Evan Brown / Mbed 2 deprecated APpart3_E_start_2

completed code

Dependencies:   mbed

sensor_fusion.h@5:4af75af374cc, 2018-11-22 (annotated)

Committer:
evenbrownie
Date:
Thu Nov 22 22:40:15 2018 +0000
Revision:
5:4af75af374cc
Parent:
2:a4d5e7f96e87 
blah

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
tlee6414 2:a4d5e7f96e87 25 #define GYRO_X 0x43 //the register that stores the first bit of the gyroscope x value
tlee6414 2:a4d5e7f96e87 26 #define GYRO_Y 0x45
tlee6414 2:a4d5e7f96e87 27 #define GYRO_Z 0x47
tlee6414 2:a4d5e7f96e87 28 #define ACCEL_X 0x3B //the register that stores the first bit of the accelerometer x value
tlee6414 2:a4d5e7f96e87 29 #define ACCEL_Y 0x3D
tlee6414 2:a4d5e7f96e87 30 #define ACCEL_Z 0x3F
evenbrownie 0:f43994f44684 31
evenbrownie 0:f43994f44684 32 class MPU6050 {
evenbrownie 0:f43994f44684 33
evenbrownie 0:f43994f44684 34 public:
evenbrownie 0:f43994f44684 35
evenbrownie 0:f43994f44684 36 /**
evenbrownie 0:f43994f44684 37 * Creates an MPU6050 object
evenbrownie 0:f43994f44684 38 *
evenbrownie 0:f43994f44684 39 * sda: pin name of the sda pin
evenbrownie 0:f43994f44684 40 * scl: pin name of the scl pin
evenbrownie 0:f43994f44684 41 */
evenbrownie 0:f43994f44684 42 MPU6050(PinName sda, PinName scl);
evenbrownie 0:f43994f44684 43
evenbrownie 0:f43994f44684 44 /**
evenbrownie 0:f43994f44684 45 * Called before using the MPU6050.
evenbrownie 0:f43994f44684 46 *
evenbrownie 0:f43994f44684 47 * Sets up the I2C by configuring registers
evenbrownie 0:f43994f44684 48 * as described in the spec (calls write_reg).
evenbrownie 0:f43994f44684 49 */
evenbrownie 0:f43994f44684 50 void start(void);
evenbrownie 0:f43994f44684 51
evenbrownie 0:f43994f44684 52 /**
evenbrownie 0:f43994f44684 53 * Gets the readings from the gyroscope and accelerometer (calls read_reg).
evenbrownie 0:f43994f44684 54 *
evenbrownie 0:f43994f44684 55 * Parameters: pointers to addresses where these readings should be stored.
evenbrownie 0:f43994f44684 56 *
evenbrownie 0:f43994f44684 57 * Returns true upon success, and false upon failure.
evenbrownie 0:f43994f44684 58 */
evenbrownie 0:f43994f44684 59 bool read_raw(float *gx, float *gy, float *gz, float *ax, float *ay, float *az);
evenbrownie 0:f43994f44684 60
evenbrownie 0:f43994f44684 61 /**
evenbrownie 0:f43994f44684 62 * Reads the interrupt status register (calls read_reg).
evenbrownie 0:f43994f44684 63 *
evenbrownie 0:f43994f44684 64 * Returns true if data is ready, false otherwise.
evenbrownie 0:f43994f44684 65 */
evenbrownie 0:f43994f44684 66 bool data_ready(void);
evenbrownie 0:f43994f44684 67
evenbrownie 0:f43994f44684 68 private:
evenbrownie 0:f43994f44684 69
evenbrownie 0:f43994f44684 70 I2C i2c_object; //instance of an i2c class
evenbrownie 0:f43994f44684 71
evenbrownie 0:f43994f44684 72 /**
evenbrownie 0:f43994f44684 73 * Writes 1 byte of data to a specific address
evenbrownie 0:f43994f44684 74 *
evenbrownie 0:f43994f44684 75 * addr: the i2c address of the slave device
evenbrownie 0:f43994f44684 76 * reg: the register number to write to
evenbrownie 0:f43994f44684 77 * buf: the data to write
evenbrownie 0:f43994f44684 78 *
evenbrownie 0:f43994f44684 79 * Returns true upon success, and false upon failure.
evenbrownie 0:f43994f44684 80 */
tlee6414 2:a4d5e7f96e87 81 bool write_reg(int addr, char reg, char buf);
evenbrownie 0:f43994f44684 82
evenbrownie 0:f43994f44684 83 /**
evenbrownie 0:f43994f44684 84 * Reads data from a specific address
evenbrownie 0:f43994f44684 85 *
evenbrownie 0:f43994f44684 86 * addr: the i2c address of the slave device
evenbrownie 0:f43994f44684 87 * reg: the register numer to read from
evenbrownie 0:f43994f44684 88 * buf: an array to store the data read
evenbrownie 0:f43994f44684 89 * length: length of buf (how much to read)
evenbrownie 0:f43994f44684 90 *
evenbrownie 0:f43994f44684 91 * Returns true upon success, and false upon failure.
evenbrownie 0:f43994f44684 92 */
tlee6414 2:a4d5e7f96e87 93 bool read_reg(int addr, char reg, char *buf, int length);
evenbrownie 0:f43994f44684 94 };
evenbrownie 0:f43994f44684 95
evenbrownie 0:f43994f44684 96 #endif
evenbrownie 0:f43994f44684 97