MPU6000.h

00001 /** CODED by Bruno Alfano on 07/03/2014
00002 * www.xene.it
00003 *
00004 * Example:
00005 * @code
00006 * #include "mbed.h"
00007 * #include "MPU6000.h"        //Include library
00008 * SPI spi(p11, p12, p13);     //define the SPI (mosi, miso, sclk)
00009 * mpu6000_spi imu(spi,p22);   //define the mpu6000 object
00010 * int main(){
00011 *     if(imu.init(1,BITS_DLPF_CFG_5HZ)){  //INIT the mpu6000
00012   *       printf("\nCouldn't initialize MPU6000 via SPI!");
00013 *     }
00014 *     wait(0.1);
00015 *     printf("\n\nWHOAMI=%u\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
00016 *     wait(0.1);
00017 *     printf("\nGyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS));    //Set full scale range for gyros
00018 *     wait(1);
00019 *     printf("\nAcc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G));          //Set full scale range for accs
00020 *     wait(0.1);
00021 *     while(1) {
00022 *         myled = 1;
00023 *         wait(0.3);
00024 *         myled = 0;
00025 *         wait(0.3);
00026 *         printf("\nT=%.3f",imu.read_temp());
00027 *         printf(" X=%.3f",imu.read_acc(0));
00028 *         printf(" Y=%.3f",imu.read_acc(1));
00029 *         printf(" Z=%.3f",imu.read_acc(2));
00030 *         printf(" rX=%.3f",imu.read_rot(0));
00031 *         printf(" rY=%.3f",imu.read_rot(1));
00032  *       printf(" rZ=%.3f",imu.read_rot(2));
00033 *     }
00034 * }
00035 * @endcode
00036 */
00037 
00038 #ifndef MPU6000_h
00039 #define MPU6000_h
00040 #include "mbed.h"
00041 
00042 /** mpu6000_spi class.
00043 * Used as the driver for the MPU 6000 IMU. Documentation is provided for code written in HEL.
00044 */
00045 class mpu6000_spi
00046 {
00047     SPI& spi;
00048     DigitalOut cs;
00049 
00050 public:
00051     // The following were created as a part of the driver and are not documented
00052     mpu6000_spi(SPI& _spi, PinName _cs);
00053     bool init(int sample_rate_div,int low_pass_filter);
00054     float read_acc(int axis);
00055     float read_rot(int axis);
00056 
00057     unsigned int set_gyro_scale(int scale);
00058     unsigned int set_acc_scale(int scale);
00059     int calib_acc(int axis);
00060     float read_temp();
00061     void select();
00062     void deselect();
00063     unsigned int whoami();
00064     float acc_divider;
00065     float gyro_divider;
00066 
00067     /** Collects torso tilt from vertical using accelerometer only.
00068     * @returns Tilt angle relative to vertical
00069     */
00070     float getAccTilt();
00071 
00072     /** Masks current whoami() value against expected value.
00073     * @returns
00074     *    0 is safe
00075     *    1 is unsafe
00076     */
00077     int whoamiCheck();
00078 
00079     /** Combines gyro and accelerometer data to find acceleration
00080     * @returns Acceleration in y.
00081     */
00082     float angle_y();
00083 
00084     /** Finds y acceleration without sampling IMU
00085     * @returns Acceleration in y.
00086     */
00087     float rereadAngle_y();
00088 
00089 private:
00090 
00091     // The following were created as a part of the driver and are not documented
00092     PinName _CS_pin;
00093     PinName _SO_pin;
00094     PinName _SCK_pin;
00095 
00096     /** Accelerometer acceleration using a complementary filter.
00097     */
00098     float accFilterCurrent;
00099 
00100     /** Acceleration from accelerometer-only sample.
00101     */
00102     float accFilterPre;
00103 
00104     /** Gyro acceleration using a complementary filter.
00105     */
00106     float gyroFilterCurrent;
00107 
00108     /** Acceleration from accelerometer-only sample.
00109     */
00110     float gyroFliterPre;
00111 };
00112 
00113 #define pi       3.1415926535898 /* Pi */
00114 #define pio2     1.5707963267949 /* Pi/2 */
00115 
00116 // MPU6000 registers
00117 #define MPUREG_XG_OFFS_TC 0x00
00118 #define MPUREG_YG_OFFS_TC 0x01
00119 #define MPUREG_ZG_OFFS_TC 0x02
00120 #define MPUREG_X_FINE_GAIN 0x03
00121 #define MPUREG_Y_FINE_GAIN 0x04
00122 #define MPUREG_Z_FINE_GAIN 0x05
00123 #define MPUREG_XA_OFFS_H 0x06
00124 #define MPUREG_XA_OFFS_L 0x07
00125 #define MPUREG_YA_OFFS_H 0x08
00126 #define MPUREG_YA_OFFS_L 0x09
00127 #define MPUREG_ZA_OFFS_H 0x0A
00128 #define MPUREG_ZA_OFFS_L 0x0B
00129 #define MPUREG_PRODUCT_ID 0x0C
00130 #define MPUREG_SELF_TEST_X 0x0D
00131 #define MPUREG_SELF_TEST_Y 0x0E
00132 #define MPUREG_SELF_TEST_Z 0x0F
00133 #define MPUREG_SELF_TEST_A 0x10
00134 #define MPUREG_XG_OFFS_USRH 0x13
00135 #define MPUREG_XG_OFFS_USRL 0x14
00136 #define MPUREG_YG_OFFS_USRH 0x15
00137 #define MPUREG_YG_OFFS_USRL 0x16
00138 #define MPUREG_ZG_OFFS_USRH 0x17
00139 #define MPUREG_ZG_OFFS_USRL 0x18
00140 #define MPUREG_SMPLRT_DIV 0x19
00141 #define MPUREG_CONFIG 0x1A
00142 #define MPUREG_GYRO_CONFIG 0x1B
00143 #define MPUREG_ACCEL_CONFIG 0x1C
00144 #define MPUREG_INT_PIN_CFG 0x37
00145 #define MPUREG_INT_ENABLE 0x38
00146 #define MPUREG_ACCEL_XOUT_H 0x3B
00147 #define MPUREG_ACCEL_XOUT_L 0x3C
00148 #define MPUREG_ACCEL_YOUT_H 0x3D
00149 #define MPUREG_ACCEL_YOUT_L 0x3E
00150 #define MPUREG_ACCEL_ZOUT_H 0x3F
00151 #define MPUREG_ACCEL_ZOUT_L 0x40
00152 #define MPUREG_TEMP_OUT_H 0x41
00153 #define MPUREG_TEMP_OUT_L 0x42
00154 #define MPUREG_GYRO_XOUT_H 0x43
00155 #define MPUREG_GYRO_XOUT_L 0x44
00156 #define MPUREG_GYRO_YOUT_H 0x45
00157 #define MPUREG_GYRO_YOUT_L 0x46
00158 #define MPUREG_GYRO_ZOUT_H 0x47
00159 #define MPUREG_GYRO_ZOUT_L 0x48
00160 #define MPUREG_USER_CTRL 0x6A
00161 #define MPUREG_PWR_MGMT_1 0x6B
00162 #define MPUREG_PWR_MGMT_2 0x6C
00163 #define MPUREG_BANK_SEL 0x6D
00164 #define MPUREG_MEM_START_ADDR 0x6E
00165 #define MPUREG_MEM_R_W 0x6F
00166 #define MPUREG_DMP_CFG_1 0x70
00167 #define MPUREG_DMP_CFG_2 0x71
00168 #define MPUREG_FIFO_COUNTH 0x72
00169 #define MPUREG_FIFO_COUNTL 0x73
00170 #define MPUREG_FIFO_R_W 0x74
00171 #define MPUREG_WHOAMI 0x75
00172 
00173 // Configuration bits MPU6000
00174 #define BIT_SLEEP 0x40
00175 #define BIT_H_RESET 0x80
00176 #define BITS_CLKSEL 0x07
00177 #define MPU_CLK_SEL_PLLGYROX 0x01
00178 #define MPU_CLK_SEL_PLLGYROZ 0x03
00179 #define MPU_EXT_SYNC_GYROX 0x02
00180 #define BITS_FS_250DPS              0x00
00181 #define BITS_FS_500DPS              0x08
00182 #define BITS_FS_1000DPS             0x10
00183 #define BITS_FS_2000DPS             0x18
00184 #define BITS_FS_2G                  0x00
00185 #define BITS_FS_4G                  0x08
00186 #define BITS_FS_8G                  0x10
00187 #define BITS_FS_16G                 0x18
00188 #define BITS_FS_MASK                0x18
00189 #define BITS_DLPF_CFG_256HZ_NOLPF2  0x00
00190 #define BITS_DLPF_CFG_188HZ         0x01
00191 #define BITS_DLPF_CFG_98HZ          0x02
00192 #define BITS_DLPF_CFG_42HZ          0x03
00193 #define BITS_DLPF_CFG_20HZ          0x04
00194 #define BITS_DLPF_CFG_10HZ          0x05
00195 #define BITS_DLPF_CFG_5HZ           0x06
00196 #define BITS_DLPF_CFG_2100HZ_NOLPF  0x07
00197 #define BITS_DLPF_CFG_MASK          0x07
00198 #define BIT_INT_ANYRD_2CLEAR        0x10
00199 #define BIT_RAW_RDY_EN              0x01
00200 #define BIT_I2C_IF_DIS              0x10
00201 
00202 #define READ_FLAG   0x80
00203 
00204 #endif