invis
Dependents: drum_axis WAND_PROJECT
Fork of MPU6050 by
Revision 0:6757f7363a9f, committed 2012-07-11
- Comitter:
- Sissors
- Date:
- Wed Jul 11 12:26:47 2012 +0000
- Child:
- 1:a3366f09e95c
- Commit message:
- [mbed] converted /Quadrocopter/MPU6050
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODI2C.lib Wed Jul 11 12:26:47 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Sissors/libraries/MODI2C/mcfitx \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.cpp Wed Jul 11 12:26:47 2012 +0000 @@ -0,0 +1,237 @@ +/** + * Includes + */ +#include "MPU6050.h" + +MPU6050::MPU6050(PinName sda, PinName scl) : connection(sda, scl) { + this->setSleepMode(false); + + //Initializations: + currentGyroRange = 0; + currentAcceleroRange=0; +} + +//-------------------------------------------------- +//-------------------General------------------------ +//-------------------------------------------------- + +void MPU6050::write(char address, char data) { + char temp[2]; + temp[0]=address; + temp[1]=data; + + connection.write(MPU6050_ADDRESS * 2,temp,2); +} + +char MPU6050::read(char address) { + char retval; + connection.write(MPU6050_ADDRESS * 2, &address, 1, true); + connection.read(MPU6050_ADDRESS * 2, &retval, 1); + return retval; +} + +void MPU6050::read(char address, char *data, int length) { + connection.write(MPU6050_ADDRESS * 2, &address, 1, true); + connection.read(MPU6050_ADDRESS * 2, data, length); +} + +void MPU6050::setSleepMode(bool state) { + char temp; + temp = this->read(MPU6050_PWR_MGMT_1_REG); + if (state == true) + temp |= 1<<MPU6050_SLP_BIT; + if (state == false) + temp &= ~(1<<MPU6050_SLP_BIT); + this->write(MPU6050_PWR_MGMT_1_REG, temp); +} + +bool MPU6050::testConnection( void ) { + char temp; + temp = this->read(MPU6050_WHO_AM_I_REG); + return (temp == (MPU6050_ADDRESS & 0xFE)); +} + +void MPU6050::setBW(char BW) { + char temp; + BW=BW & 0x07; + temp = this->read(MPU6050_CONFIG_REG); + temp &= 0xF8; + temp = temp + BW; + this->write(MPU6050_CONFIG_REG, temp); +} + +void MPU6050::setI2CBypass(bool state) { + char temp; + temp = this->read(MPU6050_INT_PIN_CFG); + if (state == true) + temp |= 1<<MPU6050_BYPASS_BIT; + if (state == false) + temp &= ~(1<<MPU6050_BYPASS_BIT); + this->write(MPU6050_INT_PIN_CFG, temp); +} + +//-------------------------------------------------- +//----------------Accelerometer--------------------- +//-------------------------------------------------- + +void MPU6050::setAcceleroRange( char range ) { + char temp; + range = range & 0x03; + currentAcceleroRange = range; + + temp = this->read(MPU6050_ACCELERO_CONFIG_REG); + temp &= ~(3<<3); + temp = temp + (range<<3); + this->write(MPU6050_ACCELERO_CONFIG_REG, temp); +} + +int MPU6050::getAcceleroRawX( void ) { + short retval; + char data[2]; + this->read(MPU6050_ACCEL_XOUT_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +int MPU6050::getAcceleroRawY( void ) { + short retval; + char data[2]; + this->read(MPU6050_ACCEL_YOUT_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +int MPU6050::getAcceleroRawZ( void ) { + short retval; + char data[2]; + this->read(MPU6050_ACCEL_ZOUT_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +void MPU6050::getAcceleroRaw( int *data ) { + char temp[6]; + this->read(MPU6050_ACCEL_XOUT_H_REG, temp, 6); + data[0] = (int)(short)((temp[0]<<8) + temp[1]); + data[1] = (int)(short)((temp[2]<<8) + temp[3]); + data[2] = (int)(short)((temp[4]<<8) + temp[5]); +} + +void MPU6050::getAccelero( float *data ) { + int temp[3]; + this->getAcceleroRaw(temp); + if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_2G) { + data[0]=(float)temp[0] / 16384.0 * 9.81; + data[1]=(float)temp[1] / 16384.0 * 9.81; + data[2]=(float)temp[2] / 16384.0 * 9.81; + } + if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_4G){ + data[0]=(float)temp[0] / 8192.0 * 9.81; + data[1]=(float)temp[1] / 8192.0 * 9.81; + data[2]=(float)temp[2] / 8192.0 * 9.81; + } + if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_8G){ + data[0]=(float)temp[0] / 4096.0 * 9.81; + data[1]=(float)temp[1] / 4096.0 * 9.81; + data[2]=(float)temp[2] / 4096.0 * 9.81; + } + if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_16G){ + data[0]=(float)temp[0] / 2048.0 * 9.81; + data[1]=(float)temp[1] / 2048.0 * 9.81; + data[2]=(float)temp[2] / 2048.0 * 9.81; + } + + #ifdef DOUBLE_ACCELERO + data[0]*=2; + data[1]*=2; + data[2]*=2; + #endif +} + +//-------------------------------------------------- +//------------------Gyroscope----------------------- +//-------------------------------------------------- +void MPU6050::setGyroRange( char range ) { + char temp; + currentGyroRange = range; + range = range & 0x03; + temp = this->read(MPU6050_GYRO_CONFIG_REG); + temp &= ~(3<<3); + temp = temp + range<<3; + this->write(MPU6050_GYRO_CONFIG_REG, temp); +} + +int MPU6050::getGyroRawX( void ) { + short retval; + char data[2]; + this->read(MPU6050_GYRO_XOUT_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +int MPU6050::getGyroRawY( void ) { + short retval; + char data[2]; + this->read(MPU6050_GYRO_YOUT_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +int MPU6050::getGyroRawZ( void ) { + short retval; + char data[2]; + this->read(MPU6050_GYRO_ZOUT_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +void MPU6050::getGyroRaw( int *data ) { + char temp[6]; + this->read(MPU6050_GYRO_XOUT_H_REG, temp, 6); + data[0] = (int)(short)((temp[0]<<8) + temp[1]); + data[1] = (int)(short)((temp[2]<<8) + temp[3]); + data[2] = (int)(short)((temp[4]<<8) + temp[5]); +} + +void MPU6050::getGyro( float *data ) { + int temp[3]; + this->getGyroRaw(temp); + if (currentAcceleroRange == MPU6050_GYRO_RANGE_250) { + data[0]=(float)temp[0] / 7505.7; + data[1]=(float)temp[1] / 7505.7; + data[2]=(float)temp[2] / 7505.7; + } + if (currentAcceleroRange == MPU6050_GYRO_RANGE_500){ + data[0]=(float)temp[0] / 3752.9; + data[1]=(float)temp[1] / 3752.9; + data[2]=(float)temp[2] / 3752.9; + } + if (currentAcceleroRange == MPU6050_GYRO_RANGE_1000){ + data[0]=(float)temp[0] / 1879.3;; + data[1]=(float)temp[1] / 1879.3; + data[2]=(float)temp[2] / 1879.3; + } + if (currentAcceleroRange == MPU6050_GYRO_RANGE_2000){ + data[0]=(float)temp[0] / 939.7; + data[1]=(float)temp[1] / 939.7; + data[2]=(float)temp[2] / 939.7; + } +} +//-------------------------------------------------- +//-------------------Temperature-------------------- +//-------------------------------------------------- +int MPU6050::getTempRaw( void ) { + short retval; + char data[2]; + this->read(MPU6050_TEMP_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +float MPU6050::getTemp( void ) { + float retval; + retval=(float)this->getTempRaw(); + retval=(retval+521.0)/340.0+35.0; + return retval; +} +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.h Wed Jul 11 12:26:47 2012 +0000 @@ -0,0 +1,278 @@ +/*My first library, and it only contains the basic what I required personally (or could be bothered to add) +WARNING: This does NOT include the IMU capabilities of the MPU6050. Simply because there is no register map available required for that, +it is not added to this library. You can google for some reverse engineered code, but that does not give you any idea what is going on. + + +Thanks to Uwe Gartman for having a nice example of a similar library (http://mbed.org/users/Digixx/libraries/ITG3200/lyptff) + +If you want a more complete library, check: https://github.com/jrowberg/i2cdevlib/tree/master/MPU6050 +This library contains alot less, but that also makes it less confusing ;) + +Large goal for me was getting experience with making libraries, which is a reason I did not copy the one from github (and adapt it for mbed). But if you just want to use the accelero +and gyroscope of this IC with a few settings, this library should be an easy choice. + +Use #define MPU6050_ES before you include this file if you have an engineering sample (older EVBs will have them), to find out if you have one, check your accelerometer output. +If it is half of what you expected, and you still are on the correct planet, you got an engineering sample +*/ + + +#ifndef MPU6050_H +#define MPU6050_H + +/** + * Includes + */ +#include "mbed.h" +#include "MODI2C.h" + +/** + * Defines + */ +#define MPU6050_ADDRESS 0x69 // address pin low (GND), default for InvenSense evaluation board +#ifdef MPU6050_ES + #define DOUBLE_ACCELERO +#endif + +/** + * Registers + */ + #define MPU6050_CONFIG_REG 0x1A + #define MPU6050_GYRO_CONFIG_REG 0x1B + #define MPU6050_ACCELERO_CONFIG_REG 0x1C + + #define MPU6050_INT_PIN_CFG 0x37 + + #define MPU6050_ACCEL_XOUT_H_REG 0x3B + #define MPU6050_ACCEL_YOUT_H_REG 0x3D + #define MPU6050_ACCEL_ZOUT_H_REG 0x3F + + #define MPU6050_TEMP_H_REG 0x41 + + #define MPU6050_GYRO_XOUT_H_REG 0x43 + #define MPU6050_GYRO_YOUT_H_REG 0x45 + #define MPU6050_GYRO_ZOUT_H_REG 0x47 + + + + #define MPU6050_PWR_MGMT_1_REG 0x6B + #define MPU6050_WHO_AM_I_REG 0x75 + + + + /** + * Definitions + */ +#define MPU6050_SLP_BIT 6 +#define MPU6050_BYPASS_BIT 1 + +#define MPU6050_BW_256 0 +#define MPU6050_BW_188 1 +#define MPU6050_BW_98 2 +#define MPU6050_BW_42 3 +#define MPU6050_BW_20 4 +#define MPU6050_BW_10 5 +#define MPU6050_BW_5 6 + +#define MPU6050_ACCELERO_RANGE_2G 0 +#define MPU6050_ACCELERO_RANGE_4G 1 +#define MPU6050_ACCELERO_RANGE_8G 2 +#define MPU6050_ACCELERO_RANGE_16G 3 + +#define MPU6050_GYRO_RANGE_250 0 +#define MPU6050_GYRO_RANGE_500 1 +#define MPU6050_GYRO_RANGE_1000 2 +#define MPU6050_GYRO_RANGE_2000 3 + + + +class MPU6050 { + public: + /** + * Constructor. + * + * Sleep mode of MPU6050 is immediatly disabled + * + * @param sda - mbed pin to use for the SDA I2C line. + * @param scl - mbed pin to use for the SCL I2C line. + */ + MPU6050(PinName sda, PinName scl); + + + /** + * Tests the I2C connection by reading the WHO_AM_I register. + * + * @return True for a working connection, false for an error + */ + bool testConnection( void ); + + /** + * Sets the bandwidth of the digital low-pass filter + * + * Macros: MPU6050_BW_256 - MPU6050_BW_188 - MPU6050_BW_98 - MPU6050_BW_42 - MPU6050_BW_20 - MPU6050_BW_10 - MPU6050_BW_5 + * Last number is the gyro's BW in Hz (accelero BW is virtually identical) + * + * @param BW - The three bits that set the bandwidth (use the predefined macros) + */ + void setBW( char BW ); + + /** + * Sets the auxiliary I2C bus in bypass mode to read the sensors behind the MPU6050 (useful for eval board, otherwise just connect them to primary I2C bus) + * + * @param state - Enables/disables the I2C bypass mode + */ + void setI2CBypass ( bool state ); + + /** + * Sets the Accelero full-scale range + * + * Macros: MPU6050_ACCELERO_RANGE_2G - MPU6050_ACCELERO_RANGE_4G - MPU6050_ACCELERO_RANGE_8G - MPU6050_ACCELERO_RANGE_16G + * + * @param range - The two bits that set the full-scale range (use the predefined macros) + */ + void setAcceleroRange(char range); + + /** + * Reads the accelero x-axis. + * + * @return 16-bit signed integer x-axis accelero data + */ + int getAcceleroRawX( void ); + + /** + * Reads the accelero y-axis. + * + * @return 16-bit signed integer y-axis accelero data + */ + int getAcceleroRawY( void ); + + /** + * Reads the accelero z-axis. + * + * @return 16-bit signed integer z-axis accelero data + */ + int getAcceleroRawZ( void ); + + /** + * Reads all accelero data. + * + * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z + */ + void getAcceleroRaw( int *data ); + + /** + * Reads all accelero data, gives the acceleration in m/s2 + * + * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work. + * + * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z + */ + void getAccelero( float *data ); + + /** + * Sets the Gyro full-scale range + * + * Macros: MPU6050_GYRO_RANGE_250 - MPU6050_GYRO_RANGE_500 - MPU6050_GYRO_RANGE_1000 - MPU6050_GYRO_RANGE_2000 + * + * @param range - The two bits that set the full-scale range (use the predefined macros) + */ + void setGyroRange(char range); + + /** + * Reads the gyro x-axis. + * + * @return 16-bit signed integer x-axis gyro data + */ + int getGyroRawX( void ); + + /** + * Reads the gyro y-axis. + * + * @return 16-bit signed integer y-axis gyro data + */ + int getGyroRawY( void ); + + /** + * Reads the gyro z-axis. + * + * @return 16-bit signed integer z-axis gyro data + */ + int getGyroRawZ( void ); + + /** + * Reads all gyro data. + * + * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z + */ + void getGyroRaw( int *data ); + + /** + * Reads all gyro data, gives the gyro in rad/s + * + * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work. + * + * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z + */ + void getGyro( float *data); + + /** + * Reads temperature data. + * + * @return 16 bit signed integer with the raw temperature register value + */ + int getTempRaw( void ); + + /** + * Returns current temperature + * + * @returns float with the current temperature + */ + float getTemp( void ); + + /** + * Sets the sleep mode of the MPU6050 + * + * @param state - true for sleeping, false for wake up + */ + void setSleepMode( bool state ); + + + /** + * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU. + * + * @param adress - register address to write to + * @param data - data to write + */ + void write( char address, char data); + + /** + * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU. + * + * @param adress - register address to write to + * @return - data from the register specified by RA + */ + char read( char adress); + + /** + * Read multtiple regigsters from the device, more efficient than using multiple normal reads. + * + * @param adress - register address to write to + * @param length - number of bytes to read + * @param data - pointer where the data needs to be written to + */ + void read( char adress, char *data, int length); + + + + + private: + + MODI2C connection; + char currentAcceleroRange; + char currentGyroRange; + + +}; + + + +#endif