Evan Brown / Mbed 2 deprecated APpart3_1

First part of AP part 3

Dependencies:   mbed

sensor_fusion.h@0:f43994f44684, 2018-11-08 (annotated)

Committer:
evenbrownie
Date:
Thu Nov 08 20:48:47 2018 +0000
Revision:
0:f43994f44684
All I put in were the addresses from the beginning

Who changed what in which revision?

UserRevisionLine numberNew contents of line
evenbrownie 0:f43994f44684 1 /*
evenbrownie 0:f43994f44684 2 * @author: Natasha Sarkar, 2018
evenbrownie 0:f43994f44684 3 */
evenbrownie 0:f43994f44684 4
evenbrownie 0:f43994f44684 5 #ifndef __MPU6050_H
evenbrownie 0:f43994f44684 6 #define __MPU6050_H
evenbrownie 0:f43994f44684 7
evenbrownie 0:f43994f44684 8 #include "mbed.h"
evenbrownie 0:f43994f44684 9
evenbrownie 0:f43994f44684 10 /** TO DO
evenbrownie 0:f43994f44684 11 * DEFINE THESE REGISTERS.
evenbrownie 0:f43994f44684 12 * THE ADDRESS AND CONFIG REGISTERS HAVE BEEN DONE FOR YOU AS AN EXAMPLE.
evenbrownie 0:f43994f44684 13 *
evenbrownie 0:f43994f44684 14 * You will need to look at the register map.
evenbrownie 0:f43994f44684 15 */
evenbrownie 0:f43994f44684 16
evenbrownie 0:f43994f44684 17 #define SDA PB_7 //the pin used for SDA
evenbrownie 0:f43994f44684 18 #define SCL PB_6 //the pin used for SCL
evenbrownie 0:f43994f44684 19 #define ADDRESS 0xD1 //the slave address of the IMU
evenbrownie 0:f43994f44684 20 #define INT_STATUS 0x3A //the interrupt status register
evenbrownie 0:f43994f44684 21 #define PWR_MGMT_1 0x6B //power management 1
evenbrownie 0:f43994f44684 22 #define CONFIG 0x1A //the IMU config register
evenbrownie 0:f43994f44684 23 #define GYRO_CONFIG 0x1B //the gyroscope config register
evenbrownie 0:f43994f44684 24 #define ACCEL_CONFIG 0x1C //the accelerometer config register
evenbrownie 0:f43994f44684 25 #define GYRO_X 0x44 //the register that stores the first bit of the gyroscope x value
evenbrownie 0:f43994f44684 26 #define ACCEL_X 0x3C //the register that stores the first bit of the accelerometer x value
evenbrownie 0:f43994f44684 27
evenbrownie 0:f43994f44684 28 class MPU6050 {
evenbrownie 0:f43994f44684 29
evenbrownie 0:f43994f44684 30 public:
evenbrownie 0:f43994f44684 31
evenbrownie 0:f43994f44684 32 /**
evenbrownie 0:f43994f44684 33 * Creates an MPU6050 object
evenbrownie 0:f43994f44684 34 *
evenbrownie 0:f43994f44684 35 * sda: pin name of the sda pin
evenbrownie 0:f43994f44684 36 * scl: pin name of the scl pin
evenbrownie 0:f43994f44684 37 */
evenbrownie 0:f43994f44684 38 MPU6050(PinName sda, PinName scl);
evenbrownie 0:f43994f44684 39
evenbrownie 0:f43994f44684 40 /**
evenbrownie 0:f43994f44684 41 * Called before using the MPU6050.
evenbrownie 0:f43994f44684 42 *
evenbrownie 0:f43994f44684 43 * Sets up the I2C by configuring registers
evenbrownie 0:f43994f44684 44 * as described in the spec (calls write_reg).
evenbrownie 0:f43994f44684 45 */
evenbrownie 0:f43994f44684 46 void start(void);
evenbrownie 0:f43994f44684 47
evenbrownie 0:f43994f44684 48 /**
evenbrownie 0:f43994f44684 49 * Gets the readings from the gyroscope and accelerometer (calls read_reg).
evenbrownie 0:f43994f44684 50 *
evenbrownie 0:f43994f44684 51 * Parameters: pointers to addresses where these readings should be stored.
evenbrownie 0:f43994f44684 52 *
evenbrownie 0:f43994f44684 53 * Returns true upon success, and false upon failure.
evenbrownie 0:f43994f44684 54 */
evenbrownie 0:f43994f44684 55 bool read_raw(float *gx, float *gy, float *gz, float *ax, float *ay, float *az);
evenbrownie 0:f43994f44684 56
evenbrownie 0:f43994f44684 57 /**
evenbrownie 0:f43994f44684 58 * Reads the interrupt status register (calls read_reg).
evenbrownie 0:f43994f44684 59 *
evenbrownie 0:f43994f44684 60 * Returns true if data is ready, false otherwise.
evenbrownie 0:f43994f44684 61 */
evenbrownie 0:f43994f44684 62 bool data_ready(void);
evenbrownie 0:f43994f44684 63
evenbrownie 0:f43994f44684 64 private:
evenbrownie 0:f43994f44684 65
evenbrownie 0:f43994f44684 66 I2C i2c_object; //instance of an i2c class
evenbrownie 0:f43994f44684 67
evenbrownie 0:f43994f44684 68 /**
evenbrownie 0:f43994f44684 69 * Writes 1 byte of data to a specific address
evenbrownie 0:f43994f44684 70 *
evenbrownie 0:f43994f44684 71 * addr: the i2c address of the slave device
evenbrownie 0:f43994f44684 72 * reg: the register number to write to
evenbrownie 0:f43994f44684 73 * buf: the data to write
evenbrownie 0:f43994f44684 74 *
evenbrownie 0:f43994f44684 75 * Returns true upon success, and false upon failure.
evenbrownie 0:f43994f44684 76 */
evenbrownie 0:f43994f44684 77 bool write_reg(int addr, int reg, char buf);
evenbrownie 0:f43994f44684 78
evenbrownie 0:f43994f44684 79 /**
evenbrownie 0:f43994f44684 80 * Reads data from a specific address
evenbrownie 0:f43994f44684 81 *
evenbrownie 0:f43994f44684 82 * addr: the i2c address of the slave device
evenbrownie 0:f43994f44684 83 * reg: the register numer to read from
evenbrownie 0:f43994f44684 84 * buf: an array to store the data read
evenbrownie 0:f43994f44684 85 * length: length of buf (how much to read)
evenbrownie 0:f43994f44684 86 *
evenbrownie 0:f43994f44684 87 * Returns true upon success, and false upon failure.
evenbrownie 0:f43994f44684 88 */
evenbrownie 0:f43994f44684 89 bool read_reg(char addr, char reg, char *buf, int length);
evenbrownie 0:f43994f44684 90 };
evenbrownie 0:f43994f44684 91
evenbrownie 0:f43994f44684 92 #endif
evenbrownie 0:f43994f44684 93