Felix Rüdiger
An abstraction layer for the I2C communication with a MPU6050 accelerometer/gyroscope
Dependents: BLE_Nano_MPU6050Service
Embed:
(wiki syntax)
Show/hide line numbers
MPU6050.h
00001 #pragma once 00002 #ifndef __MPU6050_H__ 00003 #define __MPU6050_H__ 00004 00005 /** 00006 * Based on the work of authors of 00007 * https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 00008 * 00009 * Ported by Felix Rüdiger, 2015 00010 * (scrapping all the I2C-slave-bus stuff) 00011 */ 00012 00013 #include "mbed.h" 00014 #include "helpers.h" 00015 00016 class MPU6050 00017 { 00018 public: 00019 /** 00020 * Constants 00021 */ 00022 00023 enum BaseAddress 00024 { 00025 // left shift by 1 bit is neccessary for mbed's I2C abstraction class 00026 // look at https://developer.mbed.org/users/okano/notebook/i2c-access-examples/ 00027 ADDRESS_0 = BYTE(01101000) << 1, 00028 ADRESSS_1 = BYTE(01101001) << 1 00029 }; 00030 00031 typedef struct 00032 { 00033 int16_t ax, ay, az; 00034 int16_t temp; 00035 int16_t ox, oy, oz; 00036 } SensorReading; 00037 00038 enum Register 00039 { 00040 REG_AUX_VDDIO = 0x01, // R/W 00041 REG_SMPLRT_DIV = 0x19, // R/W 00042 REG_CONFIG = 0x1A, // R/W 00043 REG_GYRO_CONFIG = 0x1B, // R/W 00044 REG_ACCEL_CONFIG = 0x1C, // R/W 00045 REG_FF_THR = 0x1D, // R/W 00046 REG_FF_DUR = 0x1E, // R/W 00047 REG_MOT_THR = 0x1F, // R/W 00048 REG_MOT_DUR = 0x20, // R/W 00049 REG_ZRMOT_THR = 0x21, // R/W 00050 REG_ZRMOT_DUR = 0x22, // R/W 00051 REG_FIFO_EN = 0x23, // R/W 00052 /* REG_I2C_MST_CTRL = 0x24, // R/W 00053 REG_I2C_SLV0_ADDR = 0x25, // R/W 00054 REG_I2C_SLV0_REG = 0x26, // R/W 00055 REG_I2C_SLV0_CTRL = 0x27, // R/W 00056 REG_I2C_SLV1_ADDR = 0x28, // R/W 00057 REG_I2C_SLV1_REG = 0x29, // R/W 00058 REG_I2C_SLV1_CTRL = 0x2A, // R/W 00059 REG_I2C_SLV2_ADDR = 0x2B, // R/W 00060 REG_I2C_SLV2_REG = 0x2C, // R/W 00061 REG_I2C_SLV2_CTRL = 0x2D, // R/W 00062 REG_I2C_SLV3_ADDR = 0x2E, // R/W 00063 REG_I2C_SLV3_REG = 0x2F, // R/W 00064 REG_I2C_SLV3_CTRL = 0x30, // R/W 00065 REG_I2C_SLV4_ADDR = 0x31, // R/W 00066 REG_I2C_SLV4_REG = 0x32, // R/W 00067 REG_I2C_SLV4_DO = 0x33, // R/W 00068 REG_I2C_SLV4_CTRL = 0x34, // R/W 00069 REG_I2C_SLV4_DI = 0x35, // R 00070 REG_I2C_MST_STATUS = 0x36, // R */ 00071 REG_INT_PIN_CFG = 0x37, // R/W 00072 REG_INT_ENABLE = 0x38, // R/W 00073 REG_INT_STATUS = 0x3A, // R 00074 REG_ACCEL_XOUT_H = 0x3B, // R 00075 REG_ACCEL_XOUT_L = 0x3C, // R 00076 REG_ACCEL_YOUT_H = 0x3D, // R 00077 REG_ACCEL_YOUT_L = 0x3E, // R 00078 REG_ACCEL_ZOUT_H = 0x3F, // R 00079 REG_ACCEL_ZOUT_L = 0x40, // R 00080 REG_TEMP_OUT_H = 0x41, // R 00081 REG_TEMP_OUT_L = 0x42, // R 00082 REG_GYRO_XOUT_H = 0x43, // R 00083 REG_GYRO_XOUT_L = 0x44, // R 00084 REG_GYRO_YOUT_H = 0x45, // R 00085 REG_GYRO_YOUT_L = 0x46, // R 00086 REG_GYRO_ZOUT_H = 0x47, // R 00087 REG_GYRO_ZOUT_L = 0x48, // R 00088 /* REG_EXT_SENS_DATA_00 = 0x49, // R 00089 REG_EXT_SENS_DATA_01 = 0x4A, // R 00090 REG_EXT_SENS_DATA_02 = 0x4B, // R 00091 REG_EXT_SENS_DATA_03 = 0x4C, // R 00092 REG_EXT_SENS_DATA_04 = 0x4D, // R 00093 REG_EXT_SENS_DATA_05 = 0x4E, // R 00094 REG_EXT_SENS_DATA_06 = 0x4F, // R 00095 REG_EXT_SENS_DATA_07 = 0x50, // R 00096 REG_EXT_SENS_DATA_08 = 0x51, // R 00097 REG_EXT_SENS_DATA_09 = 0x52, // R 00098 REG_EXT_SENS_DATA_10 = 0x53, // R 00099 REG_EXT_SENS_DATA_11 = 0x54, // R 00100 REG_EXT_SENS_DATA_12 = 0x55, // R 00101 REG_EXT_SENS_DATA_13 = 0x56, // R 00102 REG_EXT_SENS_DATA_14 = 0x57, // R 00103 REG_EXT_SENS_DATA_15 = 0x58, // R 00104 REG_EXT_SENS_DATA_16 = 0x59, // R 00105 REG_EXT_SENS_DATA_17 = 0x5A, // R 00106 REG_EXT_SENS_DATA_18 = 0x5B, // R 00107 REG_EXT_SENS_DATA_19 = 0x5C, // R 00108 REG_EXT_SENS_DATA_20 = 0x5D, // R 00109 REG_EXT_SENS_DATA_21 = 0x5E, // R 00110 REG_EXT_SENS_DATA_22 = 0x5F, // R 00111 REG_EXT_SENS_DATA_23 = 0x60, // R */ 00112 REG_MOT_DETECT_STATUS = 0x61, // R 00113 /* REG_I2C_SLV0_DO = 0x63, // R/W 00114 REG_I2C_SLV1_DO = 0x64, // R/W 00115 REG_I2C_SLV2_DO = 0x65, // R/W 00116 REG_I2C_SLV3_DO = 0x66, // R/W 00117 REG_I2C_MST_DELAY_CTRL = 0x67, // R/W */ 00118 REG_SIGNAL_PATH_RESET = 0x68, // R/W 00119 REG_MOT_DETECT_CTRL = 0x69, // R/W 00120 REG_USER_CTRL = 0x6A, // R/W 00121 REG_PWR_MGMT_1 = 0x6B, // R/W 00122 REG_PWR_MGMT_2 = 0x6C, // R/W 00123 REG_FIFO_COUNTH = 0x72, // R/W 00124 REG_FIFO_COUNTL = 0x73, // R/W 00125 REG_FIFO_R_W = 0x74, // R/W 00126 REG_WHO_AM_I = 0x75 // R 00127 }; 00128 00129 static const uint8_t AUX_VDDIO_MASK = BYTE(10000000); 00130 enum AuxVDDIOLevel 00131 { 00132 AUX_VDDIO_VLOGIC = BYTE(00000000), 00133 AUX_VDDIO_VDD = BYTE(10000000) 00134 }; 00135 00136 static const uint8_t EXT_SYNC_MASK = BYTE(00111000); 00137 enum ExtFrameSync 00138 { 00139 EXT_SYNC_DISABLED = BYTE(00000000), 00140 EXT_SYNC_TEMP_OUT_L = BYTE(00001000), 00141 EXT_SYNC_GYRO_XOUT_L = BYTE(00010000), 00142 EXT_SYNC_GYRO_YOUT_L = BYTE(00011000), 00143 EXT_SYNC_GYRO_ZOUT_L = BYTE(00100000), 00144 EXT_SYNC_ACCEL_XOUT_L = BYTE(00101000), 00145 EXT_SYNC_ACCEL_YOUT_L = BYTE(00110000), 00146 EXT_SYNC_ACCEL_ZOUT_L = BYTE(00111000) 00147 }; 00148 00149 static const uint8_t DLPF_MASK = BYTE(00000111); 00150 enum DLPFBandwidth 00151 { 00152 DLPF_260HZ_256Hz = BYTE(00000000), 00153 DLPF_184HZ_188Hz = BYTE(00000001), 00154 DLPF_94HZ_98HZ = BYTE(00000010), 00155 DLPF_44HZ_42HZ = BYTE(00000011), 00156 DLPF_21HZ_20HZ = BYTE(00000100), 00157 DLPF_10HZ_10HZ = BYTE(00000101), 00158 DLPF_5HZ_5HZ = BYTE(00000110), 00159 DLPF_RESERVED = BYTE(00000111) 00160 }; 00161 00162 static const uint8_t GYRO_X_ST_MASK = BYTE(10000000); 00163 static const uint8_t GYRO_Y_ST_MASK = BYTE(01000000); 00164 static const uint8_t GYRO_Z_ST_MASK = BYTE(00100000); 00165 00166 static const uint8_t GYRO_RANGE_MASK = BYTE(00011000); 00167 enum GyroRange 00168 { 00169 GYRO_RANGE_250 = BYTE(00000000), 00170 GYRO_RANGE_500 = BYTE(00001000), 00171 GYRO_RANGE_1000 = BYTE(00010000), 00172 GYRO_RANGE_2000 = BYTE(00011000) 00173 }; 00174 00175 static const uint8_t ACCEL_X_ST_MASK = BYTE(10000000); 00176 static const uint8_t ACCEL_Y_ST_MASK = BYTE(01000000); 00177 static const uint8_t ACCEL_Z_ST_MASK = BYTE(00100000); 00178 00179 static const uint8_t ACCEL_HPF_MASK = BYTE(00000111); 00180 enum AccelHPFCutOff 00181 { 00182 ACCEL_HPF_RESET = BYTE(00000000), 00183 ACCEL_HPF_5HZ = BYTE(00000001), 00184 ACCEL_HPF_2_5HZ = BYTE(00000010), 00185 ACCEL_HPF_1_25HZ = BYTE(00000011), 00186 ACCEL_HPF_0_63HZ = BYTE(00000100), 00187 ACCEL_HPF_HOLD = BYTE(00000111) 00188 }; 00189 00190 static const uint8_t ACCEL_RANGE_MASK = BYTE(00011000); 00191 enum AccelRange 00192 { 00193 ACCEL_RANGE_2G = BYTE(00000000), 00194 ACCEL_RANGE_4G = BYTE(00001000), 00195 ACCEL_RANGE_8G = BYTE(00010000), 00196 ACCEL_RANGE_16G = BYTE(00011000) 00197 }; 00198 00199 static const uint8_t TEMP_FIFO_EN_MASK = BYTE(10000000); 00200 static const uint8_t GYRO_X_FIFO_EN_MASK = BYTE(01000000); 00201 static const uint8_t GYRO_Y_FIFO_EN_MASK = BYTE(00100000); 00202 static const uint8_t GYRO_Z_FIFO_EN_MASK = BYTE(00010000); 00203 static const uint8_t ACCEL_FIFO_EN_MASK = BYTE(00001000); 00204 00205 static const uint8_t INT_LEVEL_MASK = BYTE(10000000); 00206 enum InterruptLevel 00207 { 00208 INT_LEVEL_ACTIVE_HIGH = BYTE(00000000), 00209 INT_LEVEL_ACTIVE_LOW = BYTE(10000000) 00210 }; 00211 00212 static const uint8_t INT_DRIVE_MASK = BYTE(01000000); 00213 enum InterruptDrive 00214 { 00215 INT_DRIVE_PUSH_PULL = BYTE(00000000), 00216 INT_DRIVE_OPEN_DRAIN = BYTE(01000000) 00217 }; 00218 00219 static const uint8_t INT_LATCH_MASK = BYTE(00100000); 00220 enum InterruptLatch 00221 { 00222 INT_LATCH_50US_PULSE = BYTE(00000000), 00223 INT_LATCH_WAIT_CLEARED = BYTE(00100000) 00224 }; 00225 00226 static const uint8_t INT_CLEAR_MASK = BYTE(00010000); 00227 enum InterruptClear 00228 { 00229 INT_CLEAR_STATUS_ONLY_READ = BYTE(00000000), 00230 INT_CLEAR_ANY_READ = BYTE(00010000) 00231 }; 00232 00233 static const uint8_t INT_FSYNC_LEVEL_MASK = BYTE(00001000); 00234 enum InterruptFSyncLevel 00235 { 00236 INT_FSYNC_LEVEL_ACTIVE_HIGH = BYTE(00000000), 00237 INT_FSYNC_LEVEL_ACTIVE_LOW = BYTE(00001000) 00238 }; 00239 00240 static const uint8_t INT_FSYNC_EN_MASK = BYTE(00000100); 00241 00242 enum Interrupt 00243 { 00244 INT_FREEFALL = BYTE(10000000), 00245 INT_MOTION = BYTE(01000000), 00246 INT_ZERO_MOTION = BYTE(00100000), 00247 INT_FIFO_OVERFLOW = BYTE(00010000), 00248 /* INT_I2C_MASTER = BYTE(00001000), 00249 INT_PLL_READY = BYTE(00000100), 00250 INT_DMP_INIT = BYTE(00000010), */ 00251 INT_DATA_READY = BYTE(00000001) 00252 }; 00253 friend inline Interrupt operator|(Interrupt a, Interrupt b) { return static_cast<Interrupt>(static_cast<int>(a) | static_cast<int>(b)); } 00254 friend inline Interrupt operator&(Interrupt a, Interrupt b) { return static_cast<Interrupt>(static_cast<int>(a) & static_cast<int>(b)); } 00255 00256 enum Motion 00257 { 00258 MOT_NEGATIVE_X = BYTE(10000000), 00259 MOT_POSITIVE_X = BYTE(01000000), 00260 MOT_NEGATIVE_Y = BYTE(00100000), 00261 MOT_POSITIVE_Y = BYTE(00010000), 00262 MOT_NEGATIVE_Z = BYTE(00001000), 00263 MOT_POSITIVE_Z = BYTE(00000100), 00264 MOT_ZERO = BYTE(00000001) 00265 }; 00266 friend inline Motion operator|(Motion a, Motion b) { return static_cast<Motion>(static_cast<int>(a) | static_cast<int>(b)); } 00267 friend inline Motion operator&(Motion a, Motion b) { return static_cast<Motion>(static_cast<int>(a) & static_cast<int>(b)); } 00268 00269 static const uint8_t GYRO_PATH_RESET_MASK = BYTE(00000100); 00270 static const uint8_t ACCEL_PATH_RESET_MASK = BYTE(00000010); 00271 static const uint8_t TEMP_PATH_RESET_MASK = BYTE(00000001); 00272 00273 static const uint8_t POWER_ON_DELAY_MASK = BYTE(00110000); 00274 enum PowerOnDelay 00275 { 00276 POWER_ON_DELAY_0MS = BYTE(00000000), 00277 POWER_ON_DELAY_1MS = BYTE(00010000), 00278 POWER_ON_DELAY_2MS = BYTE(00100000), 00279 POWER_ON_DELAY_3MS = BYTE(00110000) 00280 }; 00281 00282 static const uint8_t FF_DETECTION_DEC_MASK = BYTE(00001100); 00283 enum FreefallDetectionDecrement 00284 { 00285 FF_DETECTION_DEC_RESET = BYTE(00000000), 00286 FF_DETECTION_DEC_1 = BYTE(00000100), 00287 FF_DETECTION_DEC_2 = BYTE(00001000), 00288 FF_DETECTION_DEC_4 = BYTE(00001100) 00289 }; 00290 00291 static const uint8_t MOT_DETECTION_DEC_MASK = BYTE(00000011); 00292 enum MotionDetectionDecrement 00293 { 00294 MOT_DETECTION_DEC_RESET = BYTE(00000000), 00295 MOT_DETECTION_DEC_1 = BYTE(00000001), 00296 MOT_DETECTION_DEC_2 = BYTE(00000010), 00297 MOT_DETECTION_DEC_4 = BYTE(00000011) 00298 }; 00299 00300 static const uint8_t FIFO_EN_MASK = BYTE(01000000); 00301 static const uint8_t FIFO_RESET_MASK = BYTE(00000100); 00302 static const uint8_t SIG_COND_RESET_MASK = BYTE(00000001); 00303 00304 static const uint8_t RESET_MASK = BYTE(10000000); 00305 static const uint8_t SLEEP_EN_MASK = BYTE(01000000); 00306 static const uint8_t WAKE_CYCLE_EN_MASK = BYTE(00100000); 00307 static const uint8_t TEMP_EN_MASK = BYTE(00001000); 00308 00309 static const uint8_t CLOCK_SOURCE_MASK = BYTE(00000111); 00310 enum ClockSource 00311 { 00312 CLOCK_SRC_INTERNAL_8MHZ = BYTE(00000000), 00313 CLOCK_SRC_PLL_GYRO_X_REF = BYTE(00000001), 00314 CLOCK_SRC_PLL_GYRO_Y_REF = BYTE(00000010), 00315 CLOCK_SRC_PLL_GYRO_Z_REF = BYTE(00000011), 00316 CLOCK_SRC_EXTERNAL_32KHZ = BYTE(00000100), 00317 CLOCK_SRC_EXTERNAL_19MHZ = BYTE(00000101), 00318 CLOCK_SRC_KEEP_RESET = BYTE(00000111) 00319 }; 00320 00321 static const uint8_t WAKE_FREQ_MASK = BYTE(11000000); 00322 enum WakeFrequency 00323 { 00324 WAKE_FREQ_1_25Hz = BYTE(00000000), 00325 WAKE_FREQ_2_5Hz = BYTE(01000000), 00326 WAKE_FREQ_5Hz = BYTE(10000000), 00327 WAKE_FREQ_10HZ = BYTE(11000000) 00328 }; 00329 00330 static const uint8_t ACCEL_X_STB_EN_MASK = BYTE(00100000); 00331 static const uint8_t ACCEL_Y_STB_EN_MASK = BYTE(00010000); 00332 static const uint8_t ACCEL_Z_STB_EN_MASK = BYTE(00001000); 00333 static const uint8_t GYRO_X_STB_EN_MASK = BYTE(00000100); 00334 static const uint8_t GYRO_Y_STB_EN_MASK = BYTE(00000010); 00335 static const uint8_t GYRO_Z_STB_EN_MASK = BYTE(00000001); 00336 00337 static const uint8_t DEVICE_ID_MASK = BYTE(01111110); 00338 00339 static const uint8_t MPU6050_ID = BYTE(01101000); // should be 0x34 << 1 00340 00341 /** 00342 * basic members 00343 */ 00344 00345 MPU6050(PinName sda, PinName scl, BaseAddress address = ADDRESS_0) : i2c(sda, scl), baseAddress(address) 00346 { } 00347 00348 BaseAddress getAddress() { return baseAddress; } 00349 00350 /** 00351 * REG_AUX_VDDIO register 00352 */ 00353 00354 bool getAuxVDDIOLevel(AuxVDDIOLevel *level, float timeout_secs = defaultTimeout_secs); 00355 bool setAuxVDDIOLevel(AuxVDDIOLevel level, float timeout_secs = defaultTimeout_secs); 00356 00357 /** 00358 * REG_SMPLRT_DIV register 00359 */ 00360 00361 bool getGyroSampleRateDivider(uint8_t *rateDivider, float timeout_secs = defaultTimeout_secs); 00362 bool setGyroSampleRateDivider(uint8_t rateDivider, float timeout_secs = defaultTimeout_secs); 00363 00364 /** 00365 * REG_CONFIG register 00366 */ 00367 00368 bool getExternalFrameSync(ExtFrameSync *frameSync, float timeout_secs = defaultTimeout_secs); 00369 bool setExternalFrameSync(ExtFrameSync frameSync, float timeout_secs = defaultTimeout_secs); 00370 00371 bool getDLPFBandwidth(DLPFBandwidth *bandwidth, float timeout_secs = defaultTimeout_secs); 00372 bool setDLPFBandwidth(DLPFBandwidth bandwidth, float timeout_secs = defaultTimeout_secs); 00373 00374 /** 00375 * REG_GYRO_CONFIG register 00376 */ 00377 00378 bool getGyroXSelfTestEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00379 bool setGyroXSelfTestEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00380 00381 bool getGyroYSelfTestEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00382 bool setGyroYSelfTestEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00383 00384 bool getGyroZSelfTestEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00385 bool setGyroZSelfTestEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00386 00387 bool getGyroRange(GyroRange *gyroRange, float timeout_secs = defaultTimeout_secs); 00388 bool setGyroRange(GyroRange gyroRange, float timeout_secs = defaultTimeout_secs); 00389 00390 /** 00391 * REG_ACCEL_CONFIG register 00392 */ 00393 00394 bool getAccelXSelfTestEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00395 bool setAccelXSelfTestEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00396 00397 bool getAccelYSelfTestEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00398 bool setAccelYSelfTestEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00399 00400 bool getAccelZSelfTestEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00401 bool setAccelZSelfTestEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00402 00403 bool getAccelHPFCutOff(AccelHPFCutOff *frequency, float timeout_secs = defaultTimeout_secs); 00404 bool setAccelHPFCutOff(AccelHPFCutOff frequency, float timeout_secs = defaultTimeout_secs); 00405 00406 bool getAccelRange(AccelRange *accelRange, float timeout_secs = defaultTimeout_secs); 00407 bool setAccelRange(AccelRange accelRange, float timeout_secs = defaultTimeout_secs); 00408 00409 /** 00410 * REG_FF_THR register 00411 */ 00412 00413 bool getFreefallDetectionThreshold(uint8_t *threshold, float timeout_secs = defaultTimeout_secs); 00414 bool setFreefallDetectionThreshold(uint8_t threshold, float timeout_secs = defaultTimeout_secs); 00415 00416 /** 00417 * REG_FF_DUR register 00418 */ 00419 00420 bool getFreefallDetectionDuration(uint8_t *duration, float timeout_secs = defaultTimeout_secs); 00421 bool setFreefallDetectionDuration(uint8_t duration, float timeout_secs = defaultTimeout_secs); 00422 00423 /** 00424 * REG_MOT_THR register 00425 */ 00426 00427 bool getMotionDetectionThreshold(uint8_t *threshold, float timeout_secs = defaultTimeout_secs); 00428 bool setMotionDetectionThreshold(uint8_t threshold, float timeout_secs = defaultTimeout_secs); 00429 00430 /** 00431 * REG_MOT_DUR register 00432 */ 00433 00434 bool getMotionDetectionDuration(uint8_t *duration, float timeout_secs = defaultTimeout_secs); 00435 bool setMotionDetectionDuration(uint8_t duration, float timeout_secs = defaultTimeout_secs); 00436 00437 /** 00438 * REG_ZRMOT_THR register 00439 */ 00440 00441 bool getZeroMotionDetectionThreshold(uint8_t *threshold, float timeout_secs = defaultTimeout_secs); 00442 bool setZeroMotionDetectionThreshold(uint8_t threshold, float timeout_secs = defaultTimeout_secs); 00443 00444 /** 00445 * REG_ZRMOT_DUR register 00446 */ 00447 00448 bool getZeroMotionDetectionDuration(uint8_t *duration, float timeout_secs = defaultTimeout_secs); 00449 bool setZeroMotionDetectionDuration(uint8_t duration, float timeout_secs = defaultTimeout_secs); 00450 00451 /** 00452 * REG_FIFO_EN register 00453 */ 00454 00455 bool getTempFIFOEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00456 bool setTempFIFOEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00457 00458 bool getGyroXFIFOEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00459 bool setGyroXFIFOEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00460 00461 bool getGyroYFIFOEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00462 bool setGyroYFIFOEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00463 00464 bool getGyroZFIFOEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00465 bool setGyroZFIFOEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00466 00467 bool getAccelFIFOEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00468 bool setAccelFIFOEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00469 00470 /** 00471 * REG_INT_PIN_CFG register 00472 */ 00473 00474 bool getInterruptLevel(InterruptLevel *level, float timeout_secs = defaultTimeout_secs); 00475 bool setInterruptLevel(InterruptLevel level, float timeout_secs = defaultTimeout_secs); 00476 00477 bool getInterruptDrive(InterruptDrive *drive, float timeout_secs = defaultTimeout_secs); 00478 bool setInterruptDrive(InterruptDrive drive, float timeout_secs = defaultTimeout_secs); 00479 00480 bool getInterruptLatch(InterruptLatch *latch, float timeout_secs = defaultTimeout_secs); 00481 bool setInterruptLatch(InterruptLatch latch, float timeout_secs = defaultTimeout_secs); 00482 00483 bool getInterruptLatchClear(InterruptClear *latchClear, float timeout_secs = defaultTimeout_secs); 00484 bool setInterruptLatchClear(InterruptClear latchClear, float timeout_secs = defaultTimeout_secs); 00485 00486 bool getInterruptFSyncLevel(InterruptFSyncLevel *fsyncLevel, float timeout_secs = defaultTimeout_secs); 00487 bool setInterruptFSyncLevel(InterruptFSyncLevel fsyncLevel, float timeout_secs = defaultTimeout_secs); 00488 00489 bool getInterruptFSyncEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00490 bool setInterruptFSyncEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00491 00492 /** 00493 * REG_INT_ENABLE register 00494 */ 00495 00496 bool getInterruptsEnabled(Interrupt *interruptSet, float timeout_secs = defaultTimeout_secs); 00497 bool setInterruptsEnabled(Interrupt interruptSet, float timeout_secs = defaultTimeout_secs); 00498 00499 bool getInterruptFreefallEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00500 bool setInterruptFreefallEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00501 00502 bool getInterruptMotionEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00503 bool setInterruptMotionEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00504 00505 bool getInterruptZeroMotionEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00506 bool setInterruptZeroMotionEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00507 00508 bool getInterruptFIFOOverflowEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00509 bool setInterruptFIFOOverflowEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00510 00511 bool getInterruptDataReadyEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00512 bool setInterruptDataReadyEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00513 00514 /** 00515 * REG_INT_STATUS register 00516 */ 00517 00518 bool getInterruptStatuses(Interrupt *interruptSet, float timeout_secs = defaultTimeout_secs); 00519 00520 bool getInterruptFreefallStatus(bool *status, float timeout_secs = defaultTimeout_secs); 00521 00522 bool getInterruptMotionStatus(bool *status, float timeout_secs = defaultTimeout_secs); 00523 00524 bool getInterruptZeroMotionStatus(bool *status, float timeout_secs = defaultTimeout_secs); 00525 00526 bool getInterruptFIFOOverflowStatus(bool *status, float timeout_secs = defaultTimeout_secs); 00527 00528 bool getInterruptDataReadyStatus(bool *status, float timeout_secs = defaultTimeout_secs); 00529 00530 /** 00531 * REG_ACCEL_XOUT_H 00532 * REG_ACCEL_XOUT_L 00533 * REG_ACCEL_YOUT_H 00534 * REG_ACCEL_YOUT_L 00535 * REG_ACCEL_ZOUT_H 00536 * REG_ACCEL_ZOUT_L 00537 * REG_TEMP_OUT_H 00538 * REG_TEMP_OUT_L 00539 * REG_GYRO_XOUT_H 00540 * REG_GYRO_XOUT_L 00541 * REG_GYRO_YOUT_H 00542 * REG_GYRO_YOUT_L 00543 * REG_GYRO_ZOUT_H 00544 * REG_GYRO_ZOUT_L registers 00545 */ 00546 00547 /** Acceleration */ 00548 00549 bool getAcceleration(int16_t *ax, int16_t *ay, int16_t *az, float timeout_secs = defaultTimeout_secs); 00550 00551 bool getAccelerationX(int16_t* ax, float timeout_secs = defaultTimeout_secs); 00552 00553 bool getAccelerationY(int16_t* ay, float timeout_secs = defaultTimeout_secs); 00554 00555 bool getAccelerationZ(int16_t* az, float timeout_secs = defaultTimeout_secs); 00556 00557 /** Temperature */ 00558 00559 bool getTemperature(int16_t* temp, float timeout_secs = defaultTimeout_secs); 00560 00561 /** Rotation speed */ 00562 00563 bool getRotationSpeed(int16_t *ox, int16_t *oy, int16_t *oz, float timeout_secs = defaultTimeout_secs); 00564 00565 bool getRotationSpeedX(int16_t* ox, float timeout_secs = defaultTimeout_secs); 00566 00567 bool getRotationSpeedY(int16_t* oy, float timeout_secs = defaultTimeout_secs); 00568 00569 bool getRotationSpeedZ(int16_t* oz, float timeout_secs = defaultTimeout_secs); 00570 00571 /** All three */ 00572 00573 bool getMotionAndTemperature(int16_t* ax, int16_t* ay, int16_t* az, 00574 int16_t* ox, int16_t* oy, int16_t* oz, 00575 int16_t* temp, float timeout_secs = defaultTimeout_secs); 00576 00577 bool getMotionAndTemperature(SensorReading *sensorReading, float timeout_secs = defaultTimeout_secs); 00578 00579 /** 00580 * REG_MOT_DETECT_STATUS register 00581 */ 00582 00583 bool getMotionStatus(Motion *motionSet, float timeout_secs = defaultTimeout_secs); 00584 00585 bool getNegativeXMotionDetected(bool *detected, float timeout_secs = defaultTimeout_secs); 00586 00587 bool getPositiveXMotionDetected(bool *detected, float timeout_secs = defaultTimeout_secs); 00588 00589 bool getNegativeYMotionDetected(bool *detected, float timeout_secs = defaultTimeout_secs); 00590 00591 bool getPositiveYMotionDetected(bool *detected, float timeout_secs = defaultTimeout_secs); 00592 00593 bool getNegativeZMotionDetected(bool *detected, float timeout_secs = defaultTimeout_secs); 00594 00595 bool getPositiveZMotionDetected(bool *detected, float timeout_secs = defaultTimeout_secs); 00596 00597 bool getZeroMotionDetected(bool *detected, float timeout_secs = defaultTimeout_secs); 00598 00599 /** 00600 * REG_SIGNAL_PATH_RESET register 00601 */ 00602 00603 bool resetGyroscopeSignalPath(float timeout_secs = defaultTimeout_secs); 00604 00605 bool resetAccelerometerSignalPath(float timeout_secs = defaultTimeout_secs); 00606 00607 bool resetTemperatureSignalPath(float timeout_secs = defaultTimeout_secs); 00608 00609 /** 00610 * REG_MOT_DETECT_CTRL register 00611 */ 00612 00613 bool getAccelerometerPowerOnDelay(PowerOnDelay* delay, float timeout_secs = defaultTimeout_secs); 00614 bool setAccelerometerPowerOnDelay(PowerOnDelay delay, float timeout_secs = defaultTimeout_secs); 00615 00616 bool getFreefallDetectionDecrement(FreefallDetectionDecrement* dec, float timeout_secs = defaultTimeout_secs); 00617 bool setFreefallDetectionDecrement(FreefallDetectionDecrement dec, float timeout_secs = defaultTimeout_secs); 00618 00619 bool getMotionDetectionDecrement(MotionDetectionDecrement* dec, float timeout_secs = defaultTimeout_secs); 00620 bool setMotionDetectionDecrement(MotionDetectionDecrement dec, float timeout_secs = defaultTimeout_secs); 00621 00622 /** 00623 * REG_USER_CTRL register 00624 */ 00625 00626 bool getFIFOEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00627 bool setFIFOEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00628 00629 bool resetFIFO(float timeout_secs = defaultTimeout_secs); 00630 00631 bool resetSensors(float timeout_secs = defaultTimeout_secs); 00632 00633 /** 00634 * REG_PWR_MGMT_1 register 00635 */ 00636 00637 bool reset(float timeout_secs = defaultTimeout_secs); 00638 00639 bool getSleepEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00640 bool setSleepEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00641 00642 bool getWakeCycleEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00643 bool setWakeCycleEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00644 00645 bool getTemperatureSensorEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00646 bool setTemperatureSensorEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00647 00648 bool getClockSource(ClockSource* clockSource, float timeout_secs = defaultTimeout_secs); 00649 bool setClockSource(ClockSource clockSource, float timeout_secs = defaultTimeout_secs); 00650 00651 /** 00652 * REG_PWR_MGMT_2 register 00653 */ 00654 00655 bool getWakeFrequency(WakeFrequency* wakeFrequency, float timeout_secs = defaultTimeout_secs); 00656 bool setWakeFrequency(WakeFrequency wakeFrequency, float timeout_secs = defaultTimeout_secs); 00657 00658 bool getGyroXStandbyEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00659 bool setGyroXStandbyEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00660 00661 bool getGyroYStandbyEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00662 bool setGyroYStandbyEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00663 00664 bool getGyroZStandbyEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00665 bool setGyroZStandbyEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00666 00667 bool getAccelXStandbyEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00668 bool setAccelXStandbyEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00669 00670 bool getAccelYStandbyEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00671 bool setAccelYStandbyEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00672 00673 bool getAccelZStandbyEnabled(bool *enabled, float timeout_secs = defaultTimeout_secs); 00674 bool setAccelZStandbyEnabled(bool enabled, float timeout_secs = defaultTimeout_secs); 00675 00676 /** 00677 * REG_FIFO_COUNTH 00678 * REG_FIFO_COUNTL registers 00679 */ 00680 00681 bool getFIFOCount(uint16_t *count, float timeout_secs = defaultTimeout_secs); 00682 00683 /** 00684 * REG_FIFO_R_W register 00685 */ 00686 00687 bool readFIFO(uint8_t *data, float timeout_secs = defaultTimeout_secs); 00688 bool writeFIFO(uint8_t data, float timeout_secs = defaultTimeout_secs); 00689 00690 bool readFIFO(uint8_t *data, size_t length, float timeout_secs = defaultTimeout_secs); 00691 bool writeFIFO(uint8_t *data, size_t length, float timeout_secs = defaultTimeout_secs); 00692 00693 /** 00694 * REG_WHO_AM_I register 00695 */ 00696 00697 bool getDeviceId(uint8_t *id, float timeout_secs = defaultTimeout_secs); 00698 00699 /** 00700 * read and write registers 00701 */ 00702 00703 bool read(Register reg, uint8_t *data, float timeout_secs = defaultTimeout_secs); 00704 bool read(Register reg, uint8_t *data, size_t length, float timeout_secs = defaultTimeout_secs); 00705 00706 bool write(Register reg, uint8_t data, float timeout_secs = defaultTimeout_secs); 00707 bool write(Register reg, uint8_t *data, size_t length, float timeout_secs = defaultTimeout_secs); 00708 00709 private: 00710 static const float retryDelay_secs = 0.005; 00711 static const float defaultTimeout_secs = 0.1; // makes a maximum of 20 tries 00712 00713 I2C i2c; 00714 BaseAddress baseAddress; 00715 00716 union 00717 { 00718 struct 00719 { 00720 uint8_t ax_h, ax_l; 00721 uint8_t ay_h, ay_l; 00722 uint8_t az_h, az_l; 00723 00724 uint8_t temp_h, temp_l; 00725 00726 uint8_t ox_h, ox_l; 00727 uint8_t oy_h, oy_l; 00728 uint8_t oz_h, oz_l; 00729 } reg; 00730 00731 SensorReading value; 00732 } converter; 00733 }; 00734 00735 #endif
Generated on Fri Jul 15 2022 02:47:31 by
1.7.2