 0:6757f7363a9f 223 int MPU6050::getTempRaw( void ) {
Sissors 0:6757f7363a9f 224 short retval;
Sissors 0:6757f7363a9f 225 char data[2];
Sissors 0:6757f7363a9f 226 this->read(MPU6050_TEMP_H_REG, data, 2);
Sissors 0:6757f7363a9f 227 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 228 return (int)retval;
Sissors 0:6757f7363a9f 229 }
Sissors 0:6757f7363a9f 230
Sissors 0:6757f7363a9f 231 float MPU6050::getTemp( void ) {
Sissors 0:6757f7363a9f 232 float retval;
Sissors 0:6757f7363a9f 233 retval=(float)this->getTempRaw();
Sissors 0:6757f7363a9f 234 retval=(retval+521.0)/340.0+35.0;
Sissors 0:6757f7363a9f 235 return retval;
Sissors 0:6757f7363a9f 236 }
Sissors 0:6757f7363a9f 237