marie allan / MPU6050

program test MPU6050

Dependents:   ticker_test_mpu6050

Fork of MPU6050 by Erik -

MPU6050.h@5:228ddc13168a, 2015-02-18 (annotated)

Committer:
allanmarie
Date:
Wed Feb 18 17:04:17 2015 +0000
Revision:
5:228ddc13168a
Parent:
4:4926b02b5eab 
modif MPU6050

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sissors 1:a3366f09e95c 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.
Sissors 0:6757f7363a9f 2 If it is half of what you expected, and you still are on the correct planet, you got an engineering sample
Sissors 0:6757f7363a9f 3 */
Sissors 0:6757f7363a9f 4
Sissors 0:6757f7363a9f 5
Sissors 0:6757f7363a9f 6 #ifndef MPU6050_H
Sissors 0:6757f7363a9f 7 #define MPU6050_H
Sissors 0:6757f7363a9f 8
Sissors 0:6757f7363a9f 9 /**
Sissors 0:6757f7363a9f 10 * Includes
Sissors 0:6757f7363a9f 11 */
Sissors 0:6757f7363a9f 12 #include "mbed.h"
Sissors 1:a3366f09e95c 13
Sissors 0:6757f7363a9f 14
Sissors 0:6757f7363a9f 15 /**
allanmarie 4:4926b02b5eab 16 * Defines */
allanmarie 4:4926b02b5eab 17 //modif prog by salvat
allanmarie 4:4926b02b5eab 18 #ifndef _MPU6050_ADDRESS
allanmarie 4:4926b02b5eab 19 #define _MPU6050_ADDRESS
allanmarie 4:4926b02b5eab 20
allanmarie 4:4926b02b5eab 21
Sissors 1:a3366f09e95c 22 #endif
Sissors 1:a3366f09e95c 23
Sissors 0:6757f7363a9f 24 #ifdef MPU6050_ES
Sissors 0:6757f7363a9f 25 #define DOUBLE_ACCELERO
Sissors 0:6757f7363a9f 26 #endif
Sissors 0:6757f7363a9f 27
Sissors 0:6757f7363a9f 28 /**
Sissors 0:6757f7363a9f 29 * Registers
Sissors 0:6757f7363a9f 30 */
Sissors 0:6757f7363a9f 31 #define MPU6050_CONFIG_REG 0x1A
Sissors 0:6757f7363a9f 32 #define MPU6050_GYRO_CONFIG_REG 0x1B
Sissors 0:6757f7363a9f 33 #define MPU6050_ACCELERO_CONFIG_REG 0x1C
Sissors 0:6757f7363a9f 34
Sissors 0:6757f7363a9f 35 #define MPU6050_INT_PIN_CFG 0x37
Sissors 0:6757f7363a9f 36
Sissors 0:6757f7363a9f 37 #define MPU6050_ACCEL_XOUT_H_REG 0x3B
Sissors 0:6757f7363a9f 38 #define MPU6050_ACCEL_YOUT_H_REG 0x3D
Sissors 0:6757f7363a9f 39 #define MPU6050_ACCEL_ZOUT_H_REG 0x3F
Sissors 0:6757f7363a9f 40
Sissors 0:6757f7363a9f 41 #define MPU6050_TEMP_H_REG 0x41
Sissors 0:6757f7363a9f 42
Sissors 0:6757f7363a9f 43 #define MPU6050_GYRO_XOUT_H_REG 0x43
Sissors 0:6757f7363a9f 44 #define MPU6050_GYRO_YOUT_H_REG 0x45
Sissors 0:6757f7363a9f 45 #define MPU6050_GYRO_ZOUT_H_REG 0x47
Sissors 0:6757f7363a9f 46
Sissors 0:6757f7363a9f 47
Sissors 0:6757f7363a9f 48
Sissors 0:6757f7363a9f 49 #define MPU6050_PWR_MGMT_1_REG 0x6B
Sissors 0:6757f7363a9f 50 #define MPU6050_WHO_AM_I_REG 0x75
Sissors 0:6757f7363a9f 51
Sissors 0:6757f7363a9f 52
Sissors 0:6757f7363a9f 53
Sissors 0:6757f7363a9f 54 /**
Sissors 0:6757f7363a9f 55 * Definitions
Sissors 0:6757f7363a9f 56 */
Sissors 0:6757f7363a9f 57 #define MPU6050_SLP_BIT 6
Sissors 0:6757f7363a9f 58 #define MPU6050_BYPASS_BIT 1
Sissors 0:6757f7363a9f 59
Sissors 0:6757f7363a9f 60 #define MPU6050_BW_256 0
Sissors 0:6757f7363a9f 61 #define MPU6050_BW_188 1
Sissors 0:6757f7363a9f 62 #define MPU6050_BW_98 2
Sissors 0:6757f7363a9f 63 #define MPU6050_BW_42 3
Sissors 0:6757f7363a9f 64 #define MPU6050_BW_20 4
Sissors 0:6757f7363a9f 65 #define MPU6050_BW_10 5
Sissors 0:6757f7363a9f 66 #define MPU6050_BW_5 6
Sissors 0:6757f7363a9f 67
Sissors 0:6757f7363a9f 68 #define MPU6050_ACCELERO_RANGE_2G 0
Sissors 0:6757f7363a9f 69 #define MPU6050_ACCELERO_RANGE_4G 1
Sissors 0:6757f7363a9f 70 #define MPU6050_ACCELERO_RANGE_8G 2
Sissors 0:6757f7363a9f 71 #define MPU6050_ACCELERO_RANGE_16G 3
Sissors 0:6757f7363a9f 72
Sissors 0:6757f7363a9f 73 #define MPU6050_GYRO_RANGE_250 0
Sissors 0:6757f7363a9f 74 #define MPU6050_GYRO_RANGE_500 1
Sissors 0:6757f7363a9f 75 #define MPU6050_GYRO_RANGE_1000 2
Sissors 0:6757f7363a9f 76 #define MPU6050_GYRO_RANGE_2000 3
Sissors 0:6757f7363a9f 77
Sissors 0:6757f7363a9f 78
Sissors 2:5c63e20c50f3 79 /** MPU6050 IMU library.
Sissors 2:5c63e20c50f3 80 *
Sissors 2:5c63e20c50f3 81 * Example:
Sissors 2:5c63e20c50f3 82 * @code
Sissors 2:5c63e20c50f3 83 * Later, maybe
Sissors 2:5c63e20c50f3 84 * @endcode
Sissors 2:5c63e20c50f3 85 */
Sissors 0:6757f7363a9f 86 class MPU6050 {
Sissors 0:6757f7363a9f 87 public:
Sissors 0:6757f7363a9f 88 /**
Sissors 0:6757f7363a9f 89 * Constructor.
Sissors 0:6757f7363a9f 90 *
Sissors 0:6757f7363a9f 91 * Sleep mode of MPU6050 is immediatly disabled
Sissors 0:6757f7363a9f 92 *
Sissors 0:6757f7363a9f 93 * @param sda - mbed pin to use for the SDA I2C line.
Sissors 0:6757f7363a9f 94 * @param scl - mbed pin to use for the SCL I2C line.
Sissors 0:6757f7363a9f 95 */
Sissors 0:6757f7363a9f 96 MPU6050(PinName sda, PinName scl);
Sissors 0:6757f7363a9f 97
Sissors 0:6757f7363a9f 98
Sissors 0:6757f7363a9f 99 /**
Sissors 0:6757f7363a9f 100 * Tests the I2C connection by reading the WHO_AM_I register.
Sissors 0:6757f7363a9f 101 *
Sissors 0:6757f7363a9f 102 * @return True for a working connection, false for an error
Sissors 0:6757f7363a9f 103 */
Sissors 0:6757f7363a9f 104 bool testConnection( void );
Sissors 0:6757f7363a9f 105
Sissors 0:6757f7363a9f 106 /**
Sissors 0:6757f7363a9f 107 * Sets the bandwidth of the digital low-pass filter
Sissors 0:6757f7363a9f 108 *
Sissors 0:6757f7363a9f 109 * Macros: MPU6050_BW_256 - MPU6050_BW_188 - MPU6050_BW_98 - MPU6050_BW_42 - MPU6050_BW_20 - MPU6050_BW_10 - MPU6050_BW_5
Sissors 0:6757f7363a9f 110 * Last number is the gyro's BW in Hz (accelero BW is virtually identical)
Sissors 0:6757f7363a9f 111 *
Sissors 0:6757f7363a9f 112 * @param BW - The three bits that set the bandwidth (use the predefined macros)
Sissors 0:6757f7363a9f 113 */
Sissors 0:6757f7363a9f 114 void setBW( char BW );
Sissors 0:6757f7363a9f 115
Sissors 0:6757f7363a9f 116 /**
Sissors 0:6757f7363a9f 117 * 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)
Sissors 0:6757f7363a9f 118 *
Sissors 0:6757f7363a9f 119 * @param state - Enables/disables the I2C bypass mode
Sissors 0:6757f7363a9f 120 */
Sissors 0:6757f7363a9f 121 void setI2CBypass ( bool state );
Sissors 0:6757f7363a9f 122
Sissors 0:6757f7363a9f 123 /**
Sissors 0:6757f7363a9f 124 * Sets the Accelero full-scale range
Sissors 0:6757f7363a9f 125 *
Sissors 0:6757f7363a9f 126 * Macros: MPU6050_ACCELERO_RANGE_2G - MPU6050_ACCELERO_RANGE_4G - MPU6050_ACCELERO_RANGE_8G - MPU6050_ACCELERO_RANGE_16G
Sissors 0:6757f7363a9f 127 *
Sissors 0:6757f7363a9f 128 * @param range - The two bits that set the full-scale range (use the predefined macros)
Sissors 0:6757f7363a9f 129 */
Sissors 0:6757f7363a9f 130 void setAcceleroRange(char range);
Sissors 0:6757f7363a9f 131
Sissors 0:6757f7363a9f 132 /**
Sissors 0:6757f7363a9f 133 * Reads the accelero x-axis.
Sissors 0:6757f7363a9f 134 *
Sissors 0:6757f7363a9f 135 * @return 16-bit signed integer x-axis accelero data
Sissors 0:6757f7363a9f 136 */
Sissors 0:6757f7363a9f 137 int getAcceleroRawX( void );
Sissors 0:6757f7363a9f 138
Sissors 0:6757f7363a9f 139 /**
Sissors 0:6757f7363a9f 140 * Reads the accelero y-axis.
Sissors 0:6757f7363a9f 141 *
Sissors 0:6757f7363a9f 142 * @return 16-bit signed integer y-axis accelero data
Sissors 0:6757f7363a9f 143 */
Sissors 0:6757f7363a9f 144 int getAcceleroRawY( void );
Sissors 0:6757f7363a9f 145
Sissors 0:6757f7363a9f 146 /**
Sissors 0:6757f7363a9f 147 * Reads the accelero z-axis.
Sissors 0:6757f7363a9f 148 *
Sissors 0:6757f7363a9f 149 * @return 16-bit signed integer z-axis accelero data
Sissors 0:6757f7363a9f 150 */
Sissors 0:6757f7363a9f 151 int getAcceleroRawZ( void );
Sissors 0:6757f7363a9f 152
Sissors 0:6757f7363a9f 153 /**
Sissors 0:6757f7363a9f 154 * Reads all accelero data.
Sissors 0:6757f7363a9f 155 *
Sissors 0:6757f7363a9f 156 * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 157 */
Sissors 0:6757f7363a9f 158 void getAcceleroRaw( int *data );
Sissors 0:6757f7363a9f 159
Sissors 0:6757f7363a9f 160 /**
Sissors 0:6757f7363a9f 161 * Reads all accelero data, gives the acceleration in m/s2
Sissors 0:6757f7363a9f 162 *
Sissors 0:6757f7363a9f 163 * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
Sissors 0:6757f7363a9f 164 *
Sissors 0:6757f7363a9f 165 * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 166 */
Sissors 0:6757f7363a9f 167 void getAccelero( float *data );
Sissors 0:6757f7363a9f 168
Sissors 0:6757f7363a9f 169 /**
Sissors 0:6757f7363a9f 170 * Sets the Gyro full-scale range
Sissors 0:6757f7363a9f 171 *
Sissors 0:6757f7363a9f 172 * Macros: MPU6050_GYRO_RANGE_250 - MPU6050_GYRO_RANGE_500 - MPU6050_GYRO_RANGE_1000 - MPU6050_GYRO_RANGE_2000
Sissors 0:6757f7363a9f 173 *
Sissors 0:6757f7363a9f 174 * @param range - The two bits that set the full-scale range (use the predefined macros)
Sissors 0:6757f7363a9f 175 */
Sissors 0:6757f7363a9f 176 void setGyroRange(char range);
Sissors 0:6757f7363a9f 177
Sissors 0:6757f7363a9f 178 /**
Sissors 0:6757f7363a9f 179 * Reads the gyro x-axis.
Sissors 0:6757f7363a9f 180 *
Sissors 0:6757f7363a9f 181 * @return 16-bit signed integer x-axis gyro data
Sissors 0:6757f7363a9f 182 */
Sissors 0:6757f7363a9f 183 int getGyroRawX( void );
Sissors 0:6757f7363a9f 184
Sissors 0:6757f7363a9f 185 /**
Sissors 0:6757f7363a9f 186 * Reads the gyro y-axis.
Sissors 0:6757f7363a9f 187 *
Sissors 0:6757f7363a9f 188 * @return 16-bit signed integer y-axis gyro data
Sissors 0:6757f7363a9f 189 */
Sissors 0:6757f7363a9f 190 int getGyroRawY( void );
Sissors 0:6757f7363a9f 191
Sissors 0:6757f7363a9f 192 /**
Sissors 0:6757f7363a9f 193 * Reads the gyro z-axis.
Sissors 0:6757f7363a9f 194 *
Sissors 0:6757f7363a9f 195 * @return 16-bit signed integer z-axis gyro data
Sissors 0:6757f7363a9f 196 */
Sissors 0:6757f7363a9f 197 int getGyroRawZ( void );
Sissors 0:6757f7363a9f 198
Sissors 0:6757f7363a9f 199 /**
Sissors 0:6757f7363a9f 200 * Reads all gyro data.
Sissors 0:6757f7363a9f 201 *
Sissors 0:6757f7363a9f 202 * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 203 */
Sissors 0:6757f7363a9f 204 void getGyroRaw( int *data );
Sissors 0:6757f7363a9f 205
Sissors 0:6757f7363a9f 206 /**
Sissors 0:6757f7363a9f 207 * Reads all gyro data, gives the gyro in rad/s
Sissors 0:6757f7363a9f 208 *
Sissors 0:6757f7363a9f 209 * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
Sissors 0:6757f7363a9f 210 *
Sissors 0:6757f7363a9f 211 * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 212 */
Sissors 0:6757f7363a9f 213 void getGyro( float *data);
Sissors 0:6757f7363a9f 214
Sissors 0:6757f7363a9f 215 /**
Sissors 0:6757f7363a9f 216 * Reads temperature data.
Sissors 0:6757f7363a9f 217 *
Sissors 0:6757f7363a9f 218 * @return 16 bit signed integer with the raw temperature register value
Sissors 0:6757f7363a9f 219 */
Sissors 0:6757f7363a9f 220 int getTempRaw( void );
Sissors 0:6757f7363a9f 221
Sissors 0:6757f7363a9f 222 /**
Sissors 0:6757f7363a9f 223 * Returns current temperature
Sissors 0:6757f7363a9f 224 *
Sissors 0:6757f7363a9f 225 * @returns float with the current temperature
Sissors 0:6757f7363a9f 226 */
Sissors 0:6757f7363a9f 227 float getTemp( void );
Sissors 0:6757f7363a9f 228
Sissors 0:6757f7363a9f 229 /**
Sissors 0:6757f7363a9f 230 * Sets the sleep mode of the MPU6050
Sissors 0:6757f7363a9f 231 *
Sissors 0:6757f7363a9f 232 * @param state - true for sleeping, false for wake up
Sissors 0:6757f7363a9f 233 */
Sissors 0:6757f7363a9f 234 void setSleepMode( bool state );
Sissors 0:6757f7363a9f 235
Sissors 0:6757f7363a9f 236
Sissors 0:6757f7363a9f 237 /**
Sissors 0:6757f7363a9f 238 * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU.
Sissors 0:6757f7363a9f 239 *
Sissors 0:6757f7363a9f 240 * @param adress - register address to write to
Sissors 0:6757f7363a9f 241 * @param data - data to write
Sissors 0:6757f7363a9f 242 */
Sissors 0:6757f7363a9f 243 void write( char address, char data);
Sissors 0:6757f7363a9f 244
Sissors 0:6757f7363a9f 245 /**
Sissors 0:6757f7363a9f 246 * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU.
Sissors 0:6757f7363a9f 247 *
Sissors 0:6757f7363a9f 248 * @param adress - register address to write to
Sissors 0:6757f7363a9f 249 * @return - data from the register specified by RA
Sissors 0:6757f7363a9f 250 */
Sissors 0:6757f7363a9f 251 char read( char adress);
Sissors 0:6757f7363a9f 252
Sissors 0:6757f7363a9f 253 /**
Sissors 0:6757f7363a9f 254 * Read multtiple regigsters from the device, more efficient than using multiple normal reads.
Sissors 0:6757f7363a9f 255 *
Sissors 0:6757f7363a9f 256 * @param adress - register address to write to
Sissors 0:6757f7363a9f 257 * @param length - number of bytes to read
Sissors 0:6757f7363a9f 258 * @param data - pointer where the data needs to be written to
Sissors 0:6757f7363a9f 259 */
Sissors 0:6757f7363a9f 260 void read( char adress, char *data, int length);
Sissors 0:6757f7363a9f 261
allanmarie 4:4926b02b5eab 262 /**
allanmarie 4:4926b02b5eab 263 * Find all I2C devices and print all devices I2C + update MPU6050_ADDRESS (choice between 0x68 and 0X69)
allanmarie 4:4926b02b5eab 264 *
allanmarie 4:4926b02b5eab 265 */
allanmarie 4:4926b02b5eab 266 bool I2C_finder();
Sissors 0:6757f7363a9f 267
Sissors 0:6757f7363a9f 268 private:
Sissors 1:a3366f09e95c 269 I2C connection;
Sissors 0:6757f7363a9f 270 char currentAcceleroRange;
Sissors 0:6757f7363a9f 271 char currentGyroRange;
allanmarie 4:4926b02b5eab 272 // add by salvat : permet de trouver l'adresse du MPU6050 dans testConnexion
allanmarie 4:4926b02b5eab 273 char MPU6050_ADDRESS;// address pin low (GND), default for InvenSense evaluation board
allanmarie 4:4926b02b5eab 274 bool isFindMPU6050;
allanmarie 4:4926b02b5eab 275
Sissors 0:6757f7363a9f 276
Sissors 0:6757f7363a9f 277
Sissors 0:6757f7363a9f 278 };
Sissors 0:6757f7363a9f 279
Sissors 0:6757f7363a9f 280
Sissors 0:6757f7363a9f 281
Sissors 0:6757f7363a9f 282 #endif