Matthias Grob / Mbed 2 deprecated FlyBed1

NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.

Dependencies:   mbed MODI2C

Sensors/Gyro_Acc/MPU6050.h@40:2ca410923691, 2014-02-14 (annotated)

Committer:
maetugr
Date:
Fri Feb 14 14:17:32 2014 +0000
Revision:
40:2ca410923691
now with MPU6050 before taking it too FlyBed2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 40:2ca410923691 1 // based on http://mbed.org/users/garfieldsg/code/MPU6050/
maetugr 40:2ca410923691 2
maetugr 40:2ca410923691 3 #ifndef MPU6050_H
maetugr 40:2ca410923691 4 #define MPU6050_H
maetugr 40:2ca410923691 5
maetugr 40:2ca410923691 6 #include "mbed.h"
maetugr 40:2ca410923691 7 #include "I2C_Sensor.h"
maetugr 40:2ca410923691 8
maetugr 40:2ca410923691 9 #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
maetugr 40:2ca410923691 10 #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
maetugr 40:2ca410923691 11 #define MPU6050_I2C_ADDRESS 0xD0 // adresses above multiplied by 2
maetugr 40:2ca410923691 12
maetugr 40:2ca410923691 13 // register addresses
maetugr 40:2ca410923691 14 #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
maetugr 40:2ca410923691 15 #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
maetugr 40:2ca410923691 16 #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
maetugr 40:2ca410923691 17 #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
maetugr 40:2ca410923691 18 #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
maetugr 40:2ca410923691 19 #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
maetugr 40:2ca410923691 20 #define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
maetugr 40:2ca410923691 21 #define MPU6050_RA_XA_OFFS_L_TC 0x07
maetugr 40:2ca410923691 22 #define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
maetugr 40:2ca410923691 23 #define MPU6050_RA_YA_OFFS_L_TC 0x09
maetugr 40:2ca410923691 24 #define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
maetugr 40:2ca410923691 25 #define MPU6050_RA_ZA_OFFS_L_TC 0x0B
maetugr 40:2ca410923691 26 #define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
maetugr 40:2ca410923691 27 #define MPU6050_RA_XG_OFFS_USRL 0x14
maetugr 40:2ca410923691 28 #define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
maetugr 40:2ca410923691 29 #define MPU6050_RA_YG_OFFS_USRL 0x16
maetugr 40:2ca410923691 30 #define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
maetugr 40:2ca410923691 31 #define MPU6050_RA_ZG_OFFS_USRL 0x18
maetugr 40:2ca410923691 32 #define MPU6050_RA_SMPLRT_DIV 0x19
maetugr 40:2ca410923691 33 #define MPU6050_RA_CONFIG 0x1A
maetugr 40:2ca410923691 34 #define MPU6050_RA_GYRO_CONFIG 0x1B
maetugr 40:2ca410923691 35 #define MPU6050_RA_ACCEL_CONFIG 0x1C
maetugr 40:2ca410923691 36 #define MPU6050_RA_FF_THR 0x1D
maetugr 40:2ca410923691 37 #define MPU6050_RA_FF_DUR 0x1E
maetugr 40:2ca410923691 38 #define MPU6050_RA_MOT_THR 0x1F
maetugr 40:2ca410923691 39 #define MPU6050_RA_MOT_DUR 0x20
maetugr 40:2ca410923691 40 #define MPU6050_RA_ZRMOT_THR 0x21
maetugr 40:2ca410923691 41 #define MPU6050_RA_ZRMOT_DUR 0x22
maetugr 40:2ca410923691 42 #define MPU6050_RA_FIFO_EN 0x23
maetugr 40:2ca410923691 43 #define MPU6050_RA_I2C_MST_CTRL 0x24
maetugr 40:2ca410923691 44 #define MPU6050_RA_I2C_SLV0_ADDR 0x25
maetugr 40:2ca410923691 45 #define MPU6050_RA_I2C_SLV0_REG 0x26
maetugr 40:2ca410923691 46 #define MPU6050_RA_I2C_SLV0_CTRL 0x27
maetugr 40:2ca410923691 47 #define MPU6050_RA_I2C_SLV1_ADDR 0x28
maetugr 40:2ca410923691 48 #define MPU6050_RA_I2C_SLV1_REG 0x29
maetugr 40:2ca410923691 49 #define MPU6050_RA_I2C_SLV1_CTRL 0x2A
maetugr 40:2ca410923691 50 #define MPU6050_RA_I2C_SLV2_ADDR 0x2B
maetugr 40:2ca410923691 51 #define MPU6050_RA_I2C_SLV2_REG 0x2C
maetugr 40:2ca410923691 52 #define MPU6050_RA_I2C_SLV2_CTRL 0x2D
maetugr 40:2ca410923691 53 #define MPU6050_RA_I2C_SLV3_ADDR 0x2E
maetugr 40:2ca410923691 54 #define MPU6050_RA_I2C_SLV3_REG 0x2F
maetugr 40:2ca410923691 55 #define MPU6050_RA_I2C_SLV3_CTRL 0x30
maetugr 40:2ca410923691 56 #define MPU6050_RA_I2C_SLV4_ADDR 0x31
maetugr 40:2ca410923691 57 #define MPU6050_RA_I2C_SLV4_REG 0x32
maetugr 40:2ca410923691 58 #define MPU6050_RA_I2C_SLV4_DO 0x33
maetugr 40:2ca410923691 59 #define MPU6050_RA_I2C_SLV4_CTRL 0x34
maetugr 40:2ca410923691 60 #define MPU6050_RA_I2C_SLV4_DI 0x35
maetugr 40:2ca410923691 61 #define MPU6050_RA_I2C_MST_STATUS 0x36
maetugr 40:2ca410923691 62 #define MPU6050_RA_INT_PIN_CFG 0x37
maetugr 40:2ca410923691 63 #define MPU6050_RA_INT_ENABLE 0x38
maetugr 40:2ca410923691 64 #define MPU6050_RA_DMP_INT_STATUS 0x39
maetugr 40:2ca410923691 65 #define MPU6050_RA_INT_STATUS 0x3A
maetugr 40:2ca410923691 66 #define MPU6050_RA_ACCEL_XOUT_H 0x3B
maetugr 40:2ca410923691 67 #define MPU6050_RA_ACCEL_XOUT_L 0x3C
maetugr 40:2ca410923691 68 #define MPU6050_RA_ACCEL_YOUT_H 0x3D
maetugr 40:2ca410923691 69 #define MPU6050_RA_ACCEL_YOUT_L 0x3E
maetugr 40:2ca410923691 70 #define MPU6050_RA_ACCEL_ZOUT_H 0x3F
maetugr 40:2ca410923691 71 #define MPU6050_RA_ACCEL_ZOUT_L 0x40
maetugr 40:2ca410923691 72 #define MPU6050_RA_TEMP_OUT_H 0x41
maetugr 40:2ca410923691 73 #define MPU6050_RA_TEMP_OUT_L 0x42
maetugr 40:2ca410923691 74 #define MPU6050_RA_GYRO_XOUT_H 0x43
maetugr 40:2ca410923691 75 #define MPU6050_RA_GYRO_XOUT_L 0x44
maetugr 40:2ca410923691 76 #define MPU6050_RA_GYRO_YOUT_H 0x45
maetugr 40:2ca410923691 77 #define MPU6050_RA_GYRO_YOUT_L 0x46
maetugr 40:2ca410923691 78 #define MPU6050_RA_GYRO_ZOUT_H 0x47
maetugr 40:2ca410923691 79 #define MPU6050_RA_GYRO_ZOUT_L 0x48
maetugr 40:2ca410923691 80 #define MPU6050_RA_EXT_SENS_DATA_00 0x49
maetugr 40:2ca410923691 81 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A
maetugr 40:2ca410923691 82 #define MPU6050_RA_EXT_SENS_DATA_02 0x4B
maetugr 40:2ca410923691 83 #define MPU6050_RA_EXT_SENS_DATA_03 0x4C
maetugr 40:2ca410923691 84 #define MPU6050_RA_EXT_SENS_DATA_04 0x4D
maetugr 40:2ca410923691 85 #define MPU6050_RA_EXT_SENS_DATA_05 0x4E
maetugr 40:2ca410923691 86 #define MPU6050_RA_EXT_SENS_DATA_06 0x4F
maetugr 40:2ca410923691 87 #define MPU6050_RA_EXT_SENS_DATA_07 0x50
maetugr 40:2ca410923691 88 #define MPU6050_RA_EXT_SENS_DATA_08 0x51
maetugr 40:2ca410923691 89 #define MPU6050_RA_EXT_SENS_DATA_09 0x52
maetugr 40:2ca410923691 90 #define MPU6050_RA_EXT_SENS_DATA_10 0x53
maetugr 40:2ca410923691 91 #define MPU6050_RA_EXT_SENS_DATA_11 0x54
maetugr 40:2ca410923691 92 #define MPU6050_RA_EXT_SENS_DATA_12 0x55
maetugr 40:2ca410923691 93 #define MPU6050_RA_EXT_SENS_DATA_13 0x56
maetugr 40:2ca410923691 94 #define MPU6050_RA_EXT_SENS_DATA_14 0x57
maetugr 40:2ca410923691 95 #define MPU6050_RA_EXT_SENS_DATA_15 0x58
maetugr 40:2ca410923691 96 #define MPU6050_RA_EXT_SENS_DATA_16 0x59
maetugr 40:2ca410923691 97 #define MPU6050_RA_EXT_SENS_DATA_17 0x5A
maetugr 40:2ca410923691 98 #define MPU6050_RA_EXT_SENS_DATA_18 0x5B
maetugr 40:2ca410923691 99 #define MPU6050_RA_EXT_SENS_DATA_19 0x5C
maetugr 40:2ca410923691 100 #define MPU6050_RA_EXT_SENS_DATA_20 0x5D
maetugr 40:2ca410923691 101 #define MPU6050_RA_EXT_SENS_DATA_21 0x5E
maetugr 40:2ca410923691 102 #define MPU6050_RA_EXT_SENS_DATA_22 0x5F
maetugr 40:2ca410923691 103 #define MPU6050_RA_EXT_SENS_DATA_23 0x60
maetugr 40:2ca410923691 104 #define MPU6050_RA_MOT_DETECT_STATUS 0x61
maetugr 40:2ca410923691 105 #define MPU6050_RA_I2C_SLV0_DO 0x63
maetugr 40:2ca410923691 106 #define MPU6050_RA_I2C_SLV1_DO 0x64
maetugr 40:2ca410923691 107 #define MPU6050_RA_I2C_SLV2_DO 0x65
maetugr 40:2ca410923691 108 #define MPU6050_RA_I2C_SLV3_DO 0x66
maetugr 40:2ca410923691 109 #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
maetugr 40:2ca410923691 110 #define MPU6050_RA_SIGNAL_PATH_RESET 0x68
maetugr 40:2ca410923691 111 #define MPU6050_RA_MOT_DETECT_CTRL 0x69
maetugr 40:2ca410923691 112 #define MPU6050_RA_USER_CTRL 0x6A
maetugr 40:2ca410923691 113 #define MPU6050_RA_PWR_MGMT_1 0x6B
maetugr 40:2ca410923691 114 #define MPU6050_RA_PWR_MGMT_2 0x6C
maetugr 40:2ca410923691 115 #define MPU6050_RA_BANK_SEL 0x6D
maetugr 40:2ca410923691 116 #define MPU6050_RA_MEM_START_ADDR 0x6E
maetugr 40:2ca410923691 117 #define MPU6050_RA_MEM_R_W 0x6F
maetugr 40:2ca410923691 118 #define MPU6050_RA_DMP_CFG_1 0x70
maetugr 40:2ca410923691 119 #define MPU6050_RA_DMP_CFG_2 0x71
maetugr 40:2ca410923691 120 #define MPU6050_RA_FIFO_COUNTH 0x72
maetugr 40:2ca410923691 121 #define MPU6050_RA_FIFO_COUNTL 0x73
maetugr 40:2ca410923691 122 #define MPU6050_RA_FIFO_R_W 0x74
maetugr 40:2ca410923691 123 #define MPU6050_RA_WHO_AM_I 0x75
maetugr 40:2ca410923691 124
maetugr 40:2ca410923691 125 class MPU6050 : public I2C_Sensor
maetugr 40:2ca410923691 126 {
maetugr 40:2ca410923691 127 public:
maetugr 40:2ca410923691 128 MPU6050(PinName sda, PinName scl); // constructor, uses I2C_Sensor class
maetugr 40:2ca410923691 129 float data_gyro[3]; // where the measured data is saved
maetugr 40:2ca410923691 130 float data_acc[3]; // where the measured data is saved
maetugr 40:2ca410923691 131 virtual void read(); // read all axis from register to array data
maetugr 40:2ca410923691 132 float offset_gyro[3]; // offset that's subtracted from every Gyroscope measurement
maetugr 40:2ca410923691 133 float offset_acc[3]; // offset that's subtracted from every Accelerometer measurement
maetugr 40:2ca410923691 134 void calibrate(int times, float separation_time); // calibration from 'times' measurements with 'separation_time' time between (get an offset while not moving)
maetugr 40:2ca410923691 135 int readTemp(); // read temperature from sensor
maetugr 40:2ca410923691 136
maetugr 40:2ca410923691 137 private:
maetugr 40:2ca410923691 138 int raw_gyro[3];
maetugr 40:2ca410923691 139 int raw_acc[3];
maetugr 40:2ca410923691 140 void readraw_gyro();
maetugr 40:2ca410923691 141 void readraw_acc();
maetugr 40:2ca410923691 142 };
maetugr 40:2ca410923691 143
maetugr 40:2ca410923691 144 #endif