Diff: MPU6050.h

Revision:

0:aef0335c060b

diff -r 000000000000 -r aef0335c060b MPU6050.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.h	Sun Jul 01 11:58:49 2018 +0000
@@ -0,0 +1,262 @@
+/*
+MPU6050.h - Header 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/>.
+*/
+
+#ifndef MPU6050_h
+#define MPU6050_h
+
+#include <mbed.h>
+
+// Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor
+// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
+#define ADO 0
+#if ADO
+#define MPU6050_ADDRESS 0x69<<1  // Device address when ADO = 1
+#else
+#define MPU6050_ADDRESS 0x68<<1  // Device address when ADO = 0
+#endif
+
+#define MPU6050_REG_ACCEL_XOFFS_H     (0x06)
+#define MPU6050_REG_ACCEL_XOFFS_L     (0x07)
+#define MPU6050_REG_ACCEL_YOFFS_H     (0x08)
+#define MPU6050_REG_ACCEL_YOFFS_L     (0x09)
+#define MPU6050_REG_ACCEL_ZOFFS_H     (0x0A)
+#define MPU6050_REG_ACCEL_ZOFFS_L     (0x0B)
+#define MPU6050_REG_GYRO_XOFFS_H      (0x13)
+#define MPU6050_REG_GYRO_XOFFS_L      (0x14)
+#define MPU6050_REG_GYRO_YOFFS_H      (0x15)
+#define MPU6050_REG_GYRO_YOFFS_L      (0x16)
+#define MPU6050_REG_GYRO_ZOFFS_H      (0x17)
+#define MPU6050_REG_GYRO_ZOFFS_L      (0x18)
+#define MPU6050_REG_CONFIG            (0x1A)
+#define MPU6050_REG_GYRO_CONFIG       (0x1B) // Gyroscope Configuration
+#define MPU6050_REG_ACCEL_CONFIG      (0x1C) // Accelerometer Configuration
+#define MPU6050_REG_FF_THRESHOLD      (0x1D)
+#define MPU6050_REG_FF_DURATION       (0x1E)
+#define MPU6050_REG_MOT_THRESHOLD     (0x1F)
+#define MPU6050_REG_MOT_DURATION      (0x20)
+#define MPU6050_REG_ZMOT_THRESHOLD    (0x21)
+#define MPU6050_REG_ZMOT_DURATION     (0x22)
+#define MPU6050_REG_INT_PIN_CFG       (0x37) // INT Pin. Bypass Enable Configuration
+#define MPU6050_REG_INT_ENABLE        (0x38) // INT Enable
+#define MPU6050_REG_INT_STATUS        (0x3A)
+#define MPU6050_REG_ACCEL_XOUT_H      (0x3B)
+#define MPU6050_REG_ACCEL_XOUT_L      (0x3C)
+#define MPU6050_REG_ACCEL_YOUT_H      (0x3D)
+#define MPU6050_REG_ACCEL_YOUT_L      (0x3E)
+#define MPU6050_REG_ACCEL_ZOUT_H      (0x3F)
+#define MPU6050_REG_ACCEL_ZOUT_L      (0x40)
+#define MPU6050_REG_TEMP_OUT_H        (0x41)
+#define MPU6050_REG_TEMP_OUT_L        (0x42)
+#define MPU6050_REG_GYRO_XOUT_H       (0x43)
+#define MPU6050_REG_GYRO_XOUT_L       (0x44)
+#define MPU6050_REG_GYRO_YOUT_H       (0x45)
+#define MPU6050_REG_GYRO_YOUT_L       (0x46)
+#define MPU6050_REG_GYRO_ZOUT_H       (0x47)
+#define MPU6050_REG_GYRO_ZOUT_L       (0x48)
+#define MPU6050_REG_MOT_DETECT_STATUS (0x61)
+#define MPU6050_REG_MOT_DETECT_CTRL   (0x69)
+#define MPU6050_REG_USER_CTRL         (0x6A) // User Control
+#define MPU6050_REG_PWR_MGMT_1        (0x6B) // Power Management 1
+#define MPU6050_REG_WHO_AM_I          (0x75) // Who Am I
+
+#ifndef VECTOR_STRUCT_H
+#define VECTOR_STRUCT_H
+struct Vector
+{
+    float XAxis;
+    float YAxis;
+    float ZAxis;
+};
+#endif
+
+struct Activites
+{
+    bool isOverflow;
+    bool isFreeFall;
+    bool isInactivity;
+    bool isActivity;
+    bool isPosActivityOnX;
+    bool isPosActivityOnY;
+    bool isPosActivityOnZ;
+    bool isNegActivityOnX;
+    bool isNegActivityOnY;
+    bool isNegActivityOnZ;
+    bool isDataReady;
+};
+
+typedef enum
+{
+    MPU6050_CLOCK_KEEP_RESET      = 0b111,
+    MPU6050_CLOCK_EXTERNAL_19MHZ  = 0b101,
+    MPU6050_CLOCK_EXTERNAL_32KHZ  = 0b100,
+    MPU6050_CLOCK_PLL_ZGYRO       = 0b011,
+    MPU6050_CLOCK_PLL_YGYRO       = 0b010,
+    MPU6050_CLOCK_PLL_XGYRO       = 0b001,
+    MPU6050_CLOCK_INTERNAL_8MHZ   = 0b000
+} mpu6050_clockSource_t;
+
+typedef enum
+{
+    MPU6050_SCALE_2000DPS         = 0b11,
+    MPU6050_SCALE_1000DPS         = 0b10,
+    MPU6050_SCALE_500DPS          = 0b01,
+    MPU6050_SCALE_250DPS          = 0b00
+} mpu6050_dps_t;
+
+typedef enum
+{
+    MPU6050_RANGE_16G             = 0b11,
+    MPU6050_RANGE_8G              = 0b10,
+    MPU6050_RANGE_4G              = 0b01,
+    MPU6050_RANGE_2G              = 0b00,
+} mpu6050_range_t;
+
+typedef enum
+{
+    MPU6050_DELAY_3MS             = 0b11,
+    MPU6050_DELAY_2MS             = 0b10,
+    MPU6050_DELAY_1MS             = 0b01,
+    MPU6050_NO_DELAY              = 0b00,
+} mpu6050_onDelay_t;
+
+typedef enum
+{
+    MPU6050_DHPF_HOLD             = 0b111,
+    MPU6050_DHPF_0_63HZ           = 0b100,
+    MPU6050_DHPF_1_25HZ           = 0b011,
+    MPU6050_DHPF_2_5HZ            = 0b010,
+    MPU6050_DHPF_5HZ              = 0b001,
+    MPU6050_DHPF_RESET            = 0b000,
+} mpu6050_dhpf_t;
+
+typedef enum
+{
+    MPU6050_DLPF_6                = 0b110,
+    MPU6050_DLPF_5                = 0b101,
+    MPU6050_DLPF_4                = 0b100,
+    MPU6050_DLPF_3                = 0b011,
+    MPU6050_DLPF_2                = 0b010,
+    MPU6050_DLPF_1                = 0b001,
+    MPU6050_DLPF_0                = 0b000,
+} mpu6050_dlpf_t;
+
+class MPU6050
+{
+    public:
+    MPU6050(PinName sda, PinName scl);
+    MPU6050(I2C &i2c);
+    
+    bool begin(mpu6050_dps_t scale = MPU6050_SCALE_2000DPS, mpu6050_range_t range = MPU6050_RANGE_2G, int mpua = MPU6050_ADDRESS);
+
+    void setClockSource(mpu6050_clockSource_t source);
+    void setScale(mpu6050_dps_t scale);
+    void setRange(mpu6050_range_t range);
+    mpu6050_clockSource_t getClockSource(void);
+    mpu6050_dps_t getScale(void);
+    mpu6050_range_t getRange(void);
+    void setDHPFMode(mpu6050_dhpf_t dhpf);
+    void setDLPFMode(mpu6050_dlpf_t dlpf);
+    mpu6050_onDelay_t getAccelPowerOnDelay();
+    void setAccelPowerOnDelay(mpu6050_onDelay_t delay);
+
+    uint8_t getIntStatus(void);
+
+    bool getIntZeroMotionEnabled(void);
+    void setIntZeroMotionEnabled(bool state);
+    bool getIntMotionEnabled(void);
+    void setIntMotionEnabled(bool state);
+    bool getIntFreeFallEnabled(void);
+    void setIntFreeFallEnabled(bool state);
+
+    uint8_t getMotionDetectionThreshold(void);
+    void setMotionDetectionThreshold(uint8_t threshold);
+    uint8_t getMotionDetectionDuration(void);
+    void setMotionDetectionDuration(uint8_t duration);
+
+    uint8_t getZeroMotionDetectionThreshold(void);
+    void setZeroMotionDetectionThreshold(uint8_t threshold);
+    uint8_t getZeroMotionDetectionDuration(void);
+    void setZeroMotionDetectionDuration(uint8_t duration);
+
+    uint8_t getFreeFallDetectionThreshold(void);
+    void setFreeFallDetectionThreshold(uint8_t threshold);
+    uint8_t getFreeFallDetectionDuration(void);
+    void setFreeFallDetectionDuration(uint8_t duration);
+
+    bool getSleepEnabled(void);
+    void setSleepEnabled(bool state);
+    bool getI2CMasterModeEnabled(void);
+    void setI2CMasterModeEnabled(bool state);
+    bool getI2CBypassEnabled(void);
+    void setI2CBypassEnabled(bool state);
+
+    float readTemperature(void);
+    Activites readActivites(void);
+
+    int16_t getGyroOffsetX(void);
+    void setGyroOffsetX(int16_t offset);
+    int16_t getGyroOffsetY(void);
+    void setGyroOffsetY(int16_t offset);
+    int16_t getGyroOffsetZ(void);
+    void setGyroOffsetZ(int16_t offset);
+
+    int16_t getAccelOffsetX(void);
+    void setAccelOffsetX(int16_t offset);
+    int16_t getAccelOffsetY(void);
+    void setAccelOffsetY(int16_t offset);
+    int16_t getAccelOffsetZ(void);
+    void setAccelOffsetZ(int16_t offset);
+
+    void calibrateGyro(uint8_t samples = 50);
+    void setThreshold(uint8_t multiple = 1);
+    uint8_t getThreshold(void);
+
+    Vector readRawGyro(void);
+    Vector readNormalizeGyro(void);
+
+    Vector readRawAccel(void);
+    Vector readNormalizeAccel(void);
+    Vector readScaledAccel(void);
+
+    private:
+    
+    I2C &i2c_;
+    char i2cRaw[sizeof(I2C)];
+    
+    Vector ra, rg; // Raw vectors
+    Vector na, ng; // Normalized vectors
+    Vector tg, dg; // Threshold and Delta for Gyro
+    Vector th;     // Threshold
+    Activites a;   // Activities
+    
+    float dpsPerDigit, rangePerDigit;
+    float actualThreshold;
+    bool useCalibrate;
+    int mpuAddress;
+
+    uint8_t fastRegister8(uint8_t reg, bool repeated=false);
+    uint8_t readRegister8(uint8_t reg, bool repeated=false);
+    void writeRegister8(uint8_t reg, uint8_t value, bool repeated=false);
+
+    int16_t readRegister16(uint8_t reg, bool repeated=false);
+    void writeRegister16(uint8_t reg, int16_t value, bool repeated=false);
+
+    bool readRegisterBit(uint8_t reg, uint8_t pos);
+    void writeRegisterBit(uint8_t reg, uint8_t pos, bool state);
+
+};
+
+#endif
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