Felix Rüdiger
/
MPU6050_lib
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Dependents: BLE_Nano_MPU6050Service
Diff: MPU6050.h
- Revision:
- 1:96a227d1ca7e
- Parent:
- 0:95916b07e8be
- Child:
- 2:32b13cc64cb0
--- a/MPU6050.h Tue Jun 30 23:52:31 2015 +0000
+++ b/MPU6050.h Thu Jul 02 00:39:12 2015 +0000
@@ -17,6 +17,10 @@
class MPU6050
{
public:
+ /**
+ * Constants
+ */
+
enum BaseAddress
{
// left shift by 1 bit is neccessary for mbed's I2C abstraction class
@@ -57,7 +61,7 @@
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_I2C_MST_STATUS = 0x36, // R */
REG_INT_PIN_CFG = 0x37, // R/W
REG_INT_ENABLE = 0x38, // R/W
REG_INT_STATUS = 0x3A, // R
@@ -75,7 +79,7 @@
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_00 = 0x49, // R
REG_EXT_SENS_DATA_01 = 0x4A, // R
REG_EXT_SENS_DATA_02 = 0x4B, // R
REG_EXT_SENS_DATA_03 = 0x4C, // R
@@ -98,7 +102,7 @@
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_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
@@ -192,6 +196,61 @@
static const uint8_t GYRO_Z_FIFO_EN_MASK = BYTE(00010000);
static const uint8_t ACCEL_FIFO_EN_MASK = BYTE(00001000);
+ static const uint8_t INT_LEVEL_MASK = BYTE(10000000);
+ enum InterruptLevel
+ {
+ INT_LEVEL_ACTIVE_HIGH = BYTE(00000000),
+ INT_LEVEL_ACTIVE_LOW = BYTE(10000000)
+ };
+
+ static const uint8_t INT_DRIVE_MASK = BYTE(01000000);
+ enum InterruptDrive
+ {
+ INT_DRIVE_PUSH_PULL = BYTE(00000000),
+ INT_DRIVE_OPEN_DRAIN = BYTE(01000000)
+ };
+
+ static const uint8_t INT_LATCH_MASK = BYTE(00100000);
+ enum InterruptLatch
+ {
+ INT_LATCH_50US_PULSE = BYTE(00000000),
+ INT_LATCH_WAIT_CLEARED = BYTE(00100000)
+ };
+
+ static const uint8_t INT_CLEAR_MASK = BYTE(00010000);
+ enum InterruptClear
+ {
+ INT_CLEAR_STATUS_ONLY_READ = BYTE(00000000),
+ INT_CLEAR_ANY_READ = BYTE(00010000)
+ };
+
+ static const uint8_t INT_FSYNC_LEVEL_MASK = BYTE(00001000);
+ enum InterruptFSyncLevel
+ {
+ INT_FSYNC_LEVEL_ACTIVE_HIGH = BYTE(00000000),
+ INT_FSYNC_LEVEL_ACTIVE_LOW = BYTE(00001000)
+ };
+
+ static const uint8_t INT_FSYNC_EN_MASK = BYTE(00000100);
+
+ enum Interrupt
+ {
+ INT_FREEFALL = BYTE(10000000),
+ INT_MOTION = BYTE(01000000),
+ INT_ZERO_MOTION = BYTE(00100000),
+ INT_FIFO_OVERFLOW = BYTE(00010000),
+/* INT_I2C_MASTER = BYTE(00001000),
+ INT_PLL_READY = BYTE(00000100),
+ INT_DMP_INIT = BYTE(00000010), */
+ INT_DATA_READY = BYTE(00000001)
+ };
+ friend inline Interrupt operator|(Interrupt a, Interrupt b) { return static_cast<Interrupt>(static_cast<int>(a) | static_cast<int>(b)); }
+ friend inline Interrupt operator&(Interrupt a, Interrupt b) { return static_cast<Interrupt>(static_cast<int>(a) & static_cast<int>(b)); }
+
+ /**
+ * basic members
+ */
+
MPU6050(PinName sda, PinName scl, BaseAddress address = ADDRESS_0) : i2c(sda, scl), baseAddress(address)
{ }
@@ -318,6 +377,113 @@
bool setAccelFIFOEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
/**
+ * REG_INT_PIN_CFG register
+ */
+
+ bool getInterruptLevel(InterruptLevel *level, float timeout_secs = defaultTimeout_secs);
+ bool setInterruptLevel(InterruptLevel level, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptDrive(InterruptDrive *drive, float timeout_secs = defaultTimeout_secs);
+ bool setInterruptDrive(InterruptDrive drive, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptLatch(InterruptLatch *latch, float timeout_secs = defaultTimeout_secs);
+ bool setInterruptLatch(InterruptLatch latch, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptLatchClear(InterruptClear *latchClear, float timeout_secs = defaultTimeout_secs);
+ bool setInterruptLatchClear(InterruptClear latchClear, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptFSyncLevel(InterruptFSyncLevel *fsyncLevel, float timeout_secs = defaultTimeout_secs);
+ bool setInterruptFSyncLevel(InterruptFSyncLevel fsyncLevel, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptFSyncEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setInterruptFSyncEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_INT_ENABLE register
+ */
+
+ bool getInterruptsEnabled(Interrupt *interruptSet, float timeout_secs = defaultTimeout_secs);
+ bool setInterruptsEnabled(Interrupt interruptSet, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptFreefallEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setInterruptFreefallEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptMotionEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setInterruptMotionEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptZeroMotionEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setInterruptZeroMotionEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptFIFOOverflowEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setInterruptFIFOOverflowEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptDataReadyEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs);
+ bool setInterruptDataReadyEnabled(bool enabled, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_INT_STATUS register
+ */
+
+ bool getInterruptStatuses(Interrupt *interruptSet, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptFreefallStatus(bool *status, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptMotionStatus(bool *status, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptZeroMotionStatus(bool *status, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptFIFOOverflowStatus(bool *status, float timeout_secs = defaultTimeout_secs);
+
+ bool getInterruptDataReadyStatus(bool *status, float timeout_secs = defaultTimeout_secs);
+
+ /**
+ * REG_ACCEL_XOUT_H
+ * REG_ACCEL_XOUT_L
+ * REG_ACCEL_YOUT_H
+ * REG_ACCEL_YOUT_L
+ * REG_ACCEL_ZOUT_H
+ * REG_ACCEL_ZOUT_L
+ * REG_TEMP_OUT_H
+ * REG_TEMP_OUT_L
+ * REG_GYRO_XOUT_H
+ * REG_GYRO_XOUT_L
+ * REG_GYRO_YOUT_H
+ * REG_GYRO_YOUT_L
+ * REG_GYRO_ZOUT_H
+ * REG_GYRO_ZOUT_L registers
+ */
+
+ /** Acceleration */
+
+ bool getAcceleration(int16_t *ax, int16_t *ay, int16_t *az, float timeout_secs = defaultTimeout_secs);
+
+ bool getAccelerationX(int16_t* ax, float timeout_secs = defaultTimeout_secs);
+
+ bool getAccelerationY(int16_t* ay, float timeout_secs = defaultTimeout_secs);
+
+ bool getAccelerationZ(int16_t* az, float timeout_secs = defaultTimeout_secs);
+
+ /** Temperature */
+
+ bool getTemperature(int16_t* temp, float timeout_secs = defaultTimeout_secs);
+
+ /** Rotation speed */
+
+ bool getRotationSpeed(int16_t *ox, int16_t *oy, int16_t *oz, float timeout_secs = defaultTimeout_secs);
+
+ bool getRotationSpeedX(int16_t* ox, float timeout_secs = defaultTimeout_secs);
+
+ bool getRotationSpeedY(int16_t* oy, float timeout_secs = defaultTimeout_secs);
+
+ bool getRotationSpeedZ(int16_t* oz, float timeout_secs = defaultTimeout_secs);
+
+ /** All three */
+
+ bool getMotionAndTemperature(int16_t* ax, int16_t* ay, int16_t* az,
+ int16_t* ox, int16_t* oy, int16_t* oz,
+ int16_t* temp, float timeout_secs = defaultTimeout_secs);
+
+ /**
* Read and write registers
*/
