rau cha / Mbed 2 deprecated MPU6050-test-wihoutLib

For test MPU6050

Dependencies:   mbed

MPU6050.h@0:897889ddd75a, 2014-07-08 (annotated)

Committer:
Shikaneo
Date:
Tue Jul 08 05:38:58 2014 +0000
Revision:
0:897889ddd75a
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Shikaneo 0:897889ddd75a 1 /*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.
Shikaneo 0:897889ddd75a 2 If it is half of what you expected, and you still are on the correct planet, you got an engineering sample
Shikaneo 0:897889ddd75a 3 */
Shikaneo 0:897889ddd75a 4
Shikaneo 0:897889ddd75a 5
Shikaneo 0:897889ddd75a 6 #ifndef MPU6050_H
Shikaneo 0:897889ddd75a 7 #define MPU6050_H
Shikaneo 0:897889ddd75a 8
Shikaneo 0:897889ddd75a 9 /**
Shikaneo 0:897889ddd75a 10 * Includes
Shikaneo 0:897889ddd75a 11 */
Shikaneo 0:897889ddd75a 12 #include "mbed.h"
Shikaneo 0:897889ddd75a 13
Shikaneo 0:897889ddd75a 14
Shikaneo 0:897889ddd75a 15 /**
Shikaneo 0:897889ddd75a 16 * Defines
Shikaneo 0:897889ddd75a 17 */
Shikaneo 0:897889ddd75a 18 #ifndef MPU6050_ADDRESS
Shikaneo 0:897889ddd75a 19 #define MPU6050_ADDRESS 0x68 // address pin low (GND), default for InvenSense evaluation board
Shikaneo 0:897889ddd75a 20 #endif
Shikaneo 0:897889ddd75a 21
Shikaneo 0:897889ddd75a 22 #ifdef MPU6050_ES
Shikaneo 0:897889ddd75a 23 #define DOUBLE_ACCELERO
Shikaneo 0:897889ddd75a 24 #endif
Shikaneo 0:897889ddd75a 25
Shikaneo 0:897889ddd75a 26 /**
Shikaneo 0:897889ddd75a 27 * Registers
Shikaneo 0:897889ddd75a 28 */
Shikaneo 0:897889ddd75a 29 #define MPU6050_CONFIG_REG 0x1A
Shikaneo 0:897889ddd75a 30 #define MPU6050_GYRO_CONFIG_REG 0x1B
Shikaneo 0:897889ddd75a 31 #define MPU6050_ACCELERO_CONFIG_REG 0x1C
Shikaneo 0:897889ddd75a 32
Shikaneo 0:897889ddd75a 33 #define MPU6050_INT_PIN_CFG 0x37
Shikaneo 0:897889ddd75a 34
Shikaneo 0:897889ddd75a 35 #define MPU6050_ACCEL_XOUT_H_REG 0x3B
Shikaneo 0:897889ddd75a 36 #define MPU6050_ACCEL_YOUT_H_REG 0x3D
Shikaneo 0:897889ddd75a 37 #define MPU6050_ACCEL_ZOUT_H_REG 0x3F
Shikaneo 0:897889ddd75a 38
Shikaneo 0:897889ddd75a 39 #define MPU6050_TEMP_H_REG 0x41
Shikaneo 0:897889ddd75a 40
Shikaneo 0:897889ddd75a 41 #define MPU6050_GYRO_XOUT_H_REG 0x43
Shikaneo 0:897889ddd75a 42 #define MPU6050_GYRO_YOUT_H_REG 0x45
Shikaneo 0:897889ddd75a 43 #define MPU6050_GYRO_ZOUT_H_REG 0x47
Shikaneo 0:897889ddd75a 44
Shikaneo 0:897889ddd75a 45
Shikaneo 0:897889ddd75a 46
Shikaneo 0:897889ddd75a 47 #define MPU6050_PWR_MGMT_1_REG 0x6B
Shikaneo 0:897889ddd75a 48 #define MPU6050_WHO_AM_I_REG 0x75
Shikaneo 0:897889ddd75a 49
Shikaneo 0:897889ddd75a 50
Shikaneo 0:897889ddd75a 51
Shikaneo 0:897889ddd75a 52 /**
Shikaneo 0:897889ddd75a 53 * Definitions
Shikaneo 0:897889ddd75a 54 */
Shikaneo 0:897889ddd75a 55 #define MPU6050_SLP_BIT 6
Shikaneo 0:897889ddd75a 56 #define MPU6050_BYPASS_BIT 1
Shikaneo 0:897889ddd75a 57
Shikaneo 0:897889ddd75a 58 #define MPU6050_BW_256 0
Shikaneo 0:897889ddd75a 59 #define MPU6050_BW_188 1
Shikaneo 0:897889ddd75a 60 #define MPU6050_BW_98 2
Shikaneo 0:897889ddd75a 61 #define MPU6050_BW_42 3
Shikaneo 0:897889ddd75a 62 #define MPU6050_BW_20 4
Shikaneo 0:897889ddd75a 63 #define MPU6050_BW_10 5
Shikaneo 0:897889ddd75a 64 #define MPU6050_BW_5 6
Shikaneo 0:897889ddd75a 65
Shikaneo 0:897889ddd75a 66 #define MPU6050_ACCELERO_RANGE_2G 0
Shikaneo 0:897889ddd75a 67 #define MPU6050_ACCELERO_RANGE_4G 1
Shikaneo 0:897889ddd75a 68 #define MPU6050_ACCELERO_RANGE_8G 2
Shikaneo 0:897889ddd75a 69 #define MPU6050_ACCELERO_RANGE_16G 3
Shikaneo 0:897889ddd75a 70
Shikaneo 0:897889ddd75a 71 #define MPU6050_GYRO_RANGE_250 0
Shikaneo 0:897889ddd75a 72 #define MPU6050_GYRO_RANGE_500 1
Shikaneo 0:897889ddd75a 73 #define MPU6050_GYRO_RANGE_1000 2
Shikaneo 0:897889ddd75a 74 #define MPU6050_GYRO_RANGE_2000 3
Shikaneo 0:897889ddd75a 75
Shikaneo 0:897889ddd75a 76
Shikaneo 0:897889ddd75a 77 /** MPU6050 IMU library.
Shikaneo 0:897889ddd75a 78 *
Shikaneo 0:897889ddd75a 79 * Example:
Shikaneo 0:897889ddd75a 80 * @code
Shikaneo 0:897889ddd75a 81 * Later, maybe
Shikaneo 0:897889ddd75a 82 * @endcode
Shikaneo 0:897889ddd75a 83 */
Shikaneo 0:897889ddd75a 84 class MPU6050 {
Shikaneo 0:897889ddd75a 85 public:
Shikaneo 0:897889ddd75a 86 /**
Shikaneo 0:897889ddd75a 87 * Constructor.
Shikaneo 0:897889ddd75a 88 *
Shikaneo 0:897889ddd75a 89 * Sleep mode of MPU6050 is immediatly disabled
Shikaneo 0:897889ddd75a 90 *
Shikaneo 0:897889ddd75a 91 * @param sda - mbed pin to use for the SDA I2C line.
Shikaneo 0:897889ddd75a 92 * @param scl - mbed pin to use for the SCL I2C line.
Shikaneo 0:897889ddd75a 93 */
Shikaneo 0:897889ddd75a 94 // MPU6050(PinName sda, PinName scl);
Shikaneo 0:897889ddd75a 95 MPU6050(I2C *arg_i2c);
Shikaneo 0:897889ddd75a 96
Shikaneo 0:897889ddd75a 97 /**
Shikaneo 0:897889ddd75a 98 * Tests the I2C connection by reading the WHO_AM_I register.
Shikaneo 0:897889ddd75a 99 *
Shikaneo 0:897889ddd75a 100 * @return True for a working connection, false for an error
Shikaneo 0:897889ddd75a 101 */
Shikaneo 0:897889ddd75a 102 bool testConnection( void );
Shikaneo 0:897889ddd75a 103
Shikaneo 0:897889ddd75a 104 /**
Shikaneo 0:897889ddd75a 105 * Sets the bandwidth of the digital low-pass filter
Shikaneo 0:897889ddd75a 106 *
Shikaneo 0:897889ddd75a 107 * Macros: MPU6050_BW_256 - MPU6050_BW_188 - MPU6050_BW_98 - MPU6050_BW_42 - MPU6050_BW_20 - MPU6050_BW_10 - MPU6050_BW_5
Shikaneo 0:897889ddd75a 108 * Last number is the gyro's BW in Hz (accelero BW is virtually identical)
Shikaneo 0:897889ddd75a 109 *
Shikaneo 0:897889ddd75a 110 * @param BW - The three bits that set the bandwidth (use the predefined macros)
Shikaneo 0:897889ddd75a 111 */
Shikaneo 0:897889ddd75a 112 void setBW( char BW );
Shikaneo 0:897889ddd75a 113
Shikaneo 0:897889ddd75a 114 /**
Shikaneo 0:897889ddd75a 115 * 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)
Shikaneo 0:897889ddd75a 116 *
Shikaneo 0:897889ddd75a 117 * @param state - Enables/disables the I2C bypass mode
Shikaneo 0:897889ddd75a 118 */
Shikaneo 0:897889ddd75a 119 void setI2CBypass ( bool state );
Shikaneo 0:897889ddd75a 120
Shikaneo 0:897889ddd75a 121 /**
Shikaneo 0:897889ddd75a 122 * Sets the Accelero full-scale range
Shikaneo 0:897889ddd75a 123 *
Shikaneo 0:897889ddd75a 124 * Macros: MPU6050_ACCELERO_RANGE_2G - MPU6050_ACCELERO_RANGE_4G - MPU6050_ACCELERO_RANGE_8G - MPU6050_ACCELERO_RANGE_16G
Shikaneo 0:897889ddd75a 125 *
Shikaneo 0:897889ddd75a 126 * @param range - The two bits that set the full-scale range (use the predefined macros)
Shikaneo 0:897889ddd75a 127 */
Shikaneo 0:897889ddd75a 128 void setAcceleroRange(char range);
Shikaneo 0:897889ddd75a 129
Shikaneo 0:897889ddd75a 130 /**
Shikaneo 0:897889ddd75a 131 * Reads the accelero x-axis.
Shikaneo 0:897889ddd75a 132 *
Shikaneo 0:897889ddd75a 133 * @return 16-bit signed integer x-axis accelero data
Shikaneo 0:897889ddd75a 134 */
Shikaneo 0:897889ddd75a 135 int getAcceleroRawX( void );
Shikaneo 0:897889ddd75a 136
Shikaneo 0:897889ddd75a 137 /**
Shikaneo 0:897889ddd75a 138 * Reads the accelero y-axis.
Shikaneo 0:897889ddd75a 139 *
Shikaneo 0:897889ddd75a 140 * @return 16-bit signed integer y-axis accelero data
Shikaneo 0:897889ddd75a 141 */
Shikaneo 0:897889ddd75a 142 int getAcceleroRawY( void );
Shikaneo 0:897889ddd75a 143
Shikaneo 0:897889ddd75a 144 /**
Shikaneo 0:897889ddd75a 145 * Reads the accelero z-axis.
Shikaneo 0:897889ddd75a 146 *
Shikaneo 0:897889ddd75a 147 * @return 16-bit signed integer z-axis accelero data
Shikaneo 0:897889ddd75a 148 */
Shikaneo 0:897889ddd75a 149 int getAcceleroRawZ( void );
Shikaneo 0:897889ddd75a 150
Shikaneo 0:897889ddd75a 151 /**
Shikaneo 0:897889ddd75a 152 * Reads all accelero data.
Shikaneo 0:897889ddd75a 153 *
Shikaneo 0:897889ddd75a 154 * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
Shikaneo 0:897889ddd75a 155 */
Shikaneo 0:897889ddd75a 156 void getAcceleroRaw( int *data );
Shikaneo 0:897889ddd75a 157
Shikaneo 0:897889ddd75a 158 /**
Shikaneo 0:897889ddd75a 159 * Reads all accelero data, gives the acceleration in m/s2
Shikaneo 0:897889ddd75a 160 *
Shikaneo 0:897889ddd75a 161 * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
Shikaneo 0:897889ddd75a 162 *
Shikaneo 0:897889ddd75a 163 * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
Shikaneo 0:897889ddd75a 164 */
Shikaneo 0:897889ddd75a 165 void getAccelero( float *data );
Shikaneo 0:897889ddd75a 166
Shikaneo 0:897889ddd75a 167 /**
Shikaneo 0:897889ddd75a 168 * Sets the Gyro full-scale range
Shikaneo 0:897889ddd75a 169 *
Shikaneo 0:897889ddd75a 170 * Macros: MPU6050_GYRO_RANGE_250 - MPU6050_GYRO_RANGE_500 - MPU6050_GYRO_RANGE_1000 - MPU6050_GYRO_RANGE_2000
Shikaneo 0:897889ddd75a 171 *
Shikaneo 0:897889ddd75a 172 * @param range - The two bits that set the full-scale range (use the predefined macros)
Shikaneo 0:897889ddd75a 173 */
Shikaneo 0:897889ddd75a 174 void setGyroRange(char range);
Shikaneo 0:897889ddd75a 175
Shikaneo 0:897889ddd75a 176 /**
Shikaneo 0:897889ddd75a 177 * Reads the gyro x-axis.
Shikaneo 0:897889ddd75a 178 *
Shikaneo 0:897889ddd75a 179 * @return 16-bit signed integer x-axis gyro data
Shikaneo 0:897889ddd75a 180 */
Shikaneo 0:897889ddd75a 181 int getGyroRawX( void );
Shikaneo 0:897889ddd75a 182
Shikaneo 0:897889ddd75a 183 /**
Shikaneo 0:897889ddd75a 184 * Reads the gyro y-axis.
Shikaneo 0:897889ddd75a 185 *
Shikaneo 0:897889ddd75a 186 * @return 16-bit signed integer y-axis gyro data
Shikaneo 0:897889ddd75a 187 */
Shikaneo 0:897889ddd75a 188 int getGyroRawY( void );
Shikaneo 0:897889ddd75a 189
Shikaneo 0:897889ddd75a 190 /**
Shikaneo 0:897889ddd75a 191 * Reads the gyro z-axis.
Shikaneo 0:897889ddd75a 192 *
Shikaneo 0:897889ddd75a 193 * @return 16-bit signed integer z-axis gyro data
Shikaneo 0:897889ddd75a 194 */
Shikaneo 0:897889ddd75a 195 int getGyroRawZ( void );
Shikaneo 0:897889ddd75a 196
Shikaneo 0:897889ddd75a 197 /**
Shikaneo 0:897889ddd75a 198 * Reads all gyro data.
Shikaneo 0:897889ddd75a 199 *
Shikaneo 0:897889ddd75a 200 * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
Shikaneo 0:897889ddd75a 201 */
Shikaneo 0:897889ddd75a 202 void getGyroRaw( int *data );
Shikaneo 0:897889ddd75a 203
Shikaneo 0:897889ddd75a 204 /**
Shikaneo 0:897889ddd75a 205 * Reads all gyro data, gives the gyro in rad/s
Shikaneo 0:897889ddd75a 206 *
Shikaneo 0:897889ddd75a 207 * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
Shikaneo 0:897889ddd75a 208 *
Shikaneo 0:897889ddd75a 209 * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
Shikaneo 0:897889ddd75a 210 */
Shikaneo 0:897889ddd75a 211 void getGyro( float *data);
Shikaneo 0:897889ddd75a 212
Shikaneo 0:897889ddd75a 213 /**
Shikaneo 0:897889ddd75a 214 * Reads temperature data.
Shikaneo 0:897889ddd75a 215 *
Shikaneo 0:897889ddd75a 216 * @return 16 bit signed integer with the raw temperature register value
Shikaneo 0:897889ddd75a 217 */
Shikaneo 0:897889ddd75a 218 int getTempRaw( void );
Shikaneo 0:897889ddd75a 219
Shikaneo 0:897889ddd75a 220 /**
Shikaneo 0:897889ddd75a 221 * Returns current temperature
Shikaneo 0:897889ddd75a 222 *
Shikaneo 0:897889ddd75a 223 * @returns float with the current temperature
Shikaneo 0:897889ddd75a 224 */
Shikaneo 0:897889ddd75a 225 float getTemp( void );
Shikaneo 0:897889ddd75a 226
Shikaneo 0:897889ddd75a 227 /**
Shikaneo 0:897889ddd75a 228 * Sets the sleep mode of the MPU6050
Shikaneo 0:897889ddd75a 229 *
Shikaneo 0:897889ddd75a 230 * @param state - true for sleeping, false for wake up
Shikaneo 0:897889ddd75a 231 */
Shikaneo 0:897889ddd75a 232 void setSleepMode( bool state );
Shikaneo 0:897889ddd75a 233
Shikaneo 0:897889ddd75a 234
Shikaneo 0:897889ddd75a 235 /**
Shikaneo 0:897889ddd75a 236 * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU.
Shikaneo 0:897889ddd75a 237 *
Shikaneo 0:897889ddd75a 238 * @param adress - register address to write to
Shikaneo 0:897889ddd75a 239 * @param data - data to write
Shikaneo 0:897889ddd75a 240 */
Shikaneo 0:897889ddd75a 241 void write( char address, char data);
Shikaneo 0:897889ddd75a 242
Shikaneo 0:897889ddd75a 243 /**
Shikaneo 0:897889ddd75a 244 * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU.
Shikaneo 0:897889ddd75a 245 *
Shikaneo 0:897889ddd75a 246 * @param adress - register address to write to
Shikaneo 0:897889ddd75a 247 * @return - data from the register specified by RA
Shikaneo 0:897889ddd75a 248 */
Shikaneo 0:897889ddd75a 249 char read( char adress);
Shikaneo 0:897889ddd75a 250
Shikaneo 0:897889ddd75a 251 /**
Shikaneo 0:897889ddd75a 252 * Read multtiple regigsters from the device, more efficient than using multiple normal reads.
Shikaneo 0:897889ddd75a 253 *
Shikaneo 0:897889ddd75a 254 * @param adress - register address to write to
Shikaneo 0:897889ddd75a 255 * @param length - number of bytes to read
Shikaneo 0:897889ddd75a 256 * @param data - pointer where the data needs to be written to
Shikaneo 0:897889ddd75a 257 */
Shikaneo 0:897889ddd75a 258 void read( char adress, char *data, int length);
Shikaneo 0:897889ddd75a 259
Shikaneo 0:897889ddd75a 260
Shikaneo 0:897889ddd75a 261
Shikaneo 0:897889ddd75a 262
Shikaneo 0:897889ddd75a 263 private:
Shikaneo 0:897889ddd75a 264
Shikaneo 0:897889ddd75a 265 I2C *connection;
Shikaneo 0:897889ddd75a 266 // I2C connection;
Shikaneo 0:897889ddd75a 267 char currentAcceleroRange;
Shikaneo 0:897889ddd75a 268 char currentGyroRange;
Shikaneo 0:897889ddd75a 269
Shikaneo 0:897889ddd75a 270
Shikaneo 0:897889ddd75a 271 };
Shikaneo 0:897889ddd75a 272
Shikaneo 0:897889ddd75a 273
Shikaneo 0:897889ddd75a 274
Shikaneo 0:897889ddd75a 275 #endif