MPU6050.h

00001 /*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. 
00002 If it is half of what you expected, and you still are on the correct planet, you got an engineering sample
00003 */
00004 
00005 
00006 #ifndef MPU6050_H
00007 #define MPU6050_H
00008 
00009 /**
00010  * Includes
00011  */
00012 #include "mbed.h"
00013 
00014 
00015 /**
00016  * Defines
00017  */
00018 #ifndef MPU6050_ADDRESS
00019 // se cambio direccion address del sensor (referenciado a tierra el ADO 
00020 // originalmente estaba en 0x69 refenciado a tierra
00021     #define MPU6050_ADDRESS             0x68 
00022 #endif
00023 
00024 #ifdef MPU6050_ES
00025         #define DOUBLE_ACCELERO
00026 #endif  
00027 
00028 /**
00029  * Registers
00030  */
00031  #define MPU6050_CONFIG_REG         0x1A
00032  #define MPU6050_GYRO_CONFIG_REG    0x1B
00033  #define MPU6050_ACCELERO_CONFIG_REG    0x1C
00034   
00035  #define MPU6050_INT_PIN_CFG        0x37
00036  
00037  #define MPU6050_ACCEL_XOUT_H_REG   0x3B
00038  #define MPU6050_ACCEL_YOUT_H_REG   0x3D
00039  #define MPU6050_ACCEL_ZOUT_H_REG   0x3F
00040  
00041  #define MPU6050_TEMP_H_REG         0x41
00042  
00043  #define MPU6050_GYRO_XOUT_H_REG    0x43
00044  #define MPU6050_GYRO_YOUT_H_REG    0x45
00045  #define MPU6050_GYRO_ZOUT_H_REG    0x47
00046  
00047  
00048  
00049  #define MPU6050_PWR_MGMT_1_REG     0x6B
00050  #define MPU6050_WHO_AM_I_REG       0x75
00051  
00052                  
00053  
00054  /**
00055   * Definitions
00056   */
00057 #define MPU6050_SLP_BIT             6
00058 #define MPU6050_BYPASS_BIT         1
00059 
00060 #define MPU6050_BW_256              0
00061 #define MPU6050_BW_188              1
00062 #define MPU6050_BW_98               2
00063 #define MPU6050_BW_42               3
00064 #define MPU6050_BW_20               4
00065 #define MPU6050_BW_10               5
00066 #define MPU6050_BW_5                6
00067 
00068 #define MPU6050_ACCELERO_RANGE_2G   0
00069 #define MPU6050_ACCELERO_RANGE_4G   1
00070 #define MPU6050_ACCELERO_RANGE_8G   2
00071 #define MPU6050_ACCELERO_RANGE_16G  3
00072 
00073 #define MPU6050_GYRO_RANGE_250      0
00074 #define MPU6050_GYRO_RANGE_500      1
00075 #define MPU6050_GYRO_RANGE_1000     2
00076 #define MPU6050_GYRO_RANGE_2000     3
00077 
00078 
00079 /** MPU6050 IMU library.
00080   *
00081   * Example:
00082   * @code
00083   * Later, maybe
00084   * @endcode
00085   */
00086 class MPU6050 {
00087     public:
00088      /**
00089      * Constructor.
00090      *
00091      * Sleep mode of MPU6050 is immediatly disabled
00092      *
00093      * @param sda - mbed pin to use for the SDA I2C line.
00094      * @param scl - mbed pin to use for the SCL I2C line.
00095      */
00096      MPU6050(PinName sda, PinName scl);
00097      
00098 
00099      /**
00100      * Tests the I2C connection by reading the WHO_AM_I register. 
00101      *
00102      * @return True for a working connection, false for an error
00103      */     
00104      bool testConnection( void );
00105      
00106      /**
00107      * Sets the bandwidth of the digital low-pass filter 
00108      *
00109      * Macros: MPU6050_BW_256 - MPU6050_BW_188 - MPU6050_BW_98 - MPU6050_BW_42 - MPU6050_BW_20 - MPU6050_BW_10 - MPU6050_BW_5
00110      * Last number is the gyro's BW in Hz (accelero BW is virtually identical)
00111      *
00112      * @param BW - The three bits that set the bandwidth (use the predefined macros)
00113      */     
00114      void setBW( char BW );
00115      
00116      /**
00117      * 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) 
00118      *
00119      * @param state - Enables/disables the I2C bypass mode
00120      */     
00121      void setI2CBypass ( bool state );
00122      
00123      /**
00124      * Sets the Accelero full-scale range
00125      *
00126      * Macros: MPU6050_ACCELERO_RANGE_2G - MPU6050_ACCELERO_RANGE_4G - MPU6050_ACCELERO_RANGE_8G - MPU6050_ACCELERO_RANGE_16G
00127      *
00128      * @param range - The two bits that set the full-scale range (use the predefined macros)
00129      */
00130      void setAcceleroRange(char range);
00131      
00132      /**
00133      * Reads the accelero x-axis.
00134      *
00135      * @return 16-bit signed integer x-axis accelero data
00136      */   
00137      int getAcceleroRawX( void );
00138      
00139      /**
00140      * Reads the accelero y-axis.
00141      *
00142      * @return 16-bit signed integer y-axis accelero data
00143      */   
00144      int getAcceleroRawY( void );
00145      
00146      /**
00147      * Reads the accelero z-axis.
00148      *
00149      * @return 16-bit signed integer z-axis accelero data
00150      */   
00151      int getAcceleroRawZ( void );
00152      
00153      /**
00154      * Reads all accelero data.
00155      *
00156      * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
00157      */   
00158      void getAcceleroRaw( int *data );
00159      
00160      /**
00161      * Reads all accelero data, gives the acceleration in m/s2
00162      *
00163      * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
00164      *
00165      * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
00166      */   
00167      void getAccelero( float *data );
00168      
00169      /**
00170      * Sets the Gyro full-scale range
00171      *
00172      * Macros: MPU6050_GYRO_RANGE_250 - MPU6050_GYRO_RANGE_500 - MPU6050_GYRO_RANGE_1000 - MPU6050_GYRO_RANGE_2000
00173      *
00174      * @param range - The two bits that set the full-scale range (use the predefined macros)
00175      */
00176      void setGyroRange(char range);
00177 
00178      /**
00179      * Reads the gyro x-axis.
00180      *
00181      * @return 16-bit signed integer x-axis gyro data
00182      */   
00183      int getGyroRawX( void );
00184      
00185      /**
00186      * Reads the gyro y-axis.
00187      *
00188      * @return 16-bit signed integer y-axis gyro data
00189      */   
00190      int getGyroRawY( void );
00191      
00192      /**
00193      * Reads the gyro z-axis.
00194      *
00195      * @return 16-bit signed integer z-axis gyro data
00196      */   
00197      int getGyroRawZ( void );
00198      
00199      /**
00200      * Reads all gyro data.
00201      *
00202      * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
00203      */   
00204      void getGyroRaw( int *data );  
00205      
00206      /**
00207      * Reads all gyro data, gives the gyro in rad/s
00208      *
00209      * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
00210      *
00211      * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
00212      */   
00213      void getGyro( float *data);     
00214      
00215      /**
00216      * Reads temperature data.
00217      *
00218      * @return 16 bit signed integer with the raw temperature register value
00219      */  
00220      int getTempRaw( void );
00221      
00222      /**
00223      * Returns current temperature
00224      *
00225      * @returns float with the current temperature
00226      */  
00227      float getTemp( void );
00228 
00229      /**
00230      * Sets the sleep mode of the MPU6050 
00231      *
00232      * @param state - true for sleeping, false for wake up
00233      */     
00234      void setSleepMode( bool state );
00235      
00236      
00237      /**
00238      * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU. 
00239      *
00240      * @param adress - register address to write to
00241      * @param data - data to write
00242      */
00243      void write( char address, char data);
00244      
00245      /**
00246      * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU. 
00247      *
00248      * @param adress - register address to write to
00249      * @return - data from the register specified by RA
00250      */
00251      char read( char adress);
00252      
00253      /**
00254      * Read multtiple regigsters from the device, more efficient than using multiple normal reads. 
00255      *
00256      * @param adress - register address to write to
00257      * @param length - number of bytes to read
00258      * @param data - pointer where the data needs to be written to 
00259      */
00260      void read( char adress, char *data, int length);
00261      
00262 
00263      
00264         
00265      private:
00266 
00267      I2C connection;
00268      char currentAcceleroRange;
00269      char currentGyroRange;
00270      
00271 
00272 };
00273 
00274 
00275 
00276 #endif