Corrected header file include guards.
Fork of IMUdriver by
MPU6000.h
- Committer:
- cashdollar
- Date:
- 2015-06-05
- Revision:
- 7:5e299dbf98ff
- Parent:
- 6:d9198ff2dcf9
- Child:
- 9:878fd1610cd2
File content as of revision 7:5e299dbf98ff:
/** CODED by Bruno Alfano on 07/03/2014 * www.xene.it * * Example: * @code * #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)); * } * } * @endcode */ #ifndef MPU6000_h #define MPU6000_h #include "mbed.h" /** mpu6000_spi class. * Used as the driver for the MPU 6000 IMU. Documentation is provided for code written in HEL. */ class mpu6000_spi { SPI& spi; DigitalOut cs; public: // The following were created as a part of the driver and are not documented 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); 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; /** Collects torso tilt from vertical using accelerometer only. * @returns Tilt angle relative to vertical */ float getAccTilt(); /** Masks current whoami() value against expected value. * @returns * 0 is safe * 1 is unsafe */ int whoamiCheck(); /** Combines gyro and accelerometer data to find acceleration * @returns Acceleration in y. */ float angle_y(); /** Finds y acceleration without sampling IMU * @returns Acceleration in y. */ float rereadAngle_y(); private: // The following were created as a part of the driver and are not documented PinName _CS_pin; PinName _SO_pin; PinName _SCK_pin; /** Accelerometer acceleration using a complementary filter. */ float accFilterCurrent; /** Acceleration from accelerometer-only sample. */ float accFilterPre; /** Gyro acceleration using a complementary filter. */ float gyroFilterCurrent; /** Acceleration from accelerometer-only sample. */ 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