MPU6050 simple library
Dependents: MPU6050_test Drone MPU6050_test acelerometro ... more
MPU6050.h
- Committer:
- ritarosakai
- Date:
- 2019-08-15
- Revision:
- 13:e0e64e818d05
- Parent:
- 12:b8a396aa0a50
- Child:
- 14:a993e922395d
File content as of revision 13:e0e64e818d05:
#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 * * Disable sleep mode * Set gyro range as +- 1000 deg/s * Set accel range as +- 4G * Set sample rate as 470 Hz */ void start(void); /**Get WHO_AM_I * * return 0x68 */ char getID(void); /**Get data in float * * The unit is G or deg/s */ bool read(float *gx, float *gy, float *gz,float *ax, float *ay, float *az); /**Get data in int * *return as 16bit value */ 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