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Header file and functions
MPU6050.h@0:6757f7363a9f, 2012-07-11 (annotated)
- Committer:
- Sissors
- Date:
- Wed Jul 11 12:26:47 2012 +0000
- Revision:
- 0:6757f7363a9f
- Child:
- 1:a3366f09e95c
[mbed] converted /Quadrocopter/MPU6050
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Sissors | 0:6757f7363a9f | 1 | /*My first library, and it only contains the basic what I required personally (or could be bothered to add) |
Sissors | 0:6757f7363a9f | 2 | WARNING: This does NOT include the IMU capabilities of the MPU6050. Simply because there is no register map available required for that, |
Sissors | 0:6757f7363a9f | 3 | 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. |
Sissors | 0:6757f7363a9f | 4 | |
Sissors | 0:6757f7363a9f | 5 | |
Sissors | 0:6757f7363a9f | 6 | Thanks to Uwe Gartman for having a nice example of a similar library (http://mbed.org/users/Digixx/libraries/ITG3200/lyptff) |
Sissors | 0:6757f7363a9f | 7 | |
Sissors | 0:6757f7363a9f | 8 | If you want a more complete library, check: https://github.com/jrowberg/i2cdevlib/tree/master/MPU6050 |
Sissors | 0:6757f7363a9f | 9 | This library contains alot less, but that also makes it less confusing ;) |
Sissors | 0:6757f7363a9f | 10 | |
Sissors | 0:6757f7363a9f | 11 | 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 |
Sissors | 0:6757f7363a9f | 12 | and gyroscope of this IC with a few settings, this library should be an easy choice. |
Sissors | 0:6757f7363a9f | 13 | |
Sissors | 0:6757f7363a9f | 14 | 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 | 15 | If it is half of what you expected, and you still are on the correct planet, you got an engineering sample |
Sissors | 0:6757f7363a9f | 16 | */ |
Sissors | 0:6757f7363a9f | 17 | |
Sissors | 0:6757f7363a9f | 18 | |
Sissors | 0:6757f7363a9f | 19 | #ifndef MPU6050_H |
Sissors | 0:6757f7363a9f | 20 | #define MPU6050_H |
Sissors | 0:6757f7363a9f | 21 | |
Sissors | 0:6757f7363a9f | 22 | /** |
Sissors | 0:6757f7363a9f | 23 | * Includes |
Sissors | 0:6757f7363a9f | 24 | */ |
Sissors | 0:6757f7363a9f | 25 | #include "mbed.h" |
Sissors | 0:6757f7363a9f | 26 | #include "MODI2C.h" |
Sissors | 0:6757f7363a9f | 27 | |
Sissors | 0:6757f7363a9f | 28 | /** |
Sissors | 0:6757f7363a9f | 29 | * Defines |
Sissors | 0:6757f7363a9f | 30 | */ |
Sissors | 0:6757f7363a9f | 31 | #define MPU6050_ADDRESS 0x69 // address pin low (GND), default for InvenSense evaluation board |
Sissors | 0:6757f7363a9f | 32 | #ifdef MPU6050_ES |
Sissors | 0:6757f7363a9f | 33 | #define DOUBLE_ACCELERO |
Sissors | 0:6757f7363a9f | 34 | #endif |
Sissors | 0:6757f7363a9f | 35 | |
Sissors | 0:6757f7363a9f | 36 | /** |
Sissors | 0:6757f7363a9f | 37 | * Registers |
Sissors | 0:6757f7363a9f | 38 | */ |
Sissors | 0:6757f7363a9f | 39 | #define MPU6050_CONFIG_REG 0x1A |
Sissors | 0:6757f7363a9f | 40 | #define MPU6050_GYRO_CONFIG_REG 0x1B |
Sissors | 0:6757f7363a9f | 41 | #define MPU6050_ACCELERO_CONFIG_REG 0x1C |
Sissors | 0:6757f7363a9f | 42 | |
Sissors | 0:6757f7363a9f | 43 | #define MPU6050_INT_PIN_CFG 0x37 |
Sissors | 0:6757f7363a9f | 44 | |
Sissors | 0:6757f7363a9f | 45 | #define MPU6050_ACCEL_XOUT_H_REG 0x3B |
Sissors | 0:6757f7363a9f | 46 | #define MPU6050_ACCEL_YOUT_H_REG 0x3D |
Sissors | 0:6757f7363a9f | 47 | #define MPU6050_ACCEL_ZOUT_H_REG 0x3F |
Sissors | 0:6757f7363a9f | 48 | |
Sissors | 0:6757f7363a9f | 49 | #define MPU6050_TEMP_H_REG 0x41 |
Sissors | 0:6757f7363a9f | 50 | |
Sissors | 0:6757f7363a9f | 51 | #define MPU6050_GYRO_XOUT_H_REG 0x43 |
Sissors | 0:6757f7363a9f | 52 | #define MPU6050_GYRO_YOUT_H_REG 0x45 |
Sissors | 0:6757f7363a9f | 53 | #define MPU6050_GYRO_ZOUT_H_REG 0x47 |
Sissors | 0:6757f7363a9f | 54 | |
Sissors | 0:6757f7363a9f | 55 | |
Sissors | 0:6757f7363a9f | 56 | |
Sissors | 0:6757f7363a9f | 57 | #define MPU6050_PWR_MGMT_1_REG 0x6B |
Sissors | 0:6757f7363a9f | 58 | #define MPU6050_WHO_AM_I_REG 0x75 |
Sissors | 0:6757f7363a9f | 59 | |
Sissors | 0:6757f7363a9f | 60 | |
Sissors | 0:6757f7363a9f | 61 | |
Sissors | 0:6757f7363a9f | 62 | /** |
Sissors | 0:6757f7363a9f | 63 | * Definitions |
Sissors | 0:6757f7363a9f | 64 | */ |
Sissors | 0:6757f7363a9f | 65 | #define MPU6050_SLP_BIT 6 |
Sissors | 0:6757f7363a9f | 66 | #define MPU6050_BYPASS_BIT 1 |
Sissors | 0:6757f7363a9f | 67 | |
Sissors | 0:6757f7363a9f | 68 | #define MPU6050_BW_256 0 |
Sissors | 0:6757f7363a9f | 69 | #define MPU6050_BW_188 1 |
Sissors | 0:6757f7363a9f | 70 | #define MPU6050_BW_98 2 |
Sissors | 0:6757f7363a9f | 71 | #define MPU6050_BW_42 3 |
Sissors | 0:6757f7363a9f | 72 | #define MPU6050_BW_20 4 |
Sissors | 0:6757f7363a9f | 73 | #define MPU6050_BW_10 5 |
Sissors | 0:6757f7363a9f | 74 | #define MPU6050_BW_5 6 |
Sissors | 0:6757f7363a9f | 75 | |
Sissors | 0:6757f7363a9f | 76 | #define MPU6050_ACCELERO_RANGE_2G 0 |
Sissors | 0:6757f7363a9f | 77 | #define MPU6050_ACCELERO_RANGE_4G 1 |
Sissors | 0:6757f7363a9f | 78 | #define MPU6050_ACCELERO_RANGE_8G 2 |
Sissors | 0:6757f7363a9f | 79 | #define MPU6050_ACCELERO_RANGE_16G 3 |
Sissors | 0:6757f7363a9f | 80 | |
Sissors | 0:6757f7363a9f | 81 | #define MPU6050_GYRO_RANGE_250 0 |
Sissors | 0:6757f7363a9f | 82 | #define MPU6050_GYRO_RANGE_500 1 |
Sissors | 0:6757f7363a9f | 83 | #define MPU6050_GYRO_RANGE_1000 2 |
Sissors | 0:6757f7363a9f | 84 | #define MPU6050_GYRO_RANGE_2000 3 |
Sissors | 0:6757f7363a9f | 85 | |
Sissors | 0:6757f7363a9f | 86 | |
Sissors | 0:6757f7363a9f | 87 | |
Sissors | 0:6757f7363a9f | 88 | class MPU6050 { |
Sissors | 0:6757f7363a9f | 89 | public: |
Sissors | 0:6757f7363a9f | 90 | /** |
Sissors | 0:6757f7363a9f | 91 | * Constructor. |
Sissors | 0:6757f7363a9f | 92 | * |
Sissors | 0:6757f7363a9f | 93 | * Sleep mode of MPU6050 is immediatly disabled |
Sissors | 0:6757f7363a9f | 94 | * |
Sissors | 0:6757f7363a9f | 95 | * @param sda - mbed pin to use for the SDA I2C line. |
Sissors | 0:6757f7363a9f | 96 | * @param scl - mbed pin to use for the SCL I2C line. |
Sissors | 0:6757f7363a9f | 97 | */ |
Sissors | 0:6757f7363a9f | 98 | MPU6050(PinName sda, PinName scl); |
Sissors | 0:6757f7363a9f | 99 | |
Sissors | 0:6757f7363a9f | 100 | |
Sissors | 0:6757f7363a9f | 101 | /** |
Sissors | 0:6757f7363a9f | 102 | * Tests the I2C connection by reading the WHO_AM_I register. |
Sissors | 0:6757f7363a9f | 103 | * |
Sissors | 0:6757f7363a9f | 104 | * @return True for a working connection, false for an error |
Sissors | 0:6757f7363a9f | 105 | */ |
Sissors | 0:6757f7363a9f | 106 | bool testConnection( void ); |
Sissors | 0:6757f7363a9f | 107 | |
Sissors | 0:6757f7363a9f | 108 | /** |
Sissors | 0:6757f7363a9f | 109 | * Sets the bandwidth of the digital low-pass filter |
Sissors | 0:6757f7363a9f | 110 | * |
Sissors | 0:6757f7363a9f | 111 | * 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 | 112 | * Last number is the gyro's BW in Hz (accelero BW is virtually identical) |
Sissors | 0:6757f7363a9f | 113 | * |
Sissors | 0:6757f7363a9f | 114 | * @param BW - The three bits that set the bandwidth (use the predefined macros) |
Sissors | 0:6757f7363a9f | 115 | */ |
Sissors | 0:6757f7363a9f | 116 | void setBW( char BW ); |
Sissors | 0:6757f7363a9f | 117 | |
Sissors | 0:6757f7363a9f | 118 | /** |
Sissors | 0:6757f7363a9f | 119 | * 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 | 120 | * |
Sissors | 0:6757f7363a9f | 121 | * @param state - Enables/disables the I2C bypass mode |
Sissors | 0:6757f7363a9f | 122 | */ |
Sissors | 0:6757f7363a9f | 123 | void setI2CBypass ( bool state ); |
Sissors | 0:6757f7363a9f | 124 | |
Sissors | 0:6757f7363a9f | 125 | /** |
Sissors | 0:6757f7363a9f | 126 | * Sets the Accelero full-scale range |
Sissors | 0:6757f7363a9f | 127 | * |
Sissors | 0:6757f7363a9f | 128 | * Macros: MPU6050_ACCELERO_RANGE_2G - MPU6050_ACCELERO_RANGE_4G - MPU6050_ACCELERO_RANGE_8G - MPU6050_ACCELERO_RANGE_16G |
Sissors | 0:6757f7363a9f | 129 | * |
Sissors | 0:6757f7363a9f | 130 | * @param range - The two bits that set the full-scale range (use the predefined macros) |
Sissors | 0:6757f7363a9f | 131 | */ |
Sissors | 0:6757f7363a9f | 132 | void setAcceleroRange(char range); |
Sissors | 0:6757f7363a9f | 133 | |
Sissors | 0:6757f7363a9f | 134 | /** |
Sissors | 0:6757f7363a9f | 135 | * Reads the accelero x-axis. |
Sissors | 0:6757f7363a9f | 136 | * |
Sissors | 0:6757f7363a9f | 137 | * @return 16-bit signed integer x-axis accelero data |
Sissors | 0:6757f7363a9f | 138 | */ |
Sissors | 0:6757f7363a9f | 139 | int getAcceleroRawX( void ); |
Sissors | 0:6757f7363a9f | 140 | |
Sissors | 0:6757f7363a9f | 141 | /** |
Sissors | 0:6757f7363a9f | 142 | * Reads the accelero y-axis. |
Sissors | 0:6757f7363a9f | 143 | * |
Sissors | 0:6757f7363a9f | 144 | * @return 16-bit signed integer y-axis accelero data |
Sissors | 0:6757f7363a9f | 145 | */ |
Sissors | 0:6757f7363a9f | 146 | int getAcceleroRawY( void ); |
Sissors | 0:6757f7363a9f | 147 | |
Sissors | 0:6757f7363a9f | 148 | /** |
Sissors | 0:6757f7363a9f | 149 | * Reads the accelero z-axis. |
Sissors | 0:6757f7363a9f | 150 | * |
Sissors | 0:6757f7363a9f | 151 | * @return 16-bit signed integer z-axis accelero data |
Sissors | 0:6757f7363a9f | 152 | */ |
Sissors | 0:6757f7363a9f | 153 | int getAcceleroRawZ( void ); |
Sissors | 0:6757f7363a9f | 154 | |
Sissors | 0:6757f7363a9f | 155 | /** |
Sissors | 0:6757f7363a9f | 156 | * Reads all accelero data. |
Sissors | 0:6757f7363a9f | 157 | * |
Sissors | 0:6757f7363a9f | 158 | * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z |
Sissors | 0:6757f7363a9f | 159 | */ |
Sissors | 0:6757f7363a9f | 160 | void getAcceleroRaw( int *data ); |
Sissors | 0:6757f7363a9f | 161 | |
Sissors | 0:6757f7363a9f | 162 | /** |
Sissors | 0:6757f7363a9f | 163 | * Reads all accelero data, gives the acceleration in m/s2 |
Sissors | 0:6757f7363a9f | 164 | * |
Sissors | 0:6757f7363a9f | 165 | * 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 | 166 | * |
Sissors | 0:6757f7363a9f | 167 | * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z |
Sissors | 0:6757f7363a9f | 168 | */ |
Sissors | 0:6757f7363a9f | 169 | void getAccelero( float *data ); |
Sissors | 0:6757f7363a9f | 170 | |
Sissors | 0:6757f7363a9f | 171 | /** |
Sissors | 0:6757f7363a9f | 172 | * Sets the Gyro full-scale range |
Sissors | 0:6757f7363a9f | 173 | * |
Sissors | 0:6757f7363a9f | 174 | * Macros: MPU6050_GYRO_RANGE_250 - MPU6050_GYRO_RANGE_500 - MPU6050_GYRO_RANGE_1000 - MPU6050_GYRO_RANGE_2000 |
Sissors | 0:6757f7363a9f | 175 | * |
Sissors | 0:6757f7363a9f | 176 | * @param range - The two bits that set the full-scale range (use the predefined macros) |
Sissors | 0:6757f7363a9f | 177 | */ |
Sissors | 0:6757f7363a9f | 178 | void setGyroRange(char range); |
Sissors | 0:6757f7363a9f | 179 | |
Sissors | 0:6757f7363a9f | 180 | /** |
Sissors | 0:6757f7363a9f | 181 | * Reads the gyro x-axis. |
Sissors | 0:6757f7363a9f | 182 | * |
Sissors | 0:6757f7363a9f | 183 | * @return 16-bit signed integer x-axis gyro data |
Sissors | 0:6757f7363a9f | 184 | */ |
Sissors | 0:6757f7363a9f | 185 | int getGyroRawX( void ); |
Sissors | 0:6757f7363a9f | 186 | |
Sissors | 0:6757f7363a9f | 187 | /** |
Sissors | 0:6757f7363a9f | 188 | * Reads the gyro y-axis. |
Sissors | 0:6757f7363a9f | 189 | * |
Sissors | 0:6757f7363a9f | 190 | * @return 16-bit signed integer y-axis gyro data |
Sissors | 0:6757f7363a9f | 191 | */ |
Sissors | 0:6757f7363a9f | 192 | int getGyroRawY( void ); |
Sissors | 0:6757f7363a9f | 193 | |
Sissors | 0:6757f7363a9f | 194 | /** |
Sissors | 0:6757f7363a9f | 195 | * Reads the gyro z-axis. |
Sissors | 0:6757f7363a9f | 196 | * |
Sissors | 0:6757f7363a9f | 197 | * @return 16-bit signed integer z-axis gyro data |
Sissors | 0:6757f7363a9f | 198 | */ |
Sissors | 0:6757f7363a9f | 199 | int getGyroRawZ( void ); |
Sissors | 0:6757f7363a9f | 200 | |
Sissors | 0:6757f7363a9f | 201 | /** |
Sissors | 0:6757f7363a9f | 202 | * Reads all gyro data. |
Sissors | 0:6757f7363a9f | 203 | * |
Sissors | 0:6757f7363a9f | 204 | * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z |
Sissors | 0:6757f7363a9f | 205 | */ |
Sissors | 0:6757f7363a9f | 206 | void getGyroRaw( int *data ); |
Sissors | 0:6757f7363a9f | 207 | |
Sissors | 0:6757f7363a9f | 208 | /** |
Sissors | 0:6757f7363a9f | 209 | * Reads all gyro data, gives the gyro in rad/s |
Sissors | 0:6757f7363a9f | 210 | * |
Sissors | 0:6757f7363a9f | 211 | * 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 | 212 | * |
Sissors | 0:6757f7363a9f | 213 | * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z |
Sissors | 0:6757f7363a9f | 214 | */ |
Sissors | 0:6757f7363a9f | 215 | void getGyro( float *data); |
Sissors | 0:6757f7363a9f | 216 | |
Sissors | 0:6757f7363a9f | 217 | /** |
Sissors | 0:6757f7363a9f | 218 | * Reads temperature data. |
Sissors | 0:6757f7363a9f | 219 | * |
Sissors | 0:6757f7363a9f | 220 | * @return 16 bit signed integer with the raw temperature register value |
Sissors | 0:6757f7363a9f | 221 | */ |
Sissors | 0:6757f7363a9f | 222 | int getTempRaw( void ); |
Sissors | 0:6757f7363a9f | 223 | |
Sissors | 0:6757f7363a9f | 224 | /** |
Sissors | 0:6757f7363a9f | 225 | * Returns current temperature |
Sissors | 0:6757f7363a9f | 226 | * |
Sissors | 0:6757f7363a9f | 227 | * @returns float with the current temperature |
Sissors | 0:6757f7363a9f | 228 | */ |
Sissors | 0:6757f7363a9f | 229 | float getTemp( void ); |
Sissors | 0:6757f7363a9f | 230 | |
Sissors | 0:6757f7363a9f | 231 | /** |
Sissors | 0:6757f7363a9f | 232 | * Sets the sleep mode of the MPU6050 |
Sissors | 0:6757f7363a9f | 233 | * |
Sissors | 0:6757f7363a9f | 234 | * @param state - true for sleeping, false for wake up |
Sissors | 0:6757f7363a9f | 235 | */ |
Sissors | 0:6757f7363a9f | 236 | void setSleepMode( bool state ); |
Sissors | 0:6757f7363a9f | 237 | |
Sissors | 0:6757f7363a9f | 238 | |
Sissors | 0:6757f7363a9f | 239 | /** |
Sissors | 0:6757f7363a9f | 240 | * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU. |
Sissors | 0:6757f7363a9f | 241 | * |
Sissors | 0:6757f7363a9f | 242 | * @param adress - register address to write to |
Sissors | 0:6757f7363a9f | 243 | * @param data - data to write |
Sissors | 0:6757f7363a9f | 244 | */ |
Sissors | 0:6757f7363a9f | 245 | void write( char address, char data); |
Sissors | 0:6757f7363a9f | 246 | |
Sissors | 0:6757f7363a9f | 247 | /** |
Sissors | 0:6757f7363a9f | 248 | * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU. |
Sissors | 0:6757f7363a9f | 249 | * |
Sissors | 0:6757f7363a9f | 250 | * @param adress - register address to write to |
Sissors | 0:6757f7363a9f | 251 | * @return - data from the register specified by RA |
Sissors | 0:6757f7363a9f | 252 | */ |
Sissors | 0:6757f7363a9f | 253 | char read( char adress); |
Sissors | 0:6757f7363a9f | 254 | |
Sissors | 0:6757f7363a9f | 255 | /** |
Sissors | 0:6757f7363a9f | 256 | * Read multtiple regigsters from the device, more efficient than using multiple normal reads. |
Sissors | 0:6757f7363a9f | 257 | * |
Sissors | 0:6757f7363a9f | 258 | * @param adress - register address to write to |
Sissors | 0:6757f7363a9f | 259 | * @param length - number of bytes to read |
Sissors | 0:6757f7363a9f | 260 | * @param data - pointer where the data needs to be written to |
Sissors | 0:6757f7363a9f | 261 | */ |
Sissors | 0:6757f7363a9f | 262 | void read( char adress, char *data, int length); |
Sissors | 0:6757f7363a9f | 263 | |
Sissors | 0:6757f7363a9f | 264 | |
Sissors | 0:6757f7363a9f | 265 | |
Sissors | 0:6757f7363a9f | 266 | |
Sissors | 0:6757f7363a9f | 267 | private: |
Sissors | 0:6757f7363a9f | 268 | |
Sissors | 0:6757f7363a9f | 269 | MODI2C connection; |
Sissors | 0:6757f7363a9f | 270 | char currentAcceleroRange; |
Sissors | 0:6757f7363a9f | 271 | char currentGyroRange; |
Sissors | 0:6757f7363a9f | 272 | |
Sissors | 0:6757f7363a9f | 273 | |
Sissors | 0:6757f7363a9f | 274 | }; |
Sissors | 0:6757f7363a9f | 275 | |
Sissors | 0:6757f7363a9f | 276 | |
Sissors | 0:6757f7363a9f | 277 | |
Sissors | 0:6757f7363a9f | 278 | #endif |