Diff: MPU6050.h

Revision:

0:f4905c7ef2ce

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.h	Thu Oct 18 16:53:29 2018 +0000
@@ -0,0 +1,520 @@
+/**
+ * @author Crispin Mukalay
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * MPU-6050 triple-axis MEMS gyroscope and triple-axis MEMS accelerometer.
+ *
+ * Datasheet:
+ *
+ * https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf
+ */
+
+#ifndef MPU6050_H
+#define MPU6050_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define MPU6050_I2C_ADDRESS 0x68 //7-bit address of slave device (MPU6050).
+
+//-----------
+// Registers
+//-----------
+#define SELF_TEST_X_REG        0x0D
+#define SELF_TEST_Y_REG        0x0E
+#define SELF_TEST_Z_REG        0x0F
+#define SELF_TEST_A_REG        0x10
+#define SMPLRT_DIV_REG         0x19
+#define CONFIG_REG             0x1A
+#define GYRO_CONFIG_REG        0x1B
+#define ACCEL_CONFIG_REG       0x1C
+#define FIFO_EN_REG            0x23
+#define I2C_MST_CTRL_REG       0x24
+#define I2C_SLV0_ADDR_REG      0x25
+#define I2C_SLV0_REG           0x26
+#define I2C_SLV0_CTRL_REG      0x27
+#define I2C_SLV1_ADDR_REG      0x28
+#define I2C_SLV1_REG           0x29
+#define I2C_SLV1_CTRL_REG      0x2A
+#define I2C_SLV2_ADDR_REG      0x2B
+#define I2C_SLV2_REG           0x2C
+#define I2C_SLV2_CTRL_REG      0x2D
+#define I2C_SLV3_ADDR_REG      0x2E
+#define I2C_SLV3_REG           0x2F
+#define I2C_SLV3_CTRL_REG      0x30
+#define I2C_SLV4_ADDR_REG      0x31
+#define I2C_SLV4_REG           0x32
+#define I2C_SLV4_DO_REG        0x33
+#define I2C_SLV4_CTRL_REG      0x34
+#define I2C_SLV4_DI_REG        0x35
+#define I2C_MST_STATUS_REG     0x36
+#define INT_PIN_CFG_REG        0x37
+#define INT_ENABLE_REG         0x38
+#define INT_STATUS_REG         0x3A
+#define ACCEL_XOUT_H_REG       0x3B
+#define ACCEL_XOUT_L_REG       0x3C
+#define ACCEL_YOUT_H_REG       0x3D
+#define ACCEL_YOUT_L_REG       0x3E
+#define ACCEL_ZOUT_H_REG       0x3F
+#define ACCEL_ZOUT_L_REG       0x40
+#define TEMP_OUT_H_REG         0x41
+#define TEMP_OUT_L_REG         0x42
+#define GYRO_XOUT_H_REG        0x43
+#define GYRO_XOUT_L_REG        0x44
+#define GYRO_YOUT_H_REG        0x45
+#define GYRO_YOUT_L_REG        0x46
+#define GYRO_ZOUT_H_REG        0x47
+#define GYRO_ZOUT_L_REG        0x48
+#define EXT_SENS_DATA_00_REG   0x49
+#define EXT_SENS_DATA_01_REG   0x4A
+#define EXT_SENS_DATA_02_REG   0x4B
+#define EXT_SENS_DATA_03_REG   0x4C
+#define EXT_SENS_DATA_04_REG   0x4D
+#define EXT_SENS_DATA_05_REG   0x4E
+#define EXT_SENS_DATA_06_REG   0x4F
+#define EXT_SENS_DATA_07_REG   0x50
+#define EXT_SENS_DATA_08_REG   0x51
+#define EXT_SENS_DATA_09_REG   0x52
+#define EXT_SENS_DATA_10_REG   0x53
+#define EXT_SENS_DATA_11_REG   0x54
+#define EXT_SENS_DATA_12_REG   0x55
+#define EXT_SENS_DATA_13_REG   0x56
+#define EXT_SENS_DATA_14_REG   0x57
+#define EXT_SENS_DATA_15_REG   0x58
+#define EXT_SENS_DATA_16_REG   0x59
+#define EXT_SENS_DATA_17_REG   0x5A
+#define EXT_SENS_DATA_18_REG   0x5B
+#define EXT_SENS_DATA_19_REG   0x5C
+#define EXT_SENS_DATA_20_REG   0x5D
+#define EXT_SENS_DATA_21_REG   0x5E
+#define EXT_SENS_DATA_22_REG   0x5F
+#define EXT_SENS_DATA_23_REG   0x60
+#define I2C_SLV0_DO_REG        0x63
+#define I2C_SLV1_DO_REG        0x64
+#define I2C_SLV2_DO_REG        0x65
+#define I2C_SLV3_DO_REG        0x66
+#define I2C_MST_DELAY_CTRL_REG 0x67
+#define SIGNAL_PATH_RESET_REG  0x68
+#define USER_CTRL_REG          0x6A
+#define PWR_MGMT_1_REG         0x6B
+#define PWR_MGMT_2_REG         0x6C
+#define FIFO_COUNTH_REG        0x72
+#define FIFO_COUNTL_REG        0x73
+#define FIFO_R_W_REG           0x74
+#define WHO_AM_I_REG           0x75
+
+//----------------------------------------------
+// External Frame Synchronization Configuration
+//----------------------------------------------
+#define FSYNC_DISABLE       0x00
+#define FSYNC_TEMP_OUT_L    0x01
+#define FSYNC_GYRO_XOUT_L   0x02
+#define FSYNC_GYRO_YOUT_L   0x03
+#define FSYNC_GYRO_ZOUT_L   0x04
+#define FSYNC_ACCEL_XOUT_L  0x05
+#define FSYNC_ACCEL_YOUT_L  0x06
+#define FSYNC_ACCEL_ZOUT_L  0x07
+
+//---------------------------------------
+// Digital Low Pass Filter Configuration
+//---------------------------------------
+#define DLPF_260_256    0x00
+#define DLPF_184_188    0x01
+#define DLPF_94_98      0x02
+#define DLPF_44_42      0x03
+#define DLPF_21_20      0x04
+#define DLPF_10_10      0x05
+#define DLPF_5_5        0x06
+
+//------------------------------------
+// Gyroscope Selft-Test Configuration
+//------------------------------------
+#define GFS_DISABLE     0x00
+#define GFS_250dps      0x00
+#define GFS_500dps      0x08
+#define GFS_1000dps     0x10
+#define GFS_2000dps     0x18
+#define GYRO_ST_ON      0xE0
+#define GYRO_ST_OFF     0x00
+
+
+//----------------------------------------
+// Accelerometer Selft-Test Configuration
+//----------------------------------------
+#define AFS_DSIABLE     0x00
+#define AFS_2g          0x00
+#define AFS_4g          0x08
+#define AFS_8g          0x10
+#define AFS_16g         0x18
+#define ACC_ST_ON       0xE0
+#define ACC_ST_OFF      0x00
+
+//----------------------------------------------
+// Sensor Measurements To Load In FIFO Register
+//----------------------------------------------
+#define TEMP_FIFO_EN                0x80
+#define GYRO_FIFO_EN                0x70
+#define ACCEL_FIFO_EN               0x08
+#define SLV2_FIFO_EN                0x04
+#define SLV1_FIFO_EN                0x02
+#define SLV0_FIFO_EN                0x01
+#define SLVZ_FIFO_EN                0x07
+#define TEMPGYROACCEL_FIFO_EN       0xF8
+#define GYROACCEL_FIFO_EN           0x78
+#define TEMPGYROACCELSLVZ_FIFO_EN   0xFF
+
+//---------------------------
+// Signal Path Reset Values
+//---------------------------
+#define GYRRO_RESET     0x04
+#define ACCEL_RESET     0x02
+#define TEMP_RESET      0x01
+#define ALL_RESET       0x07
+
+//-------------------------------
+// User Control settings
+//-------------------------------
+#define FIFO_EN             0x40
+#define FIFO_DIS            0x00
+#define I2C_MST_EN          0x60
+#define I2C_MST_DIS         0x00
+#define FIFO_RESET          0x04
+#define I2C_MST_RESET       0x02
+#define SIG_COND_RESET      0x41
+
+//---------------------------------
+// Power Management Setings One
+//---------------------------------
+#define DEVICE_RESET        0x80
+#define SEEP                0x40
+#define CYCLE               0x20
+#define TEMP_DIS            0x08
+#define INT_8MHz_OSC        0x00
+#define PLL_GYROX_REF       0x01
+#define PLL_GYROY_REF       0x02
+#define PLL_GYROZ_REF       0x03
+#define PLL_EXT_32KHz_REF   0x04
+#define PLL_EXT_19KHz_REF   0x05
+
+//---------------------------------
+// Power Management Settings Two
+//---------------------------------
+#define LP_WAKE_CTRL_1Hz    0x00
+#define LP_WAKE_CTRL_5Hz    0x40
+#define LP_WAKE_CTRL_20Hz   0x80
+#define LP_WAKE_CTRL_40Hz   0xC0
+
+
+/**
+ * MPU6050 triple axis digital gyroscope and triple axis digital accelerometer.
+ */
+class MPU6050 {
+
+public:
+
+    MPU6050(I2C &i2c);
+    
+    /**
+     *
+     * @param sda - mbed pin to use for the SDA I2C line.
+     * @param scl - mbed pin to use for the SCL I2C line.
+     */
+    MPU6050(PinName sda, PinName scl);
+    
+    /**
+     * Self-test permits users to test the mechanical and electrical portions of the MPU6050.
+     *
+     * @return Contents of the self-test registers. 
+     *         Array of XA_TEST, YA_TEST, ZA_TEST, XG_TEST, YG_TEST and ZG_TEST.
+     */
+    void selfTest(uint8_t* TestReadings);
+    
+    /**
+     * Set Sample Rate for the MPU-6050 senor output, FIFO, and DMP registers.
+     *
+     * @param Divider - The sample rate divider as a number from 0x00 - 0xFF.
+     *
+     */
+    void setSampleRate(uint8_t Divider);
+
+    /**
+     * Get Sample Rate for the MPU-6050 senor output, FIFO, and DMP registers.
+     *
+     * @return Sample rate. 
+     *
+     */
+    uint8_t getSampleRate(void);
+    
+    /**
+     * Set the external Frame Synchronization (FSYNC) pin sampling.
+     *
+     * @param Conf - The configuration setting as a number from 0x00 - 0xFF.
+     *
+     */
+    void setFSYNCConfig(uint8_t Conf);
+    
+    /**
+     * Get the Frame Synchronization (FSYNC) configuration.
+     *
+     * @return Current Frame Synchronization (FSYNC) configuration.
+     *
+     */
+    uint8_t getFSYNCConfig(void);
+    
+    /**
+     * Set the Digital Low Pass Filter (DLPF) setting for both gyro and accelemometer.
+     *
+     * @param Conf - The configuration setting as a number from 0-7.
+     *
+     */
+    void setDLPFConfig(uint8_t Conf);
+    
+    /**
+     * Get the Digital Low Pass Filter (DLPF) setting for both gyro and accelemometer.
+     *
+     * @return Current Digital Low Pass Filter (DLPF) setting.
+     *
+     */
+    uint8_t getDLPFConfig(void);
+    
+    /**
+     * Set the gyroscope self-test trigger and scale range configuration.
+     *
+     * @param GyroST - Trigger Gyroscope self-test setting. GYRO_ST_ON or GYRO_ST_OFF.
+     * @param Scale - The full scale range setting for the gyroscope GFS_DISABLE, GFS_250dps, GFS_500dps, GFS_1000dps, GFS_2000dps.
+     *
+     */
+    void setGyroConfig(uint8_t GyroST, uint8_t Scale);
+    
+     /**
+     * Get the gyroscope self-test trigger and scale range configuration.
+     *
+     * @return Current gyroscope self-test configuration.
+     *
+     */
+    uint8_t getGyroConfig(void);
+    
+    /**
+     * Set the gyroscope self-test trigger and scale range configuration.
+     *
+     * @param AccST - Trigger Accelerometer self-test setting. ACC_ST_ON or ACC_ST_OFF.
+     * @param Scale - The full scale range setting for the accelemometer AFS_DSIABLE, AFS_2g, AFS_4g, AFS_8g, AFS_16g.
+     *
+     */
+    void setAccelConfig(uint8_t AccST, uint8_t Scale);
+    
+     /**
+     * Get the accelerometer self-test trigger and scale range configuration.
+     *
+     * @return Current accelerometer self-test configuration.
+     *
+     */
+    uint8_t getAccelConfig(void);
+    
+    /**
+     * Set the setting for sensor measurements to be loaded to the FIFO register
+     *
+     * @param Setting - The configuration settings which determines the sensor measurements loaded into the FIFO register. 
+     *          TEMP_FIFO_EN, GYRO_FIFO_EN, ACCEL_FIFO_EN, SLV2_FIFO_EN, SLV1_FIFO_EN, SLV0_FIFO_EN, SLVZ_FIFO_EN, 
+     *          TEMPGYROACCEL_FIFO_EN, GYROACCEL_FIFO_EN, TEMPGYROACCELSLVZ_FIFO_EN.
+     */
+    void setFIFO_Enable(uint8_t Setting);
+    
+     /**
+     * Get the setting for sensor measurements to be loaded to the FIFO register.
+     *
+     * @return Current setting which determines the sensor measurements loaded into the FIFO register.
+     *
+     */
+    uint8_t getFIFO_Enable(void);
+    
+    /**
+     * The most recent accelemometer measurements.
+     *
+     * @return Contents of Accelerometer measurement registers. 
+     *         Array of ACCEL_XOUT, ACCEL_YOUT, ACCEL_ZOUT as 16-bit 2's complement values.
+     */
+    void readAccel(uint16_t* AccReadings);
+    
+    /**
+     * The most recent temperature measurements.
+     *
+     * @return TempReadings - Contents Temperature measurement registers. 
+     *         TEMP_OUT as 16-bit 2's complement value.
+     */
+    void readTemp(uint16_t* TempReadings);
+    
+    /**
+     * The most recent gyroscope measurements.
+     *
+     * @return Contents of Gyroscope measurement registers. 
+     *         Array of GYRO_XOUT, GYRO_YOUT, GYRO_ZOUT as 16-bit 2's complement values.
+     */
+    void readGyro(uint16_t* GyroReadings);
+
+    /**
+     * Resets the analog and digital paths of the gyroscope, accelemometer and temperature sensors.
+     *
+     * @param ResVal - The reset settings GYRO_RESET, ACCEL_RESET, TEMP_RESET, ALL_RESET.
+     *
+     */
+    void sigPathReset(uint8_t ResVal);
+    
+    /**
+     * Enable or disable FIFO buffer, I2C Master Mode, and primary I2C interface.
+     *
+     * @param Settings - The configuration settings for user control register. 
+     *           FIFO_EN, FIFO_DIS, I2C_MST_EN, I2C_MST_DIS, FIFO_RESET, I2C_MST_RESET, SIG_COND_RESET.
+     *
+     */
+    void setUserCtl(uint8_t Settings);
+    
+     /**
+     * Get the user setting for FIFO buffer, I2C Master Mode, and primary I2C interface.
+     *
+     * @return Current user settings for FIFO buffer, I2C Master Mode, and primary I2C interface.
+     *
+     */
+    uint8_t getUserCtl(void);
+    
+    /**
+     * Set the power mode control settings.
+     *
+     * @param DevRes - Resets all internal resgisters to their default values. DEVICE_RESET or 0x00.
+     * @param Sleep - Puts the MPU6050 into sleep mode. SEEP or 0x00.
+     * @param Cycle - Cycles MPU6050 between sleep mode and waking up to take a single sample of data from active sensors 
+     *                      at a rate determined by LP_WAKE_CTRL register. CYCLE or 0x00.
+     * @param Temp - Disables the temperature sensor. TEMP_DIS or 0x00.
+     * @param Clock - Specifies the clock source of the device. 
+     *                      Settings INT_8MHz_OSC, PLL_GYROX_REF, PLL_GYROY_REF, PLL_GYROZ_REF, PLL_EXT_32KHz_REF, PLL_EXT_19KHz_REF.
+     *
+     */
+    void setPowerCtl_1(uint8_t DevRes, uint8_t Sleep, uint8_t Cycle, uint8_t Temp, uint8_t Clock);
+    
+     /**
+     * Get the power mode and clock source.
+     *
+     * @return Current power mode control settings.
+     *
+     */
+    uint8_t getPowerCtl_1(void);
+    
+    /**
+     * Set frequency of wake-ups in Accelerometer Only Low Power Mode, as well as individual gyroscope and accelemometer axes standby configuration.
+     *
+     * @param Conf -  Wake-up and axes standby configuration. 
+     *                      Configurations LP_WAKE_CTRL_1Hz, LP_WAKE_CTRL_5Hz, LP_WAKE_CTRL_20Hz, LP_WAKE_CTRL_40Hz.
+     *
+     */
+    void setPowerCtl_2(uint8_t Conf);
+        
+     /**
+     * Get frequency of wake-ups in Accelerometer Only Low Power Mode, as well as individual gyroscope and accelemometer axes standby status.
+     *
+     * @return Current wake-up and individual axes standby status.
+     *
+     */
+    uint8_t getPowerCtl_2(void);
+    
+     /**
+     * Read the number of samples currenly in the FIFO buffer.
+     *
+     * @return Current number of samples in the FIFO buffer.
+     *
+     */
+    uint16_t getFIFOCount(void);
+    
+    /**
+     * This register is used to write data to the FIFO buffer.
+     *
+     * @param Data -  Data to write to the FIFO buffer. Value from 0x00 - 0xFF.
+     *
+     */
+    void FIFODataWrite(uint8_t Data);
+        
+     /**
+     * This register is used to read data from the FIFO buffer.
+     *
+     * @return Data located in the FIFO buffer.
+     *
+     */
+    uint8_t FIFODataRead(void);
+    
+    /**
+     * Get the identity of the device.
+     *
+     * @return  
+     *
+     */
+    uint8_t getWhoAmI(void);
+
+private:
+
+    I2C i2c_;
+
+    /**
+     * Read one byte from a register on the device.
+     *
+     * @param: - the address to be read from
+     *
+     * @return: the value of the data read
+     */
+    char SingleByteRead(char address);
+
+    /**
+     * Write one byte to a register on the device.
+     *
+     * @param:
+        - address of the register to write to.
+        - the value of the data to store
+     */
+   uint8_t SingleByteWrite(char address, char data);
+
+    /**
+     * Read several consecutive bytes on the device and store them in a given location.
+     *
+     * @param startAddress: The address of the first register to read from.
+     * @param ptr_output: a pointer to the location to store the data being read
+     * @param size: The number of bytes to read.
+     */
+    void multiByteRead(char startAddress, char* ptr_output, int size);
+
+    /**
+     * Write several consecutive bytes  on the device.
+     *
+     * @param startAddress: The address of the first register to write to.
+     * @param ptr_data: Pointer to a location which contains the data to write.
+     * @param size: The number of bytes to write.
+     */
+    uint8_t multiByteWrite(char startAddress, char* ptr_data, int size);
+};
+
+#endif /* MPU6050_H */