Jean-Louis Salvat / MPU6050-salvat

modif interrupt

MPU6050.cpp@3:d149ad3e1139, 2019-02-12 (annotated)

Committer:
jlsalvat
Date:
Tue Feb 12 13:46:40 2019 +0000
Revision:
3:d149ad3e1139
Parent:
1:a3366f09e95c 
test capteur accelero gyro avec algo lissage

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sissors 0:6757f7363a9f 1 /**
Sissors 0:6757f7363a9f 2 * Includes
Sissors 0:6757f7363a9f 3 */
Sissors 0:6757f7363a9f 4 #include "MPU6050.h"
Sissors 0:6757f7363a9f 5
Sissors 0:6757f7363a9f 6 MPU6050::MPU6050(PinName sda, PinName scl) : connection(sda, scl) {
Sissors 0:6757f7363a9f 7 this->setSleepMode(false);
Sissors 0:6757f7363a9f 8
Sissors 0:6757f7363a9f 9 //Initializations:
Sissors 0:6757f7363a9f 10 currentGyroRange = 0;
Sissors 0:6757f7363a9f 11 currentAcceleroRange=0;
jlsalvat 3:d149ad3e1139 12 //add by salvat
jlsalvat 3:d149ad3e1139 13 i2c.frequency(400000); // use fast (400 kHz) I2C
Sissors 0:6757f7363a9f 14 }
Sissors 0:6757f7363a9f 15
Sissors 0:6757f7363a9f 16 //--------------------------------------------------
Sissors 0:6757f7363a9f 17 //-------------------General------------------------
Sissors 0:6757f7363a9f 18 //--------------------------------------------------
Sissors 0:6757f7363a9f 19
Sissors 0:6757f7363a9f 20 void MPU6050::write(char address, char data) {
Sissors 0:6757f7363a9f 21 char temp[2];
Sissors 0:6757f7363a9f 22 temp[0]=address;
Sissors 0:6757f7363a9f 23 temp[1]=data;
Sissors 0:6757f7363a9f 24
Sissors 0:6757f7363a9f 25 connection.write(MPU6050_ADDRESS * 2,temp,2);
Sissors 0:6757f7363a9f 26 }
Sissors 0:6757f7363a9f 27
Sissors 0:6757f7363a9f 28 char MPU6050::read(char address) {
Sissors 0:6757f7363a9f 29 char retval;
Sissors 0:6757f7363a9f 30 connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
Sissors 0:6757f7363a9f 31 connection.read(MPU6050_ADDRESS * 2, &retval, 1);
Sissors 0:6757f7363a9f 32 return retval;
Sissors 0:6757f7363a9f 33 }
Sissors 0:6757f7363a9f 34
Sissors 0:6757f7363a9f 35 void MPU6050::read(char address, char *data, int length) {
Sissors 0:6757f7363a9f 36 connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
Sissors 0:6757f7363a9f 37 connection.read(MPU6050_ADDRESS * 2, data, length);
Sissors 0:6757f7363a9f 38 }
Sissors 0:6757f7363a9f 39
Sissors 0:6757f7363a9f 40 void MPU6050::setSleepMode(bool state) {
Sissors 0:6757f7363a9f 41 char temp;
Sissors 0:6757f7363a9f 42 temp = this->read(MPU6050_PWR_MGMT_1_REG);
Sissors 0:6757f7363a9f 43 if (state == true)
Sissors 0:6757f7363a9f 44 temp |= 1<<MPU6050_SLP_BIT;
Sissors 0:6757f7363a9f 45 if (state == false)
Sissors 0:6757f7363a9f 46 temp &= ~(1<<MPU6050_SLP_BIT);
Sissors 0:6757f7363a9f 47 this->write(MPU6050_PWR_MGMT_1_REG, temp);
Sissors 0:6757f7363a9f 48 }
Sissors 0:6757f7363a9f 49
Sissors 0:6757f7363a9f 50 bool MPU6050::testConnection( void ) {
Sissors 0:6757f7363a9f 51 char temp;
Sissors 0:6757f7363a9f 52 temp = this->read(MPU6050_WHO_AM_I_REG);
Sissors 0:6757f7363a9f 53 return (temp == (MPU6050_ADDRESS & 0xFE));
Sissors 0:6757f7363a9f 54 }
Sissors 0:6757f7363a9f 55
Sissors 0:6757f7363a9f 56 void MPU6050::setBW(char BW) {
Sissors 0:6757f7363a9f 57 char temp;
Sissors 0:6757f7363a9f 58 BW=BW & 0x07;
Sissors 0:6757f7363a9f 59 temp = this->read(MPU6050_CONFIG_REG);
Sissors 0:6757f7363a9f 60 temp &= 0xF8;
Sissors 0:6757f7363a9f 61 temp = temp + BW;
Sissors 0:6757f7363a9f 62 this->write(MPU6050_CONFIG_REG, temp);
Sissors 0:6757f7363a9f 63 }
Sissors 0:6757f7363a9f 64
Sissors 0:6757f7363a9f 65 void MPU6050::setI2CBypass(bool state) {
Sissors 0:6757f7363a9f 66 char temp;
Sissors 0:6757f7363a9f 67 temp = this->read(MPU6050_INT_PIN_CFG);
Sissors 0:6757f7363a9f 68 if (state == true)
Sissors 0:6757f7363a9f 69 temp |= 1<<MPU6050_BYPASS_BIT;
Sissors 0:6757f7363a9f 70 if (state == false)
Sissors 0:6757f7363a9f 71 temp &= ~(1<<MPU6050_BYPASS_BIT);
Sissors 0:6757f7363a9f 72 this->write(MPU6050_INT_PIN_CFG, temp);
Sissors 0:6757f7363a9f 73 }
Sissors 0:6757f7363a9f 74
Sissors 0:6757f7363a9f 75 //--------------------------------------------------
Sissors 0:6757f7363a9f 76 //----------------Accelerometer---------------------
Sissors 0:6757f7363a9f 77 //--------------------------------------------------
Sissors 0:6757f7363a9f 78
Sissors 0:6757f7363a9f 79 void MPU6050::setAcceleroRange( char range ) {
Sissors 0:6757f7363a9f 80 char temp;
Sissors 0:6757f7363a9f 81 range = range & 0x03;
Sissors 0:6757f7363a9f 82 currentAcceleroRange = range;
Sissors 0:6757f7363a9f 83
Sissors 0:6757f7363a9f 84 temp = this->read(MPU6050_ACCELERO_CONFIG_REG);
Sissors 0:6757f7363a9f 85 temp &= ~(3<<3);
Sissors 0:6757f7363a9f 86 temp = temp + (range<<3);
Sissors 0:6757f7363a9f 87 this->write(MPU6050_ACCELERO_CONFIG_REG, temp);
Sissors 0:6757f7363a9f 88 }
Sissors 0:6757f7363a9f 89
Sissors 0:6757f7363a9f 90 int MPU6050::getAcceleroRawX( void ) {
Sissors 0:6757f7363a9f 91 short retval;
Sissors 0:6757f7363a9f 92 char data[2];
Sissors 0:6757f7363a9f 93 this->read(MPU6050_ACCEL_XOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 94 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 95 return (int)retval;
Sissors 0:6757f7363a9f 96 }
Sissors 0:6757f7363a9f 97
Sissors 0:6757f7363a9f 98 int MPU6050::getAcceleroRawY( void ) {
Sissors 0:6757f7363a9f 99 short retval;
Sissors 0:6757f7363a9f 100 char data[2];
Sissors 0:6757f7363a9f 101 this->read(MPU6050_ACCEL_YOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 102 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 103 return (int)retval;
Sissors 0:6757f7363a9f 104 }
Sissors 0:6757f7363a9f 105
Sissors 0:6757f7363a9f 106 int MPU6050::getAcceleroRawZ( void ) {
Sissors 0:6757f7363a9f 107 short retval;
Sissors 0:6757f7363a9f 108 char data[2];
Sissors 0:6757f7363a9f 109 this->read(MPU6050_ACCEL_ZOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 110 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 111 return (int)retval;
Sissors 0:6757f7363a9f 112 }
Sissors 0:6757f7363a9f 113
Sissors 0:6757f7363a9f 114 void MPU6050::getAcceleroRaw( int *data ) {
Sissors 0:6757f7363a9f 115 char temp[6];
Sissors 0:6757f7363a9f 116 this->read(MPU6050_ACCEL_XOUT_H_REG, temp, 6);
Sissors 0:6757f7363a9f 117 data[0] = (int)(short)((temp[0]<<8) + temp[1]);
Sissors 0:6757f7363a9f 118 data[1] = (int)(short)((temp[2]<<8) + temp[3]);
Sissors 0:6757f7363a9f 119 data[2] = (int)(short)((temp[4]<<8) + temp[5]);
Sissors 0:6757f7363a9f 120 }
Sissors 0:6757f7363a9f 121
Sissors 0:6757f7363a9f 122 void MPU6050::getAccelero( float *data ) {
Sissors 0:6757f7363a9f 123 int temp[3];
Sissors 0:6757f7363a9f 124 this->getAcceleroRaw(temp);
Sissors 0:6757f7363a9f 125 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_2G) {
Sissors 0:6757f7363a9f 126 data[0]=(float)temp[0] / 16384.0 * 9.81;
Sissors 0:6757f7363a9f 127 data[1]=(float)temp[1] / 16384.0 * 9.81;
Sissors 0:6757f7363a9f 128 data[2]=(float)temp[2] / 16384.0 * 9.81;
Sissors 0:6757f7363a9f 129 }
Sissors 0:6757f7363a9f 130 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_4G){
Sissors 0:6757f7363a9f 131 data[0]=(float)temp[0] / 8192.0 * 9.81;
Sissors 0:6757f7363a9f 132 data[1]=(float)temp[1] / 8192.0 * 9.81;
Sissors 0:6757f7363a9f 133 data[2]=(float)temp[2] / 8192.0 * 9.81;
Sissors 0:6757f7363a9f 134 }
Sissors 0:6757f7363a9f 135 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_8G){
Sissors 0:6757f7363a9f 136 data[0]=(float)temp[0] / 4096.0 * 9.81;
Sissors 0:6757f7363a9f 137 data[1]=(float)temp[1] / 4096.0 * 9.81;
Sissors 0:6757f7363a9f 138 data[2]=(float)temp[2] / 4096.0 * 9.81;
Sissors 0:6757f7363a9f 139 }
Sissors 0:6757f7363a9f 140 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_16G){
Sissors 0:6757f7363a9f 141 data[0]=(float)temp[0] / 2048.0 * 9.81;
Sissors 0:6757f7363a9f 142 data[1]=(float)temp[1] / 2048.0 * 9.81;
Sissors 0:6757f7363a9f 143 data[2]=(float)temp[2] / 2048.0 * 9.81;
Sissors 0:6757f7363a9f 144 }
Sissors 0:6757f7363a9f 145
Sissors 0:6757f7363a9f 146 #ifdef DOUBLE_ACCELERO
Sissors 0:6757f7363a9f 147 data[0]*=2;
Sissors 0:6757f7363a9f 148 data[1]*=2;
Sissors 0:6757f7363a9f 149 data[2]*=2;
Sissors 0:6757f7363a9f 150 #endif
Sissors 0:6757f7363a9f 151 }
Sissors 0:6757f7363a9f 152
Sissors 0:6757f7363a9f 153 //--------------------------------------------------
Sissors 0:6757f7363a9f 154 //------------------Gyroscope-----------------------
Sissors 0:6757f7363a9f 155 //--------------------------------------------------
Sissors 0:6757f7363a9f 156 void MPU6050::setGyroRange( char range ) {
Sissors 0:6757f7363a9f 157 char temp;
Sissors 0:6757f7363a9f 158 currentGyroRange = range;
Sissors 0:6757f7363a9f 159 range = range & 0x03;
Sissors 0:6757f7363a9f 160 temp = this->read(MPU6050_GYRO_CONFIG_REG);
Sissors 0:6757f7363a9f 161 temp &= ~(3<<3);
Sissors 0:6757f7363a9f 162 temp = temp + range<<3;
Sissors 0:6757f7363a9f 163 this->write(MPU6050_GYRO_CONFIG_REG, temp);
Sissors 0:6757f7363a9f 164 }
Sissors 0:6757f7363a9f 165
Sissors 0:6757f7363a9f 166 int MPU6050::getGyroRawX( void ) {
Sissors 0:6757f7363a9f 167 short retval;
Sissors 0:6757f7363a9f 168 char data[2];
Sissors 0:6757f7363a9f 169 this->read(MPU6050_GYRO_XOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 170 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 171 return (int)retval;
Sissors 0:6757f7363a9f 172 }
Sissors 0:6757f7363a9f 173
Sissors 0:6757f7363a9f 174 int MPU6050::getGyroRawY( void ) {
Sissors 0:6757f7363a9f 175 short retval;
Sissors 0:6757f7363a9f 176 char data[2];
Sissors 0:6757f7363a9f 177 this->read(MPU6050_GYRO_YOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 178 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 179 return (int)retval;
Sissors 0:6757f7363a9f 180 }
Sissors 0:6757f7363a9f 181
Sissors 0:6757f7363a9f 182 int MPU6050::getGyroRawZ( void ) {
Sissors 0:6757f7363a9f 183 short retval;
Sissors 0:6757f7363a9f 184 char data[2];
Sissors 0:6757f7363a9f 185 this->read(MPU6050_GYRO_ZOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 186 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 187 return (int)retval;
Sissors 0:6757f7363a9f 188 }
Sissors 0:6757f7363a9f 189
Sissors 0:6757f7363a9f 190 void MPU6050::getGyroRaw( int *data ) {
Sissors 0:6757f7363a9f 191 char temp[6];
Sissors 0:6757f7363a9f 192 this->read(MPU6050_GYRO_XOUT_H_REG, temp, 6);
Sissors 0:6757f7363a9f 193 data[0] = (int)(short)((temp[0]<<8) + temp[1]);
Sissors 0:6757f7363a9f 194 data[1] = (int)(short)((temp[2]<<8) + temp[3]);
Sissors 0:6757f7363a9f 195 data[2] = (int)(short)((temp[4]<<8) + temp[5]);
Sissors 0:6757f7363a9f 196 }
Sissors 0:6757f7363a9f 197
Sissors 0:6757f7363a9f 198 void MPU6050::getGyro( float *data ) {
Sissors 0:6757f7363a9f 199 int temp[3];
Sissors 0:6757f7363a9f 200 this->getGyroRaw(temp);
Sissors 1:a3366f09e95c 201 if (currentGyroRange == MPU6050_GYRO_RANGE_250) {
Sissors 0:6757f7363a9f 202 data[0]=(float)temp[0] / 7505.7;
Sissors 0:6757f7363a9f 203 data[1]=(float)temp[1] / 7505.7;
Sissors 0:6757f7363a9f 204 data[2]=(float)temp[2] / 7505.7;
Sissors 0:6757f7363a9f 205 }
Sissors 1:a3366f09e95c 206 if (currentGyroRange == MPU6050_GYRO_RANGE_500){
Sissors 0:6757f7363a9f 207 data[0]=(float)temp[0] / 3752.9;
Sissors 0:6757f7363a9f 208 data[1]=(float)temp[1] / 3752.9;
Sissors 0:6757f7363a9f 209 data[2]=(float)temp[2] / 3752.9;
Sissors 0:6757f7363a9f 210 }
Sissors 1:a3366f09e95c 211 if (currentGyroRange == MPU6050_GYRO_RANGE_1000){
Sissors 0:6757f7363a9f 212 data[0]=(float)temp[0] / 1879.3;;
Sissors 0:6757f7363a9f 213 data[1]=(float)temp[1] / 1879.3;
Sissors 0:6757f7363a9f 214 data[2]=(float)temp[2] / 1879.3;
Sissors 0:6757f7363a9f 215 }
Sissors 1:a3366f09e95c 216 if (currentGyroRange == MPU6050_GYRO_RANGE_2000){
Sissors 0:6757f7363a9f 217 data[0]=(float)temp[0] / 939.7;
Sissors 0:6757f7363a9f 218 data[1]=(float)temp[1] / 939.7;
Sissors 0:6757f7363a9f 219 data[2]=(float)temp[2] / 939.7;
Sissors 0:6757f7363a9f 220 }
Sissors 0:6757f7363a9f 221 }
Sissors 0:6757f7363a9f 222 //--------------------------------------------------
Sissors 0:6757f7363a9f 223 //-------------------Temperature--------------------
Sissors 0:6757f7363a9f 224 //--------------------------------------------------
Sissors 0:6757f7363a9f 225 int MPU6050::getTempRaw( void ) {
Sissors 0:6757f7363a9f 226 short retval;
Sissors 0:6757f7363a9f 227 char data[2];
Sissors 0:6757f7363a9f 228 this->read(MPU6050_TEMP_H_REG, data, 2);
Sissors 0:6757f7363a9f 229 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 230 return (int)retval;
Sissors 0:6757f7363a9f 231 }
Sissors 0:6757f7363a9f 232
Sissors 0:6757f7363a9f 233 float MPU6050::getTemp( void ) {
Sissors 0:6757f7363a9f 234 float retval;
Sissors 0:6757f7363a9f 235 retval=(float)this->getTempRaw();
Sissors 0:6757f7363a9f 236 retval=(retval+521.0)/340.0+35.0;
Sissors 0:6757f7363a9f 237 return retval;
Sissors 0:6757f7363a9f 238 }
Sissors 0:6757f7363a9f 239