File content as of revision 12:b8a396aa0a50:

#ifndef __MPU6050_H
#define __MPU6050_H

#include "mbed.h"

#define MPU6050_XG_OFFS_TC       0x00
#define MPU6050_YG_OFFS_TC       0x01
#define MPU6050_ZG_OFFS_TC       0x02
#define MPU6050_X_FINE_GAIN      0x03
#define MPU6050_Y_FINE_GAIN      0x04
#define MPU6050_Z_FINE_GAIN      0x05
#define MPU6050_XA_OFFS_H        0x06
#define MPU6050_XA_OFFS_L_TC     0x07
#define MPU6050_YA_OFFS_H        0x08
#define MPU6050_YA_OFFS_L_TC     0x09
#define MPU6050_ZA_OFFS_H        0x0A
#define MPU6050_ZA_OFFS_L_TC     0x0B
#define MPU6050_XG_OFFS_USRH     0x13
#define MPU6050_XG_OFFS_USRL     0x14
#define MPU6050_YG_OFFS_USRH     0x15
#define MPU6050_YG_OFFS_USRL     0x16
#define MPU6050_ZG_OFFS_USRH     0x17
#define MPU6050_ZG_OFFS_USRL     0x18
#define MPU6050_SMPLRT_DIV       0x19
#define MPU6050_CONFIG           0x1A
#define MPU6050_GYRO_CONFIG      0x1B
#define MPU6050_ACCEL_CONFIG     0x1C
#define MPU6050_FF_THR           0x1D
#define MPU6050_FF_DUR           0x1E
#define MPU6050_MOT_THR          0x1F
#define MPU6050_MOT_DUR          0x20
#define MPU6050_ZRMOT_THR        0x21
#define MPU6050_ZRMOT_DUR        0x22
#define MPU6050_FIFO_EN          0x23
#define MPU6050_I2C_MST_CTRL     0x24
#define MPU6050_I2C_SLV0_ADDR    0x25
#define MPU6050_I2C_SLV0_REG     0x26
#define MPU6050_I2C_SLV0_CTRL    0x27
#define MPU6050_I2C_SLV1_ADDR    0x28
#define MPU6050_I2C_SLV1_REG     0x29
#define MPU6050_I2C_SLV1_CTRL    0x2A
#define MPU6050_I2C_SLV2_ADDR    0x2B
#define MPU6050_I2C_SLV2_REG     0x2C
#define MPU6050_I2C_SLV2_CTRL    0x2D
#define MPU6050_I2C_SLV3_ADDR    0x2E
#define MPU6050_I2C_SLV3_REG     0x2F
#define MPU6050_I2C_SLV3_CTRL    0x30
#define MPU6050_I2C_SLV4_ADDR    0x31
#define MPU6050_I2C_SLV4_REG     0x32
#define MPU6050_I2C_SLV4_DO      0x33
#define MPU6050_I2C_SLV4_CTRL    0x34
#define MPU6050_I2C_SLV4_DI      0x35
#define MPU6050_I2C_MST_STATUS   0x36
#define MPU6050_INT_PIN_CFG      0x37
#define MPU6050_INT_ENABLE       0x38
#define MPU6050_DMP_INT_STATUS   0x39
#define MPU6050_INT_STATUS       0x3A
#define MPU6050_ACCEL_XOUT_H     0x3B
#define MPU6050_ACCEL_XOUT_L     0x3C
#define MPU6050_ACCEL_YOUT_H     0x3D
#define MPU6050_ACCEL_YOUT_L     0x3E
#define MPU6050_ACCEL_ZOUT_H     0x3F
#define MPU6050_ACCEL_ZOUT_L     0x40
#define MPU6050_TEMP_OUT_H       0x41
#define MPU6050_TEMP_OUT_L       0x42
#define MPU6050_GYRO_XOUT_H      0x43
#define MPU6050_GYRO_XOUT_L      0x44
#define MPU6050_GYRO_YOUT_H      0x45
#define MPU6050_GYRO_YOUT_L      0x46
#define MPU6050_GYRO_ZOUT_H      0x47
#define MPU6050_GYRO_ZOUT_L      0x48
#define MPU6050_EXT_SENS_DATA_00 0x49
#define MPU6050_EXT_SENS_DATA_01 0x4A
#define MPU6050_EXT_SENS_DATA_02 0x4B
#define MPU6050_EXT_SENS_DATA_03 0x4C
#define MPU6050_EXT_SENS_DATA_04 0x4D
#define MPU6050_EXT_SENS_DATA_05 0x4E
#define MPU6050_EXT_SENS_DATA_06 0x4F
#define MPU6050_EXT_SENS_DATA_07 0x50
#define MPU6050_EXT_SENS_DATA_08 0x51
#define MPU6050_EXT_SENS_DATA_09 0x52
#define MPU6050_EXT_SENS_DATA_10 0x53
#define MPU6050_EXT_SENS_DATA_11 0x54
#define MPU6050_EXT_SENS_DATA_12 0x55
#define MPU6050_EXT_SENS_DATA_13 0x56
#define MPU6050_EXT_SENS_DATA_14 0x57
#define MPU6050_EXT_SENS_DATA_15 0x58
#define MPU6050_EXT_SENS_DATA_16 0x59
#define MPU6050_EXT_SENS_DATA_17 0x5A
#define MPU6050_EXT_SENS_DATA_18 0x5B
#define MPU6050_EXT_SENS_DATA_19 0x5C
#define MPU6050_EXT_SENS_DATA_20 0x5D
#define MPU6050_EXT_SENS_DATA_21 0x5E
#define MPU6050_EXT_SENS_DATA_22 0x5F
#define MPU6050_EXT_SENS_DATA_23 0x60
#define MPU6050_MOT_DETECT_STATUS    0x61
#define MPU6050_I2C_SLV0_DO      0x63
#define MPU6050_I2C_SLV1_DO      0x64
#define MPU6050_I2C_SLV2_DO      0x65
#define MPU6050_I2C_SLV3_DO      0x66
#define MPU6050_I2C_MST_DELAY_CTRL   0x67
#define MPU6050_SIGNAL_PATH_RESET    0x68
#define MPU6050_MOT_DETECT_CTRL      0x69
#define MPU6050_USER_CTRL        0x6A
#define MPU6050_PWR_MGMT_1       0x6B
#define MPU6050_PWR_MGMT_2       0x6C
#define MPU6050_BANK_SEL         0x6D
#define MPU6050_MEM_START_ADDR   0x6E
#define MPU6050_MEM_R_W          0x6F
#define MPU6050_DMP_CFG_1        0x70
#define MPU6050_DMP_CFG_2        0x71
#define MPU6050_FIFO_COUNTH      0x72
#define MPU6050_FIFO_COUNTL      0x73
#define MPU6050_FIFO_R_W         0x74
#define MPU6050_WHO_AM_I         0x75

/** API for MPC6050
*
* MCP6050 is a 6-axis I2C sensor
*
*@code
* #include "mbed.h"
* #include "MPU6050.h"
*
* MPU6050 mpu(D7,D8);
*
* float gx,gy,gz,ax,ay,az;
*
* int main()
* {
*     if(mpu.getID()==0x68) {
*         printf("MPU6050 OK");
*         wait(1);
*     } else {
*         printf("MPU6050 error ID=0x%x\r\n",mpu.getID());
*         while(1) {
*         }
*     }
*     mpu.start();
*     while(1) {
*         mpu.read(&gx,&gy,&gz,&ax,&ay,&az);
*         printf("gx,gy,gz,ax,ay,az %.1f,%.1f,%.1f,%.2f,%.2f,%.2f\r\n",gx,gy,gz,ax,ay,az);
*         wait(0.1);
*     }
* }
*@endcode
*/
class MPU6050
{
public:

    /** Create a MPU6050 Instance
    *
    *@param sda SDA pinname of I2C
    *@param scl SCL piname of I2C
    */
    MPU6050(PinName sda, PinName scl);

    /** Init MCP6050
    *
    */
    void start(void);

    /**Get WHO_AM_I
    *
    *@return 0x68
    */
    char getID(void);

    /**Get data in float
    *
    */
    bool read(float *gx, float *gy, float *gz,float *ax, float *ay, float *az);

    /**Get data in int
    *
    */
    bool readraw(int *gx, int *gy, int *gz,int *ax, int *ay, int *az);

private:
    I2C _MPU6050;
    float gx, gy, gz,ax,ay,az;
    bool write_reg(int addr_i2c,int addr_reg, char v);
    bool read_reg(int addr_i2c,int addr_reg, char *v);
    bool read_data(char sad, char sub, char *buf, int length);
};

#endif