Diff: sensor_fusion.h

Revision:

0:f43994f44684

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_fusion.h	Thu Nov 08 20:48:47 2018 +0000
@@ -0,0 +1,93 @@
+/* 
+ * @author: Natasha Sarkar, 2018
+ */
+
+#ifndef __MPU6050_H
+#define __MPU6050_H
+ 
+#include "mbed.h"
+
+/** TO DO
+ * DEFINE THESE REGISTERS. 
+ * THE ADDRESS AND CONFIG REGISTERS HAVE BEEN DONE FOR YOU AS AN EXAMPLE.
+ *
+ * You will need to look at the register map.
+ */
+ 
+#define SDA                      PB_7   //the pin used for SDA                            
+#define SCL                      PB_6   //the pin used for SCL                    
+#define ADDRESS                  0xD1   //the slave address of the IMU
+#define INT_STATUS               0x3A   //the interrupt status register 
+#define PWR_MGMT_1               0x6B   //power management 1
+#define CONFIG                   0x1A   //the IMU config register
+#define GYRO_CONFIG              0x1B   //the gyroscope config register    
+#define ACCEL_CONFIG             0x1C   //the accelerometer config register        
+#define GYRO_X                   0x44   //the register that stores the first bit of the gyroscope x value          
+#define ACCEL_X                  0x3C   //the register that stores the first bit of the accelerometer x value
+
+class MPU6050 {
+
+public:
+
+    /** 
+     * Creates an MPU6050 object
+     * 
+     * sda: pin name of the sda pin
+     * scl: pin name of the scl pin
+     */
+    MPU6050(PinName sda, PinName scl);
+
+    /** 
+     * Called before using the MPU6050.
+     * 
+     * Sets up the I2C by configuring registers 
+     * as described in the spec (calls write_reg).
+     */
+    void start(void);
+
+    /** 
+     * Gets the readings from the gyroscope and accelerometer (calls read_reg).
+     * 
+     * Parameters: pointers to addresses where these readings should be stored.
+     *
+     * Returns true upon success, and false upon failure.
+     */
+    bool read_raw(float *gx, float *gy, float *gz, float *ax, float *ay, float *az);
+    
+    /**
+     * Reads the interrupt status register (calls read_reg).
+     *
+     * Returns true if data is ready, false otherwise.
+     */
+    bool data_ready(void);
+
+private:
+
+    I2C i2c_object; //instance of an i2c class
+
+    /** 
+     * Writes 1 byte of data to a specific address
+     * 
+     * addr: the i2c address of the slave device
+     * reg: the register number to write to
+     * buf: the data to write
+     *
+     * Returns true upon success, and false upon failure.
+     */
+    bool write_reg(int addr, int reg, char buf);
+
+    /** 
+     * Reads data from a specific address
+     * 
+     * addr: the i2c address of the slave device
+     * reg: the register numer to read from
+     * buf: an array to store the data read
+     * length: length of buf (how much to read)
+     *
+     * Returns true upon success, and false upon failure.
+     */
+    bool read_reg(char addr, char reg, char *buf, int length);
+};
+ 
+#endif
+