Diff: mpu6500.cpp

Revision:

0:73a95126993e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mpu6500.cpp	Thu Oct 20 13:16:22 2016 +0000
@@ -0,0 +1,78 @@
+#include "mbed.h"
+#include "mpu6500.h"
+
+I2C  mpu6500_i2c(PC_9, PA_15); // I2C0_SDA, I2C0_SCL
+
+void MPU6500_WriteByte(uint8_t MPU6500_reg, uint8_t MPU6500_data)
+{
+    char data_out[2];
+    data_out[0]=MPU6500_reg;
+    data_out[1]=MPU6500_data;
+    mpu6500_i2c.write(MPU6500_slave_addr, data_out, 2, 0);
+}
+
+uint8_t MPU6500_ReadByte(uint8_t MPU6500_reg)
+{
+    char data_out[1], data_in[1];
+    data_out[0] = MPU6500_reg;
+    mpu6500_i2c.write(MPU6500_slave_addr, data_out, 1, 1);
+    mpu6500_i2c.read(MPU6500_slave_addr, data_in, 1, 0);
+    return (data_in[0]);
+}
+
+void MPU6500::initialize()
+{
+    MPU6500_WriteByte(MPU6500_PWR_MGMT_1, 0x00);    // CLK_SEL=0: internal 8MHz, TEMP_DIS=0, SLEEP=0 
+    MPU6500_WriteByte(MPU6500_SMPLRT_DIV, 0x07);  // Gyro output sample rate = Gyro Output Rate/(1+SMPLRT_DIV)
+    MPU6500_WriteByte(MPU6500_CONFIG, 0x06);      // set TEMP_OUT_L, DLPF=2 (Fs=1KHz)
+    MPU6500_WriteByte(MPU6500_GYRO_CONFIG, 0x18); // bit[4:3] 0=+-250d/s,1=+-500d/s,2=+-1000d/s,3=+-2000d/s
+    MPU6500_WriteByte(MPU6500_ACCEL_CONFIG, 0x01);// bit[4:3] 0=+-2g,1=+-4g,2=+-8g,3=+-16g, ACC_HPF=On (5Hz)
+}
+
+int16_t MPU6500::getAccelXvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = MPU6500_ReadByte(MPU6500_ACCEL_XOUT_L); // read Accelerometer X_Low  value
+    HiByte = MPU6500_ReadByte(MPU6500_ACCEL_XOUT_H); // read Accelerometer X_High value
+    return((HiByte<<8) | LoByte);
+}
+
+int16_t MPU6500::getAccelYvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = MPU6500_ReadByte(MPU6500_ACCEL_YOUT_L); // read Accelerometer X_Low  value
+    HiByte = MPU6500_ReadByte(MPU6500_ACCEL_YOUT_H); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}
+
+int16_t MPU6500::getAccelZvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = MPU6500_ReadByte(MPU6500_ACCEL_ZOUT_L); // read Accelerometer X_Low  value
+    HiByte = MPU6500_ReadByte(MPU6500_ACCEL_ZOUT_H); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}
+
+int16_t MPU6500::getGyroXvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = MPU6500_ReadByte(MPU6500_GYRO_XOUT_L); // read Accelerometer X_Low  value
+    HiByte = MPU6500_ReadByte(MPU6500_GYRO_XOUT_H); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}
+
+int16_t MPU6500::getGyroYvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = MPU6500_ReadByte(MPU6500_GYRO_YOUT_L); // read Accelerometer X_Low  value
+    HiByte = MPU6500_ReadByte(MPU6500_GYRO_YOUT_H); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}
+
+int16_t MPU6500::getGyroZvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = MPU6500_ReadByte(MPU6500_GYRO_ZOUT_L); // read Accelerometer X_Low  value
+    HiByte = MPU6500_ReadByte(MPU6500_GYRO_ZOUT_H); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}