Corrected header file include guards.
Fork of IMUdriver by
Diff: MPU6000.h
- Revision:
- 0:5c2f529b85f8
- Child:
- 1:1d985e2d60a6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6000.h Mon Nov 24 03:33:43 2014 +0000 @@ -0,0 +1,167 @@ +/*CODED by Bruno Alfano on 07/03/2014 +www.xene.it + +USAGE (example program): +#include "mbed.h" +#include "MPU6000.h" //Include library +SPI spi(p11, p12, p13); //define the SPI (mosi, miso, sclk) +mpu6000_spi imu(spi,p22); //define the mpu6000 object +int main(){ + if(imu.init(1,BITS_DLPF_CFG_5HZ)){ //INIT the mpu6000 + printf("\nCouldn't initialize MPU6000 via SPI!"); + } + wait(0.1); + printf("\n\nWHOAMI=%u\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104 + wait(0.1); + printf("\nGyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS)); //Set full scale range for gyros + wait(1); + printf("\nAcc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G)); //Set full scale range for accs + wait(0.1); + while(1) { + myled = 1; + wait(0.3); + myled = 0; + wait(0.3); + printf("\nT=%.3f",imu.read_temp()); + printf(" X=%.3f",imu.read_acc(0)); + printf(" Y=%.3f",imu.read_acc(1)); + printf(" Z=%.3f",imu.read_acc(2)); + printf(" rX=%.3f",imu.read_rot(0)); + printf(" rY=%.3f",imu.read_rot(1)); + printf(" rZ=%.3f",imu.read_rot(2)); + } +} +*/ + +#ifndef MPU6000_h +#define MPU6000_h +#include "mbed.h" + + +class mpu6000_spi +{ + SPI& spi; + DigitalOut cs; + + public: + mpu6000_spi(SPI& _spi, PinName _cs); + bool init(int sample_rate_div,int low_pass_filter); + float read_acc(int axis); + float read_rot(int axis); + float getAccTilt(); +// float getTorsoTilt(); + unsigned int set_gyro_scale(int scale); + unsigned int set_acc_scale(int scale); + int calib_acc(int axis); + float read_temp(); + void select(); + void deselect(); + unsigned int whoami(); + + float acc_divider; + float gyro_divider; + float angle_y(); + + private: + PinName _CS_pin; + PinName _SO_pin; + PinName _SCK_pin; + float _error; + float accFilterCurrent; + float accFilterPre; + float gyroFilterCurrent; + float gyroFliterPre; +}; + +#endif + +#define pi 3.1415926535898 /* Pi */ +#define pio2 1.5707963267949 /* Pi/2 */ + +// MPU6000 registers +#define MPUREG_XG_OFFS_TC 0x00 +#define MPUREG_YG_OFFS_TC 0x01 +#define MPUREG_ZG_OFFS_TC 0x02 +#define MPUREG_X_FINE_GAIN 0x03 +#define MPUREG_Y_FINE_GAIN 0x04 +#define MPUREG_Z_FINE_GAIN 0x05 +#define MPUREG_XA_OFFS_H 0x06 +#define MPUREG_XA_OFFS_L 0x07 +#define MPUREG_YA_OFFS_H 0x08 +#define MPUREG_YA_OFFS_L 0x09 +#define MPUREG_ZA_OFFS_H 0x0A +#define MPUREG_ZA_OFFS_L 0x0B +#define MPUREG_PRODUCT_ID 0x0C +#define MPUREG_SELF_TEST_X 0x0D +#define MPUREG_SELF_TEST_Y 0x0E +#define MPUREG_SELF_TEST_Z 0x0F +#define MPUREG_SELF_TEST_A 0x10 +#define MPUREG_XG_OFFS_USRH 0x13 +#define MPUREG_XG_OFFS_USRL 0x14 +#define MPUREG_YG_OFFS_USRH 0x15 +#define MPUREG_YG_OFFS_USRL 0x16 +#define MPUREG_ZG_OFFS_USRH 0x17 +#define MPUREG_ZG_OFFS_USRL 0x18 +#define MPUREG_SMPLRT_DIV 0x19 +#define MPUREG_CONFIG 0x1A +#define MPUREG_GYRO_CONFIG 0x1B +#define MPUREG_ACCEL_CONFIG 0x1C +#define MPUREG_INT_PIN_CFG 0x37 +#define MPUREG_INT_ENABLE 0x38 +#define MPUREG_ACCEL_XOUT_H 0x3B +#define MPUREG_ACCEL_XOUT_L 0x3C +#define MPUREG_ACCEL_YOUT_H 0x3D +#define MPUREG_ACCEL_YOUT_L 0x3E +#define MPUREG_ACCEL_ZOUT_H 0x3F +#define MPUREG_ACCEL_ZOUT_L 0x40 +#define MPUREG_TEMP_OUT_H 0x41 +#define MPUREG_TEMP_OUT_L 0x42 +#define MPUREG_GYRO_XOUT_H 0x43 +#define MPUREG_GYRO_XOUT_L 0x44 +#define MPUREG_GYRO_YOUT_H 0x45 +#define MPUREG_GYRO_YOUT_L 0x46 +#define MPUREG_GYRO_ZOUT_H 0x47 +#define MPUREG_GYRO_ZOUT_L 0x48 +#define MPUREG_USER_CTRL 0x6A +#define MPUREG_PWR_MGMT_1 0x6B +#define MPUREG_PWR_MGMT_2 0x6C +#define MPUREG_BANK_SEL 0x6D +#define MPUREG_MEM_START_ADDR 0x6E +#define MPUREG_MEM_R_W 0x6F +#define MPUREG_DMP_CFG_1 0x70 +#define MPUREG_DMP_CFG_2 0x71 +#define MPUREG_FIFO_COUNTH 0x72 +#define MPUREG_FIFO_COUNTL 0x73 +#define MPUREG_FIFO_R_W 0x74 +#define MPUREG_WHOAMI 0x75 + +// Configuration bits MPU6000 +#define BIT_SLEEP 0x40 +#define BIT_H_RESET 0x80 +#define BITS_CLKSEL 0x07 +#define MPU_CLK_SEL_PLLGYROX 0x01 +#define MPU_CLK_SEL_PLLGYROZ 0x03 +#define MPU_EXT_SYNC_GYROX 0x02 +#define BITS_FS_250DPS 0x00 +#define BITS_FS_500DPS 0x08 +#define BITS_FS_1000DPS 0x10 +#define BITS_FS_2000DPS 0x18 +#define BITS_FS_2G 0x00 +#define BITS_FS_4G 0x08 +#define BITS_FS_8G 0x10 +#define BITS_FS_16G 0x18 +#define BITS_FS_MASK 0x18 +#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00 +#define BITS_DLPF_CFG_188HZ 0x01 +#define BITS_DLPF_CFG_98HZ 0x02 +#define BITS_DLPF_CFG_42HZ 0x03 +#define BITS_DLPF_CFG_20HZ 0x04 +#define BITS_DLPF_CFG_10HZ 0x05 +#define BITS_DLPF_CFG_5HZ 0x06 +#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07 +#define BITS_DLPF_CFG_MASK 0x07 +#define BIT_INT_ANYRD_2CLEAR 0x10 +#define BIT_RAW_RDY_EN 0x01 +#define BIT_I2C_IF_DIS 0x10 + +#define READ_FLAG 0x80 \ No newline at end of file