Not a real MPU6050 but imc-20689
Fork of MPU6050 by
MPU6050.h@3:d2b927200037, 2018-10-23 (annotated)
- Committer:
- Ucial
- Date:
- Tue Oct 23 10:48:22 2018 +0000
- Revision:
- 3:d2b927200037
- Parent:
- 2:5c63e20c50f3
adf
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Sissors | 0:6757f7363a9f | 1 | #ifndef MPU6050_H |
Sissors | 0:6757f7363a9f | 2 | #define MPU6050_H |
Sissors | 0:6757f7363a9f | 3 | |
Sissors | 0:6757f7363a9f | 4 | #include "mbed.h" |
Ucial | 3:d2b927200037 | 5 | #include "math.h" |
Sissors | 1:a3366f09e95c | 6 | |
Ucial | 3:d2b927200037 | 7 | #define PI 3.14159265359 // This value will be used when calculating angles |
Ucial | 3:d2b927200037 | 8 | #define dt 0.005 // 200 Hz sampling period |
Sissors | 0:6757f7363a9f | 9 | |
Ucial | 3:d2b927200037 | 10 | #define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD |
Ucial | 3:d2b927200037 | 11 | #define YGOFFS_TC 0x01 |
Ucial | 3:d2b927200037 | 12 | #define ZGOFFS_TC 0x02 |
Ucial | 3:d2b927200037 | 13 | #define X_FINE_GAIN 0x03 // [7:0] fine gain |
Ucial | 3:d2b927200037 | 14 | #define Y_FINE_GAIN 0x04 |
Ucial | 3:d2b927200037 | 15 | #define Z_FINE_GAIN 0x05 |
Ucial | 3:d2b927200037 | 16 | #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer |
Ucial | 3:d2b927200037 | 17 | #define XA_OFFSET_L_TC 0x07 |
Ucial | 3:d2b927200037 | 18 | #define YA_OFFSET_H 0x08 |
Ucial | 3:d2b927200037 | 19 | #define YA_OFFSET_L_TC 0x09 |
Ucial | 3:d2b927200037 | 20 | #define ZA_OFFSET_H 0x0A |
Ucial | 3:d2b927200037 | 21 | #define ZA_OFFSET_L_TC 0x0B |
Ucial | 3:d2b927200037 | 22 | #define SELF_TEST_X 0x0D |
Ucial | 3:d2b927200037 | 23 | #define SELF_TEST_Y 0x0E |
Ucial | 3:d2b927200037 | 24 | #define SELF_TEST_Z 0x0F |
Ucial | 3:d2b927200037 | 25 | #define SELF_TEST_A 0x10 |
Ucial | 3:d2b927200037 | 26 | #define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050? |
Ucial | 3:d2b927200037 | 27 | #define XG_OFFS_USRL 0x14 |
Ucial | 3:d2b927200037 | 28 | #define YG_OFFS_USRH 0x15 |
Ucial | 3:d2b927200037 | 29 | #define YG_OFFS_USRL 0x16 |
Ucial | 3:d2b927200037 | 30 | #define ZG_OFFS_USRH 0x17 |
Ucial | 3:d2b927200037 | 31 | #define ZG_OFFS_USRL 0x18 |
Ucial | 3:d2b927200037 | 32 | #define SMPLRT_DIV 0x19 |
Ucial | 3:d2b927200037 | 33 | #define CONFIG 0x1A |
Ucial | 3:d2b927200037 | 34 | #define GYRO_CONFIG 0x1B |
Ucial | 3:d2b927200037 | 35 | #define ACCEL_CONFIG 0x1C |
Ucial | 3:d2b927200037 | 36 | #define FF_THR 0x1D // Free-fall |
Ucial | 3:d2b927200037 | 37 | #define FF_DUR 0x1E // Free-fall |
Ucial | 3:d2b927200037 | 38 | #define MOT_THR 0x1F // Motion detection threshold bits [7:0] |
Ucial | 3:d2b927200037 | 39 | #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms |
Ucial | 3:d2b927200037 | 40 | #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] |
Ucial | 3:d2b927200037 | 41 | #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms |
Ucial | 3:d2b927200037 | 42 | #define FIFO_EN 0x23 |
Ucial | 3:d2b927200037 | 43 | #define I2C_MST_CTRL 0x24 |
Ucial | 3:d2b927200037 | 44 | #define I2C_SLV0_ADDR 0x25 |
Ucial | 3:d2b927200037 | 45 | #define I2C_SLV0_REG 0x26 |
Ucial | 3:d2b927200037 | 46 | #define I2C_SLV0_CTRL 0x27 |
Ucial | 3:d2b927200037 | 47 | #define I2C_SLV1_ADDR 0x28 |
Ucial | 3:d2b927200037 | 48 | #define I2C_SLV1_REG 0x29 |
Ucial | 3:d2b927200037 | 49 | #define I2C_SLV1_CTRL 0x2A |
Ucial | 3:d2b927200037 | 50 | #define I2C_SLV2_ADDR 0x2B |
Ucial | 3:d2b927200037 | 51 | #define I2C_SLV2_REG 0x2C |
Ucial | 3:d2b927200037 | 52 | #define I2C_SLV2_CTRL 0x2D |
Ucial | 3:d2b927200037 | 53 | #define I2C_SLV3_ADDR 0x2E |
Ucial | 3:d2b927200037 | 54 | #define I2C_SLV3_REG 0x2F |
Ucial | 3:d2b927200037 | 55 | #define I2C_SLV3_CTRL 0x30 |
Ucial | 3:d2b927200037 | 56 | #define I2C_SLV4_ADDR 0x31 |
Ucial | 3:d2b927200037 | 57 | #define I2C_SLV4_REG 0x32 |
Ucial | 3:d2b927200037 | 58 | #define I2C_SLV4_DO 0x33 |
Ucial | 3:d2b927200037 | 59 | #define I2C_SLV4_CTRL 0x34 |
Ucial | 3:d2b927200037 | 60 | #define I2C_SLV4_DI 0x35 |
Ucial | 3:d2b927200037 | 61 | #define I2C_MST_STATUS 0x36 |
Ucial | 3:d2b927200037 | 62 | #define INT_PIN_CFG 0x37 |
Ucial | 3:d2b927200037 | 63 | #define INT_ENABLE 0x38 |
Ucial | 3:d2b927200037 | 64 | #define DMP_INT_STATUS 0x39 // Check DMP interrupt |
Ucial | 3:d2b927200037 | 65 | #define INT_STATUS 0x3A |
Ucial | 3:d2b927200037 | 66 | #define ACCEL_XOUT_H 0x3B |
Ucial | 3:d2b927200037 | 67 | #define ACCEL_XOUT_L 0x3C |
Ucial | 3:d2b927200037 | 68 | #define ACCEL_YOUT_H 0x3D |
Ucial | 3:d2b927200037 | 69 | #define ACCEL_YOUT_L 0x3E |
Ucial | 3:d2b927200037 | 70 | #define ACCEL_ZOUT_H 0x3F |
Ucial | 3:d2b927200037 | 71 | #define ACCEL_ZOUT_L 0x40 |
Ucial | 3:d2b927200037 | 72 | #define TEMP_OUT_H 0x41 |
Ucial | 3:d2b927200037 | 73 | #define TEMP_OUT_L 0x42 |
Ucial | 3:d2b927200037 | 74 | #define GYRO_XOUT_H 0x43 |
Ucial | 3:d2b927200037 | 75 | #define GYRO_XOUT_L 0x44 |
Ucial | 3:d2b927200037 | 76 | #define GYRO_YOUT_H 0x45 |
Ucial | 3:d2b927200037 | 77 | #define GYRO_YOUT_L 0x46 |
Ucial | 3:d2b927200037 | 78 | #define GYRO_ZOUT_H 0x47 |
Ucial | 3:d2b927200037 | 79 | #define GYRO_ZOUT_L 0x48 |
Ucial | 3:d2b927200037 | 80 | #define EXT_SENS_DATA_00 0x49 |
Ucial | 3:d2b927200037 | 81 | #define EXT_SENS_DATA_01 0x4A |
Ucial | 3:d2b927200037 | 82 | #define EXT_SENS_DATA_02 0x4B |
Ucial | 3:d2b927200037 | 83 | #define EXT_SENS_DATA_03 0x4C |
Ucial | 3:d2b927200037 | 84 | #define EXT_SENS_DATA_04 0x4D |
Ucial | 3:d2b927200037 | 85 | #define EXT_SENS_DATA_05 0x4E |
Ucial | 3:d2b927200037 | 86 | #define EXT_SENS_DATA_06 0x4F |
Ucial | 3:d2b927200037 | 87 | #define EXT_SENS_DATA_07 0x50 |
Ucial | 3:d2b927200037 | 88 | #define EXT_SENS_DATA_08 0x51 |
Ucial | 3:d2b927200037 | 89 | #define EXT_SENS_DATA_09 0x52 |
Ucial | 3:d2b927200037 | 90 | #define EXT_SENS_DATA_10 0x53 |
Ucial | 3:d2b927200037 | 91 | #define EXT_SENS_DATA_11 0x54 |
Ucial | 3:d2b927200037 | 92 | #define EXT_SENS_DATA_12 0x55 |
Ucial | 3:d2b927200037 | 93 | #define EXT_SENS_DATA_13 0x56 |
Ucial | 3:d2b927200037 | 94 | #define EXT_SENS_DATA_14 0x57 |
Ucial | 3:d2b927200037 | 95 | #define EXT_SENS_DATA_15 0x58 |
Ucial | 3:d2b927200037 | 96 | #define EXT_SENS_DATA_16 0x59 |
Ucial | 3:d2b927200037 | 97 | #define EXT_SENS_DATA_17 0x5A |
Ucial | 3:d2b927200037 | 98 | #define EXT_SENS_DATA_18 0x5B |
Ucial | 3:d2b927200037 | 99 | #define EXT_SENS_DATA_19 0x5C |
Ucial | 3:d2b927200037 | 100 | #define EXT_SENS_DATA_20 0x5D |
Ucial | 3:d2b927200037 | 101 | #define EXT_SENS_DATA_21 0x5E |
Ucial | 3:d2b927200037 | 102 | #define EXT_SENS_DATA_22 0x5F |
Ucial | 3:d2b927200037 | 103 | #define EXT_SENS_DATA_23 0x60 |
Ucial | 3:d2b927200037 | 104 | #define MOT_DETECT_STATUS 0x61 |
Ucial | 3:d2b927200037 | 105 | #define I2C_SLV0_DO 0x63 |
Ucial | 3:d2b927200037 | 106 | #define I2C_SLV1_DO 0x64 |
Ucial | 3:d2b927200037 | 107 | #define I2C_SLV2_DO 0x65 |
Ucial | 3:d2b927200037 | 108 | #define I2C_SLV3_DO 0x66 |
Ucial | 3:d2b927200037 | 109 | #define I2C_MST_DELAY_CTRL 0x67 |
Ucial | 3:d2b927200037 | 110 | #define SIGNAL_PATH_RESET 0x68 |
Ucial | 3:d2b927200037 | 111 | #define MOT_DETECT_CTRL 0x69 |
Ucial | 3:d2b927200037 | 112 | #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP |
Ucial | 3:d2b927200037 | 113 | #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode |
Ucial | 3:d2b927200037 | 114 | #define PWR_MGMT_2 0x6C |
Ucial | 3:d2b927200037 | 115 | #define DMP_BANK 0x6D // Activates a specific bank in the DMP |
Ucial | 3:d2b927200037 | 116 | #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank |
Ucial | 3:d2b927200037 | 117 | #define DMP_REG 0x6F // Register in DMP from which to read or to which to write |
Ucial | 3:d2b927200037 | 118 | #define DMP_REG_1 0x70 |
Ucial | 3:d2b927200037 | 119 | #define DMP_REG_2 0x71 |
Ucial | 3:d2b927200037 | 120 | #define FIFO_COUNTH 0x72 |
Ucial | 3:d2b927200037 | 121 | #define FIFO_COUNTL 0x73 |
Ucial | 3:d2b927200037 | 122 | #define FIFO_R_W 0x74 |
Ucial | 3:d2b927200037 | 123 | #define WHO_AM_I_MPU6050 0x75 // Should return 0x68 |
Ucial | 3:d2b927200037 | 124 | |
Ucial | 3:d2b927200037 | 125 | // Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor |
Ucial | 3:d2b927200037 | 126 | // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1 |
Ucial | 3:d2b927200037 | 127 | #define ADO 0 |
Ucial | 3:d2b927200037 | 128 | #if ADO |
Ucial | 3:d2b927200037 | 129 | #define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1 |
Ucial | 3:d2b927200037 | 130 | #else |
Ucial | 3:d2b927200037 | 131 | #define MPU6050_ADDRESS 0x68<<1 // Device address when ADO = 0 |
Sissors | 1:a3366f09e95c | 132 | #endif |
Sissors | 1:a3366f09e95c | 133 | |
Ucial | 3:d2b927200037 | 134 | extern float aRes, gRes; |
Sissors | 0:6757f7363a9f | 135 | |
Ucial | 3:d2b927200037 | 136 | /* whoAmI func uses this func, variables etc */ |
Sissors | 0:6757f7363a9f | 137 | |
Ucial | 3:d2b927200037 | 138 | extern Serial pc; |
Sissors | 0:6757f7363a9f | 139 | |
Ucial | 3:d2b927200037 | 140 | /* Sensor datas to be used in program */ |
Ucial | 3:d2b927200037 | 141 | extern float ax,ay,az; |
Ucial | 3:d2b927200037 | 142 | extern float gx,gy,gz; |
Ucial | 3:d2b927200037 | 143 | extern int16_t accelData[3],gyroData[3],tempData; |
Ucial | 3:d2b927200037 | 144 | extern float accelBias[3], gyroBias[3]; |
Ucial | 3:d2b927200037 | 145 | |
Ucial | 3:d2b927200037 | 146 | /* Function Prototypes */ |
Ucial | 3:d2b927200037 | 147 | class MPU6050 |
Ucial | 3:d2b927200037 | 148 | { |
Ucial | 3:d2b927200037 | 149 | protected: |
Ucial | 3:d2b927200037 | 150 | public: |
Ucial | 3:d2b927200037 | 151 | void getAres(); |
Ucial | 3:d2b927200037 | 152 | void getGres(); |
Ucial | 3:d2b927200037 | 153 | void writeByte(uint8_t address, uint8_t subAddress, uint8_t data); |
Ucial | 3:d2b927200037 | 154 | char readByte(uint8_t address, uint8_t subAddress); |
Ucial | 3:d2b927200037 | 155 | void readBytes(uint8_t address, uint8_t subAddress, uint8_t byteNum, uint8_t* dest); |
Ucial | 3:d2b927200037 | 156 | void whoAmI(); |
Ucial | 3:d2b927200037 | 157 | void init(); |
Ucial | 3:d2b927200037 | 158 | void reset(); |
Ucial | 3:d2b927200037 | 159 | void readAccelData(int16_t* dest); |
Ucial | 3:d2b927200037 | 160 | void readGyroData(int16_t* dest); |
Ucial | 3:d2b927200037 | 161 | int16_t readTempData(); |
Ucial | 3:d2b927200037 | 162 | void calibrate(float* dest1, float* dest2); |
Ucial | 3:d2b927200037 | 163 | void complementaryFilter(float* pitch, float* roll); |
Sissors | 0:6757f7363a9f | 164 | }; |
Sissors | 0:6757f7363a9f | 165 | |
Ucial | 3:d2b927200037 | 166 | #endif |