Felix Rüdiger
/
MPU6050_lib
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Dependents: BLE_Nano_MPU6050Service
Diff: MPU6050.h
- Revision:
- 0:95916b07e8be
- Child:
- 1:96a227d1ca7e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.h Tue Jun 30 23:52:31 2015 +0000
@@ -0,0 +1,338 @@
+#pragma once
+#ifndef __MPU6050_H__
+#define __MPU6050_H__
+
+/**
+ * Based on the work of authors of
+ * https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
+ *
+ * Ported by Felix Rüdiger, 2015
+ * (scrapping all the I2C-slave-bus stuff)
+ *
+ */
+
+#include "mbed.h"
+#include "helpers.h"
+
+class MPU6050
+{
+ public:
+ enum BaseAddress
+ {
+ // left shift by 1 bit is neccessary for mbed's I2C abstraction class
+ // look at https://developer.mbed.org/users/okano/notebook/i2c-access-examples/
+ ADDRESS_0 = BYTE(01101000) << 1,
+ ADRESSS_1 = BYTE(01101001) << 1
+ };
+
+ enum Register
+ {
+ REG_AUX_VDDIO = 0x01, // R/W
+ REG_SMPLRT_DIV = 0x19, // R/W
+ REG_CONFIG = 0x1A, // R/W
+ REG_GYRO_CONFIG = 0x1B, // R/W
+ REG_ACCEL_CONFIG = 0x1C, // R/W
+ REG_FF_THR = 0x1D, // R/W
+ REG_FF_DUR = 0x1E, // R/W
+ REG_MOT_THR = 0x1F, // R/W
+ REG_MOT_DUR = 0x20, // R/W
+ REG_ZRMOT_THR = 0x21, // R/W
+ REG_ZRMOT_DUR = 0x22, // R/W
+ REG_FIFO_EN = 0x23, // R/W
+/* REG_I2C_MST_CTRL = 0x24, // R/W
+ REG_I2C_SLV0_ADDR = 0x25, // R/W
+ REG_I2C_SLV0_REG = 0x26, // R/W
+ REG_I2C_SLV0_CTRL = 0x27, // R/W
+ REG_I2C_SLV1_ADDR = 0x28, // R/W
+ REG_I2C_SLV1_REG = 0x29, // R/W
+ REG_I2C_SLV1_CTRL = 0x2A, // R/W
+ REG_I2C_SLV2_ADDR = 0x2B, // R/W
+ REG_I2C_SLV2_REG = 0x2C, // R/W
+ REG_I2C_SLV2_CTRL = 0x2D, // R/W
+ REG_I2C_SLV3_ADDR = 0x2E, // R/W
+ REG_I2C_SLV3_REG = 0x2F, // R/W
+ REG_I2C_SLV3_CTRL = 0x30, // R/W
+ REG_I2C_SLV4_ADDR = 0x31, // R/W
+ REG_I2C_SLV4_REG = 0x32, // R/W
+ REG_I2C_SLV4_DO = 0x33, // R/W
+ REG_I2C_SLV4_CTRL = 0x34, // R/W
+ REG_I2C_SLV4_DI = 0x35, // R
+ REG_I2C_MST_STATUS = 0x36, // R */
+ REG_INT_PIN_CFG = 0x37, // R/W
+ REG_INT_ENABLE = 0x38, // R/W
+ REG_INT_STATUS = 0x3A, // R
+ REG_ACCEL_XOUT_H = 0x3B, // R
+ REG_ACCEL_XOUT_L = 0x3C, // R
+ REG_ACCEL_YOUT_H = 0x3D, // R
+ REG_ACCEL_YOUT_L = 0x3E, // R
+ REG_ACCEL_ZOUT_H = 0x3F, // R
+ REG_ACCEL_ZOUT_L = 0x40, // R
+ REG_TEMP_OUT_H = 0x41, // R
+ REG_TEMP_OUT_L = 0x42, // R
+ REG_GYRO_XOUT_H = 0x43, // R
+ REG_GYRO_XOUT_L = 0x44, // R
+ REG_GYRO_YOUT_H = 0x45, // R
+ REG_GYRO_YOUT_L = 0x46, // R
+ REG_GYRO_ZOUT_H = 0x47, // R
+ REG_GYRO_ZOUT_L = 0x48, // R
+ REG_EXT_SENS_DATA_00 = 0x49, // R
+ REG_EXT_SENS_DATA_01 = 0x4A, // R
+ REG_EXT_SENS_DATA_02 = 0x4B, // R
+ REG_EXT_SENS_DATA_03 = 0x4C, // R
+ REG_EXT_SENS_DATA_04 = 0x4D, // R
+ REG_EXT_SENS_DATA_05 = 0x4E, // R
+ REG_EXT_SENS_DATA_06 = 0x4F, // R
+ REG_EXT_SENS_DATA_07 = 0x50, // R
+ REG_EXT_SENS_DATA_08 = 0x51, // R
+ REG_EXT_SENS_DATA_09 = 0x52, // R
+ REG_EXT_SENS_DATA_10 = 0x53, // R
+ REG_EXT_SENS_DATA_11 = 0x54, // R
+ REG_EXT_SENS_DATA_12 = 0x55, // R
+ REG_EXT_SENS_DATA_13 = 0x56, // R
+ REG_EXT_SENS_DATA_14 = 0x57, // R
+ REG_EXT_SENS_DATA_15 = 0x58, // R
+ REG_EXT_SENS_DATA_16 = 0x59, // R
+ REG_EXT_SENS_DATA_17 = 0x5A, // R
+ REG_EXT_SENS_DATA_18 = 0x5B, // R
+ REG_EXT_SENS_DATA_19 = 0x5C, // R
+ REG_EXT_SENS_DATA_20 = 0x5D, // R
+ REG_EXT_SENS_DATA_21 = 0x5E, // R
+ REG_EXT_SENS_DATA_22 = 0x5F, // R
+ REG_EXT_SENS_DATA_23 = 0x60, // R
+ REG_MOT_DETECT_STATUS = 0x61, // R
+ REG_I2C_SLV0_DO = 0x63, // R/W
+ REG_I2C_SLV1_DO = 0x64, // R/W
+ REG_I2C_SLV2_DO = 0x65, // R/W
+ REG_I2C_SLV3_DO = 0x66, // R/W
+ REG_I2C_MST_DELAY_CTRL = 0x67, // R/W
+ REG_SIGNAL_PATH_RESET = 0x68, // R/W
+ REG_MOT_DETECT_CTRL = 0x69, // R/W
+ REG_USER_CTRL = 0x6A, // R/W
+ REG_PWR_MGMT_1 = 0x6B, // R/W
+ REG_PWR_MGMT_2 = 0x6C, // R/W
+ REG_FIFO_COUNTH = 0x72, // R/W
+ REG_FIFO_COUNTL = 0x73, // R/W
+ REG_FIFO_R_W = 0x74, // R/W
+ REG_WHO_AM_I = 0x75 // R
+ };
+
+ static const uint8_t AUX_VDDIO_MASK = BYTE(10000000);
+ enum AuxVDDIOLevel
+ {
+ AUX_VDDIO_VLOGIC = BYTE(00000000),
+ AUX_VDDIO_VDD = BYTE(10000000)
+ };
+
+ static const uint8_t EXT_SYNC_MASK = BYTE(00111000);
+ enum ExtFrameSync
+ {
+ EXT_SYNC_DISABLED = BYTE(00000000),
+ EXT_SYNC_TEMP_OUT_L = BYTE(00001000),
+ EXT_SYNC_GYRO_XOUT_L = BYTE(00010000),
+ EXT_SYNC_GYRO_YOUT_L = BYTE(00011000),
+ EXT_SYNC_GYRO_ZOUT_L = BYTE(00100000),
+ EXT_SYNC_ACCEL_XOUT_L = BYTE(00101000),
+ EXT_SYNC_ACCEL_YOUT_L = BYTE(00110000),
+ EXT_SYNC_ACCEL_ZOUT_L = BYTE(00111000)
+ };
+
+ static const uint8_t DLPF_MASK = BYTE(00000111);
+ enum DLPFBandwidth
+ {
+ DLPF_260HZ_256Hz = BYTE(00000000),
+ DLPF_184HZ_188Hz = BYTE(00000001),
+ DLPF_94HZ_98HZ = BYTE(00000010),
+ DLPF_44HZ_42HZ = BYTE(00000011),
+ DLPF_21HZ_20HZ = BYTE(00000100),
+ DLPF_10HZ_10HZ = BYTE(00000101),
+ DLPF_5HZ_5HZ = BYTE(00000110),
+ DLPF_RESERVED = BYTE(00000111)
+ };
+
+ static const uint8_t GYRO_X_ST_MASK = BYTE(10000000);
+ static const uint8_t GYRO_Y_ST_MASK = BYTE(01000000);
+ static const uint8_t GYRO_Z_ST_MASK = BYTE(00100000);
+
+ static const uint8_t GYRO_RANGE_MASK = BYTE(00011000);
+ enum GyroRange
+ {
+ GYRO_RANGE_250 = BYTE(00000000),
+ GYRO_RANGE_500 = BYTE(00001000),
+ GYRO_RANGE_1000 = BYTE(00010000),
+ GYRO_RANGE_2000 = BYTE(00011000)
+ };
+
+ static const uint8_t ACCEL_X_ST_MASK = BYTE(10000000);
+ static const uint8_t ACCEL_Y_ST_MASK = BYTE(01000000);
+ static const uint8_t ACCEL_Z_ST_MASK = BYTE(00100000);
+
+ static const uint8_t ACCEL_HPF_MASK = BYTE(00000111);
+ enum AccelHPFCutOff
+ {
+ ACCEL_HPF_RESET = BYTE(00000000),
+ ACCEL_HPF_5HZ = BYTE(00000001),
+ ACCEL_HPF_2_5HZ = BYTE(00000010),
+ ACCEL_HPF_1_25HZ = BYTE(00000011),
+ ACCEL_HPF_0_63HZ = BYTE(00000100),
+ ACCEL_HPF_HOLD = BYTE(00000111)
+ };
+
+ static const uint8_t ACCEL_RANGE_MASK = BYTE(00011000);
+ enum AccelRange
+ {
+ ACCEL_RANGE_2G = BYTE(00000000),
+ ACCEL_RANGE_4G = BYTE(00001000),
+ ACCEL_RANGE_8G = BYTE(00010000),
+ ACCEL_RANGE_16G = BYTE(00011000)
+ };
+
+ static const uint8_t TEMP_FIFO_EN_MASK = BYTE(10000000);
+ static const uint8_t GYRO_X_FIFO_EN_MASK = BYTE(01000000);
+ static const uint8_t GYRO_Y_FIFO_EN_MASK = BYTE(00100000);
+ static const uint8_t GYRO_Z_FIFO_EN_MASK = BYTE(00010000);
+ static const uint8_t ACCEL_FIFO_EN_MASK = BYTE(00001000);
+
+ MPU6050(PinName sda, PinName scl, BaseAddress address = ADDRESS_0) : i2c(sda, scl), baseAddress(address)
+ { }
+
+ BaseAddress getAddress() { return baseAddress; }
+
+ /**
+ * REG_AUX_VDDIO register
+ */
+
+ bool getAuxVDDIOLevel(AuxVDDIOLevel *level, float timeout_secs = defaultTimeout_secs);
+ bool setAuxVDDIOLevel(AuxVDDIOLevel level, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_SMPLRT_DIV register
+ */
+
+ bool getGyroSampleRateDivider(uint8_t *rateDivider, float timeout_secs = defaultTimeout_secs);
+ bool setGyroSampleRateDivider(uint8_t rateDivider, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_CONFIG register
+ */
+
+ bool getExternalFrameSync(ExtFrameSync *frameSync, float timeout_secs = defaultTimeout_secs);
+ bool setExternalFrameSync(ExtFrameSync frameSync, float timeout_secs = defaultTimeout_secs);
+
+ bool getDLPFBandwidth(DLPFBandwidth *bandwidth, float timeout_secs = defaultTimeout_secs);
+ bool setDLPFBandwidth(DLPFBandwidth bandwidth, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_GYRO_CONFIG register
+ */
+
+ bool getGyroXSelfTestEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setGyroXSelfTestEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getGyroYSelfTestEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setGyroYSelfTestEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getGyroZSelfTestEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setGyroZSelfTestEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getGyroRange(GyroRange *gyroRange, float timeout_secs = defaultTimeout_secs);
+ bool setGyroRange(GyroRange gyroRange, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_ACCEL_CONFIG register
+ */
+
+ bool getAccelXSelfTestEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setAccelXSelfTestEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getAccelYSelfTestEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setAccelYSelfTestEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getAccelZSelfTestEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setAccelZSelfTestEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getAccelHPFCutOff(AccelHPFCutOff *frequency, float timeout_secs = defaultTimeout_secs);
+ bool setAccelHPFCutOff(AccelHPFCutOff frequency, float timeout_secs = defaultTimeout_secs);
+
+ bool getAccelRange(AccelRange *accelRange, float timeout_secs = defaultTimeout_secs);
+ bool setAccelRange(AccelRange accelRange, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_FF_THR register
+ */
+
+ bool getFreefallDetectionThreshold(uint8_t *threshold, float timeout_secs = defaultTimeout_secs);
+ bool setFreefallDetectionThreshold(uint8_t threshold, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_FF_DUR register
+ */
+
+ bool getFreefallDetectionDuration(uint8_t *duration, float timeout_secs = defaultTimeout_secs);
+ bool setFreefallDetectionDuration(uint8_t duration, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_MOT_THR register
+ */
+
+ bool getMotionDetectionThreshold(uint8_t *threshold, float timeout_secs = defaultTimeout_secs);
+ bool setMotionDetectionThreshold(uint8_t threshold, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_MOT_DUR register
+ */
+
+ bool getMotionDetectionDuration(uint8_t *duration, float timeout_secs = defaultTimeout_secs);
+ bool setMotionDetectionDuration(uint8_t duration, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_ZRMOT_THR register
+ */
+
+ bool getZeroMotionDetectionThreshold(uint8_t *threshold, float timeout_secs = defaultTimeout_secs);
+ bool setZeroMotionDetectionThreshold(uint8_t threshold, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_ZRMOT_DUR register
+ */
+
+ bool getZeroMotionDetectionDuration(uint8_t *duration, float timeout_secs = defaultTimeout_secs);
+ bool setZeroMotionDetectionDuration(uint8_t duration, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_FIFO_EN register
+ */
+
+ bool getTempFIFOEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setTempFIFOEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getGyroXFIFOEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setGyroXFIFOEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getGyroYFIFOEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setGyroYFIFOEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getGyroZFIFOEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setGyroZFIFOEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getAccelFIFOEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setAccelFIFOEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * Read and write registers
+ */
+
+ bool read(Register reg, uint8_t *data, float timeout_secs = defaultTimeout_secs);
+ bool read(Register reg, uint8_t *data, size_t length, float timeout_secs = defaultTimeout_secs);
+
+ bool write(Register reg, uint8_t data, float timeout_secs = defaultTimeout_secs);
+ bool write(Register reg, uint8_t *data, size_t length, float timeout_secs = defaultTimeout_secs);
+
+ private:
+ static const float retryDelay_secs = 0.005;
+ static const float defaultTimeout_secs = 0.1; // makes a maximum of 20 tries
+
+ I2C i2c;
+ BaseAddress baseAddress;
+};
+
+#endif
\ No newline at end of file
