Diff: MPU6050.cpp

Revision:

0:aef0335c060b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.cpp	Sun Jul 01 11:58:49 2018 +0000
@@ -0,0 +1,661 @@
+/*
+MPU6050.cpp - Class file for the MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
+Version: 1.0.3
+(c) 2014-2015 Korneliusz Jarzebski
+www.jarzebski.pl
+This program is free software: you can redistribute it and/or modify
+it under the terms of the version 3 GNU General Public License as
+published by the Free Software Foundation.
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+#include <mbed.h>
+#include <math.h>
+#include <new>
+#include "MPU6050.h"
+
+MPU6050::MPU6050(PinName sda, PinName scl) : i2c_(*reinterpret_cast<I2C*>(i2cRaw))
+{
+    // Placement new to avoid additional heap memory allocation.
+    new(i2cRaw) I2C(sda, scl);
+}
+
+MPU6050::MPU6050(I2C &i2c) : i2c_(i2c)
+{
+}
+
+
+bool MPU6050::begin(mpu6050_dps_t scale, mpu6050_range_t range, int mpua)
+{
+    // Set Address
+    mpuAddress = mpua;
+    // Reset calibrate values
+    dg.XAxis = 0;
+    dg.YAxis = 0;
+    dg.ZAxis = 0;
+    useCalibrate = false;
+
+    // Reset threshold values
+    tg.XAxis = 0;
+    tg.YAxis = 0;
+    tg.ZAxis = 0;
+    actualThreshold = 0;
+
+    // Check MPU6050 Who Am I Register
+    if (fastRegister8(MPU6050_REG_WHO_AM_I) != 0x68)
+    {
+    return false;
+    }
+
+    // Set Clock Source
+    setClockSource(MPU6050_CLOCK_PLL_XGYRO);
+    
+    // Set Scale & Range
+    setScale(scale);
+    setRange(range);
+        //LOW PASS FILTER SETUP
+    setDLPFMode(MPU6050_DLPF_6);
+    // Disable Sleep Mode
+    setSleepEnabled(false);
+    
+
+    return true;
+}
+
+void MPU6050::setScale(mpu6050_dps_t scale)
+{
+    uint8_t value;
+
+    switch (scale)
+    {
+    case MPU6050_SCALE_250DPS:
+        dpsPerDigit = .007633f;
+        break;
+    case MPU6050_SCALE_500DPS:
+        dpsPerDigit = .015267f;
+        break;
+    case MPU6050_SCALE_1000DPS:
+        dpsPerDigit = .030487f;
+        break;
+    case MPU6050_SCALE_2000DPS:
+        dpsPerDigit = .060975f;
+        break;
+    default:
+        break;
+    }
+
+    value = readRegister8(MPU6050_REG_GYRO_CONFIG);
+    value &= 0b11100111;
+    value |= (scale << 3);
+    writeRegister8(MPU6050_REG_GYRO_CONFIG, value);
+}
+
+mpu6050_dps_t MPU6050::getScale(void)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_GYRO_CONFIG);
+    value &= 0b00011000;
+    value >>= 3;
+    return (mpu6050_dps_t)value;
+}
+
+void MPU6050::setRange(mpu6050_range_t range)
+{
+    uint8_t value;
+
+    switch (range)
+    {
+    case MPU6050_RANGE_2G:
+        rangePerDigit = .000061f;
+        break;
+    case MPU6050_RANGE_4G:
+        rangePerDigit = .000122f;
+        break;
+    case MPU6050_RANGE_8G:
+        rangePerDigit = .000244f;
+        break;
+    case MPU6050_RANGE_16G:
+        rangePerDigit = .0004882f;
+        break;
+    default:
+        break;
+    }
+
+    value = readRegister8(MPU6050_REG_ACCEL_CONFIG);
+    value &= 0b11100111;
+    value |= (range << 3);
+    writeRegister8(MPU6050_REG_ACCEL_CONFIG, value);
+}
+
+mpu6050_range_t MPU6050::getRange(void)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_ACCEL_CONFIG);
+    value &= 0b00011000;
+    value >>= 3;
+    return (mpu6050_range_t)value;
+}
+
+void MPU6050::setDHPFMode(mpu6050_dhpf_t dhpf)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_ACCEL_CONFIG);
+    value &= 0b11111000;
+    value |= dhpf;
+    writeRegister8(MPU6050_REG_ACCEL_CONFIG, value);
+}
+
+void MPU6050::setDLPFMode(mpu6050_dlpf_t dlpf)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_CONFIG);
+    value &= 0b11111000;
+    value |= dlpf;
+    writeRegister8(MPU6050_REG_CONFIG, value);
+}
+
+void MPU6050::setClockSource(mpu6050_clockSource_t source)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_PWR_MGMT_1);
+    value &= 0b11111000;
+    value |= source;
+    writeRegister8(MPU6050_REG_PWR_MGMT_1, value);
+}
+
+mpu6050_clockSource_t MPU6050::getClockSource(void)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_PWR_MGMT_1);
+    value &= 0b00000111;
+    return (mpu6050_clockSource_t)value;
+}
+
+bool MPU6050::getSleepEnabled(void)
+{
+    return readRegisterBit(MPU6050_REG_PWR_MGMT_1, 6);
+}
+
+void MPU6050::setSleepEnabled(bool state)
+{
+    writeRegisterBit(MPU6050_REG_PWR_MGMT_1, 6, state);
+}
+
+bool MPU6050::getIntZeroMotionEnabled(void)
+{
+    return readRegisterBit(MPU6050_REG_INT_ENABLE, 5);
+}
+
+void MPU6050::setIntZeroMotionEnabled(bool state)
+{
+    writeRegisterBit(MPU6050_REG_INT_ENABLE, 5, state);
+}
+
+bool MPU6050::getIntMotionEnabled(void)
+{
+    return readRegisterBit(MPU6050_REG_INT_ENABLE, 6);
+}
+
+void MPU6050::setIntMotionEnabled(bool state)
+{
+    writeRegisterBit(MPU6050_REG_INT_ENABLE, 6, state);
+}
+
+bool MPU6050::getIntFreeFallEnabled(void)
+{
+    return readRegisterBit(MPU6050_REG_INT_ENABLE, 7);
+}
+
+void MPU6050::setIntFreeFallEnabled(bool state)
+{
+    writeRegisterBit(MPU6050_REG_INT_ENABLE, 7, state);
+}
+
+uint8_t MPU6050::getMotionDetectionThreshold(void)
+{
+    return readRegister8(MPU6050_REG_MOT_THRESHOLD);
+}
+
+void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
+{
+    writeRegister8(MPU6050_REG_MOT_THRESHOLD, threshold);
+}
+
+uint8_t MPU6050::getMotionDetectionDuration(void)
+{
+    return readRegister8(MPU6050_REG_MOT_DURATION);
+}
+
+void MPU6050::setMotionDetectionDuration(uint8_t duration)
+{
+    writeRegister8(MPU6050_REG_MOT_DURATION, duration);
+}
+
+uint8_t MPU6050::getZeroMotionDetectionThreshold(void)
+{
+    return readRegister8(MPU6050_REG_ZMOT_THRESHOLD);
+}
+
+void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
+{
+    writeRegister8(MPU6050_REG_ZMOT_THRESHOLD, threshold);
+}
+
+uint8_t MPU6050::getZeroMotionDetectionDuration(void)
+{
+    return readRegister8(MPU6050_REG_ZMOT_DURATION);
+}
+
+void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
+{
+    writeRegister8(MPU6050_REG_ZMOT_DURATION, duration);
+}
+
+uint8_t MPU6050::getFreeFallDetectionThreshold(void)
+{
+    return readRegister8(MPU6050_REG_FF_THRESHOLD);
+}
+
+void MPU6050::setFreeFallDetectionThreshold(uint8_t threshold)
+{
+    writeRegister8(MPU6050_REG_FF_THRESHOLD, threshold);
+}
+
+uint8_t MPU6050::getFreeFallDetectionDuration(void)
+{
+    return readRegister8(MPU6050_REG_FF_DURATION);
+}
+
+void MPU6050::setFreeFallDetectionDuration(uint8_t duration)
+{
+    writeRegister8(MPU6050_REG_FF_DURATION, duration);
+}
+
+bool MPU6050::getI2CMasterModeEnabled(void)
+{
+    return readRegisterBit(MPU6050_REG_USER_CTRL, 5);
+}
+
+void MPU6050::setI2CMasterModeEnabled(bool state)
+{
+    writeRegisterBit(MPU6050_REG_USER_CTRL, 5, state);
+}
+
+void MPU6050::setI2CBypassEnabled(bool state)
+{
+    return writeRegisterBit(MPU6050_REG_INT_PIN_CFG, 1, state);
+}
+
+bool MPU6050::getI2CBypassEnabled(void)
+{
+    return readRegisterBit(MPU6050_REG_INT_PIN_CFG, 1);
+}
+
+void MPU6050::setAccelPowerOnDelay(mpu6050_onDelay_t delay)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_MOT_DETECT_CTRL);
+    value &= 0b11001111;
+    value |= (delay << 4);
+    writeRegister8(MPU6050_REG_MOT_DETECT_CTRL, value);
+}
+
+mpu6050_onDelay_t MPU6050::getAccelPowerOnDelay(void)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_MOT_DETECT_CTRL);
+    value &= 0b00110000;
+    return (mpu6050_onDelay_t)(value >> 4);
+}
+
+uint8_t MPU6050::getIntStatus(void)
+{
+    return readRegister8(MPU6050_REG_INT_STATUS);
+}
+
+Activites MPU6050::readActivites(void)
+{
+    uint8_t data = readRegister8(MPU6050_REG_INT_STATUS);
+
+    a.isOverflow = ((data >> 4) & 1);
+    a.isFreeFall = ((data >> 7) & 1);
+    a.isInactivity = ((data >> 5) & 1);
+    a.isActivity = ((data >> 6) & 1);
+    a.isDataReady = ((data >> 0) & 1);
+
+    data = readRegister8(MPU6050_REG_MOT_DETECT_STATUS);
+
+    a.isNegActivityOnX = ((data >> 7) & 1);
+    a.isPosActivityOnX = ((data >> 6) & 1);
+
+    a.isNegActivityOnY = ((data >> 5) & 1);
+    a.isPosActivityOnY = ((data >> 4) & 1);
+
+    a.isNegActivityOnZ = ((data >> 3) & 1);
+    a.isPosActivityOnZ = ((data >> 2) & 1);
+
+    return a;
+}
+
+Vector MPU6050::readRawAccel(void)
+{
+    char data = MPU6050_REG_ACCEL_XOUT_H;
+    i2c_.write(mpuAddress,&data, 1, true);
+    
+    
+    uint8_t value[6];
+    i2c_.read(mpuAddress, (char *)&value, 6);
+
+    uint8_t xha = value[0];
+    uint8_t xla = value[1];
+    uint8_t yha = value[2];
+    uint8_t yla = value[3];
+    uint8_t zha = value[4];
+    uint8_t zla = value[5];
+  
+
+    ra.XAxis = xha << 8 | xla;
+    ra.YAxis = yha << 8 | yla;
+    ra.ZAxis = zha << 8 | zla;
+
+    return ra;
+}
+
+Vector MPU6050::readNormalizeAccel(void)
+{
+    readRawAccel();
+
+    na.XAxis = ra.XAxis * rangePerDigit * 9.80665f;
+    na.YAxis = ra.YAxis * rangePerDigit * 9.80665f;
+    na.ZAxis = ra.ZAxis * rangePerDigit * 9.80665f;
+
+    return na;
+}
+
+Vector MPU6050::readScaledAccel(void)
+{
+    readRawAccel();
+
+    na.XAxis = ra.XAxis * rangePerDigit;
+    na.YAxis = ra.YAxis * rangePerDigit;
+    na.ZAxis = ra.ZAxis * rangePerDigit;
+
+    return na;
+}
+
+
+Vector MPU6050::readRawGyro(void)
+{
+    char data = MPU6050_REG_GYRO_XOUT_H;
+    i2c_.write(mpuAddress,&data, 1, true);
+
+    uint8_t value[6];
+    
+    i2c_.read(mpuAddress, (char *)&value, 6);
+
+    uint8_t xha = value[0];
+    uint8_t xla = value[1];
+    uint8_t yha = value[2];
+    uint8_t yla = value[3];
+    uint8_t zha = value[4];
+    uint8_t zla = value[5];
+
+
+    rg.XAxis = xha << 8 | xla;
+    rg.YAxis = yha << 8 | yla;
+    rg.ZAxis = zha << 8 | zla;
+
+    return rg;
+}
+
+Vector MPU6050::readNormalizeGyro(void)
+{
+    readRawGyro();
+
+    if (useCalibrate)
+    {
+    ng.XAxis = (rg.XAxis - dg.XAxis) * dpsPerDigit;
+    ng.YAxis = (rg.YAxis - dg.YAxis) * dpsPerDigit;
+    ng.ZAxis = (rg.ZAxis - dg.ZAxis) * dpsPerDigit;
+    } else
+    {
+    ng.XAxis = rg.XAxis * dpsPerDigit;
+    ng.YAxis = rg.YAxis * dpsPerDigit;
+    ng.ZAxis = rg.ZAxis * dpsPerDigit;
+    }
+
+    if (actualThreshold)
+    {
+    if (abs(ng.XAxis) < tg.XAxis) ng.XAxis = 0;
+    if (abs(ng.YAxis) < tg.YAxis) ng.YAxis = 0;
+    if (abs(ng.ZAxis) < tg.ZAxis) ng.ZAxis = 0;
+    }
+
+    return ng;
+}
+
+float MPU6050::readTemperature(void)
+{
+    int16_t T;
+    T = readRegister16(MPU6050_REG_TEMP_OUT_H);
+    return (float)T/340 + 36.53f;
+}
+
+int16_t MPU6050::getGyroOffsetX(void)
+{
+    return readRegister16(MPU6050_REG_GYRO_XOFFS_H);
+}
+
+int16_t MPU6050::getGyroOffsetY(void)
+{
+    return readRegister16(MPU6050_REG_GYRO_YOFFS_H);
+}
+
+int16_t MPU6050::getGyroOffsetZ(void)
+{
+    return readRegister16(MPU6050_REG_GYRO_ZOFFS_H);
+}
+
+void MPU6050::setGyroOffsetX(int16_t offset)
+{
+    writeRegister16(MPU6050_REG_GYRO_XOFFS_H, offset);
+}
+
+void MPU6050::setGyroOffsetY(int16_t offset)
+{
+    writeRegister16(MPU6050_REG_GYRO_YOFFS_H, offset);
+}
+
+void MPU6050::setGyroOffsetZ(int16_t offset)
+{
+    writeRegister16(MPU6050_REG_GYRO_ZOFFS_H, offset);
+}
+
+int16_t MPU6050::getAccelOffsetX(void)
+{
+    return readRegister16(MPU6050_REG_ACCEL_XOFFS_H);
+}
+
+int16_t MPU6050::getAccelOffsetY(void)
+{
+    return readRegister16(MPU6050_REG_ACCEL_YOFFS_H);
+}
+
+int16_t MPU6050::getAccelOffsetZ(void)
+{
+    return readRegister16(MPU6050_REG_ACCEL_ZOFFS_H);
+}
+
+void MPU6050::setAccelOffsetX(int16_t offset)
+{
+    writeRegister16(MPU6050_REG_ACCEL_XOFFS_H, offset);
+}
+
+void MPU6050::setAccelOffsetY(int16_t offset)
+{
+    writeRegister16(MPU6050_REG_ACCEL_YOFFS_H, offset);
+}
+
+void MPU6050::setAccelOffsetZ(int16_t offset)
+{
+    writeRegister16(MPU6050_REG_ACCEL_ZOFFS_H, offset);
+}
+
+// Calibrate algorithm
+void MPU6050::calibrateGyro(uint8_t samples)
+{
+    // Set calibrate
+    useCalibrate = true;
+
+    // Reset values
+    float sumX = 0;
+    float sumY = 0;
+    float sumZ = 0;
+    float sigmaX = 0;
+    float sigmaY = 0;
+    float sigmaZ = 0;
+
+    // Read n-samples
+    for (uint8_t i = 0; i < samples; ++i)
+    {
+    readRawGyro();
+    sumX += rg.XAxis;
+    sumY += rg.YAxis;
+    sumZ += rg.ZAxis;
+
+    sigmaX += rg.XAxis * rg.XAxis;
+    sigmaY += rg.YAxis * rg.YAxis;
+    sigmaZ += rg.ZAxis * rg.ZAxis;
+
+    wait(0.005f);
+    }
+
+    // Calculate delta vectors
+    dg.XAxis = sumX / samples;
+    dg.YAxis = sumY / samples;
+    dg.ZAxis = sumZ / samples;
+
+    // Calculate threshold vectors
+    th.XAxis = sqrt((sigmaX / 50) - (dg.XAxis * dg.XAxis));
+    th.YAxis = sqrt((sigmaY / 50) - (dg.YAxis * dg.YAxis));
+    th.ZAxis = sqrt((sigmaZ / 50) - (dg.ZAxis * dg.ZAxis));
+
+    // If already set threshold, recalculate threshold vectors
+    if (actualThreshold > 0)
+    {
+    setThreshold(actualThreshold);
+    }
+}
+
+// Get current threshold value
+uint8_t MPU6050::getThreshold(void)
+{
+    return actualThreshold;
+}
+
+// Set treshold value
+void MPU6050::setThreshold(uint8_t multiple)
+{
+    if (multiple > 0)
+    {
+    // If not calibrated, need calibrate
+    if (!useCalibrate)
+    {
+        calibrateGyro();
+    }
+
+    // Calculate threshold vectors
+    tg.XAxis = th.XAxis * multiple;
+    tg.YAxis = th.YAxis * multiple;
+    tg.ZAxis = th.ZAxis * multiple;
+    } else
+    {
+    // No threshold
+    tg.XAxis = 0;
+    tg.YAxis = 0;
+    tg.ZAxis = 0;
+    }
+
+    // Remember old threshold value
+    actualThreshold = multiple;
+}
+
+// Fast read 8-bit from register
+uint8_t MPU6050::fastRegister8(uint8_t reg, bool repeated)
+{
+    uint8_t value;
+    i2c_.write(mpuAddress,(char *)&reg, 1, true);
+    i2c_.read(mpuAddress,(char *)&value, 1, repeated);
+
+    return value;
+}
+
+// Read 8-bit from register
+uint8_t MPU6050::readRegister8(uint8_t reg, bool repeated)
+{
+    uint8_t value;
+    i2c_.write(mpuAddress,(char *)&reg, 1, true);
+    i2c_.read(mpuAddress,(char *)&value, 1, repeated);
+
+    return value;
+}
+
+// Write 8-bit to register
+void MPU6050::writeRegister8(uint8_t reg, uint8_t value, bool repeated)
+{
+    uint8_t cmd[2];
+    cmd[0] = reg;
+    cmd[1] = value;
+    i2c_.write(mpuAddress,(char *)&cmd, 2, repeated);
+}
+
+int16_t MPU6050::readRegister16(uint8_t reg, bool repeated)
+{
+    int16_t value;
+    i2c_.write(mpuAddress, (char *)&reg, 1, true);
+    uint8_t readings[2];
+    i2c_.read(mpuAddress, (char *)&readings, 2, repeated);
+    uint8_t vha = readings[0];
+    uint8_t vla = readings[1];
+
+    value = vha << 8 | vla;
+
+    return value;
+}
+
+void MPU6050::writeRegister16(uint8_t reg, int16_t value, bool repeated)
+{
+    i2c_.write(mpuAddress, (char *)&reg, 1, true);
+    i2c_.write(mpuAddress, (char *)&value, 2, repeated);
+}
+
+// Read register bit
+bool MPU6050::readRegisterBit(uint8_t reg, uint8_t pos)
+{
+    uint8_t value;
+    value = readRegister8(reg);
+    return ((value >> pos) & 1);
+}
+
+// Write register bit
+void MPU6050::writeRegisterBit(uint8_t reg, uint8_t pos, bool state)
+{
+    uint8_t value;
+    value = readRegister8(reg);
+
+    if (state)
+    {
+        value |= (1 << pos);
+    } else 
+    {
+        value &= ~(1 << pos);
+    }
+
+    writeRegister8(reg, value);
+}
\ No newline at end of file