Crispin Mukalay
/
MPU6050
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Dependents: MPU_6050_Hello_World PJ12_glove MPU_6050_Hello_World
MPU6050.h@0:f4905c7ef2ce, 2018-10-18 (annotated)
- Committer:
- 213468891
- Date:
- Thu Oct 18 16:53:29 2018 +0000
- Revision:
- 0:f4905c7ef2ce
Read 3-axis gyroscope and 3-axis accelerometer readings.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| 213468891 | 0:f4905c7ef2ce | 1 | /** |
| 213468891 | 0:f4905c7ef2ce | 2 | * @author Crispin Mukalay |
| 213468891 | 0:f4905c7ef2ce | 3 | * |
| 213468891 | 0:f4905c7ef2ce | 4 | * @section LICENSE |
| 213468891 | 0:f4905c7ef2ce | 5 | * |
| 213468891 | 0:f4905c7ef2ce | 6 | * Copyright (c) 2010 ARM Limited |
| 213468891 | 0:f4905c7ef2ce | 7 | * |
| 213468891 | 0:f4905c7ef2ce | 8 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| 213468891 | 0:f4905c7ef2ce | 9 | * of this software and associated documentation files (the "Software"), to deal |
| 213468891 | 0:f4905c7ef2ce | 10 | * in the Software without restriction, including without limitation the rights |
| 213468891 | 0:f4905c7ef2ce | 11 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| 213468891 | 0:f4905c7ef2ce | 12 | * copies of the Software, and to permit persons to whom the Software is |
| 213468891 | 0:f4905c7ef2ce | 13 | * furnished to do so, subject to the following conditions: |
| 213468891 | 0:f4905c7ef2ce | 14 | * |
| 213468891 | 0:f4905c7ef2ce | 15 | * The above copyright notice and this permission notice shall be included in |
| 213468891 | 0:f4905c7ef2ce | 16 | * all copies or substantial portions of the Software. |
| 213468891 | 0:f4905c7ef2ce | 17 | * |
| 213468891 | 0:f4905c7ef2ce | 18 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| 213468891 | 0:f4905c7ef2ce | 19 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| 213468891 | 0:f4905c7ef2ce | 20 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| 213468891 | 0:f4905c7ef2ce | 21 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| 213468891 | 0:f4905c7ef2ce | 22 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| 213468891 | 0:f4905c7ef2ce | 23 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| 213468891 | 0:f4905c7ef2ce | 24 | * THE SOFTWARE. |
| 213468891 | 0:f4905c7ef2ce | 25 | * |
| 213468891 | 0:f4905c7ef2ce | 26 | * @section DESCRIPTION |
| 213468891 | 0:f4905c7ef2ce | 27 | * |
| 213468891 | 0:f4905c7ef2ce | 28 | * MPU-6050 triple-axis MEMS gyroscope and triple-axis MEMS accelerometer. |
| 213468891 | 0:f4905c7ef2ce | 29 | * |
| 213468891 | 0:f4905c7ef2ce | 30 | * Datasheet: |
| 213468891 | 0:f4905c7ef2ce | 31 | * |
| 213468891 | 0:f4905c7ef2ce | 32 | * https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf |
| 213468891 | 0:f4905c7ef2ce | 33 | */ |
| 213468891 | 0:f4905c7ef2ce | 34 | |
| 213468891 | 0:f4905c7ef2ce | 35 | #ifndef MPU6050_H |
| 213468891 | 0:f4905c7ef2ce | 36 | #define MPU6050_H |
| 213468891 | 0:f4905c7ef2ce | 37 | |
| 213468891 | 0:f4905c7ef2ce | 38 | /** |
| 213468891 | 0:f4905c7ef2ce | 39 | * Includes |
| 213468891 | 0:f4905c7ef2ce | 40 | */ |
| 213468891 | 0:f4905c7ef2ce | 41 | #include "mbed.h" |
| 213468891 | 0:f4905c7ef2ce | 42 | |
| 213468891 | 0:f4905c7ef2ce | 43 | /** |
| 213468891 | 0:f4905c7ef2ce | 44 | * Defines |
| 213468891 | 0:f4905c7ef2ce | 45 | */ |
| 213468891 | 0:f4905c7ef2ce | 46 | #define MPU6050_I2C_ADDRESS 0x68 //7-bit address of slave device (MPU6050). |
| 213468891 | 0:f4905c7ef2ce | 47 | |
| 213468891 | 0:f4905c7ef2ce | 48 | //----------- |
| 213468891 | 0:f4905c7ef2ce | 49 | // Registers |
| 213468891 | 0:f4905c7ef2ce | 50 | //----------- |
| 213468891 | 0:f4905c7ef2ce | 51 | #define SELF_TEST_X_REG 0x0D |
| 213468891 | 0:f4905c7ef2ce | 52 | #define SELF_TEST_Y_REG 0x0E |
| 213468891 | 0:f4905c7ef2ce | 53 | #define SELF_TEST_Z_REG 0x0F |
| 213468891 | 0:f4905c7ef2ce | 54 | #define SELF_TEST_A_REG 0x10 |
| 213468891 | 0:f4905c7ef2ce | 55 | #define SMPLRT_DIV_REG 0x19 |
| 213468891 | 0:f4905c7ef2ce | 56 | #define CONFIG_REG 0x1A |
| 213468891 | 0:f4905c7ef2ce | 57 | #define GYRO_CONFIG_REG 0x1B |
| 213468891 | 0:f4905c7ef2ce | 58 | #define ACCEL_CONFIG_REG 0x1C |
| 213468891 | 0:f4905c7ef2ce | 59 | #define FIFO_EN_REG 0x23 |
| 213468891 | 0:f4905c7ef2ce | 60 | #define I2C_MST_CTRL_REG 0x24 |
| 213468891 | 0:f4905c7ef2ce | 61 | #define I2C_SLV0_ADDR_REG 0x25 |
| 213468891 | 0:f4905c7ef2ce | 62 | #define I2C_SLV0_REG 0x26 |
| 213468891 | 0:f4905c7ef2ce | 63 | #define I2C_SLV0_CTRL_REG 0x27 |
| 213468891 | 0:f4905c7ef2ce | 64 | #define I2C_SLV1_ADDR_REG 0x28 |
| 213468891 | 0:f4905c7ef2ce | 65 | #define I2C_SLV1_REG 0x29 |
| 213468891 | 0:f4905c7ef2ce | 66 | #define I2C_SLV1_CTRL_REG 0x2A |
| 213468891 | 0:f4905c7ef2ce | 67 | #define I2C_SLV2_ADDR_REG 0x2B |
| 213468891 | 0:f4905c7ef2ce | 68 | #define I2C_SLV2_REG 0x2C |
| 213468891 | 0:f4905c7ef2ce | 69 | #define I2C_SLV2_CTRL_REG 0x2D |
| 213468891 | 0:f4905c7ef2ce | 70 | #define I2C_SLV3_ADDR_REG 0x2E |
| 213468891 | 0:f4905c7ef2ce | 71 | #define I2C_SLV3_REG 0x2F |
| 213468891 | 0:f4905c7ef2ce | 72 | #define I2C_SLV3_CTRL_REG 0x30 |
| 213468891 | 0:f4905c7ef2ce | 73 | #define I2C_SLV4_ADDR_REG 0x31 |
| 213468891 | 0:f4905c7ef2ce | 74 | #define I2C_SLV4_REG 0x32 |
| 213468891 | 0:f4905c7ef2ce | 75 | #define I2C_SLV4_DO_REG 0x33 |
| 213468891 | 0:f4905c7ef2ce | 76 | #define I2C_SLV4_CTRL_REG 0x34 |
| 213468891 | 0:f4905c7ef2ce | 77 | #define I2C_SLV4_DI_REG 0x35 |
| 213468891 | 0:f4905c7ef2ce | 78 | #define I2C_MST_STATUS_REG 0x36 |
| 213468891 | 0:f4905c7ef2ce | 79 | #define INT_PIN_CFG_REG 0x37 |
| 213468891 | 0:f4905c7ef2ce | 80 | #define INT_ENABLE_REG 0x38 |
| 213468891 | 0:f4905c7ef2ce | 81 | #define INT_STATUS_REG 0x3A |
| 213468891 | 0:f4905c7ef2ce | 82 | #define ACCEL_XOUT_H_REG 0x3B |
| 213468891 | 0:f4905c7ef2ce | 83 | #define ACCEL_XOUT_L_REG 0x3C |
| 213468891 | 0:f4905c7ef2ce | 84 | #define ACCEL_YOUT_H_REG 0x3D |
| 213468891 | 0:f4905c7ef2ce | 85 | #define ACCEL_YOUT_L_REG 0x3E |
| 213468891 | 0:f4905c7ef2ce | 86 | #define ACCEL_ZOUT_H_REG 0x3F |
| 213468891 | 0:f4905c7ef2ce | 87 | #define ACCEL_ZOUT_L_REG 0x40 |
| 213468891 | 0:f4905c7ef2ce | 88 | #define TEMP_OUT_H_REG 0x41 |
| 213468891 | 0:f4905c7ef2ce | 89 | #define TEMP_OUT_L_REG 0x42 |
| 213468891 | 0:f4905c7ef2ce | 90 | #define GYRO_XOUT_H_REG 0x43 |
| 213468891 | 0:f4905c7ef2ce | 91 | #define GYRO_XOUT_L_REG 0x44 |
| 213468891 | 0:f4905c7ef2ce | 92 | #define GYRO_YOUT_H_REG 0x45 |
| 213468891 | 0:f4905c7ef2ce | 93 | #define GYRO_YOUT_L_REG 0x46 |
| 213468891 | 0:f4905c7ef2ce | 94 | #define GYRO_ZOUT_H_REG 0x47 |
| 213468891 | 0:f4905c7ef2ce | 95 | #define GYRO_ZOUT_L_REG 0x48 |
| 213468891 | 0:f4905c7ef2ce | 96 | #define EXT_SENS_DATA_00_REG 0x49 |
| 213468891 | 0:f4905c7ef2ce | 97 | #define EXT_SENS_DATA_01_REG 0x4A |
| 213468891 | 0:f4905c7ef2ce | 98 | #define EXT_SENS_DATA_02_REG 0x4B |
| 213468891 | 0:f4905c7ef2ce | 99 | #define EXT_SENS_DATA_03_REG 0x4C |
| 213468891 | 0:f4905c7ef2ce | 100 | #define EXT_SENS_DATA_04_REG 0x4D |
| 213468891 | 0:f4905c7ef2ce | 101 | #define EXT_SENS_DATA_05_REG 0x4E |
| 213468891 | 0:f4905c7ef2ce | 102 | #define EXT_SENS_DATA_06_REG 0x4F |
| 213468891 | 0:f4905c7ef2ce | 103 | #define EXT_SENS_DATA_07_REG 0x50 |
| 213468891 | 0:f4905c7ef2ce | 104 | #define EXT_SENS_DATA_08_REG 0x51 |
| 213468891 | 0:f4905c7ef2ce | 105 | #define EXT_SENS_DATA_09_REG 0x52 |
| 213468891 | 0:f4905c7ef2ce | 106 | #define EXT_SENS_DATA_10_REG 0x53 |
| 213468891 | 0:f4905c7ef2ce | 107 | #define EXT_SENS_DATA_11_REG 0x54 |
| 213468891 | 0:f4905c7ef2ce | 108 | #define EXT_SENS_DATA_12_REG 0x55 |
| 213468891 | 0:f4905c7ef2ce | 109 | #define EXT_SENS_DATA_13_REG 0x56 |
| 213468891 | 0:f4905c7ef2ce | 110 | #define EXT_SENS_DATA_14_REG 0x57 |
| 213468891 | 0:f4905c7ef2ce | 111 | #define EXT_SENS_DATA_15_REG 0x58 |
| 213468891 | 0:f4905c7ef2ce | 112 | #define EXT_SENS_DATA_16_REG 0x59 |
| 213468891 | 0:f4905c7ef2ce | 113 | #define EXT_SENS_DATA_17_REG 0x5A |
| 213468891 | 0:f4905c7ef2ce | 114 | #define EXT_SENS_DATA_18_REG 0x5B |
| 213468891 | 0:f4905c7ef2ce | 115 | #define EXT_SENS_DATA_19_REG 0x5C |
| 213468891 | 0:f4905c7ef2ce | 116 | #define EXT_SENS_DATA_20_REG 0x5D |
| 213468891 | 0:f4905c7ef2ce | 117 | #define EXT_SENS_DATA_21_REG 0x5E |
| 213468891 | 0:f4905c7ef2ce | 118 | #define EXT_SENS_DATA_22_REG 0x5F |
| 213468891 | 0:f4905c7ef2ce | 119 | #define EXT_SENS_DATA_23_REG 0x60 |
| 213468891 | 0:f4905c7ef2ce | 120 | #define I2C_SLV0_DO_REG 0x63 |
| 213468891 | 0:f4905c7ef2ce | 121 | #define I2C_SLV1_DO_REG 0x64 |
| 213468891 | 0:f4905c7ef2ce | 122 | #define I2C_SLV2_DO_REG 0x65 |
| 213468891 | 0:f4905c7ef2ce | 123 | #define I2C_SLV3_DO_REG 0x66 |
| 213468891 | 0:f4905c7ef2ce | 124 | #define I2C_MST_DELAY_CTRL_REG 0x67 |
| 213468891 | 0:f4905c7ef2ce | 125 | #define SIGNAL_PATH_RESET_REG 0x68 |
| 213468891 | 0:f4905c7ef2ce | 126 | #define USER_CTRL_REG 0x6A |
| 213468891 | 0:f4905c7ef2ce | 127 | #define PWR_MGMT_1_REG 0x6B |
| 213468891 | 0:f4905c7ef2ce | 128 | #define PWR_MGMT_2_REG 0x6C |
| 213468891 | 0:f4905c7ef2ce | 129 | #define FIFO_COUNTH_REG 0x72 |
| 213468891 | 0:f4905c7ef2ce | 130 | #define FIFO_COUNTL_REG 0x73 |
| 213468891 | 0:f4905c7ef2ce | 131 | #define FIFO_R_W_REG 0x74 |
| 213468891 | 0:f4905c7ef2ce | 132 | #define WHO_AM_I_REG 0x75 |
| 213468891 | 0:f4905c7ef2ce | 133 | |
| 213468891 | 0:f4905c7ef2ce | 134 | //---------------------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 135 | // External Frame Synchronization Configuration |
| 213468891 | 0:f4905c7ef2ce | 136 | //---------------------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 137 | #define FSYNC_DISABLE 0x00 |
| 213468891 | 0:f4905c7ef2ce | 138 | #define FSYNC_TEMP_OUT_L 0x01 |
| 213468891 | 0:f4905c7ef2ce | 139 | #define FSYNC_GYRO_XOUT_L 0x02 |
| 213468891 | 0:f4905c7ef2ce | 140 | #define FSYNC_GYRO_YOUT_L 0x03 |
| 213468891 | 0:f4905c7ef2ce | 141 | #define FSYNC_GYRO_ZOUT_L 0x04 |
| 213468891 | 0:f4905c7ef2ce | 142 | #define FSYNC_ACCEL_XOUT_L 0x05 |
| 213468891 | 0:f4905c7ef2ce | 143 | #define FSYNC_ACCEL_YOUT_L 0x06 |
| 213468891 | 0:f4905c7ef2ce | 144 | #define FSYNC_ACCEL_ZOUT_L 0x07 |
| 213468891 | 0:f4905c7ef2ce | 145 | |
| 213468891 | 0:f4905c7ef2ce | 146 | //--------------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 147 | // Digital Low Pass Filter Configuration |
| 213468891 | 0:f4905c7ef2ce | 148 | //--------------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 149 | #define DLPF_260_256 0x00 |
| 213468891 | 0:f4905c7ef2ce | 150 | #define DLPF_184_188 0x01 |
| 213468891 | 0:f4905c7ef2ce | 151 | #define DLPF_94_98 0x02 |
| 213468891 | 0:f4905c7ef2ce | 152 | #define DLPF_44_42 0x03 |
| 213468891 | 0:f4905c7ef2ce | 153 | #define DLPF_21_20 0x04 |
| 213468891 | 0:f4905c7ef2ce | 154 | #define DLPF_10_10 0x05 |
| 213468891 | 0:f4905c7ef2ce | 155 | #define DLPF_5_5 0x06 |
| 213468891 | 0:f4905c7ef2ce | 156 | |
| 213468891 | 0:f4905c7ef2ce | 157 | //------------------------------------ |
| 213468891 | 0:f4905c7ef2ce | 158 | // Gyroscope Selft-Test Configuration |
| 213468891 | 0:f4905c7ef2ce | 159 | //------------------------------------ |
| 213468891 | 0:f4905c7ef2ce | 160 | #define GFS_DISABLE 0x00 |
| 213468891 | 0:f4905c7ef2ce | 161 | #define GFS_250dps 0x00 |
| 213468891 | 0:f4905c7ef2ce | 162 | #define GFS_500dps 0x08 |
| 213468891 | 0:f4905c7ef2ce | 163 | #define GFS_1000dps 0x10 |
| 213468891 | 0:f4905c7ef2ce | 164 | #define GFS_2000dps 0x18 |
| 213468891 | 0:f4905c7ef2ce | 165 | #define GYRO_ST_ON 0xE0 |
| 213468891 | 0:f4905c7ef2ce | 166 | #define GYRO_ST_OFF 0x00 |
| 213468891 | 0:f4905c7ef2ce | 167 | |
| 213468891 | 0:f4905c7ef2ce | 168 | |
| 213468891 | 0:f4905c7ef2ce | 169 | //---------------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 170 | // Accelerometer Selft-Test Configuration |
| 213468891 | 0:f4905c7ef2ce | 171 | //---------------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 172 | #define AFS_DSIABLE 0x00 |
| 213468891 | 0:f4905c7ef2ce | 173 | #define AFS_2g 0x00 |
| 213468891 | 0:f4905c7ef2ce | 174 | #define AFS_4g 0x08 |
| 213468891 | 0:f4905c7ef2ce | 175 | #define AFS_8g 0x10 |
| 213468891 | 0:f4905c7ef2ce | 176 | #define AFS_16g 0x18 |
| 213468891 | 0:f4905c7ef2ce | 177 | #define ACC_ST_ON 0xE0 |
| 213468891 | 0:f4905c7ef2ce | 178 | #define ACC_ST_OFF 0x00 |
| 213468891 | 0:f4905c7ef2ce | 179 | |
| 213468891 | 0:f4905c7ef2ce | 180 | //---------------------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 181 | // Sensor Measurements To Load In FIFO Register |
| 213468891 | 0:f4905c7ef2ce | 182 | //---------------------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 183 | #define TEMP_FIFO_EN 0x80 |
| 213468891 | 0:f4905c7ef2ce | 184 | #define GYRO_FIFO_EN 0x70 |
| 213468891 | 0:f4905c7ef2ce | 185 | #define ACCEL_FIFO_EN 0x08 |
| 213468891 | 0:f4905c7ef2ce | 186 | #define SLV2_FIFO_EN 0x04 |
| 213468891 | 0:f4905c7ef2ce | 187 | #define SLV1_FIFO_EN 0x02 |
| 213468891 | 0:f4905c7ef2ce | 188 | #define SLV0_FIFO_EN 0x01 |
| 213468891 | 0:f4905c7ef2ce | 189 | #define SLVZ_FIFO_EN 0x07 |
| 213468891 | 0:f4905c7ef2ce | 190 | #define TEMPGYROACCEL_FIFO_EN 0xF8 |
| 213468891 | 0:f4905c7ef2ce | 191 | #define GYROACCEL_FIFO_EN 0x78 |
| 213468891 | 0:f4905c7ef2ce | 192 | #define TEMPGYROACCELSLVZ_FIFO_EN 0xFF |
| 213468891 | 0:f4905c7ef2ce | 193 | |
| 213468891 | 0:f4905c7ef2ce | 194 | //--------------------------- |
| 213468891 | 0:f4905c7ef2ce | 195 | // Signal Path Reset Values |
| 213468891 | 0:f4905c7ef2ce | 196 | //--------------------------- |
| 213468891 | 0:f4905c7ef2ce | 197 | #define GYRRO_RESET 0x04 |
| 213468891 | 0:f4905c7ef2ce | 198 | #define ACCEL_RESET 0x02 |
| 213468891 | 0:f4905c7ef2ce | 199 | #define TEMP_RESET 0x01 |
| 213468891 | 0:f4905c7ef2ce | 200 | #define ALL_RESET 0x07 |
| 213468891 | 0:f4905c7ef2ce | 201 | |
| 213468891 | 0:f4905c7ef2ce | 202 | //------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 203 | // User Control settings |
| 213468891 | 0:f4905c7ef2ce | 204 | //------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 205 | #define FIFO_EN 0x40 |
| 213468891 | 0:f4905c7ef2ce | 206 | #define FIFO_DIS 0x00 |
| 213468891 | 0:f4905c7ef2ce | 207 | #define I2C_MST_EN 0x60 |
| 213468891 | 0:f4905c7ef2ce | 208 | #define I2C_MST_DIS 0x00 |
| 213468891 | 0:f4905c7ef2ce | 209 | #define FIFO_RESET 0x04 |
| 213468891 | 0:f4905c7ef2ce | 210 | #define I2C_MST_RESET 0x02 |
| 213468891 | 0:f4905c7ef2ce | 211 | #define SIG_COND_RESET 0x41 |
| 213468891 | 0:f4905c7ef2ce | 212 | |
| 213468891 | 0:f4905c7ef2ce | 213 | //--------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 214 | // Power Management Setings One |
| 213468891 | 0:f4905c7ef2ce | 215 | //--------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 216 | #define DEVICE_RESET 0x80 |
| 213468891 | 0:f4905c7ef2ce | 217 | #define SEEP 0x40 |
| 213468891 | 0:f4905c7ef2ce | 218 | #define CYCLE 0x20 |
| 213468891 | 0:f4905c7ef2ce | 219 | #define TEMP_DIS 0x08 |
| 213468891 | 0:f4905c7ef2ce | 220 | #define INT_8MHz_OSC 0x00 |
| 213468891 | 0:f4905c7ef2ce | 221 | #define PLL_GYROX_REF 0x01 |
| 213468891 | 0:f4905c7ef2ce | 222 | #define PLL_GYROY_REF 0x02 |
| 213468891 | 0:f4905c7ef2ce | 223 | #define PLL_GYROZ_REF 0x03 |
| 213468891 | 0:f4905c7ef2ce | 224 | #define PLL_EXT_32KHz_REF 0x04 |
| 213468891 | 0:f4905c7ef2ce | 225 | #define PLL_EXT_19KHz_REF 0x05 |
| 213468891 | 0:f4905c7ef2ce | 226 | |
| 213468891 | 0:f4905c7ef2ce | 227 | //--------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 228 | // Power Management Settings Two |
| 213468891 | 0:f4905c7ef2ce | 229 | //--------------------------------- |
| 213468891 | 0:f4905c7ef2ce | 230 | #define LP_WAKE_CTRL_1Hz 0x00 |
| 213468891 | 0:f4905c7ef2ce | 231 | #define LP_WAKE_CTRL_5Hz 0x40 |
| 213468891 | 0:f4905c7ef2ce | 232 | #define LP_WAKE_CTRL_20Hz 0x80 |
| 213468891 | 0:f4905c7ef2ce | 233 | #define LP_WAKE_CTRL_40Hz 0xC0 |
| 213468891 | 0:f4905c7ef2ce | 234 | |
| 213468891 | 0:f4905c7ef2ce | 235 | |
| 213468891 | 0:f4905c7ef2ce | 236 | /** |
| 213468891 | 0:f4905c7ef2ce | 237 | * MPU6050 triple axis digital gyroscope and triple axis digital accelerometer. |
| 213468891 | 0:f4905c7ef2ce | 238 | */ |
| 213468891 | 0:f4905c7ef2ce | 239 | class MPU6050 { |
| 213468891 | 0:f4905c7ef2ce | 240 | |
| 213468891 | 0:f4905c7ef2ce | 241 | public: |
| 213468891 | 0:f4905c7ef2ce | 242 | |
| 213468891 | 0:f4905c7ef2ce | 243 | MPU6050(I2C &i2c); |
| 213468891 | 0:f4905c7ef2ce | 244 | |
| 213468891 | 0:f4905c7ef2ce | 245 | /** |
| 213468891 | 0:f4905c7ef2ce | 246 | * |
| 213468891 | 0:f4905c7ef2ce | 247 | * @param sda - mbed pin to use for the SDA I2C line. |
| 213468891 | 0:f4905c7ef2ce | 248 | * @param scl - mbed pin to use for the SCL I2C line. |
| 213468891 | 0:f4905c7ef2ce | 249 | */ |
| 213468891 | 0:f4905c7ef2ce | 250 | MPU6050(PinName sda, PinName scl); |
| 213468891 | 0:f4905c7ef2ce | 251 | |
| 213468891 | 0:f4905c7ef2ce | 252 | /** |
| 213468891 | 0:f4905c7ef2ce | 253 | * Self-test permits users to test the mechanical and electrical portions of the MPU6050. |
| 213468891 | 0:f4905c7ef2ce | 254 | * |
| 213468891 | 0:f4905c7ef2ce | 255 | * @return Contents of the self-test registers. |
| 213468891 | 0:f4905c7ef2ce | 256 | * Array of XA_TEST, YA_TEST, ZA_TEST, XG_TEST, YG_TEST and ZG_TEST. |
| 213468891 | 0:f4905c7ef2ce | 257 | */ |
| 213468891 | 0:f4905c7ef2ce | 258 | void selfTest(uint8_t* TestReadings); |
| 213468891 | 0:f4905c7ef2ce | 259 | |
| 213468891 | 0:f4905c7ef2ce | 260 | /** |
| 213468891 | 0:f4905c7ef2ce | 261 | * Set Sample Rate for the MPU-6050 senor output, FIFO, and DMP registers. |
| 213468891 | 0:f4905c7ef2ce | 262 | * |
| 213468891 | 0:f4905c7ef2ce | 263 | * @param Divider - The sample rate divider as a number from 0x00 - 0xFF. |
| 213468891 | 0:f4905c7ef2ce | 264 | * |
| 213468891 | 0:f4905c7ef2ce | 265 | */ |
| 213468891 | 0:f4905c7ef2ce | 266 | void setSampleRate(uint8_t Divider); |
| 213468891 | 0:f4905c7ef2ce | 267 | |
| 213468891 | 0:f4905c7ef2ce | 268 | /** |
| 213468891 | 0:f4905c7ef2ce | 269 | * Get Sample Rate for the MPU-6050 senor output, FIFO, and DMP registers. |
| 213468891 | 0:f4905c7ef2ce | 270 | * |
| 213468891 | 0:f4905c7ef2ce | 271 | * @return Sample rate. |
| 213468891 | 0:f4905c7ef2ce | 272 | * |
| 213468891 | 0:f4905c7ef2ce | 273 | */ |
| 213468891 | 0:f4905c7ef2ce | 274 | uint8_t getSampleRate(void); |
| 213468891 | 0:f4905c7ef2ce | 275 | |
| 213468891 | 0:f4905c7ef2ce | 276 | /** |
| 213468891 | 0:f4905c7ef2ce | 277 | * Set the external Frame Synchronization (FSYNC) pin sampling. |
| 213468891 | 0:f4905c7ef2ce | 278 | * |
| 213468891 | 0:f4905c7ef2ce | 279 | * @param Conf - The configuration setting as a number from 0x00 - 0xFF. |
| 213468891 | 0:f4905c7ef2ce | 280 | * |
| 213468891 | 0:f4905c7ef2ce | 281 | */ |
| 213468891 | 0:f4905c7ef2ce | 282 | void setFSYNCConfig(uint8_t Conf); |
| 213468891 | 0:f4905c7ef2ce | 283 | |
| 213468891 | 0:f4905c7ef2ce | 284 | /** |
| 213468891 | 0:f4905c7ef2ce | 285 | * Get the Frame Synchronization (FSYNC) configuration. |
| 213468891 | 0:f4905c7ef2ce | 286 | * |
| 213468891 | 0:f4905c7ef2ce | 287 | * @return Current Frame Synchronization (FSYNC) configuration. |
| 213468891 | 0:f4905c7ef2ce | 288 | * |
| 213468891 | 0:f4905c7ef2ce | 289 | */ |
| 213468891 | 0:f4905c7ef2ce | 290 | uint8_t getFSYNCConfig(void); |
| 213468891 | 0:f4905c7ef2ce | 291 | |
| 213468891 | 0:f4905c7ef2ce | 292 | /** |
| 213468891 | 0:f4905c7ef2ce | 293 | * Set the Digital Low Pass Filter (DLPF) setting for both gyro and accelemometer. |
| 213468891 | 0:f4905c7ef2ce | 294 | * |
| 213468891 | 0:f4905c7ef2ce | 295 | * @param Conf - The configuration setting as a number from 0-7. |
| 213468891 | 0:f4905c7ef2ce | 296 | * |
| 213468891 | 0:f4905c7ef2ce | 297 | */ |
| 213468891 | 0:f4905c7ef2ce | 298 | void setDLPFConfig(uint8_t Conf); |
| 213468891 | 0:f4905c7ef2ce | 299 | |
| 213468891 | 0:f4905c7ef2ce | 300 | /** |
| 213468891 | 0:f4905c7ef2ce | 301 | * Get the Digital Low Pass Filter (DLPF) setting for both gyro and accelemometer. |
| 213468891 | 0:f4905c7ef2ce | 302 | * |
| 213468891 | 0:f4905c7ef2ce | 303 | * @return Current Digital Low Pass Filter (DLPF) setting. |
| 213468891 | 0:f4905c7ef2ce | 304 | * |
| 213468891 | 0:f4905c7ef2ce | 305 | */ |
| 213468891 | 0:f4905c7ef2ce | 306 | uint8_t getDLPFConfig(void); |
| 213468891 | 0:f4905c7ef2ce | 307 | |
| 213468891 | 0:f4905c7ef2ce | 308 | /** |
| 213468891 | 0:f4905c7ef2ce | 309 | * Set the gyroscope self-test trigger and scale range configuration. |
| 213468891 | 0:f4905c7ef2ce | 310 | * |
| 213468891 | 0:f4905c7ef2ce | 311 | * @param GyroST - Trigger Gyroscope self-test setting. GYRO_ST_ON or GYRO_ST_OFF. |
| 213468891 | 0:f4905c7ef2ce | 312 | * @param Scale - The full scale range setting for the gyroscope GFS_DISABLE, GFS_250dps, GFS_500dps, GFS_1000dps, GFS_2000dps. |
| 213468891 | 0:f4905c7ef2ce | 313 | * |
| 213468891 | 0:f4905c7ef2ce | 314 | */ |
| 213468891 | 0:f4905c7ef2ce | 315 | void setGyroConfig(uint8_t GyroST, uint8_t Scale); |
| 213468891 | 0:f4905c7ef2ce | 316 | |
| 213468891 | 0:f4905c7ef2ce | 317 | /** |
| 213468891 | 0:f4905c7ef2ce | 318 | * Get the gyroscope self-test trigger and scale range configuration. |
| 213468891 | 0:f4905c7ef2ce | 319 | * |
| 213468891 | 0:f4905c7ef2ce | 320 | * @return Current gyroscope self-test configuration. |
| 213468891 | 0:f4905c7ef2ce | 321 | * |
| 213468891 | 0:f4905c7ef2ce | 322 | */ |
| 213468891 | 0:f4905c7ef2ce | 323 | uint8_t getGyroConfig(void); |
| 213468891 | 0:f4905c7ef2ce | 324 | |
| 213468891 | 0:f4905c7ef2ce | 325 | /** |
| 213468891 | 0:f4905c7ef2ce | 326 | * Set the gyroscope self-test trigger and scale range configuration. |
| 213468891 | 0:f4905c7ef2ce | 327 | * |
| 213468891 | 0:f4905c7ef2ce | 328 | * @param AccST - Trigger Accelerometer self-test setting. ACC_ST_ON or ACC_ST_OFF. |
| 213468891 | 0:f4905c7ef2ce | 329 | * @param Scale - The full scale range setting for the accelemometer AFS_DSIABLE, AFS_2g, AFS_4g, AFS_8g, AFS_16g. |
| 213468891 | 0:f4905c7ef2ce | 330 | * |
| 213468891 | 0:f4905c7ef2ce | 331 | */ |
| 213468891 | 0:f4905c7ef2ce | 332 | void setAccelConfig(uint8_t AccST, uint8_t Scale); |
| 213468891 | 0:f4905c7ef2ce | 333 | |
| 213468891 | 0:f4905c7ef2ce | 334 | /** |
| 213468891 | 0:f4905c7ef2ce | 335 | * Get the accelerometer self-test trigger and scale range configuration. |
| 213468891 | 0:f4905c7ef2ce | 336 | * |
| 213468891 | 0:f4905c7ef2ce | 337 | * @return Current accelerometer self-test configuration. |
| 213468891 | 0:f4905c7ef2ce | 338 | * |
| 213468891 | 0:f4905c7ef2ce | 339 | */ |
| 213468891 | 0:f4905c7ef2ce | 340 | uint8_t getAccelConfig(void); |
| 213468891 | 0:f4905c7ef2ce | 341 | |
| 213468891 | 0:f4905c7ef2ce | 342 | /** |
| 213468891 | 0:f4905c7ef2ce | 343 | * Set the setting for sensor measurements to be loaded to the FIFO register |
| 213468891 | 0:f4905c7ef2ce | 344 | * |
| 213468891 | 0:f4905c7ef2ce | 345 | * @param Setting - The configuration settings which determines the sensor measurements loaded into the FIFO register. |
| 213468891 | 0:f4905c7ef2ce | 346 | * TEMP_FIFO_EN, GYRO_FIFO_EN, ACCEL_FIFO_EN, SLV2_FIFO_EN, SLV1_FIFO_EN, SLV0_FIFO_EN, SLVZ_FIFO_EN, |
| 213468891 | 0:f4905c7ef2ce | 347 | * TEMPGYROACCEL_FIFO_EN, GYROACCEL_FIFO_EN, TEMPGYROACCELSLVZ_FIFO_EN. |
| 213468891 | 0:f4905c7ef2ce | 348 | */ |
| 213468891 | 0:f4905c7ef2ce | 349 | void setFIFO_Enable(uint8_t Setting); |
| 213468891 | 0:f4905c7ef2ce | 350 | |
| 213468891 | 0:f4905c7ef2ce | 351 | /** |
| 213468891 | 0:f4905c7ef2ce | 352 | * Get the setting for sensor measurements to be loaded to the FIFO register. |
| 213468891 | 0:f4905c7ef2ce | 353 | * |
| 213468891 | 0:f4905c7ef2ce | 354 | * @return Current setting which determines the sensor measurements loaded into the FIFO register. |
| 213468891 | 0:f4905c7ef2ce | 355 | * |
| 213468891 | 0:f4905c7ef2ce | 356 | */ |
| 213468891 | 0:f4905c7ef2ce | 357 | uint8_t getFIFO_Enable(void); |
| 213468891 | 0:f4905c7ef2ce | 358 | |
| 213468891 | 0:f4905c7ef2ce | 359 | /** |
| 213468891 | 0:f4905c7ef2ce | 360 | * The most recent accelemometer measurements. |
| 213468891 | 0:f4905c7ef2ce | 361 | * |
| 213468891 | 0:f4905c7ef2ce | 362 | * @return Contents of Accelerometer measurement registers. |
| 213468891 | 0:f4905c7ef2ce | 363 | * Array of ACCEL_XOUT, ACCEL_YOUT, ACCEL_ZOUT as 16-bit 2's complement values. |
| 213468891 | 0:f4905c7ef2ce | 364 | */ |
| 213468891 | 0:f4905c7ef2ce | 365 | void readAccel(uint16_t* AccReadings); |
| 213468891 | 0:f4905c7ef2ce | 366 | |
| 213468891 | 0:f4905c7ef2ce | 367 | /** |
| 213468891 | 0:f4905c7ef2ce | 368 | * The most recent temperature measurements. |
| 213468891 | 0:f4905c7ef2ce | 369 | * |
| 213468891 | 0:f4905c7ef2ce | 370 | * @return TempReadings - Contents Temperature measurement registers. |
| 213468891 | 0:f4905c7ef2ce | 371 | * TEMP_OUT as 16-bit 2's complement value. |
| 213468891 | 0:f4905c7ef2ce | 372 | */ |
| 213468891 | 0:f4905c7ef2ce | 373 | void readTemp(uint16_t* TempReadings); |
| 213468891 | 0:f4905c7ef2ce | 374 | |
| 213468891 | 0:f4905c7ef2ce | 375 | /** |
| 213468891 | 0:f4905c7ef2ce | 376 | * The most recent gyroscope measurements. |
| 213468891 | 0:f4905c7ef2ce | 377 | * |
| 213468891 | 0:f4905c7ef2ce | 378 | * @return Contents of Gyroscope measurement registers. |
| 213468891 | 0:f4905c7ef2ce | 379 | * Array of GYRO_XOUT, GYRO_YOUT, GYRO_ZOUT as 16-bit 2's complement values. |
| 213468891 | 0:f4905c7ef2ce | 380 | */ |
| 213468891 | 0:f4905c7ef2ce | 381 | void readGyro(uint16_t* GyroReadings); |
| 213468891 | 0:f4905c7ef2ce | 382 | |
| 213468891 | 0:f4905c7ef2ce | 383 | /** |
| 213468891 | 0:f4905c7ef2ce | 384 | * Resets the analog and digital paths of the gyroscope, accelemometer and temperature sensors. |
| 213468891 | 0:f4905c7ef2ce | 385 | * |
| 213468891 | 0:f4905c7ef2ce | 386 | * @param ResVal - The reset settings GYRO_RESET, ACCEL_RESET, TEMP_RESET, ALL_RESET. |
| 213468891 | 0:f4905c7ef2ce | 387 | * |
| 213468891 | 0:f4905c7ef2ce | 388 | */ |
| 213468891 | 0:f4905c7ef2ce | 389 | void sigPathReset(uint8_t ResVal); |
| 213468891 | 0:f4905c7ef2ce | 390 | |
| 213468891 | 0:f4905c7ef2ce | 391 | /** |
| 213468891 | 0:f4905c7ef2ce | 392 | * Enable or disable FIFO buffer, I2C Master Mode, and primary I2C interface. |
| 213468891 | 0:f4905c7ef2ce | 393 | * |
| 213468891 | 0:f4905c7ef2ce | 394 | * @param Settings - The configuration settings for user control register. |
| 213468891 | 0:f4905c7ef2ce | 395 | * FIFO_EN, FIFO_DIS, I2C_MST_EN, I2C_MST_DIS, FIFO_RESET, I2C_MST_RESET, SIG_COND_RESET. |
| 213468891 | 0:f4905c7ef2ce | 396 | * |
| 213468891 | 0:f4905c7ef2ce | 397 | */ |
| 213468891 | 0:f4905c7ef2ce | 398 | void setUserCtl(uint8_t Settings); |
| 213468891 | 0:f4905c7ef2ce | 399 | |
| 213468891 | 0:f4905c7ef2ce | 400 | /** |
| 213468891 | 0:f4905c7ef2ce | 401 | * Get the user setting for FIFO buffer, I2C Master Mode, and primary I2C interface. |
| 213468891 | 0:f4905c7ef2ce | 402 | * |
| 213468891 | 0:f4905c7ef2ce | 403 | * @return Current user settings for FIFO buffer, I2C Master Mode, and primary I2C interface. |
| 213468891 | 0:f4905c7ef2ce | 404 | * |
| 213468891 | 0:f4905c7ef2ce | 405 | */ |
| 213468891 | 0:f4905c7ef2ce | 406 | uint8_t getUserCtl(void); |
| 213468891 | 0:f4905c7ef2ce | 407 | |
| 213468891 | 0:f4905c7ef2ce | 408 | /** |
| 213468891 | 0:f4905c7ef2ce | 409 | * Set the power mode control settings. |
| 213468891 | 0:f4905c7ef2ce | 410 | * |
| 213468891 | 0:f4905c7ef2ce | 411 | * @param DevRes - Resets all internal resgisters to their default values. DEVICE_RESET or 0x00. |
| 213468891 | 0:f4905c7ef2ce | 412 | * @param Sleep - Puts the MPU6050 into sleep mode. SEEP or 0x00. |
| 213468891 | 0:f4905c7ef2ce | 413 | * @param Cycle - Cycles MPU6050 between sleep mode and waking up to take a single sample of data from active sensors |
| 213468891 | 0:f4905c7ef2ce | 414 | * at a rate determined by LP_WAKE_CTRL register. CYCLE or 0x00. |
| 213468891 | 0:f4905c7ef2ce | 415 | * @param Temp - Disables the temperature sensor. TEMP_DIS or 0x00. |
| 213468891 | 0:f4905c7ef2ce | 416 | * @param Clock - Specifies the clock source of the device. |
| 213468891 | 0:f4905c7ef2ce | 417 | * Settings INT_8MHz_OSC, PLL_GYROX_REF, PLL_GYROY_REF, PLL_GYROZ_REF, PLL_EXT_32KHz_REF, PLL_EXT_19KHz_REF. |
| 213468891 | 0:f4905c7ef2ce | 418 | * |
| 213468891 | 0:f4905c7ef2ce | 419 | */ |
| 213468891 | 0:f4905c7ef2ce | 420 | void setPowerCtl_1(uint8_t DevRes, uint8_t Sleep, uint8_t Cycle, uint8_t Temp, uint8_t Clock); |
| 213468891 | 0:f4905c7ef2ce | 421 | |
| 213468891 | 0:f4905c7ef2ce | 422 | /** |
| 213468891 | 0:f4905c7ef2ce | 423 | * Get the power mode and clock source. |
| 213468891 | 0:f4905c7ef2ce | 424 | * |
| 213468891 | 0:f4905c7ef2ce | 425 | * @return Current power mode control settings. |
| 213468891 | 0:f4905c7ef2ce | 426 | * |
| 213468891 | 0:f4905c7ef2ce | 427 | */ |
| 213468891 | 0:f4905c7ef2ce | 428 | uint8_t getPowerCtl_1(void); |
| 213468891 | 0:f4905c7ef2ce | 429 | |
| 213468891 | 0:f4905c7ef2ce | 430 | /** |
| 213468891 | 0:f4905c7ef2ce | 431 | * Set frequency of wake-ups in Accelerometer Only Low Power Mode, as well as individual gyroscope and accelemometer axes standby configuration. |
| 213468891 | 0:f4905c7ef2ce | 432 | * |
| 213468891 | 0:f4905c7ef2ce | 433 | * @param Conf - Wake-up and axes standby configuration. |
| 213468891 | 0:f4905c7ef2ce | 434 | * Configurations LP_WAKE_CTRL_1Hz, LP_WAKE_CTRL_5Hz, LP_WAKE_CTRL_20Hz, LP_WAKE_CTRL_40Hz. |
| 213468891 | 0:f4905c7ef2ce | 435 | * |
| 213468891 | 0:f4905c7ef2ce | 436 | */ |
| 213468891 | 0:f4905c7ef2ce | 437 | void setPowerCtl_2(uint8_t Conf); |
| 213468891 | 0:f4905c7ef2ce | 438 | |
| 213468891 | 0:f4905c7ef2ce | 439 | /** |
| 213468891 | 0:f4905c7ef2ce | 440 | * Get frequency of wake-ups in Accelerometer Only Low Power Mode, as well as individual gyroscope and accelemometer axes standby status. |
| 213468891 | 0:f4905c7ef2ce | 441 | * |
| 213468891 | 0:f4905c7ef2ce | 442 | * @return Current wake-up and individual axes standby status. |
| 213468891 | 0:f4905c7ef2ce | 443 | * |
| 213468891 | 0:f4905c7ef2ce | 444 | */ |
| 213468891 | 0:f4905c7ef2ce | 445 | uint8_t getPowerCtl_2(void); |
| 213468891 | 0:f4905c7ef2ce | 446 | |
| 213468891 | 0:f4905c7ef2ce | 447 | /** |
| 213468891 | 0:f4905c7ef2ce | 448 | * Read the number of samples currenly in the FIFO buffer. |
| 213468891 | 0:f4905c7ef2ce | 449 | * |
| 213468891 | 0:f4905c7ef2ce | 450 | * @return Current number of samples in the FIFO buffer. |
| 213468891 | 0:f4905c7ef2ce | 451 | * |
| 213468891 | 0:f4905c7ef2ce | 452 | */ |
| 213468891 | 0:f4905c7ef2ce | 453 | uint16_t getFIFOCount(void); |
| 213468891 | 0:f4905c7ef2ce | 454 | |
| 213468891 | 0:f4905c7ef2ce | 455 | /** |
| 213468891 | 0:f4905c7ef2ce | 456 | * This register is used to write data to the FIFO buffer. |
| 213468891 | 0:f4905c7ef2ce | 457 | * |
| 213468891 | 0:f4905c7ef2ce | 458 | * @param Data - Data to write to the FIFO buffer. Value from 0x00 - 0xFF. |
| 213468891 | 0:f4905c7ef2ce | 459 | * |
| 213468891 | 0:f4905c7ef2ce | 460 | */ |
| 213468891 | 0:f4905c7ef2ce | 461 | void FIFODataWrite(uint8_t Data); |
| 213468891 | 0:f4905c7ef2ce | 462 | |
| 213468891 | 0:f4905c7ef2ce | 463 | /** |
| 213468891 | 0:f4905c7ef2ce | 464 | * This register is used to read data from the FIFO buffer. |
| 213468891 | 0:f4905c7ef2ce | 465 | * |
| 213468891 | 0:f4905c7ef2ce | 466 | * @return Data located in the FIFO buffer. |
| 213468891 | 0:f4905c7ef2ce | 467 | * |
| 213468891 | 0:f4905c7ef2ce | 468 | */ |
| 213468891 | 0:f4905c7ef2ce | 469 | uint8_t FIFODataRead(void); |
| 213468891 | 0:f4905c7ef2ce | 470 | |
| 213468891 | 0:f4905c7ef2ce | 471 | /** |
| 213468891 | 0:f4905c7ef2ce | 472 | * Get the identity of the device. |
| 213468891 | 0:f4905c7ef2ce | 473 | * |
| 213468891 | 0:f4905c7ef2ce | 474 | * @return |
| 213468891 | 0:f4905c7ef2ce | 475 | * |
| 213468891 | 0:f4905c7ef2ce | 476 | */ |
| 213468891 | 0:f4905c7ef2ce | 477 | uint8_t getWhoAmI(void); |
| 213468891 | 0:f4905c7ef2ce | 478 | |
| 213468891 | 0:f4905c7ef2ce | 479 | private: |
| 213468891 | 0:f4905c7ef2ce | 480 | |
| 213468891 | 0:f4905c7ef2ce | 481 | I2C i2c_; |
| 213468891 | 0:f4905c7ef2ce | 482 | |
| 213468891 | 0:f4905c7ef2ce | 483 | /** |
| 213468891 | 0:f4905c7ef2ce | 484 | * Read one byte from a register on the device. |
| 213468891 | 0:f4905c7ef2ce | 485 | * |
| 213468891 | 0:f4905c7ef2ce | 486 | * @param: - the address to be read from |
| 213468891 | 0:f4905c7ef2ce | 487 | * |
| 213468891 | 0:f4905c7ef2ce | 488 | * @return: the value of the data read |
| 213468891 | 0:f4905c7ef2ce | 489 | */ |
| 213468891 | 0:f4905c7ef2ce | 490 | char SingleByteRead(char address); |
| 213468891 | 0:f4905c7ef2ce | 491 | |
| 213468891 | 0:f4905c7ef2ce | 492 | /** |
| 213468891 | 0:f4905c7ef2ce | 493 | * Write one byte to a register on the device. |
| 213468891 | 0:f4905c7ef2ce | 494 | * |
| 213468891 | 0:f4905c7ef2ce | 495 | * @param: |
| 213468891 | 0:f4905c7ef2ce | 496 | - address of the register to write to. |
| 213468891 | 0:f4905c7ef2ce | 497 | - the value of the data to store |
| 213468891 | 0:f4905c7ef2ce | 498 | */ |
| 213468891 | 0:f4905c7ef2ce | 499 | uint8_t SingleByteWrite(char address, char data); |
| 213468891 | 0:f4905c7ef2ce | 500 | |
| 213468891 | 0:f4905c7ef2ce | 501 | /** |
| 213468891 | 0:f4905c7ef2ce | 502 | * Read several consecutive bytes on the device and store them in a given location. |
| 213468891 | 0:f4905c7ef2ce | 503 | * |
| 213468891 | 0:f4905c7ef2ce | 504 | * @param startAddress: The address of the first register to read from. |
| 213468891 | 0:f4905c7ef2ce | 505 | * @param ptr_output: a pointer to the location to store the data being read |
| 213468891 | 0:f4905c7ef2ce | 506 | * @param size: The number of bytes to read. |
| 213468891 | 0:f4905c7ef2ce | 507 | */ |
| 213468891 | 0:f4905c7ef2ce | 508 | void multiByteRead(char startAddress, char* ptr_output, int size); |
| 213468891 | 0:f4905c7ef2ce | 509 | |
| 213468891 | 0:f4905c7ef2ce | 510 | /** |
| 213468891 | 0:f4905c7ef2ce | 511 | * Write several consecutive bytes on the device. |
| 213468891 | 0:f4905c7ef2ce | 512 | * |
| 213468891 | 0:f4905c7ef2ce | 513 | * @param startAddress: The address of the first register to write to. |
| 213468891 | 0:f4905c7ef2ce | 514 | * @param ptr_data: Pointer to a location which contains the data to write. |
| 213468891 | 0:f4905c7ef2ce | 515 | * @param size: The number of bytes to write. |
| 213468891 | 0:f4905c7ef2ce | 516 | */ |
| 213468891 | 0:f4905c7ef2ce | 517 | uint8_t multiByteWrite(char startAddress, char* ptr_data, int size); |
| 213468891 | 0:f4905c7ef2ce | 518 | }; |
| 213468891 | 0:f4905c7ef2ce | 519 | |
| 213468891 | 0:f4905c7ef2ce | 520 | #endif /* MPU6050_H */ |