Diff: MPU6050.h

Revision:

0:6757f7363a9f

Child:

1:a3366f09e95c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.h	Wed Jul 11 12:26:47 2012 +0000
@@ -0,0 +1,278 @@
+/*My first library, and it only contains the basic what I required personally (or could be bothered to add)
+WARNING: This does NOT include the IMU capabilities of the MPU6050. Simply because there is no register map available required for that,
+it is not added to this library. You can google for some reverse engineered code, but that does not give you any idea what is going on. 
+
+
+Thanks to Uwe Gartman for having a nice example of a similar library (http://mbed.org/users/Digixx/libraries/ITG3200/lyptff)
+
+If you want a more complete library, check: https://github.com/jrowberg/i2cdevlib/tree/master/MPU6050
+This library contains alot less, but that also makes it less confusing ;) 
+
+Large goal for me was getting experience with making libraries, which is a reason I did not copy the one from github (and adapt it for mbed). But if you just want to use the accelero
+and gyroscope of this IC with a few settings, this library should be an easy choice.
+
+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. 
+If it is half of what you expected, and you still are on the correct planet, you got an engineering sample
+*/
+
+
+#ifndef MPU6050_H
+#define MPU6050_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+#include "MODI2C.h"
+
+/**
+ * Defines
+ */
+#define MPU6050_ADDRESS             0x69 // address pin low (GND), default for InvenSense evaluation board
+#ifdef MPU6050_ES
+        #define DOUBLE_ACCELERO
+#endif  
+
+/**
+ * Registers
+ */
+ #define MPU6050_CONFIG_REG         0x1A
+ #define MPU6050_GYRO_CONFIG_REG    0x1B
+ #define MPU6050_ACCELERO_CONFIG_REG    0x1C
+  
+ #define MPU6050_INT_PIN_CFG        0x37
+ 
+ #define MPU6050_ACCEL_XOUT_H_REG   0x3B
+ #define MPU6050_ACCEL_YOUT_H_REG   0x3D
+ #define MPU6050_ACCEL_ZOUT_H_REG   0x3F
+ 
+ #define MPU6050_TEMP_H_REG         0x41
+ 
+ #define MPU6050_GYRO_XOUT_H_REG    0x43
+ #define MPU6050_GYRO_YOUT_H_REG    0x45
+ #define MPU6050_GYRO_ZOUT_H_REG    0x47
+ 
+ 
+ 
+ #define MPU6050_PWR_MGMT_1_REG     0x6B
+ #define MPU6050_WHO_AM_I_REG       0x75
+ 
+                 
+ 
+ /**
+  * Definitions
+  */
+#define MPU6050_SLP_BIT             6
+#define MPU6050_BYPASS_BIT         1
+
+#define MPU6050_BW_256              0
+#define MPU6050_BW_188              1
+#define MPU6050_BW_98               2
+#define MPU6050_BW_42               3
+#define MPU6050_BW_20               4
+#define MPU6050_BW_10               5
+#define MPU6050_BW_5                6
+
+#define MPU6050_ACCELERO_RANGE_2G   0
+#define MPU6050_ACCELERO_RANGE_4G   1
+#define MPU6050_ACCELERO_RANGE_8G   2
+#define MPU6050_ACCELERO_RANGE_16G  3
+
+#define MPU6050_GYRO_RANGE_250      0
+#define MPU6050_GYRO_RANGE_500      1
+#define MPU6050_GYRO_RANGE_1000     2
+#define MPU6050_GYRO_RANGE_2000     3
+
+
+
+class MPU6050 {
+    public:
+     /**
+     * Constructor.
+     *
+     * Sleep mode of MPU6050 is immediatly disabled
+     *
+     * @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);
+     
+
+     /**
+     * Tests the I2C connection by reading the WHO_AM_I register. 
+     *
+     * @return True for a working connection, false for an error
+     */     
+     bool testConnection( void );
+     
+     /**
+     * Sets the bandwidth of the digital low-pass filter 
+     *
+     * Macros: MPU6050_BW_256 - MPU6050_BW_188 - MPU6050_BW_98 - MPU6050_BW_42 - MPU6050_BW_20 - MPU6050_BW_10 - MPU6050_BW_5
+     * Last number is the gyro's BW in Hz (accelero BW is virtually identical)
+     *
+     * @param BW - The three bits that set the bandwidth (use the predefined macros)
+     */     
+     void setBW( char BW );
+     
+     /**
+     * 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) 
+     *
+     * @param state - Enables/disables the I2C bypass mode
+     */     
+     void setI2CBypass ( bool state );
+     
+     /**
+     * Sets the Accelero full-scale range
+     *
+     * Macros: MPU6050_ACCELERO_RANGE_2G - MPU6050_ACCELERO_RANGE_4G - MPU6050_ACCELERO_RANGE_8G - MPU6050_ACCELERO_RANGE_16G
+     *
+     * @param range - The two bits that set the full-scale range (use the predefined macros)
+     */
+     void setAcceleroRange(char range);
+     
+     /**
+     * Reads the accelero x-axis.
+     *
+     * @return 16-bit signed integer x-axis accelero data
+     */   
+     int getAcceleroRawX( void );
+     
+     /**
+     * Reads the accelero y-axis.
+     *
+     * @return 16-bit signed integer y-axis accelero data
+     */   
+     int getAcceleroRawY( void );
+     
+     /**
+     * Reads the accelero z-axis.
+     *
+     * @return 16-bit signed integer z-axis accelero data
+     */   
+     int getAcceleroRawZ( void );
+     
+     /**
+     * Reads all accelero data.
+     *
+     * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
+     */   
+     void getAcceleroRaw( int *data );
+     
+     /**
+     * Reads all accelero data, gives the acceleration in m/s2
+     *
+     * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
+     *
+     * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
+     */   
+     void getAccelero( float *data );
+     
+     /**
+     * Sets the Gyro full-scale range
+     *
+     * Macros: MPU6050_GYRO_RANGE_250 - MPU6050_GYRO_RANGE_500 - MPU6050_GYRO_RANGE_1000 - MPU6050_GYRO_RANGE_2000
+     *
+     * @param range - The two bits that set the full-scale range (use the predefined macros)
+     */
+     void setGyroRange(char range);
+
+     /**
+     * Reads the gyro x-axis.
+     *
+     * @return 16-bit signed integer x-axis gyro data
+     */   
+     int getGyroRawX( void );
+     
+     /**
+     * Reads the gyro y-axis.
+     *
+     * @return 16-bit signed integer y-axis gyro data
+     */   
+     int getGyroRawY( void );
+     
+     /**
+     * Reads the gyro z-axis.
+     *
+     * @return 16-bit signed integer z-axis gyro data
+     */   
+     int getGyroRawZ( void );
+     
+     /**
+     * Reads all gyro data.
+     *
+     * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
+     */   
+     void getGyroRaw( int *data );  
+     
+     /**
+     * Reads all gyro data, gives the gyro in rad/s
+     *
+     * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
+     *
+     * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
+     */   
+     void getGyro( float *data);     
+     
+     /**
+     * Reads temperature data.
+     *
+     * @return 16 bit signed integer with the raw temperature register value
+     */  
+     int getTempRaw( void );
+     
+     /**
+     * Returns current temperature
+     *
+     * @returns float with the current temperature
+     */  
+     float getTemp( void );
+
+     /**
+     * Sets the sleep mode of the MPU6050 
+     *
+     * @param state - true for sleeping, false for wake up
+     */     
+     void setSleepMode( bool state );
+     
+     
+     /**
+     * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU. 
+     *
+     * @param adress - register address to write to
+     * @param data - data to write
+     */
+     void write( char address, char data);
+     
+     /**
+     * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU. 
+     *
+     * @param adress - register address to write to
+     * @return - data from the register specified by RA
+     */
+     char read( char adress);
+     
+     /**
+     * Read multtiple regigsters from the device, more efficient than using multiple normal reads. 
+     *
+     * @param adress - register address to write to
+     * @param length - number of bytes to read
+     * @param data - pointer where the data needs to be written to 
+     */
+     void read( char adress, char *data, int length);
+     
+
+     
+        
+     private:
+
+     MODI2C connection;
+     char currentAcceleroRange;
+     char currentGyroRange;
+     
+
+};
+
+
+
+#endif