Successful acro and level mode now! Relying on MPU9250 as base sensor. I'm working continuously on tuning and features :) NEWEST VERSION ON: https://github.com/MaEtUgR/FlyBed (CODE 100% compatible/copyable)
IMU/MPU6050/MPU6050.h@8:609a2ad4c30e, 2015-11-19 (annotated)
- Committer:
- maetugr
- Date:
- Thu Nov 19 18:47:27 2015 +0000
- Revision:
- 8:609a2ad4c30e
made I2C-Sensors working in parallel, added rolling buffer for PID derivative, played with the PID and frequency parameters in main
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maetugr | 8:609a2ad4c30e | 1 | // based on http://mbed.org/users/garfieldsg/code/MPU6050/ |
maetugr | 8:609a2ad4c30e | 2 | |
maetugr | 8:609a2ad4c30e | 3 | #ifndef MPU6050_H |
maetugr | 8:609a2ad4c30e | 4 | #define MPU6050_H |
maetugr | 8:609a2ad4c30e | 5 | |
maetugr | 8:609a2ad4c30e | 6 | #include "mbed.h" |
maetugr | 8:609a2ad4c30e | 7 | #include "I2C_Sensor.h" |
maetugr | 8:609a2ad4c30e | 8 | |
maetugr | 8:609a2ad4c30e | 9 | #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board |
maetugr | 8:609a2ad4c30e | 10 | #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) |
maetugr | 8:609a2ad4c30e | 11 | #define MPU6050_I2C_ADDRESS 0xD2 // adresses above multiplied by 2 |
maetugr | 8:609a2ad4c30e | 12 | |
maetugr | 8:609a2ad4c30e | 13 | // register addresses |
maetugr | 8:609a2ad4c30e | 14 | #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD |
maetugr | 8:609a2ad4c30e | 15 | #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD |
maetugr | 8:609a2ad4c30e | 16 | #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD |
maetugr | 8:609a2ad4c30e | 17 | #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN |
maetugr | 8:609a2ad4c30e | 18 | #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN |
maetugr | 8:609a2ad4c30e | 19 | #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN |
maetugr | 8:609a2ad4c30e | 20 | #define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS |
maetugr | 8:609a2ad4c30e | 21 | #define MPU6050_RA_XA_OFFS_L_TC 0x07 |
maetugr | 8:609a2ad4c30e | 22 | #define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS |
maetugr | 8:609a2ad4c30e | 23 | #define MPU6050_RA_YA_OFFS_L_TC 0x09 |
maetugr | 8:609a2ad4c30e | 24 | #define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS |
maetugr | 8:609a2ad4c30e | 25 | #define MPU6050_RA_ZA_OFFS_L_TC 0x0B |
maetugr | 8:609a2ad4c30e | 26 | #define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR |
maetugr | 8:609a2ad4c30e | 27 | #define MPU6050_RA_XG_OFFS_USRL 0x14 |
maetugr | 8:609a2ad4c30e | 28 | #define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR |
maetugr | 8:609a2ad4c30e | 29 | #define MPU6050_RA_YG_OFFS_USRL 0x16 |
maetugr | 8:609a2ad4c30e | 30 | #define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR |
maetugr | 8:609a2ad4c30e | 31 | #define MPU6050_RA_ZG_OFFS_USRL 0x18 |
maetugr | 8:609a2ad4c30e | 32 | #define MPU6050_RA_SMPLRT_DIV 0x19 |
maetugr | 8:609a2ad4c30e | 33 | #define MPU6050_RA_CONFIG 0x1A |
maetugr | 8:609a2ad4c30e | 34 | #define MPU6050_RA_GYRO_CONFIG 0x1B |
maetugr | 8:609a2ad4c30e | 35 | #define MPU6050_RA_ACCEL_CONFIG 0x1C |
maetugr | 8:609a2ad4c30e | 36 | #define MPU6050_RA_FF_THR 0x1D |
maetugr | 8:609a2ad4c30e | 37 | #define MPU6050_RA_FF_DUR 0x1E |
maetugr | 8:609a2ad4c30e | 38 | #define MPU6050_RA_MOT_THR 0x1F |
maetugr | 8:609a2ad4c30e | 39 | #define MPU6050_RA_MOT_DUR 0x20 |
maetugr | 8:609a2ad4c30e | 40 | #define MPU6050_RA_ZRMOT_THR 0x21 |
maetugr | 8:609a2ad4c30e | 41 | #define MPU6050_RA_ZRMOT_DUR 0x22 |
maetugr | 8:609a2ad4c30e | 42 | #define MPU6050_RA_FIFO_EN 0x23 |
maetugr | 8:609a2ad4c30e | 43 | #define MPU6050_RA_I2C_MST_CTRL 0x24 |
maetugr | 8:609a2ad4c30e | 44 | #define MPU6050_RA_I2C_SLV0_ADDR 0x25 |
maetugr | 8:609a2ad4c30e | 45 | #define MPU6050_RA_I2C_SLV0_REG 0x26 |
maetugr | 8:609a2ad4c30e | 46 | #define MPU6050_RA_I2C_SLV0_CTRL 0x27 |
maetugr | 8:609a2ad4c30e | 47 | #define MPU6050_RA_I2C_SLV1_ADDR 0x28 |
maetugr | 8:609a2ad4c30e | 48 | #define MPU6050_RA_I2C_SLV1_REG 0x29 |
maetugr | 8:609a2ad4c30e | 49 | #define MPU6050_RA_I2C_SLV1_CTRL 0x2A |
maetugr | 8:609a2ad4c30e | 50 | #define MPU6050_RA_I2C_SLV2_ADDR 0x2B |
maetugr | 8:609a2ad4c30e | 51 | #define MPU6050_RA_I2C_SLV2_REG 0x2C |
maetugr | 8:609a2ad4c30e | 52 | #define MPU6050_RA_I2C_SLV2_CTRL 0x2D |
maetugr | 8:609a2ad4c30e | 53 | #define MPU6050_RA_I2C_SLV3_ADDR 0x2E |
maetugr | 8:609a2ad4c30e | 54 | #define MPU6050_RA_I2C_SLV3_REG 0x2F |
maetugr | 8:609a2ad4c30e | 55 | #define MPU6050_RA_I2C_SLV3_CTRL 0x30 |
maetugr | 8:609a2ad4c30e | 56 | #define MPU6050_RA_I2C_SLV4_ADDR 0x31 |
maetugr | 8:609a2ad4c30e | 57 | #define MPU6050_RA_I2C_SLV4_REG 0x32 |
maetugr | 8:609a2ad4c30e | 58 | #define MPU6050_RA_I2C_SLV4_DO 0x33 |
maetugr | 8:609a2ad4c30e | 59 | #define MPU6050_RA_I2C_SLV4_CTRL 0x34 |
maetugr | 8:609a2ad4c30e | 60 | #define MPU6050_RA_I2C_SLV4_DI 0x35 |
maetugr | 8:609a2ad4c30e | 61 | #define MPU6050_RA_I2C_MST_STATUS 0x36 |
maetugr | 8:609a2ad4c30e | 62 | #define MPU6050_RA_INT_PIN_CFG 0x37 |
maetugr | 8:609a2ad4c30e | 63 | #define MPU6050_RA_INT_ENABLE 0x38 |
maetugr | 8:609a2ad4c30e | 64 | #define MPU6050_RA_DMP_INT_STATUS 0x39 |
maetugr | 8:609a2ad4c30e | 65 | #define MPU6050_RA_INT_STATUS 0x3A |
maetugr | 8:609a2ad4c30e | 66 | #define MPU6050_RA_ACCEL_XOUT_H 0x3B |
maetugr | 8:609a2ad4c30e | 67 | #define MPU6050_RA_ACCEL_XOUT_L 0x3C |
maetugr | 8:609a2ad4c30e | 68 | #define MPU6050_RA_ACCEL_YOUT_H 0x3D |
maetugr | 8:609a2ad4c30e | 69 | #define MPU6050_RA_ACCEL_YOUT_L 0x3E |
maetugr | 8:609a2ad4c30e | 70 | #define MPU6050_RA_ACCEL_ZOUT_H 0x3F |
maetugr | 8:609a2ad4c30e | 71 | #define MPU6050_RA_ACCEL_ZOUT_L 0x40 |
maetugr | 8:609a2ad4c30e | 72 | #define MPU6050_RA_TEMP_OUT_H 0x41 |
maetugr | 8:609a2ad4c30e | 73 | #define MPU6050_RA_TEMP_OUT_L 0x42 |
maetugr | 8:609a2ad4c30e | 74 | #define MPU6050_RA_GYRO_XOUT_H 0x43 |
maetugr | 8:609a2ad4c30e | 75 | #define MPU6050_RA_GYRO_XOUT_L 0x44 |
maetugr | 8:609a2ad4c30e | 76 | #define MPU6050_RA_GYRO_YOUT_H 0x45 |
maetugr | 8:609a2ad4c30e | 77 | #define MPU6050_RA_GYRO_YOUT_L 0x46 |
maetugr | 8:609a2ad4c30e | 78 | #define MPU6050_RA_GYRO_ZOUT_H 0x47 |
maetugr | 8:609a2ad4c30e | 79 | #define MPU6050_RA_GYRO_ZOUT_L 0x48 |
maetugr | 8:609a2ad4c30e | 80 | #define MPU6050_RA_EXT_SENS_DATA_00 0x49 |
maetugr | 8:609a2ad4c30e | 81 | #define MPU6050_RA_EXT_SENS_DATA_01 0x4A |
maetugr | 8:609a2ad4c30e | 82 | #define MPU6050_RA_EXT_SENS_DATA_02 0x4B |
maetugr | 8:609a2ad4c30e | 83 | #define MPU6050_RA_EXT_SENS_DATA_03 0x4C |
maetugr | 8:609a2ad4c30e | 84 | #define MPU6050_RA_EXT_SENS_DATA_04 0x4D |
maetugr | 8:609a2ad4c30e | 85 | #define MPU6050_RA_EXT_SENS_DATA_05 0x4E |
maetugr | 8:609a2ad4c30e | 86 | #define MPU6050_RA_EXT_SENS_DATA_06 0x4F |
maetugr | 8:609a2ad4c30e | 87 | #define MPU6050_RA_EXT_SENS_DATA_07 0x50 |
maetugr | 8:609a2ad4c30e | 88 | #define MPU6050_RA_EXT_SENS_DATA_08 0x51 |
maetugr | 8:609a2ad4c30e | 89 | #define MPU6050_RA_EXT_SENS_DATA_09 0x52 |
maetugr | 8:609a2ad4c30e | 90 | #define MPU6050_RA_EXT_SENS_DATA_10 0x53 |
maetugr | 8:609a2ad4c30e | 91 | #define MPU6050_RA_EXT_SENS_DATA_11 0x54 |
maetugr | 8:609a2ad4c30e | 92 | #define MPU6050_RA_EXT_SENS_DATA_12 0x55 |
maetugr | 8:609a2ad4c30e | 93 | #define MPU6050_RA_EXT_SENS_DATA_13 0x56 |
maetugr | 8:609a2ad4c30e | 94 | #define MPU6050_RA_EXT_SENS_DATA_14 0x57 |
maetugr | 8:609a2ad4c30e | 95 | #define MPU6050_RA_EXT_SENS_DATA_15 0x58 |
maetugr | 8:609a2ad4c30e | 96 | #define MPU6050_RA_EXT_SENS_DATA_16 0x59 |
maetugr | 8:609a2ad4c30e | 97 | #define MPU6050_RA_EXT_SENS_DATA_17 0x5A |
maetugr | 8:609a2ad4c30e | 98 | #define MPU6050_RA_EXT_SENS_DATA_18 0x5B |
maetugr | 8:609a2ad4c30e | 99 | #define MPU6050_RA_EXT_SENS_DATA_19 0x5C |
maetugr | 8:609a2ad4c30e | 100 | #define MPU6050_RA_EXT_SENS_DATA_20 0x5D |
maetugr | 8:609a2ad4c30e | 101 | #define MPU6050_RA_EXT_SENS_DATA_21 0x5E |
maetugr | 8:609a2ad4c30e | 102 | #define MPU6050_RA_EXT_SENS_DATA_22 0x5F |
maetugr | 8:609a2ad4c30e | 103 | #define MPU6050_RA_EXT_SENS_DATA_23 0x60 |
maetugr | 8:609a2ad4c30e | 104 | #define MPU6050_RA_MOT_DETECT_STATUS 0x61 |
maetugr | 8:609a2ad4c30e | 105 | #define MPU6050_RA_I2C_SLV0_DO 0x63 |
maetugr | 8:609a2ad4c30e | 106 | #define MPU6050_RA_I2C_SLV1_DO 0x64 |
maetugr | 8:609a2ad4c30e | 107 | #define MPU6050_RA_I2C_SLV2_DO 0x65 |
maetugr | 8:609a2ad4c30e | 108 | #define MPU6050_RA_I2C_SLV3_DO 0x66 |
maetugr | 8:609a2ad4c30e | 109 | #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 |
maetugr | 8:609a2ad4c30e | 110 | #define MPU6050_RA_SIGNAL_PATH_RESET 0x68 |
maetugr | 8:609a2ad4c30e | 111 | #define MPU6050_RA_MOT_DETECT_CTRL 0x69 |
maetugr | 8:609a2ad4c30e | 112 | #define MPU6050_RA_USER_CTRL 0x6A |
maetugr | 8:609a2ad4c30e | 113 | #define MPU6050_RA_PWR_MGMT_1 0x6B |
maetugr | 8:609a2ad4c30e | 114 | #define MPU6050_RA_PWR_MGMT_2 0x6C |
maetugr | 8:609a2ad4c30e | 115 | #define MPU6050_RA_BANK_SEL 0x6D |
maetugr | 8:609a2ad4c30e | 116 | #define MPU6050_RA_MEM_START_ADDR 0x6E |
maetugr | 8:609a2ad4c30e | 117 | #define MPU6050_RA_MEM_R_W 0x6F |
maetugr | 8:609a2ad4c30e | 118 | #define MPU6050_RA_DMP_CFG_1 0x70 |
maetugr | 8:609a2ad4c30e | 119 | #define MPU6050_RA_DMP_CFG_2 0x71 |
maetugr | 8:609a2ad4c30e | 120 | #define MPU6050_RA_FIFO_COUNTH 0x72 |
maetugr | 8:609a2ad4c30e | 121 | #define MPU6050_RA_FIFO_COUNTL 0x73 |
maetugr | 8:609a2ad4c30e | 122 | #define MPU6050_RA_FIFO_R_W 0x74 |
maetugr | 8:609a2ad4c30e | 123 | #define MPU6050_RA_WHO_AM_I 0x75 |
maetugr | 8:609a2ad4c30e | 124 | |
maetugr | 8:609a2ad4c30e | 125 | class MPU6050 : public I2C_Sensor |
maetugr | 8:609a2ad4c30e | 126 | { |
maetugr | 8:609a2ad4c30e | 127 | public: |
maetugr | 8:609a2ad4c30e | 128 | MPU6050(PinName sda, PinName scl); // constructor, uses I2C_Sensor class |
maetugr | 8:609a2ad4c30e | 129 | float data_gyro[3]; // where the measured data is saved |
maetugr | 8:609a2ad4c30e | 130 | float data_acc[3]; // where the measured data is saved |
maetugr | 8:609a2ad4c30e | 131 | virtual void read(); // read all axis from register to array data |
maetugr | 8:609a2ad4c30e | 132 | float offset_gyro[3]; // offset that's subtracted from every Gyroscope measurement |
maetugr | 8:609a2ad4c30e | 133 | float offset_acc[3]; // offset that's subtracted from every Accelerometer measurement |
maetugr | 8:609a2ad4c30e | 134 | void calibrate(int times, float separation_time); // calibration from 'times' measurements with 'separation_time' time between (get an offset while not moving) |
maetugr | 8:609a2ad4c30e | 135 | int readTemp(); // read temperature from sensor |
maetugr | 8:609a2ad4c30e | 136 | |
maetugr | 8:609a2ad4c30e | 137 | int raw_gyro[3]; |
maetugr | 8:609a2ad4c30e | 138 | private: |
maetugr | 8:609a2ad4c30e | 139 | |
maetugr | 8:609a2ad4c30e | 140 | int raw_acc[3]; |
maetugr | 8:609a2ad4c30e | 141 | void readraw_gyro(); |
maetugr | 8:609a2ad4c30e | 142 | void readraw_acc(); |
maetugr | 8:609a2ad4c30e | 143 | }; |
maetugr | 8:609a2ad4c30e | 144 | |
maetugr | 8:609a2ad4c30e | 145 | #endif |