Nathaniel Honka / IMUdriver

Corrected header file include guards.

Fork of IMUdriver by HEL's Angels

MPU6000.h@5:db1da6bc9dce, 2015-06-03 (annotated)

Committer:
perr1940
Date:
Wed Jun 03 17:32:43 2015 +0000
Revision:
5:db1da6bc9dce
Parent:
4:492c7470dbfb
Child:
6:d9198ff2dcf9
Publishing for commenting in HEL's Angels

Who changed what in which revision?

UserRevisionLine numberNew contents of line
perr1940 5:db1da6bc9dce 1 /** CODED by Bruno Alfano on 07/03/2014
perr1940 5:db1da6bc9dce 2 * www.xene.it
perr1940 5:db1da6bc9dce 3 *
perr1940 5:db1da6bc9dce 4 * Example:
perr1940 5:db1da6bc9dce 5 * @code
perr1940 5:db1da6bc9dce 6 * #include "mbed.h"
perr1940 5:db1da6bc9dce 7 * #include "MPU6000.h" //Include library
perr1940 5:db1da6bc9dce 8 * SPI spi(p11, p12, p13); //define the SPI (mosi, miso, sclk)
perr1940 5:db1da6bc9dce 9 * mpu6000_spi imu(spi,p22); //define the mpu6000 object
perr1940 5:db1da6bc9dce 10 * int main(){
perr1940 5:db1da6bc9dce 11 * if(imu.init(1,BITS_DLPF_CFG_5HZ)){ //INIT the mpu6000
perr1940 5:db1da6bc9dce 12 * printf("\nCouldn't initialize MPU6000 via SPI!");
perr1940 5:db1da6bc9dce 13 * }
perr1940 5:db1da6bc9dce 14 * wait(0.1);
perr1940 5:db1da6bc9dce 15 * printf("\n\nWHOAMI=%u\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
perr1940 5:db1da6bc9dce 16 * wait(0.1);
perr1940 5:db1da6bc9dce 17 * printf("\nGyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS)); //Set full scale range for gyros
perr1940 5:db1da6bc9dce 18 * wait(1);
perr1940 5:db1da6bc9dce 19 * printf("\nAcc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G)); //Set full scale range for accs
perr1940 5:db1da6bc9dce 20 * wait(0.1);
perr1940 5:db1da6bc9dce 21 * while(1) {
perr1940 5:db1da6bc9dce 22 * myled = 1;
perr1940 5:db1da6bc9dce 23 * wait(0.3);
perr1940 5:db1da6bc9dce 24 * myled = 0;
perr1940 5:db1da6bc9dce 25 * wait(0.3);
perr1940 5:db1da6bc9dce 26 * printf("\nT=%.3f",imu.read_temp());
perr1940 5:db1da6bc9dce 27 * printf(" X=%.3f",imu.read_acc(0));
perr1940 5:db1da6bc9dce 28 * printf(" Y=%.3f",imu.read_acc(1));
perr1940 5:db1da6bc9dce 29 * printf(" Z=%.3f",imu.read_acc(2));
perr1940 5:db1da6bc9dce 30 * printf(" rX=%.3f",imu.read_rot(0));
perr1940 5:db1da6bc9dce 31 * printf(" rY=%.3f",imu.read_rot(1));
perr1940 5:db1da6bc9dce 32 * printf(" rZ=%.3f",imu.read_rot(2));
perr1940 5:db1da6bc9dce 33 * }
perr1940 5:db1da6bc9dce 34 * }
perr1940 5:db1da6bc9dce 35 * @endcode
perr1940 0:5c2f529b85f8 36 */
perr1940 5:db1da6bc9dce 37
perr1940 0:5c2f529b85f8 38 #ifndef MPU6000_h
perr1940 0:5c2f529b85f8 39 #define MPU6000_h
perr1940 0:5c2f529b85f8 40 #include "mbed.h"
perr1940 5:db1da6bc9dce 41
perr1940 5:db1da6bc9dce 42 /** class
perr1940 5:db1da6bc9dce 43 */
perr1940 0:5c2f529b85f8 44 class mpu6000_spi
perr1940 0:5c2f529b85f8 45 {
perr1940 0:5c2f529b85f8 46 SPI& spi;
perr1940 0:5c2f529b85f8 47 DigitalOut cs;
perr1940 5:db1da6bc9dce 48
perr1940 5:db1da6bc9dce 49 public:
perr1940 0:5c2f529b85f8 50 mpu6000_spi(SPI& _spi, PinName _cs);
perr1940 0:5c2f529b85f8 51 bool init(int sample_rate_div,int low_pass_filter);
perr1940 0:5c2f529b85f8 52 float read_acc(int axis);
perr1940 0:5c2f529b85f8 53 float read_rot(int axis);
perr1940 0:5c2f529b85f8 54 float getAccTilt();
perr1940 0:5c2f529b85f8 55 // float getTorsoTilt();
perr1940 0:5c2f529b85f8 56 unsigned int set_gyro_scale(int scale);
perr1940 0:5c2f529b85f8 57 unsigned int set_acc_scale(int scale);
perr1940 0:5c2f529b85f8 58 int calib_acc(int axis);
perr1940 0:5c2f529b85f8 59 float read_temp();
perr1940 0:5c2f529b85f8 60 void select();
perr1940 0:5c2f529b85f8 61 void deselect();
perr1940 0:5c2f529b85f8 62 unsigned int whoami();
perr1940 5:db1da6bc9dce 63
cashdollar 2:b54fd8d53035 64 /** Create whoami_check() instance.
cashdollar 2:b54fd8d53035 65 * whoami_check() masks current whoami() value against expected value.
cashdollar 2:b54fd8d53035 66 * @returns
cashdollar 2:b54fd8d53035 67 * 0 is safe
cashdollar 2:b54fd8d53035 68 * 1 is unsafe
cashdollar 2:b54fd8d53035 69 */
cashdollar 1:1d985e2d60a6 70 int whoami_check();
perr1940 5:db1da6bc9dce 71
perr1940 0:5c2f529b85f8 72 float acc_divider;
perr1940 0:5c2f529b85f8 73 float gyro_divider;
perr1940 5:db1da6bc9dce 74 //added
perr1940 0:5c2f529b85f8 75 float angle_y();
perr1940 5:db1da6bc9dce 76 //added
mzling 4:492c7470dbfb 77 float read_angle_y();
perr1940 5:db1da6bc9dce 78
perr1940 5:db1da6bc9dce 79 private:
perr1940 0:5c2f529b85f8 80 PinName _CS_pin;
perr1940 0:5c2f529b85f8 81 PinName _SO_pin;
perr1940 0:5c2f529b85f8 82 PinName _SCK_pin;
perr1940 5:db1da6bc9dce 83 //added
perr1940 0:5c2f529b85f8 84 float _error;
perr1940 5:db1da6bc9dce 85 //added
perr1940 0:5c2f529b85f8 86 float accFilterCurrent;
perr1940 5:db1da6bc9dce 87 //added
perr1940 0:5c2f529b85f8 88 float accFilterPre;
perr1940 5:db1da6bc9dce 89 //added
perr1940 0:5c2f529b85f8 90 float gyroFilterCurrent;
perr1940 5:db1da6bc9dce 91 //added
perr1940 0:5c2f529b85f8 92 float gyroFliterPre;
perr1940 0:5c2f529b85f8 93 };
perr1940 5:db1da6bc9dce 94
perr1940 0:5c2f529b85f8 95 #endif
perr1940 0:5c2f529b85f8 96
perr1940 0:5c2f529b85f8 97 #define pi 3.1415926535898 /* Pi */
perr1940 0:5c2f529b85f8 98 #define pio2 1.5707963267949 /* Pi/2 */
perr1940 5:db1da6bc9dce 99
perr1940 0:5c2f529b85f8 100 // MPU6000 registers
perr1940 0:5c2f529b85f8 101 #define MPUREG_XG_OFFS_TC 0x00
perr1940 0:5c2f529b85f8 102 #define MPUREG_YG_OFFS_TC 0x01
perr1940 0:5c2f529b85f8 103 #define MPUREG_ZG_OFFS_TC 0x02
perr1940 0:5c2f529b85f8 104 #define MPUREG_X_FINE_GAIN 0x03
perr1940 0:5c2f529b85f8 105 #define MPUREG_Y_FINE_GAIN 0x04
perr1940 0:5c2f529b85f8 106 #define MPUREG_Z_FINE_GAIN 0x05
perr1940 0:5c2f529b85f8 107 #define MPUREG_XA_OFFS_H 0x06
perr1940 0:5c2f529b85f8 108 #define MPUREG_XA_OFFS_L 0x07
perr1940 0:5c2f529b85f8 109 #define MPUREG_YA_OFFS_H 0x08
perr1940 0:5c2f529b85f8 110 #define MPUREG_YA_OFFS_L 0x09
perr1940 0:5c2f529b85f8 111 #define MPUREG_ZA_OFFS_H 0x0A
perr1940 0:5c2f529b85f8 112 #define MPUREG_ZA_OFFS_L 0x0B
perr1940 0:5c2f529b85f8 113 #define MPUREG_PRODUCT_ID 0x0C
perr1940 0:5c2f529b85f8 114 #define MPUREG_SELF_TEST_X 0x0D
perr1940 0:5c2f529b85f8 115 #define MPUREG_SELF_TEST_Y 0x0E
perr1940 0:5c2f529b85f8 116 #define MPUREG_SELF_TEST_Z 0x0F
perr1940 0:5c2f529b85f8 117 #define MPUREG_SELF_TEST_A 0x10
perr1940 0:5c2f529b85f8 118 #define MPUREG_XG_OFFS_USRH 0x13
perr1940 0:5c2f529b85f8 119 #define MPUREG_XG_OFFS_USRL 0x14
perr1940 0:5c2f529b85f8 120 #define MPUREG_YG_OFFS_USRH 0x15
perr1940 0:5c2f529b85f8 121 #define MPUREG_YG_OFFS_USRL 0x16
perr1940 0:5c2f529b85f8 122 #define MPUREG_ZG_OFFS_USRH 0x17
perr1940 0:5c2f529b85f8 123 #define MPUREG_ZG_OFFS_USRL 0x18
perr1940 0:5c2f529b85f8 124 #define MPUREG_SMPLRT_DIV 0x19
perr1940 0:5c2f529b85f8 125 #define MPUREG_CONFIG 0x1A
perr1940 0:5c2f529b85f8 126 #define MPUREG_GYRO_CONFIG 0x1B
perr1940 0:5c2f529b85f8 127 #define MPUREG_ACCEL_CONFIG 0x1C
perr1940 0:5c2f529b85f8 128 #define MPUREG_INT_PIN_CFG 0x37
perr1940 0:5c2f529b85f8 129 #define MPUREG_INT_ENABLE 0x38
perr1940 0:5c2f529b85f8 130 #define MPUREG_ACCEL_XOUT_H 0x3B
perr1940 0:5c2f529b85f8 131 #define MPUREG_ACCEL_XOUT_L 0x3C
perr1940 0:5c2f529b85f8 132 #define MPUREG_ACCEL_YOUT_H 0x3D
perr1940 0:5c2f529b85f8 133 #define MPUREG_ACCEL_YOUT_L 0x3E
perr1940 0:5c2f529b85f8 134 #define MPUREG_ACCEL_ZOUT_H 0x3F
perr1940 0:5c2f529b85f8 135 #define MPUREG_ACCEL_ZOUT_L 0x40
perr1940 0:5c2f529b85f8 136 #define MPUREG_TEMP_OUT_H 0x41
perr1940 0:5c2f529b85f8 137 #define MPUREG_TEMP_OUT_L 0x42
perr1940 0:5c2f529b85f8 138 #define MPUREG_GYRO_XOUT_H 0x43
perr1940 0:5c2f529b85f8 139 #define MPUREG_GYRO_XOUT_L 0x44
perr1940 0:5c2f529b85f8 140 #define MPUREG_GYRO_YOUT_H 0x45
perr1940 0:5c2f529b85f8 141 #define MPUREG_GYRO_YOUT_L 0x46
perr1940 0:5c2f529b85f8 142 #define MPUREG_GYRO_ZOUT_H 0x47
perr1940 0:5c2f529b85f8 143 #define MPUREG_GYRO_ZOUT_L 0x48
perr1940 0:5c2f529b85f8 144 #define MPUREG_USER_CTRL 0x6A
perr1940 0:5c2f529b85f8 145 #define MPUREG_PWR_MGMT_1 0x6B
perr1940 0:5c2f529b85f8 146 #define MPUREG_PWR_MGMT_2 0x6C
perr1940 0:5c2f529b85f8 147 #define MPUREG_BANK_SEL 0x6D
perr1940 0:5c2f529b85f8 148 #define MPUREG_MEM_START_ADDR 0x6E
perr1940 0:5c2f529b85f8 149 #define MPUREG_MEM_R_W 0x6F
perr1940 0:5c2f529b85f8 150 #define MPUREG_DMP_CFG_1 0x70
perr1940 0:5c2f529b85f8 151 #define MPUREG_DMP_CFG_2 0x71
perr1940 0:5c2f529b85f8 152 #define MPUREG_FIFO_COUNTH 0x72
perr1940 0:5c2f529b85f8 153 #define MPUREG_FIFO_COUNTL 0x73
perr1940 0:5c2f529b85f8 154 #define MPUREG_FIFO_R_W 0x74
perr1940 0:5c2f529b85f8 155 #define MPUREG_WHOAMI 0x75
perr1940 5:db1da6bc9dce 156
perr1940 0:5c2f529b85f8 157 // Configuration bits MPU6000
perr1940 0:5c2f529b85f8 158 #define BIT_SLEEP 0x40
perr1940 0:5c2f529b85f8 159 #define BIT_H_RESET 0x80
perr1940 0:5c2f529b85f8 160 #define BITS_CLKSEL 0x07
perr1940 0:5c2f529b85f8 161 #define MPU_CLK_SEL_PLLGYROX 0x01
perr1940 0:5c2f529b85f8 162 #define MPU_CLK_SEL_PLLGYROZ 0x03
perr1940 0:5c2f529b85f8 163 #define MPU_EXT_SYNC_GYROX 0x02
perr1940 0:5c2f529b85f8 164 #define BITS_FS_250DPS 0x00
perr1940 0:5c2f529b85f8 165 #define BITS_FS_500DPS 0x08
perr1940 0:5c2f529b85f8 166 #define BITS_FS_1000DPS 0x10
perr1940 0:5c2f529b85f8 167 #define BITS_FS_2000DPS 0x18
perr1940 0:5c2f529b85f8 168 #define BITS_FS_2G 0x00
perr1940 0:5c2f529b85f8 169 #define BITS_FS_4G 0x08
perr1940 0:5c2f529b85f8 170 #define BITS_FS_8G 0x10
perr1940 0:5c2f529b85f8 171 #define BITS_FS_16G 0x18
perr1940 0:5c2f529b85f8 172 #define BITS_FS_MASK 0x18
perr1940 0:5c2f529b85f8 173 #define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
perr1940 0:5c2f529b85f8 174 #define BITS_DLPF_CFG_188HZ 0x01
perr1940 0:5c2f529b85f8 175 #define BITS_DLPF_CFG_98HZ 0x02
perr1940 0:5c2f529b85f8 176 #define BITS_DLPF_CFG_42HZ 0x03
perr1940 0:5c2f529b85f8 177 #define BITS_DLPF_CFG_20HZ 0x04
perr1940 0:5c2f529b85f8 178 #define BITS_DLPF_CFG_10HZ 0x05
perr1940 0:5c2f529b85f8 179 #define BITS_DLPF_CFG_5HZ 0x06
perr1940 0:5c2f529b85f8 180 #define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
perr1940 0:5c2f529b85f8 181 #define BITS_DLPF_CFG_MASK 0x07
perr1940 0:5c2f529b85f8 182 #define BIT_INT_ANYRD_2CLEAR 0x10
perr1940 0:5c2f529b85f8 183 #define BIT_RAW_RDY_EN 0x01
perr1940 0:5c2f529b85f8 184 #define BIT_I2C_IF_DIS 0x10
perr1940 5:db1da6bc9dce 185
perr1940 0:5c2f529b85f8 186 #define READ_FLAG 0x80