Corrected header file include guards.
Fork of IMUdriver by
MPU6000.cpp
- Committer:
- cashdollar
- Date:
- 2015-02-13
- Revision:
- 1:1d985e2d60a6
- Parent:
- 0:5c2f529b85f8
- Child:
- 2:b54fd8d53035
File content as of revision 1:1d985e2d60a6:
/*CODED by Bruno Alfano on 07/03/2014 www.xene.it */ #include <mbed.h> #include "MPU6000.h" #include "float.h" mpu6000_spi::mpu6000_spi(SPI& _spi, PinName _cs) : spi(_spi), cs(_cs), accFilterCurrent(0), accFilterPre(0), gyroFilterCurrent(0), gyroFliterPre(0), whoami_error(0) {} /*----------------------------------------------------------------------------------------------- INITIALIZATION usage: call this function at startup, giving the sample rate divider (raging from 0 to 255) and low pass filter value; suitable values are: BITS_DLPF_CFG_256HZ_NOLPF2 BITS_DLPF_CFG_188HZ BITS_DLPF_CFG_98HZ BITS_DLPF_CFG_42HZ BITS_DLPF_CFG_20HZ BITS_DLPF_CFG_10HZ BITS_DLPF_CFG_5HZ BITS_DLPF_CFG_2100HZ_NOLPF returns 1 if an error occurred -----------------------------------------------------------------------------------------------*/ bool mpu6000_spi::init(int sample_rate_div,int low_pass_filter) { unsigned int response; spi.format(8,0); spi.frequency(1000000); //FIRST OF ALL DISABLE I2C select(); response=spi.write(MPUREG_USER_CTRL); response=spi.write(BIT_I2C_IF_DIS); deselect(); //RESET CHIP select(); response=spi.write(MPUREG_PWR_MGMT_1); response=spi.write(BIT_H_RESET); deselect(); wait(0.15); //WAKE UP AND SET GYROZ CLOCK select(); response=spi.write(MPUREG_PWR_MGMT_1); response=spi.write(MPU_CLK_SEL_PLLGYROZ); deselect(); //DISABLE I2C select(); response=spi.write(MPUREG_USER_CTRL); response=spi.write(BIT_I2C_IF_DIS); deselect(); //WHO AM I? // Begin transmission select(); // Bitwise OR of WHOAMI Register (default 0x68) and READ_FLAG response=spi.write(MPUREG_WHOAMI|READ_FLAG); response=spi.write(0x00); // end transmission deselect(); if(response<100) { return 0; //COULDN'T RECEIVE WHOAMI } //SET SAMPLE RATE select(); response=spi.write(MPUREG_SMPLRT_DIV); response=spi.write(sample_rate_div); deselect(); // FS & DLPF select(); response=spi.write(MPUREG_CONFIG); response=spi.write(low_pass_filter); deselect(); //DISABLE INTERRUPTS select(); response=spi.write(MPUREG_INT_ENABLE); response=spi.write(0x00); deselect(); return 0; } /*----------------------------------------------------------------------------------------------- ACCELEROMETER SCALE usage: call this function at startup, after initialization, to set the right range for the accelerometers. Suitable ranges are: BITS_FS_2G BITS_FS_4G BITS_FS_8G BITS_FS_16G returns the range set (2,4,8 or 16) -----------------------------------------------------------------------------------------------*/ unsigned int mpu6000_spi::set_acc_scale(int scale) { unsigned int temp_scale; select(); spi.write(MPUREG_ACCEL_CONFIG); spi.write(scale); deselect(); switch (scale) { case BITS_FS_2G: acc_divider=16384; break; case BITS_FS_4G: acc_divider=8192; break; case BITS_FS_8G: acc_divider=4096; break; case BITS_FS_16G: acc_divider=2048; break; } wait(0.01); select(); temp_scale=spi.write(MPUREG_ACCEL_CONFIG|READ_FLAG); temp_scale=spi.write(0x00); deselect(); switch (temp_scale) { case BITS_FS_2G: temp_scale=2; break; case BITS_FS_4G: temp_scale=4; break; case BITS_FS_8G: temp_scale=8; break; case BITS_FS_16G: temp_scale=16; break; } return temp_scale; } /*----------------------------------------------------------------------------------------------- GYROSCOPE SCALE usage: call this function at startup, after initialization, to set the right range for the gyroscopes. Suitable ranges are: BITS_FS_250DPS BITS_FS_500DPS BITS_FS_1000DPS BITS_FS_2000DPS returns the range set (250,500,1000 or 2000) -----------------------------------------------------------------------------------------------*/ unsigned int mpu6000_spi::set_gyro_scale(int scale) { unsigned int temp_scale; select(); spi.write(MPUREG_GYRO_CONFIG); spi.write(scale); deselect(); switch (scale) { case BITS_FS_250DPS: gyro_divider=131; break; case BITS_FS_500DPS: gyro_divider=65.5; break; case BITS_FS_1000DPS: gyro_divider=32.8; break; case BITS_FS_2000DPS: gyro_divider=16.4; break; } wait(0.01); select(); temp_scale=spi.write(MPUREG_GYRO_CONFIG|READ_FLAG); temp_scale=spi.write(0x00); deselect(); switch (temp_scale) { case BITS_FS_250DPS: temp_scale=250; break; case BITS_FS_500DPS: temp_scale=500; break; case BITS_FS_1000DPS: temp_scale=1000; break; case BITS_FS_2000DPS: temp_scale=2000; break; } return temp_scale; } /*----------------------------------------------------------------------------------------------- WHO AM I? usage: call this function to know if SPI is working correctly. It checks the I2C address of the mpu6000 which should be 104 when in SPI mode. returns the I2C address (104) -----------------------------------------------------------------------------------------------*/ unsigned int mpu6000_spi::whoami() { unsigned int response; // Begin transmission select(); // Bitwise OR of WHOAMI Register (default 0x68) and READ_FLAG response=spi.write(MPUREG_WHOAMI|READ_FLAG); response=spi.write(0x00); // End transmission deselect(); return response; } /*********************************************************** Function: whoami_check() Access Specifier: Public Use: Safety check. Compares WHO_AM_I response to expected response (See description of whoami() for expected response detail). Input: None Output: who_error. High = Safe. Low = Unsafe ***********************************************************/ int mpu6000_spi::whoami_check() { // bitwise OR of response and 104. 104 is expected response who_error = (response||0x104) // all high means whoami is safe // if whoami is not all high/safe if who_error == !0x000{ // then raise the value of who_error to indicate unsafe state who_error=1 } return who_error; } /*------------------------------------------------------------------------------------------------ Get Tilt Angle from Accerometer 8/21/2014 edited by Grace (Yi-Wen Liao) ------------------------------------------------------------------------------------------------*/ float mpu6000_spi::getAccTilt() { float Z,X; wait(0.0001); Z = read_acc(2); wait_us(10); X=read_acc(0); float temp=Z/X; if(temp !=temp) { if (X>=0 && Z>=0) { temp=FLT_MAX; } else { temp=FLT_MIN; } } /*if(Z>=0 && X<=0) { return atan(temp)*180/pi-180; } if(Z<=0 && X<=0) { return atan(temp)*180/pi+180;*/ //}else{ return atan(temp)*180/pi; //} //printf("Z=%f\n\r",Z); /*if (Z >= 0 && Z < 0.7071) { wait(0.0001); if (read_acc(0) >= 0) sign = 1; else sign = -1; angleData = (pio2 - atan(Z/sqrt(1-Z*Z)))*sign*180/pi; //arccos } else if (Z >= 0.7071) { wait(0.0001); X = read_acc(0); angleData = atan(X/sqrt(1-X*X))*180/pi; //arcsin } return angleData;*/ } /*----------------------------------------------------------------------------------------------- READ ACCELEROMETER usage: call this function to read accelerometer data. Axis represents selected axis: 0 -> X axis 1 -> Y axis 2 -> Z axis returns the value in Gs -----------------------------------------------------------------------------------------------*/ float mpu6000_spi::read_acc(int axis) { uint8_t responseH,responseL; int16_t bit_data; float data; select(); switch (axis) { case 0: responseH=spi.write(MPUREG_ACCEL_XOUT_H | READ_FLAG); break; case 1: responseH=spi.write(MPUREG_ACCEL_YOUT_H | READ_FLAG); break; case 2: responseH=spi.write(MPUREG_ACCEL_ZOUT_H | READ_FLAG); break; } // wait(0.0001); responseH=spi.write(0x00); responseL=spi.write(0x00); bit_data=((int16_t)responseH<<8)|responseL; data=(float)bit_data; data = data/acc_divider; deselect(); //printf("data = %f\n\r",data); return data; } /*----------------------------------------------------------------------------------------------- READ GYROSCOPE usage: call this function to read gyroscope data. Axis represents selected axis: 0 -> X axis 1 -> Y axis 2 -> Z axis returns the value in Degrees per second -----------------------------------------------------------------------------------------------*/ float mpu6000_spi::read_rot(int axis) { uint8_t responseH,responseL; int16_t bit_data; float data; select(); switch (axis) { case 0: responseH=spi.write(MPUREG_GYRO_XOUT_H | READ_FLAG); break; case 1: responseH=spi.write(MPUREG_GYRO_YOUT_H | READ_FLAG); break; case 2: responseH=spi.write(MPUREG_GYRO_ZOUT_H | READ_FLAG); break; } wait(0.0001); responseH=spi.write(0x00); responseL=spi.write(0x00); bit_data=((int16_t)responseH<<8)|responseL; data=(float)bit_data; data=data/gyro_divider; deselect(); return data; } /*----------------------------------------------------------------------------------------------- READ TEMPERATURE usage: call this function to read temperature data. returns the value in °C -----------------------------------------------------------------------------------------------*/ float mpu6000_spi::read_temp() { uint8_t responseH,responseL; int16_t bit_data; float data; select(); responseH=spi.write(MPUREG_TEMP_OUT_H | READ_FLAG); responseH=spi.write(0x00); responseL=spi.write(0x00); bit_data=((int16_t)responseH<<8)|responseL; data=(float)bit_data; data=(data/340)+36.53; deselect(); return data; } /*----------------------------------------------------------------------------------------------- READ ACCELEROMETER CALIBRATION usage: call this function to read accelerometer data. Axis represents selected axis: 0 -> X axis 1 -> Y axis 2 -> Z axis returns Factory Trim value -----------------------------------------------------------------------------------------------*/ int mpu6000_spi::calib_acc(int axis) { uint8_t responseH,responseL,calib_data; int temp_scale; //READ CURRENT ACC SCALE select(); responseH=spi.write(MPUREG_ACCEL_CONFIG|READ_FLAG); temp_scale=spi.write(0x00); deselect(); wait(0.01); set_acc_scale(BITS_FS_8G); wait(0.01); //ENABLE SELF TEST select(); responseH=spi.write(MPUREG_ACCEL_CONFIG); temp_scale=spi.write(0x80>>axis); deselect(); wait(0.01); select(); responseH=spi.write(MPUREG_SELF_TEST_X|READ_FLAG); switch(axis) { case 0: responseH=spi.write(0x00); responseL=spi.write(0x00); responseL=spi.write(0x00); responseL=spi.write(0x00); calib_data=((responseH&11100000)>>3)|((responseL&00110000)>>4); break; case 1: responseH=spi.write(0x00); responseH=spi.write(0x00); responseL=spi.write(0x00); responseL=spi.write(0x00); calib_data=((responseH&11100000)>>3)|((responseL&00001100)>>2); break; case 2: responseH=spi.write(0x00); responseH=spi.write(0x00); responseH=spi.write(0x00); responseL=spi.write(0x00); calib_data=((responseH&11100000)>>3)|((responseL&00000011)); break; } deselect(); wait(0.01); set_acc_scale(temp_scale); return calib_data; } /*----------------------------------------------------------------------------------------------- SPI SELECT AND DESELECT usage: enable and disable mpu6000 communication bus -----------------------------------------------------------------------------------------------*/ void mpu6000_spi::select() { //Set CS low to start transmission (interrupts conversion) cs = 0; } void mpu6000_spi::deselect() { //Set CS high to stop transmission (restarts conversion) cs = 1; } float mpu6000_spi::angle_y() { float gyro = read_rot(1); float acc = getAccTilt(); accFilterCurrent = 0.8187*accFilterPre+0.1813*acc; gyroFilterCurrent = 0.8187*gyroFliterPre+0.0009063*gyro; //pc.printf("\n\nWHOAMI=%u\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104 //pc.printf("acc=%f\n\r",acc); //pc.printf("GYRO=%f\n\r",gyro); accFilterPre = accFilterCurrent; gyroFliterPre = gyroFilterCurrent; return accFilterCurrent + gyroFilterCurrent; }