Daniel David / MPU6050

Gyroscope and accelerometer sensor based on Korneliusz Jarzebski's lib

Dependents:   weather_station_proj weather_station_project weather_station_proj_v1_2

MPU6050.h@0:aef0335c060b, 2018-07-01 (annotated)

Committer:
daniel_davvid
Date:
Sun Jul 01 11:58:49 2018 +0000
Revision:
0:aef0335c060b
Updated so it can work in a weather station project using only the accelerometer

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daniel_davvid 0:aef0335c060b 1 /*
daniel_davvid 0:aef0335c060b 2 MPU6050.h - Header file for the MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
daniel_davvid 0:aef0335c060b 3 Version: 1.0.3
daniel_davvid 0:aef0335c060b 4 (c) 2014-2015 Korneliusz Jarzebski
daniel_davvid 0:aef0335c060b 5 www.jarzebski.pl
daniel_davvid 0:aef0335c060b 6 This program is free software: you can redistribute it and/or modify
daniel_davvid 0:aef0335c060b 7 it under the terms of the version 3 GNU General Public License as
daniel_davvid 0:aef0335c060b 8 published by the Free Software Foundation.
daniel_davvid 0:aef0335c060b 9 This program is distributed in the hope that it will be useful,
daniel_davvid 0:aef0335c060b 10 but WITHOUT ANY WARRANTY; without even the implied warranty of
daniel_davvid 0:aef0335c060b 11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
daniel_davvid 0:aef0335c060b 12 GNU General Public License for more details.
daniel_davvid 0:aef0335c060b 13 You should have received a copy of the GNU General Public License
daniel_davvid 0:aef0335c060b 14 along with this program. If not, see <http://www.gnu.org/licenses/>.
daniel_davvid 0:aef0335c060b 15 */
daniel_davvid 0:aef0335c060b 16
daniel_davvid 0:aef0335c060b 17 #ifndef MPU6050_h
daniel_davvid 0:aef0335c060b 18 #define MPU6050_h
daniel_davvid 0:aef0335c060b 19
daniel_davvid 0:aef0335c060b 20 #include <mbed.h>
daniel_davvid 0:aef0335c060b 21
daniel_davvid 0:aef0335c060b 22 // Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor
daniel_davvid 0:aef0335c060b 23 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
daniel_davvid 0:aef0335c060b 24 #define ADO 0
daniel_davvid 0:aef0335c060b 25 #if ADO
daniel_davvid 0:aef0335c060b 26 #define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1
daniel_davvid 0:aef0335c060b 27 #else
daniel_davvid 0:aef0335c060b 28 #define MPU6050_ADDRESS 0x68<<1 // Device address when ADO = 0
daniel_davvid 0:aef0335c060b 29 #endif
daniel_davvid 0:aef0335c060b 30
daniel_davvid 0:aef0335c060b 31 #define MPU6050_REG_ACCEL_XOFFS_H (0x06)
daniel_davvid 0:aef0335c060b 32 #define MPU6050_REG_ACCEL_XOFFS_L (0x07)
daniel_davvid 0:aef0335c060b 33 #define MPU6050_REG_ACCEL_YOFFS_H (0x08)
daniel_davvid 0:aef0335c060b 34 #define MPU6050_REG_ACCEL_YOFFS_L (0x09)
daniel_davvid 0:aef0335c060b 35 #define MPU6050_REG_ACCEL_ZOFFS_H (0x0A)
daniel_davvid 0:aef0335c060b 36 #define MPU6050_REG_ACCEL_ZOFFS_L (0x0B)
daniel_davvid 0:aef0335c060b 37 #define MPU6050_REG_GYRO_XOFFS_H (0x13)
daniel_davvid 0:aef0335c060b 38 #define MPU6050_REG_GYRO_XOFFS_L (0x14)
daniel_davvid 0:aef0335c060b 39 #define MPU6050_REG_GYRO_YOFFS_H (0x15)
daniel_davvid 0:aef0335c060b 40 #define MPU6050_REG_GYRO_YOFFS_L (0x16)
daniel_davvid 0:aef0335c060b 41 #define MPU6050_REG_GYRO_ZOFFS_H (0x17)
daniel_davvid 0:aef0335c060b 42 #define MPU6050_REG_GYRO_ZOFFS_L (0x18)
daniel_davvid 0:aef0335c060b 43 #define MPU6050_REG_CONFIG (0x1A)
daniel_davvid 0:aef0335c060b 44 #define MPU6050_REG_GYRO_CONFIG (0x1B) // Gyroscope Configuration
daniel_davvid 0:aef0335c060b 45 #define MPU6050_REG_ACCEL_CONFIG (0x1C) // Accelerometer Configuration
daniel_davvid 0:aef0335c060b 46 #define MPU6050_REG_FF_THRESHOLD (0x1D)
daniel_davvid 0:aef0335c060b 47 #define MPU6050_REG_FF_DURATION (0x1E)
daniel_davvid 0:aef0335c060b 48 #define MPU6050_REG_MOT_THRESHOLD (0x1F)
daniel_davvid 0:aef0335c060b 49 #define MPU6050_REG_MOT_DURATION (0x20)
daniel_davvid 0:aef0335c060b 50 #define MPU6050_REG_ZMOT_THRESHOLD (0x21)
daniel_davvid 0:aef0335c060b 51 #define MPU6050_REG_ZMOT_DURATION (0x22)
daniel_davvid 0:aef0335c060b 52 #define MPU6050_REG_INT_PIN_CFG (0x37) // INT Pin. Bypass Enable Configuration
daniel_davvid 0:aef0335c060b 53 #define MPU6050_REG_INT_ENABLE (0x38) // INT Enable
daniel_davvid 0:aef0335c060b 54 #define MPU6050_REG_INT_STATUS (0x3A)
daniel_davvid 0:aef0335c060b 55 #define MPU6050_REG_ACCEL_XOUT_H (0x3B)
daniel_davvid 0:aef0335c060b 56 #define MPU6050_REG_ACCEL_XOUT_L (0x3C)
daniel_davvid 0:aef0335c060b 57 #define MPU6050_REG_ACCEL_YOUT_H (0x3D)
daniel_davvid 0:aef0335c060b 58 #define MPU6050_REG_ACCEL_YOUT_L (0x3E)
daniel_davvid 0:aef0335c060b 59 #define MPU6050_REG_ACCEL_ZOUT_H (0x3F)
daniel_davvid 0:aef0335c060b 60 #define MPU6050_REG_ACCEL_ZOUT_L (0x40)
daniel_davvid 0:aef0335c060b 61 #define MPU6050_REG_TEMP_OUT_H (0x41)
daniel_davvid 0:aef0335c060b 62 #define MPU6050_REG_TEMP_OUT_L (0x42)
daniel_davvid 0:aef0335c060b 63 #define MPU6050_REG_GYRO_XOUT_H (0x43)
daniel_davvid 0:aef0335c060b 64 #define MPU6050_REG_GYRO_XOUT_L (0x44)
daniel_davvid 0:aef0335c060b 65 #define MPU6050_REG_GYRO_YOUT_H (0x45)
daniel_davvid 0:aef0335c060b 66 #define MPU6050_REG_GYRO_YOUT_L (0x46)
daniel_davvid 0:aef0335c060b 67 #define MPU6050_REG_GYRO_ZOUT_H (0x47)
daniel_davvid 0:aef0335c060b 68 #define MPU6050_REG_GYRO_ZOUT_L (0x48)
daniel_davvid 0:aef0335c060b 69 #define MPU6050_REG_MOT_DETECT_STATUS (0x61)
daniel_davvid 0:aef0335c060b 70 #define MPU6050_REG_MOT_DETECT_CTRL (0x69)
daniel_davvid 0:aef0335c060b 71 #define MPU6050_REG_USER_CTRL (0x6A) // User Control
daniel_davvid 0:aef0335c060b 72 #define MPU6050_REG_PWR_MGMT_1 (0x6B) // Power Management 1
daniel_davvid 0:aef0335c060b 73 #define MPU6050_REG_WHO_AM_I (0x75) // Who Am I
daniel_davvid 0:aef0335c060b 74
daniel_davvid 0:aef0335c060b 75 #ifndef VECTOR_STRUCT_H
daniel_davvid 0:aef0335c060b 76 #define VECTOR_STRUCT_H
daniel_davvid 0:aef0335c060b 77 struct Vector
daniel_davvid 0:aef0335c060b 78 {
daniel_davvid 0:aef0335c060b 79 float XAxis;
daniel_davvid 0:aef0335c060b 80 float YAxis;
daniel_davvid 0:aef0335c060b 81 float ZAxis;
daniel_davvid 0:aef0335c060b 82 };
daniel_davvid 0:aef0335c060b 83 #endif
daniel_davvid 0:aef0335c060b 84
daniel_davvid 0:aef0335c060b 85 struct Activites
daniel_davvid 0:aef0335c060b 86 {
daniel_davvid 0:aef0335c060b 87 bool isOverflow;
daniel_davvid 0:aef0335c060b 88 bool isFreeFall;
daniel_davvid 0:aef0335c060b 89 bool isInactivity;
daniel_davvid 0:aef0335c060b 90 bool isActivity;
daniel_davvid 0:aef0335c060b 91 bool isPosActivityOnX;
daniel_davvid 0:aef0335c060b 92 bool isPosActivityOnY;
daniel_davvid 0:aef0335c060b 93 bool isPosActivityOnZ;
daniel_davvid 0:aef0335c060b 94 bool isNegActivityOnX;
daniel_davvid 0:aef0335c060b 95 bool isNegActivityOnY;
daniel_davvid 0:aef0335c060b 96 bool isNegActivityOnZ;
daniel_davvid 0:aef0335c060b 97 bool isDataReady;
daniel_davvid 0:aef0335c060b 98 };
daniel_davvid 0:aef0335c060b 99
daniel_davvid 0:aef0335c060b 100 typedef enum
daniel_davvid 0:aef0335c060b 101 {
daniel_davvid 0:aef0335c060b 102 MPU6050_CLOCK_KEEP_RESET = 0b111,
daniel_davvid 0:aef0335c060b 103 MPU6050_CLOCK_EXTERNAL_19MHZ = 0b101,
daniel_davvid 0:aef0335c060b 104 MPU6050_CLOCK_EXTERNAL_32KHZ = 0b100,
daniel_davvid 0:aef0335c060b 105 MPU6050_CLOCK_PLL_ZGYRO = 0b011,
daniel_davvid 0:aef0335c060b 106 MPU6050_CLOCK_PLL_YGYRO = 0b010,
daniel_davvid 0:aef0335c060b 107 MPU6050_CLOCK_PLL_XGYRO = 0b001,
daniel_davvid 0:aef0335c060b 108 MPU6050_CLOCK_INTERNAL_8MHZ = 0b000
daniel_davvid 0:aef0335c060b 109 } mpu6050_clockSource_t;
daniel_davvid 0:aef0335c060b 110
daniel_davvid 0:aef0335c060b 111 typedef enum
daniel_davvid 0:aef0335c060b 112 {
daniel_davvid 0:aef0335c060b 113 MPU6050_SCALE_2000DPS = 0b11,
daniel_davvid 0:aef0335c060b 114 MPU6050_SCALE_1000DPS = 0b10,
daniel_davvid 0:aef0335c060b 115 MPU6050_SCALE_500DPS = 0b01,
daniel_davvid 0:aef0335c060b 116 MPU6050_SCALE_250DPS = 0b00
daniel_davvid 0:aef0335c060b 117 } mpu6050_dps_t;
daniel_davvid 0:aef0335c060b 118
daniel_davvid 0:aef0335c060b 119 typedef enum
daniel_davvid 0:aef0335c060b 120 {
daniel_davvid 0:aef0335c060b 121 MPU6050_RANGE_16G = 0b11,
daniel_davvid 0:aef0335c060b 122 MPU6050_RANGE_8G = 0b10,
daniel_davvid 0:aef0335c060b 123 MPU6050_RANGE_4G = 0b01,
daniel_davvid 0:aef0335c060b 124 MPU6050_RANGE_2G = 0b00,
daniel_davvid 0:aef0335c060b 125 } mpu6050_range_t;
daniel_davvid 0:aef0335c060b 126
daniel_davvid 0:aef0335c060b 127 typedef enum
daniel_davvid 0:aef0335c060b 128 {
daniel_davvid 0:aef0335c060b 129 MPU6050_DELAY_3MS = 0b11,
daniel_davvid 0:aef0335c060b 130 MPU6050_DELAY_2MS = 0b10,
daniel_davvid 0:aef0335c060b 131 MPU6050_DELAY_1MS = 0b01,
daniel_davvid 0:aef0335c060b 132 MPU6050_NO_DELAY = 0b00,
daniel_davvid 0:aef0335c060b 133 } mpu6050_onDelay_t;
daniel_davvid 0:aef0335c060b 134
daniel_davvid 0:aef0335c060b 135 typedef enum
daniel_davvid 0:aef0335c060b 136 {
daniel_davvid 0:aef0335c060b 137 MPU6050_DHPF_HOLD = 0b111,
daniel_davvid 0:aef0335c060b 138 MPU6050_DHPF_0_63HZ = 0b100,
daniel_davvid 0:aef0335c060b 139 MPU6050_DHPF_1_25HZ = 0b011,
daniel_davvid 0:aef0335c060b 140 MPU6050_DHPF_2_5HZ = 0b010,
daniel_davvid 0:aef0335c060b 141 MPU6050_DHPF_5HZ = 0b001,
daniel_davvid 0:aef0335c060b 142 MPU6050_DHPF_RESET = 0b000,
daniel_davvid 0:aef0335c060b 143 } mpu6050_dhpf_t;
daniel_davvid 0:aef0335c060b 144
daniel_davvid 0:aef0335c060b 145 typedef enum
daniel_davvid 0:aef0335c060b 146 {
daniel_davvid 0:aef0335c060b 147 MPU6050_DLPF_6 = 0b110,
daniel_davvid 0:aef0335c060b 148 MPU6050_DLPF_5 = 0b101,
daniel_davvid 0:aef0335c060b 149 MPU6050_DLPF_4 = 0b100,
daniel_davvid 0:aef0335c060b 150 MPU6050_DLPF_3 = 0b011,
daniel_davvid 0:aef0335c060b 151 MPU6050_DLPF_2 = 0b010,
daniel_davvid 0:aef0335c060b 152 MPU6050_DLPF_1 = 0b001,
daniel_davvid 0:aef0335c060b 153 MPU6050_DLPF_0 = 0b000,
daniel_davvid 0:aef0335c060b 154 } mpu6050_dlpf_t;
daniel_davvid 0:aef0335c060b 155
daniel_davvid 0:aef0335c060b 156 class MPU6050
daniel_davvid 0:aef0335c060b 157 {
daniel_davvid 0:aef0335c060b 158 public:
daniel_davvid 0:aef0335c060b 159 MPU6050(PinName sda, PinName scl);
daniel_davvid 0:aef0335c060b 160 MPU6050(I2C &i2c);
daniel_davvid 0:aef0335c060b 161
daniel_davvid 0:aef0335c060b 162 bool begin(mpu6050_dps_t scale = MPU6050_SCALE_2000DPS, mpu6050_range_t range = MPU6050_RANGE_2G, int mpua = MPU6050_ADDRESS);
daniel_davvid 0:aef0335c060b 163
daniel_davvid 0:aef0335c060b 164 void setClockSource(mpu6050_clockSource_t source);
daniel_davvid 0:aef0335c060b 165 void setScale(mpu6050_dps_t scale);
daniel_davvid 0:aef0335c060b 166 void setRange(mpu6050_range_t range);
daniel_davvid 0:aef0335c060b 167 mpu6050_clockSource_t getClockSource(void);
daniel_davvid 0:aef0335c060b 168 mpu6050_dps_t getScale(void);
daniel_davvid 0:aef0335c060b 169 mpu6050_range_t getRange(void);
daniel_davvid 0:aef0335c060b 170 void setDHPFMode(mpu6050_dhpf_t dhpf);
daniel_davvid 0:aef0335c060b 171 void setDLPFMode(mpu6050_dlpf_t dlpf);
daniel_davvid 0:aef0335c060b 172 mpu6050_onDelay_t getAccelPowerOnDelay();
daniel_davvid 0:aef0335c060b 173 void setAccelPowerOnDelay(mpu6050_onDelay_t delay);
daniel_davvid 0:aef0335c060b 174
daniel_davvid 0:aef0335c060b 175 uint8_t getIntStatus(void);
daniel_davvid 0:aef0335c060b 176
daniel_davvid 0:aef0335c060b 177 bool getIntZeroMotionEnabled(void);
daniel_davvid 0:aef0335c060b 178 void setIntZeroMotionEnabled(bool state);
daniel_davvid 0:aef0335c060b 179 bool getIntMotionEnabled(void);
daniel_davvid 0:aef0335c060b 180 void setIntMotionEnabled(bool state);
daniel_davvid 0:aef0335c060b 181 bool getIntFreeFallEnabled(void);
daniel_davvid 0:aef0335c060b 182 void setIntFreeFallEnabled(bool state);
daniel_davvid 0:aef0335c060b 183
daniel_davvid 0:aef0335c060b 184 uint8_t getMotionDetectionThreshold(void);
daniel_davvid 0:aef0335c060b 185 void setMotionDetectionThreshold(uint8_t threshold);
daniel_davvid 0:aef0335c060b 186 uint8_t getMotionDetectionDuration(void);
daniel_davvid 0:aef0335c060b 187 void setMotionDetectionDuration(uint8_t duration);
daniel_davvid 0:aef0335c060b 188
daniel_davvid 0:aef0335c060b 189 uint8_t getZeroMotionDetectionThreshold(void);
daniel_davvid 0:aef0335c060b 190 void setZeroMotionDetectionThreshold(uint8_t threshold);
daniel_davvid 0:aef0335c060b 191 uint8_t getZeroMotionDetectionDuration(void);
daniel_davvid 0:aef0335c060b 192 void setZeroMotionDetectionDuration(uint8_t duration);
daniel_davvid 0:aef0335c060b 193
daniel_davvid 0:aef0335c060b 194 uint8_t getFreeFallDetectionThreshold(void);
daniel_davvid 0:aef0335c060b 195 void setFreeFallDetectionThreshold(uint8_t threshold);
daniel_davvid 0:aef0335c060b 196 uint8_t getFreeFallDetectionDuration(void);
daniel_davvid 0:aef0335c060b 197 void setFreeFallDetectionDuration(uint8_t duration);
daniel_davvid 0:aef0335c060b 198
daniel_davvid 0:aef0335c060b 199 bool getSleepEnabled(void);
daniel_davvid 0:aef0335c060b 200 void setSleepEnabled(bool state);
daniel_davvid 0:aef0335c060b 201 bool getI2CMasterModeEnabled(void);
daniel_davvid 0:aef0335c060b 202 void setI2CMasterModeEnabled(bool state);
daniel_davvid 0:aef0335c060b 203 bool getI2CBypassEnabled(void);
daniel_davvid 0:aef0335c060b 204 void setI2CBypassEnabled(bool state);
daniel_davvid 0:aef0335c060b 205
daniel_davvid 0:aef0335c060b 206 float readTemperature(void);
daniel_davvid 0:aef0335c060b 207 Activites readActivites(void);
daniel_davvid 0:aef0335c060b 208
daniel_davvid 0:aef0335c060b 209 int16_t getGyroOffsetX(void);
daniel_davvid 0:aef0335c060b 210 void setGyroOffsetX(int16_t offset);
daniel_davvid 0:aef0335c060b 211 int16_t getGyroOffsetY(void);
daniel_davvid 0:aef0335c060b 212 void setGyroOffsetY(int16_t offset);
daniel_davvid 0:aef0335c060b 213 int16_t getGyroOffsetZ(void);
daniel_davvid 0:aef0335c060b 214 void setGyroOffsetZ(int16_t offset);
daniel_davvid 0:aef0335c060b 215
daniel_davvid 0:aef0335c060b 216 int16_t getAccelOffsetX(void);
daniel_davvid 0:aef0335c060b 217 void setAccelOffsetX(int16_t offset);
daniel_davvid 0:aef0335c060b 218 int16_t getAccelOffsetY(void);
daniel_davvid 0:aef0335c060b 219 void setAccelOffsetY(int16_t offset);
daniel_davvid 0:aef0335c060b 220 int16_t getAccelOffsetZ(void);
daniel_davvid 0:aef0335c060b 221 void setAccelOffsetZ(int16_t offset);
daniel_davvid 0:aef0335c060b 222
daniel_davvid 0:aef0335c060b 223 void calibrateGyro(uint8_t samples = 50);
daniel_davvid 0:aef0335c060b 224 void setThreshold(uint8_t multiple = 1);
daniel_davvid 0:aef0335c060b 225 uint8_t getThreshold(void);
daniel_davvid 0:aef0335c060b 226
daniel_davvid 0:aef0335c060b 227 Vector readRawGyro(void);
daniel_davvid 0:aef0335c060b 228 Vector readNormalizeGyro(void);
daniel_davvid 0:aef0335c060b 229
daniel_davvid 0:aef0335c060b 230 Vector readRawAccel(void);
daniel_davvid 0:aef0335c060b 231 Vector readNormalizeAccel(void);
daniel_davvid 0:aef0335c060b 232 Vector readScaledAccel(void);
daniel_davvid 0:aef0335c060b 233
daniel_davvid 0:aef0335c060b 234 private:
daniel_davvid 0:aef0335c060b 235
daniel_davvid 0:aef0335c060b 236 I2C &i2c_;
daniel_davvid 0:aef0335c060b 237 char i2cRaw[sizeof(I2C)];
daniel_davvid 0:aef0335c060b 238
daniel_davvid 0:aef0335c060b 239 Vector ra, rg; // Raw vectors
daniel_davvid 0:aef0335c060b 240 Vector na, ng; // Normalized vectors
daniel_davvid 0:aef0335c060b 241 Vector tg, dg; // Threshold and Delta for Gyro
daniel_davvid 0:aef0335c060b 242 Vector th; // Threshold
daniel_davvid 0:aef0335c060b 243 Activites a; // Activities
daniel_davvid 0:aef0335c060b 244
daniel_davvid 0:aef0335c060b 245 float dpsPerDigit, rangePerDigit;
daniel_davvid 0:aef0335c060b 246 float actualThreshold;
daniel_davvid 0:aef0335c060b 247 bool useCalibrate;
daniel_davvid 0:aef0335c060b 248 int mpuAddress;
daniel_davvid 0:aef0335c060b 249
daniel_davvid 0:aef0335c060b 250 uint8_t fastRegister8(uint8_t reg, bool repeated=false);
daniel_davvid 0:aef0335c060b 251 uint8_t readRegister8(uint8_t reg, bool repeated=false);
daniel_davvid 0:aef0335c060b 252 void writeRegister8(uint8_t reg, uint8_t value, bool repeated=false);
daniel_davvid 0:aef0335c060b 253
daniel_davvid 0:aef0335c060b 254 int16_t readRegister16(uint8_t reg, bool repeated=false);
daniel_davvid 0:aef0335c060b 255 void writeRegister16(uint8_t reg, int16_t value, bool repeated=false);
daniel_davvid 0:aef0335c060b 256
daniel_davvid 0:aef0335c060b 257 bool readRegisterBit(uint8_t reg, uint8_t pos);
daniel_davvid 0:aef0335c060b 258 void writeRegisterBit(uint8_t reg, uint8_t pos, bool state);
daniel_davvid 0:aef0335c060b 259
daniel_davvid 0:aef0335c060b 260 };
daniel_davvid 0:aef0335c060b 261
daniel_davvid 0:aef0335c060b 262 #endif