![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
additional edits to James’ code
MPU6050.h@6:502448484f91, 2015-02-12 (annotated)
- Committer:
- moklumbys
- Date:
- Thu Feb 12 21:01:38 2015 +0000
- Revision:
- 6:502448484f91
- Parent:
- 5:5873df1e58be
- Child:
- 7:56e591a74939
So, corrected all mistakes -> successfully built.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Sissors | 1:a3366f09e95c | 1 | /*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. |
Sissors | 0:6757f7363a9f | 2 | If it is half of what you expected, and you still are on the correct planet, you got an engineering sample |
Sissors | 0:6757f7363a9f | 3 | */ |
Sissors | 0:6757f7363a9f | 4 | |
Sissors | 0:6757f7363a9f | 5 | |
Sissors | 0:6757f7363a9f | 6 | #ifndef MPU6050_H |
Sissors | 0:6757f7363a9f | 7 | #define MPU6050_H |
Sissors | 0:6757f7363a9f | 8 | |
Sissors | 0:6757f7363a9f | 9 | /** |
Sissors | 0:6757f7363a9f | 10 | * Includes |
Sissors | 0:6757f7363a9f | 11 | */ |
Sissors | 0:6757f7363a9f | 12 | #include "mbed.h" |
Sissors | 1:a3366f09e95c | 13 | |
Sissors | 0:6757f7363a9f | 14 | |
Sissors | 0:6757f7363a9f | 15 | /** |
Sissors | 0:6757f7363a9f | 16 | * Defines |
Sissors | 0:6757f7363a9f | 17 | */ |
Sissors | 1:a3366f09e95c | 18 | #ifndef MPU6050_ADDRESS |
moklumbys | 3:187152513f8d | 19 | #define MPU6050_ADDRESS 0x68 // address pin low (GND), default for InvenSense evaluation board |
Sissors | 1:a3366f09e95c | 20 | #endif |
Sissors | 1:a3366f09e95c | 21 | |
Sissors | 0:6757f7363a9f | 22 | #ifdef MPU6050_ES |
Sissors | 0:6757f7363a9f | 23 | #define DOUBLE_ACCELERO |
Sissors | 0:6757f7363a9f | 24 | #endif |
Sissors | 0:6757f7363a9f | 25 | |
Sissors | 0:6757f7363a9f | 26 | /** |
Sissors | 0:6757f7363a9f | 27 | * Registers |
Sissors | 0:6757f7363a9f | 28 | */ |
Sissors | 0:6757f7363a9f | 29 | #define MPU6050_CONFIG_REG 0x1A |
Sissors | 0:6757f7363a9f | 30 | #define MPU6050_GYRO_CONFIG_REG 0x1B |
Sissors | 0:6757f7363a9f | 31 | #define MPU6050_ACCELERO_CONFIG_REG 0x1C |
Sissors | 0:6757f7363a9f | 32 | |
Sissors | 0:6757f7363a9f | 33 | #define MPU6050_INT_PIN_CFG 0x37 |
Sissors | 0:6757f7363a9f | 34 | |
Sissors | 0:6757f7363a9f | 35 | #define MPU6050_ACCEL_XOUT_H_REG 0x3B |
Sissors | 0:6757f7363a9f | 36 | #define MPU6050_ACCEL_YOUT_H_REG 0x3D |
Sissors | 0:6757f7363a9f | 37 | #define MPU6050_ACCEL_ZOUT_H_REG 0x3F |
Sissors | 0:6757f7363a9f | 38 | |
Sissors | 0:6757f7363a9f | 39 | #define MPU6050_TEMP_H_REG 0x41 |
Sissors | 0:6757f7363a9f | 40 | |
Sissors | 0:6757f7363a9f | 41 | #define MPU6050_GYRO_XOUT_H_REG 0x43 |
Sissors | 0:6757f7363a9f | 42 | #define MPU6050_GYRO_YOUT_H_REG 0x45 |
Sissors | 0:6757f7363a9f | 43 | #define MPU6050_GYRO_ZOUT_H_REG 0x47 |
Sissors | 0:6757f7363a9f | 44 | |
Sissors | 0:6757f7363a9f | 45 | |
Sissors | 0:6757f7363a9f | 46 | |
Sissors | 0:6757f7363a9f | 47 | #define MPU6050_PWR_MGMT_1_REG 0x6B |
Sissors | 0:6757f7363a9f | 48 | #define MPU6050_WHO_AM_I_REG 0x75 |
Sissors | 0:6757f7363a9f | 49 | |
Sissors | 0:6757f7363a9f | 50 | |
Sissors | 0:6757f7363a9f | 51 | |
Sissors | 0:6757f7363a9f | 52 | /** |
Sissors | 0:6757f7363a9f | 53 | * Definitions |
Sissors | 0:6757f7363a9f | 54 | */ |
Sissors | 0:6757f7363a9f | 55 | #define MPU6050_SLP_BIT 6 |
Sissors | 0:6757f7363a9f | 56 | #define MPU6050_BYPASS_BIT 1 |
Sissors | 0:6757f7363a9f | 57 | |
Sissors | 0:6757f7363a9f | 58 | #define MPU6050_BW_256 0 |
Sissors | 0:6757f7363a9f | 59 | #define MPU6050_BW_188 1 |
Sissors | 0:6757f7363a9f | 60 | #define MPU6050_BW_98 2 |
Sissors | 0:6757f7363a9f | 61 | #define MPU6050_BW_42 3 |
Sissors | 0:6757f7363a9f | 62 | #define MPU6050_BW_20 4 |
Sissors | 0:6757f7363a9f | 63 | #define MPU6050_BW_10 5 |
Sissors | 0:6757f7363a9f | 64 | #define MPU6050_BW_5 6 |
Sissors | 0:6757f7363a9f | 65 | |
Sissors | 0:6757f7363a9f | 66 | #define MPU6050_ACCELERO_RANGE_2G 0 |
Sissors | 0:6757f7363a9f | 67 | #define MPU6050_ACCELERO_RANGE_4G 1 |
Sissors | 0:6757f7363a9f | 68 | #define MPU6050_ACCELERO_RANGE_8G 2 |
Sissors | 0:6757f7363a9f | 69 | #define MPU6050_ACCELERO_RANGE_16G 3 |
Sissors | 0:6757f7363a9f | 70 | |
Sissors | 0:6757f7363a9f | 71 | #define MPU6050_GYRO_RANGE_250 0 |
Sissors | 0:6757f7363a9f | 72 | #define MPU6050_GYRO_RANGE_500 1 |
Sissors | 0:6757f7363a9f | 73 | #define MPU6050_GYRO_RANGE_1000 2 |
Sissors | 0:6757f7363a9f | 74 | #define MPU6050_GYRO_RANGE_2000 3 |
Sissors | 0:6757f7363a9f | 75 | |
moklumbys | 4:268d3fcb92ba | 76 | //define how the accelerometer is placed on surface |
moklumbys | 4:268d3fcb92ba | 77 | #define X_AXIS 1 |
moklumbys | 4:268d3fcb92ba | 78 | #define Y_AXIS 2 |
moklumbys | 4:268d3fcb92ba | 79 | #define Z_AXIS 0 |
Sissors | 0:6757f7363a9f | 80 | |
moklumbys | 6:502448484f91 | 81 | #define RADIANS_TO_DEGREES 180/3.1415926536 |
moklumbys | 6:502448484f91 | 82 | |
Sissors | 2:5c63e20c50f3 | 83 | /** MPU6050 IMU library. |
Sissors | 2:5c63e20c50f3 | 84 | * |
Sissors | 2:5c63e20c50f3 | 85 | * Example: |
Sissors | 2:5c63e20c50f3 | 86 | * @code |
Sissors | 2:5c63e20c50f3 | 87 | * Later, maybe |
Sissors | 2:5c63e20c50f3 | 88 | * @endcode |
Sissors | 2:5c63e20c50f3 | 89 | */ |
Sissors | 0:6757f7363a9f | 90 | class MPU6050 { |
Sissors | 0:6757f7363a9f | 91 | public: |
Sissors | 0:6757f7363a9f | 92 | /** |
Sissors | 0:6757f7363a9f | 93 | * Constructor. |
Sissors | 0:6757f7363a9f | 94 | * |
Sissors | 0:6757f7363a9f | 95 | * Sleep mode of MPU6050 is immediatly disabled |
Sissors | 0:6757f7363a9f | 96 | * |
Sissors | 0:6757f7363a9f | 97 | * @param sda - mbed pin to use for the SDA I2C line. |
Sissors | 0:6757f7363a9f | 98 | * @param scl - mbed pin to use for the SCL I2C line. |
Sissors | 0:6757f7363a9f | 99 | */ |
Sissors | 0:6757f7363a9f | 100 | MPU6050(PinName sda, PinName scl); |
Sissors | 0:6757f7363a9f | 101 | |
Sissors | 0:6757f7363a9f | 102 | |
Sissors | 0:6757f7363a9f | 103 | /** |
Sissors | 0:6757f7363a9f | 104 | * Tests the I2C connection by reading the WHO_AM_I register. |
Sissors | 0:6757f7363a9f | 105 | * |
Sissors | 0:6757f7363a9f | 106 | * @return True for a working connection, false for an error |
Sissors | 0:6757f7363a9f | 107 | */ |
Sissors | 0:6757f7363a9f | 108 | bool testConnection( void ); |
Sissors | 0:6757f7363a9f | 109 | |
Sissors | 0:6757f7363a9f | 110 | /** |
Sissors | 0:6757f7363a9f | 111 | * Sets the bandwidth of the digital low-pass filter |
Sissors | 0:6757f7363a9f | 112 | * |
Sissors | 0:6757f7363a9f | 113 | * Macros: MPU6050_BW_256 - MPU6050_BW_188 - MPU6050_BW_98 - MPU6050_BW_42 - MPU6050_BW_20 - MPU6050_BW_10 - MPU6050_BW_5 |
Sissors | 0:6757f7363a9f | 114 | * Last number is the gyro's BW in Hz (accelero BW is virtually identical) |
Sissors | 0:6757f7363a9f | 115 | * |
Sissors | 0:6757f7363a9f | 116 | * @param BW - The three bits that set the bandwidth (use the predefined macros) |
Sissors | 0:6757f7363a9f | 117 | */ |
Sissors | 0:6757f7363a9f | 118 | void setBW( char BW ); |
Sissors | 0:6757f7363a9f | 119 | |
Sissors | 0:6757f7363a9f | 120 | /** |
Sissors | 0:6757f7363a9f | 121 | * 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) |
Sissors | 0:6757f7363a9f | 122 | * |
Sissors | 0:6757f7363a9f | 123 | * @param state - Enables/disables the I2C bypass mode |
Sissors | 0:6757f7363a9f | 124 | */ |
Sissors | 0:6757f7363a9f | 125 | void setI2CBypass ( bool state ); |
Sissors | 0:6757f7363a9f | 126 | |
Sissors | 0:6757f7363a9f | 127 | /** |
Sissors | 0:6757f7363a9f | 128 | * Sets the Accelero full-scale range |
Sissors | 0:6757f7363a9f | 129 | * |
Sissors | 0:6757f7363a9f | 130 | * Macros: MPU6050_ACCELERO_RANGE_2G - MPU6050_ACCELERO_RANGE_4G - MPU6050_ACCELERO_RANGE_8G - MPU6050_ACCELERO_RANGE_16G |
Sissors | 0:6757f7363a9f | 131 | * |
Sissors | 0:6757f7363a9f | 132 | * @param range - The two bits that set the full-scale range (use the predefined macros) |
Sissors | 0:6757f7363a9f | 133 | */ |
Sissors | 0:6757f7363a9f | 134 | void setAcceleroRange(char range); |
Sissors | 0:6757f7363a9f | 135 | |
Sissors | 0:6757f7363a9f | 136 | /** |
Sissors | 0:6757f7363a9f | 137 | * Reads the accelero x-axis. |
Sissors | 0:6757f7363a9f | 138 | * |
Sissors | 0:6757f7363a9f | 139 | * @return 16-bit signed integer x-axis accelero data |
Sissors | 0:6757f7363a9f | 140 | */ |
Sissors | 0:6757f7363a9f | 141 | int getAcceleroRawX( void ); |
Sissors | 0:6757f7363a9f | 142 | |
Sissors | 0:6757f7363a9f | 143 | /** |
Sissors | 0:6757f7363a9f | 144 | * Reads the accelero y-axis. |
Sissors | 0:6757f7363a9f | 145 | * |
Sissors | 0:6757f7363a9f | 146 | * @return 16-bit signed integer y-axis accelero data |
Sissors | 0:6757f7363a9f | 147 | */ |
Sissors | 0:6757f7363a9f | 148 | int getAcceleroRawY( void ); |
Sissors | 0:6757f7363a9f | 149 | |
Sissors | 0:6757f7363a9f | 150 | /** |
Sissors | 0:6757f7363a9f | 151 | * Reads the accelero z-axis. |
Sissors | 0:6757f7363a9f | 152 | * |
Sissors | 0:6757f7363a9f | 153 | * @return 16-bit signed integer z-axis accelero data |
Sissors | 0:6757f7363a9f | 154 | */ |
Sissors | 0:6757f7363a9f | 155 | int getAcceleroRawZ( void ); |
Sissors | 0:6757f7363a9f | 156 | |
Sissors | 0:6757f7363a9f | 157 | /** |
Sissors | 0:6757f7363a9f | 158 | * Reads all accelero data. |
Sissors | 0:6757f7363a9f | 159 | * |
Sissors | 0:6757f7363a9f | 160 | * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z |
Sissors | 0:6757f7363a9f | 161 | */ |
Sissors | 0:6757f7363a9f | 162 | void getAcceleroRaw( int *data ); |
Sissors | 0:6757f7363a9f | 163 | |
Sissors | 0:6757f7363a9f | 164 | /** |
Sissors | 0:6757f7363a9f | 165 | * Reads all accelero data, gives the acceleration in m/s2 |
Sissors | 0:6757f7363a9f | 166 | * |
Sissors | 0:6757f7363a9f | 167 | * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work. |
Sissors | 0:6757f7363a9f | 168 | * |
Sissors | 0:6757f7363a9f | 169 | * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z |
Sissors | 0:6757f7363a9f | 170 | */ |
Sissors | 0:6757f7363a9f | 171 | void getAccelero( float *data ); |
Sissors | 0:6757f7363a9f | 172 | |
Sissors | 0:6757f7363a9f | 173 | /** |
Sissors | 0:6757f7363a9f | 174 | * Sets the Gyro full-scale range |
Sissors | 0:6757f7363a9f | 175 | * |
Sissors | 0:6757f7363a9f | 176 | * Macros: MPU6050_GYRO_RANGE_250 - MPU6050_GYRO_RANGE_500 - MPU6050_GYRO_RANGE_1000 - MPU6050_GYRO_RANGE_2000 |
Sissors | 0:6757f7363a9f | 177 | * |
Sissors | 0:6757f7363a9f | 178 | * @param range - The two bits that set the full-scale range (use the predefined macros) |
Sissors | 0:6757f7363a9f | 179 | */ |
Sissors | 0:6757f7363a9f | 180 | void setGyroRange(char range); |
Sissors | 0:6757f7363a9f | 181 | |
Sissors | 0:6757f7363a9f | 182 | /** |
Sissors | 0:6757f7363a9f | 183 | * Reads the gyro x-axis. |
Sissors | 0:6757f7363a9f | 184 | * |
Sissors | 0:6757f7363a9f | 185 | * @return 16-bit signed integer x-axis gyro data |
Sissors | 0:6757f7363a9f | 186 | */ |
Sissors | 0:6757f7363a9f | 187 | int getGyroRawX( void ); |
Sissors | 0:6757f7363a9f | 188 | |
Sissors | 0:6757f7363a9f | 189 | /** |
Sissors | 0:6757f7363a9f | 190 | * Reads the gyro y-axis. |
Sissors | 0:6757f7363a9f | 191 | * |
Sissors | 0:6757f7363a9f | 192 | * @return 16-bit signed integer y-axis gyro data |
Sissors | 0:6757f7363a9f | 193 | */ |
Sissors | 0:6757f7363a9f | 194 | int getGyroRawY( void ); |
Sissors | 0:6757f7363a9f | 195 | |
Sissors | 0:6757f7363a9f | 196 | /** |
Sissors | 0:6757f7363a9f | 197 | * Reads the gyro z-axis. |
Sissors | 0:6757f7363a9f | 198 | * |
Sissors | 0:6757f7363a9f | 199 | * @return 16-bit signed integer z-axis gyro data |
Sissors | 0:6757f7363a9f | 200 | */ |
Sissors | 0:6757f7363a9f | 201 | int getGyroRawZ( void ); |
Sissors | 0:6757f7363a9f | 202 | |
Sissors | 0:6757f7363a9f | 203 | /** |
Sissors | 0:6757f7363a9f | 204 | * Reads all gyro data. |
Sissors | 0:6757f7363a9f | 205 | * |
Sissors | 0:6757f7363a9f | 206 | * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z |
Sissors | 0:6757f7363a9f | 207 | */ |
Sissors | 0:6757f7363a9f | 208 | void getGyroRaw( int *data ); |
Sissors | 0:6757f7363a9f | 209 | |
Sissors | 0:6757f7363a9f | 210 | /** |
Sissors | 0:6757f7363a9f | 211 | * Reads all gyro data, gives the gyro in rad/s |
Sissors | 0:6757f7363a9f | 212 | * |
Sissors | 0:6757f7363a9f | 213 | * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work. |
Sissors | 0:6757f7363a9f | 214 | * |
Sissors | 0:6757f7363a9f | 215 | * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z |
Sissors | 0:6757f7363a9f | 216 | */ |
Sissors | 0:6757f7363a9f | 217 | void getGyro( float *data); |
Sissors | 0:6757f7363a9f | 218 | |
Sissors | 0:6757f7363a9f | 219 | /** |
Sissors | 0:6757f7363a9f | 220 | * Reads temperature data. |
Sissors | 0:6757f7363a9f | 221 | * |
Sissors | 0:6757f7363a9f | 222 | * @return 16 bit signed integer with the raw temperature register value |
Sissors | 0:6757f7363a9f | 223 | */ |
Sissors | 0:6757f7363a9f | 224 | int getTempRaw( void ); |
Sissors | 0:6757f7363a9f | 225 | |
Sissors | 0:6757f7363a9f | 226 | /** |
Sissors | 0:6757f7363a9f | 227 | * Returns current temperature |
Sissors | 0:6757f7363a9f | 228 | * |
Sissors | 0:6757f7363a9f | 229 | * @returns float with the current temperature |
Sissors | 0:6757f7363a9f | 230 | */ |
Sissors | 0:6757f7363a9f | 231 | float getTemp( void ); |
Sissors | 0:6757f7363a9f | 232 | |
Sissors | 0:6757f7363a9f | 233 | /** |
Sissors | 0:6757f7363a9f | 234 | * Sets the sleep mode of the MPU6050 |
Sissors | 0:6757f7363a9f | 235 | * |
Sissors | 0:6757f7363a9f | 236 | * @param state - true for sleeping, false for wake up |
Sissors | 0:6757f7363a9f | 237 | */ |
Sissors | 0:6757f7363a9f | 238 | void setSleepMode( bool state ); |
Sissors | 0:6757f7363a9f | 239 | |
Sissors | 0:6757f7363a9f | 240 | |
Sissors | 0:6757f7363a9f | 241 | /** |
Sissors | 0:6757f7363a9f | 242 | * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU. |
Sissors | 0:6757f7363a9f | 243 | * |
Sissors | 0:6757f7363a9f | 244 | * @param adress - register address to write to |
Sissors | 0:6757f7363a9f | 245 | * @param data - data to write |
Sissors | 0:6757f7363a9f | 246 | */ |
Sissors | 0:6757f7363a9f | 247 | void write( char address, char data); |
Sissors | 0:6757f7363a9f | 248 | |
Sissors | 0:6757f7363a9f | 249 | /** |
Sissors | 0:6757f7363a9f | 250 | * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU. |
Sissors | 0:6757f7363a9f | 251 | * |
Sissors | 0:6757f7363a9f | 252 | * @param adress - register address to write to |
Sissors | 0:6757f7363a9f | 253 | * @return - data from the register specified by RA |
Sissors | 0:6757f7363a9f | 254 | */ |
Sissors | 0:6757f7363a9f | 255 | char read( char adress); |
Sissors | 0:6757f7363a9f | 256 | |
Sissors | 0:6757f7363a9f | 257 | /** |
Sissors | 0:6757f7363a9f | 258 | * Read multtiple regigsters from the device, more efficient than using multiple normal reads. |
Sissors | 0:6757f7363a9f | 259 | * |
Sissors | 0:6757f7363a9f | 260 | * @param adress - register address to write to |
Sissors | 0:6757f7363a9f | 261 | * @param length - number of bytes to read |
Sissors | 0:6757f7363a9f | 262 | * @param data - pointer where the data needs to be written to |
Sissors | 0:6757f7363a9f | 263 | */ |
Sissors | 0:6757f7363a9f | 264 | void read( char adress, char *data, int length); |
Sissors | 0:6757f7363a9f | 265 | |
moklumbys | 5:5873df1e58be | 266 | //added aditional functions |
moklumbys | 5:5873df1e58be | 267 | void getAcceleroAngle( float *data ); |
moklumbys | 5:5873df1e58be | 268 | void getOffset(float *accOffset, float *gyroOffset, int sampleSize); |
Sissors | 0:6757f7363a9f | 269 | |
Sissors | 0:6757f7363a9f | 270 | private: |
Sissors | 0:6757f7363a9f | 271 | |
Sissors | 1:a3366f09e95c | 272 | I2C connection; |
Sissors | 0:6757f7363a9f | 273 | char currentAcceleroRange; |
Sissors | 0:6757f7363a9f | 274 | char currentGyroRange; |
Sissors | 0:6757f7363a9f | 275 | |
Sissors | 0:6757f7363a9f | 276 | |
Sissors | 0:6757f7363a9f | 277 | }; |
Sissors | 0:6757f7363a9f | 278 | |
Sissors | 0:6757f7363a9f | 279 | |
Sissors | 0:6757f7363a9f | 280 | |
Sissors | 0:6757f7363a9f | 281 | #endif |