Nathaniel Honka / IMUdriver

Corrected header file include guards.

Fork of IMUdriver by HEL's Angels

MPU6000.h@1:1d985e2d60a6, 2015-02-13 (annotated)

Committer:
cashdollar
Date:
Fri Feb 13 23:00:03 2015 +0000
Revision:
1:1d985e2d60a6
Parent:
0:5c2f529b85f8
Child:
2:b54fd8d53035
Implemented safety checks. Added function whoami_check() to compare expected value of whoami and actual value of whoami.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
perr1940 0:5c2f529b85f8 1 /*CODED by Bruno Alfano on 07/03/2014
perr1940 0:5c2f529b85f8 2 www.xene.it
perr1940 0:5c2f529b85f8 3
perr1940 0:5c2f529b85f8 4 USAGE (example program):
perr1940 0:5c2f529b85f8 5 #include "mbed.h"
perr1940 0:5c2f529b85f8 6 #include "MPU6000.h" //Include library
perr1940 0:5c2f529b85f8 7 SPI spi(p11, p12, p13); //define the SPI (mosi, miso, sclk)
perr1940 0:5c2f529b85f8 8 mpu6000_spi imu(spi,p22); //define the mpu6000 object
perr1940 0:5c2f529b85f8 9 int main(){
perr1940 0:5c2f529b85f8 10 if(imu.init(1,BITS_DLPF_CFG_5HZ)){ //INIT the mpu6000
perr1940 0:5c2f529b85f8 11 printf("\nCouldn't initialize MPU6000 via SPI!");
perr1940 0:5c2f529b85f8 12 }
perr1940 0:5c2f529b85f8 13 wait(0.1);
perr1940 0:5c2f529b85f8 14 printf("\n\nWHOAMI=%u\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
perr1940 0:5c2f529b85f8 15 wait(0.1);
perr1940 0:5c2f529b85f8 16 printf("\nGyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS)); //Set full scale range for gyros
perr1940 0:5c2f529b85f8 17 wait(1);
perr1940 0:5c2f529b85f8 18 printf("\nAcc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G)); //Set full scale range for accs
perr1940 0:5c2f529b85f8 19 wait(0.1);
perr1940 0:5c2f529b85f8 20 while(1) {
perr1940 0:5c2f529b85f8 21 myled = 1;
perr1940 0:5c2f529b85f8 22 wait(0.3);
perr1940 0:5c2f529b85f8 23 myled = 0;
perr1940 0:5c2f529b85f8 24 wait(0.3);
perr1940 0:5c2f529b85f8 25 printf("\nT=%.3f",imu.read_temp());
perr1940 0:5c2f529b85f8 26 printf(" X=%.3f",imu.read_acc(0));
perr1940 0:5c2f529b85f8 27 printf(" Y=%.3f",imu.read_acc(1));
perr1940 0:5c2f529b85f8 28 printf(" Z=%.3f",imu.read_acc(2));
perr1940 0:5c2f529b85f8 29 printf(" rX=%.3f",imu.read_rot(0));
perr1940 0:5c2f529b85f8 30 printf(" rY=%.3f",imu.read_rot(1));
perr1940 0:5c2f529b85f8 31 printf(" rZ=%.3f",imu.read_rot(2));
perr1940 0:5c2f529b85f8 32 }
perr1940 0:5c2f529b85f8 33 }
perr1940 0:5c2f529b85f8 34 */
perr1940 0:5c2f529b85f8 35
perr1940 0:5c2f529b85f8 36 #ifndef MPU6000_h
perr1940 0:5c2f529b85f8 37 #define MPU6000_h
perr1940 0:5c2f529b85f8 38 #include "mbed.h"
perr1940 0:5c2f529b85f8 39
perr1940 0:5c2f529b85f8 40
perr1940 0:5c2f529b85f8 41 class mpu6000_spi
perr1940 0:5c2f529b85f8 42 {
perr1940 0:5c2f529b85f8 43 SPI& spi;
perr1940 0:5c2f529b85f8 44 DigitalOut cs;
perr1940 0:5c2f529b85f8 45
perr1940 0:5c2f529b85f8 46 public:
perr1940 0:5c2f529b85f8 47 mpu6000_spi(SPI& _spi, PinName _cs);
perr1940 0:5c2f529b85f8 48 bool init(int sample_rate_div,int low_pass_filter);
perr1940 0:5c2f529b85f8 49 float read_acc(int axis);
perr1940 0:5c2f529b85f8 50 float read_rot(int axis);
perr1940 0:5c2f529b85f8 51 float getAccTilt();
perr1940 0:5c2f529b85f8 52 // float getTorsoTilt();
perr1940 0:5c2f529b85f8 53 unsigned int set_gyro_scale(int scale);
perr1940 0:5c2f529b85f8 54 unsigned int set_acc_scale(int scale);
perr1940 0:5c2f529b85f8 55 int calib_acc(int axis);
perr1940 0:5c2f529b85f8 56 float read_temp();
perr1940 0:5c2f529b85f8 57 void select();
perr1940 0:5c2f529b85f8 58 void deselect();
perr1940 0:5c2f529b85f8 59 unsigned int whoami();
cashdollar 1:1d985e2d60a6 60 int whoami_check();
cashdollar 1:1d985e2d60a6 61 int who_error;
perr1940 0:5c2f529b85f8 62
perr1940 0:5c2f529b85f8 63 float acc_divider;
perr1940 0:5c2f529b85f8 64 float gyro_divider;
perr1940 0:5c2f529b85f8 65 float angle_y();
perr1940 0:5c2f529b85f8 66
perr1940 0:5c2f529b85f8 67 private:
perr1940 0:5c2f529b85f8 68 PinName _CS_pin;
perr1940 0:5c2f529b85f8 69 PinName _SO_pin;
perr1940 0:5c2f529b85f8 70 PinName _SCK_pin;
perr1940 0:5c2f529b85f8 71 float _error;
perr1940 0:5c2f529b85f8 72 float accFilterCurrent;
perr1940 0:5c2f529b85f8 73 float accFilterPre;
perr1940 0:5c2f529b85f8 74 float gyroFilterCurrent;
perr1940 0:5c2f529b85f8 75 float gyroFliterPre;
perr1940 0:5c2f529b85f8 76 };
perr1940 0:5c2f529b85f8 77
perr1940 0:5c2f529b85f8 78 #endif
perr1940 0:5c2f529b85f8 79
perr1940 0:5c2f529b85f8 80 #define pi 3.1415926535898 /* Pi */
perr1940 0:5c2f529b85f8 81 #define pio2 1.5707963267949 /* Pi/2 */
perr1940 0:5c2f529b85f8 82
perr1940 0:5c2f529b85f8 83 // MPU6000 registers
perr1940 0:5c2f529b85f8 84 #define MPUREG_XG_OFFS_TC 0x00
perr1940 0:5c2f529b85f8 85 #define MPUREG_YG_OFFS_TC 0x01
perr1940 0:5c2f529b85f8 86 #define MPUREG_ZG_OFFS_TC 0x02
perr1940 0:5c2f529b85f8 87 #define MPUREG_X_FINE_GAIN 0x03
perr1940 0:5c2f529b85f8 88 #define MPUREG_Y_FINE_GAIN 0x04
perr1940 0:5c2f529b85f8 89 #define MPUREG_Z_FINE_GAIN 0x05
perr1940 0:5c2f529b85f8 90 #define MPUREG_XA_OFFS_H 0x06
perr1940 0:5c2f529b85f8 91 #define MPUREG_XA_OFFS_L 0x07
perr1940 0:5c2f529b85f8 92 #define MPUREG_YA_OFFS_H 0x08
perr1940 0:5c2f529b85f8 93 #define MPUREG_YA_OFFS_L 0x09
perr1940 0:5c2f529b85f8 94 #define MPUREG_ZA_OFFS_H 0x0A
perr1940 0:5c2f529b85f8 95 #define MPUREG_ZA_OFFS_L 0x0B
perr1940 0:5c2f529b85f8 96 #define MPUREG_PRODUCT_ID 0x0C
perr1940 0:5c2f529b85f8 97 #define MPUREG_SELF_TEST_X 0x0D
perr1940 0:5c2f529b85f8 98 #define MPUREG_SELF_TEST_Y 0x0E
perr1940 0:5c2f529b85f8 99 #define MPUREG_SELF_TEST_Z 0x0F
perr1940 0:5c2f529b85f8 100 #define MPUREG_SELF_TEST_A 0x10
perr1940 0:5c2f529b85f8 101 #define MPUREG_XG_OFFS_USRH 0x13
perr1940 0:5c2f529b85f8 102 #define MPUREG_XG_OFFS_USRL 0x14
perr1940 0:5c2f529b85f8 103 #define MPUREG_YG_OFFS_USRH 0x15
perr1940 0:5c2f529b85f8 104 #define MPUREG_YG_OFFS_USRL 0x16
perr1940 0:5c2f529b85f8 105 #define MPUREG_ZG_OFFS_USRH 0x17
perr1940 0:5c2f529b85f8 106 #define MPUREG_ZG_OFFS_USRL 0x18
perr1940 0:5c2f529b85f8 107 #define MPUREG_SMPLRT_DIV 0x19
perr1940 0:5c2f529b85f8 108 #define MPUREG_CONFIG 0x1A
perr1940 0:5c2f529b85f8 109 #define MPUREG_GYRO_CONFIG 0x1B
perr1940 0:5c2f529b85f8 110 #define MPUREG_ACCEL_CONFIG 0x1C
perr1940 0:5c2f529b85f8 111 #define MPUREG_INT_PIN_CFG 0x37
perr1940 0:5c2f529b85f8 112 #define MPUREG_INT_ENABLE 0x38
perr1940 0:5c2f529b85f8 113 #define MPUREG_ACCEL_XOUT_H 0x3B
perr1940 0:5c2f529b85f8 114 #define MPUREG_ACCEL_XOUT_L 0x3C
perr1940 0:5c2f529b85f8 115 #define MPUREG_ACCEL_YOUT_H 0x3D
perr1940 0:5c2f529b85f8 116 #define MPUREG_ACCEL_YOUT_L 0x3E
perr1940 0:5c2f529b85f8 117 #define MPUREG_ACCEL_ZOUT_H 0x3F
perr1940 0:5c2f529b85f8 118 #define MPUREG_ACCEL_ZOUT_L 0x40
perr1940 0:5c2f529b85f8 119 #define MPUREG_TEMP_OUT_H 0x41
perr1940 0:5c2f529b85f8 120 #define MPUREG_TEMP_OUT_L 0x42
perr1940 0:5c2f529b85f8 121 #define MPUREG_GYRO_XOUT_H 0x43
perr1940 0:5c2f529b85f8 122 #define MPUREG_GYRO_XOUT_L 0x44
perr1940 0:5c2f529b85f8 123 #define MPUREG_GYRO_YOUT_H 0x45
perr1940 0:5c2f529b85f8 124 #define MPUREG_GYRO_YOUT_L 0x46
perr1940 0:5c2f529b85f8 125 #define MPUREG_GYRO_ZOUT_H 0x47
perr1940 0:5c2f529b85f8 126 #define MPUREG_GYRO_ZOUT_L 0x48
perr1940 0:5c2f529b85f8 127 #define MPUREG_USER_CTRL 0x6A
perr1940 0:5c2f529b85f8 128 #define MPUREG_PWR_MGMT_1 0x6B
perr1940 0:5c2f529b85f8 129 #define MPUREG_PWR_MGMT_2 0x6C
perr1940 0:5c2f529b85f8 130 #define MPUREG_BANK_SEL 0x6D
perr1940 0:5c2f529b85f8 131 #define MPUREG_MEM_START_ADDR 0x6E
perr1940 0:5c2f529b85f8 132 #define MPUREG_MEM_R_W 0x6F
perr1940 0:5c2f529b85f8 133 #define MPUREG_DMP_CFG_1 0x70
perr1940 0:5c2f529b85f8 134 #define MPUREG_DMP_CFG_2 0x71
perr1940 0:5c2f529b85f8 135 #define MPUREG_FIFO_COUNTH 0x72
perr1940 0:5c2f529b85f8 136 #define MPUREG_FIFO_COUNTL 0x73
perr1940 0:5c2f529b85f8 137 #define MPUREG_FIFO_R_W 0x74
perr1940 0:5c2f529b85f8 138 #define MPUREG_WHOAMI 0x75
perr1940 0:5c2f529b85f8 139
perr1940 0:5c2f529b85f8 140 // Configuration bits MPU6000
perr1940 0:5c2f529b85f8 141 #define BIT_SLEEP 0x40
perr1940 0:5c2f529b85f8 142 #define BIT_H_RESET 0x80
perr1940 0:5c2f529b85f8 143 #define BITS_CLKSEL 0x07
perr1940 0:5c2f529b85f8 144 #define MPU_CLK_SEL_PLLGYROX 0x01
perr1940 0:5c2f529b85f8 145 #define MPU_CLK_SEL_PLLGYROZ 0x03
perr1940 0:5c2f529b85f8 146 #define MPU_EXT_SYNC_GYROX 0x02
perr1940 0:5c2f529b85f8 147 #define BITS_FS_250DPS 0x00
perr1940 0:5c2f529b85f8 148 #define BITS_FS_500DPS 0x08
perr1940 0:5c2f529b85f8 149 #define BITS_FS_1000DPS 0x10
perr1940 0:5c2f529b85f8 150 #define BITS_FS_2000DPS 0x18
perr1940 0:5c2f529b85f8 151 #define BITS_FS_2G 0x00
perr1940 0:5c2f529b85f8 152 #define BITS_FS_4G 0x08
perr1940 0:5c2f529b85f8 153 #define BITS_FS_8G 0x10
perr1940 0:5c2f529b85f8 154 #define BITS_FS_16G 0x18
perr1940 0:5c2f529b85f8 155 #define BITS_FS_MASK 0x18
perr1940 0:5c2f529b85f8 156 #define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
perr1940 0:5c2f529b85f8 157 #define BITS_DLPF_CFG_188HZ 0x01
perr1940 0:5c2f529b85f8 158 #define BITS_DLPF_CFG_98HZ 0x02
perr1940 0:5c2f529b85f8 159 #define BITS_DLPF_CFG_42HZ 0x03
perr1940 0:5c2f529b85f8 160 #define BITS_DLPF_CFG_20HZ 0x04
perr1940 0:5c2f529b85f8 161 #define BITS_DLPF_CFG_10HZ 0x05
perr1940 0:5c2f529b85f8 162 #define BITS_DLPF_CFG_5HZ 0x06
perr1940 0:5c2f529b85f8 163 #define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
perr1940 0:5c2f529b85f8 164 #define BITS_DLPF_CFG_MASK 0x07
perr1940 0:5c2f529b85f8 165 #define BIT_INT_ANYRD_2CLEAR 0x10
perr1940 0:5c2f529b85f8 166 #define BIT_RAW_RDY_EN 0x01
perr1940 0:5c2f529b85f8 167 #define BIT_I2C_IF_DIS 0x10
perr1940 0:5c2f529b85f8 168
perr1940 0:5c2f529b85f8 169 #define READ_FLAG 0x80