File content as of revision 5:4af75af374cc:

/* 
 * @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                   0x43   //the register that stores the first bit of the gyroscope x value  
#define GYRO_Y                   0x45
#define GYRO_Z                   0x47
#define ACCEL_X                  0x3B   //the register that stores the first bit of the accelerometer x value
#define ACCEL_Y                  0x3D
#define ACCEL_Z                  0x3F

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, char 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(int addr, char reg, char *buf, int length);
};
 
#endif