z jx / ICM20602_I2C

ICM20602_I2C(invensense)---stm32f767zi

Dependents:   IMU_fusion_9DOF

Fork of NTOUEE-mbed-I2C_MPU6500 by Richard Kuo

mpu6500.cpp@0:95e46ae24046, 2016-10-21 (annotated)

Committer:
rkuo2000
Date:
Fri Oct 21 02:52:40 2016 +0000
Revision:
0:95e46ae24046
mbed I2C reading MPU6500

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rkuo2000 0:95e46ae24046 1 #include "mbed.h"
rkuo2000 0:95e46ae24046 2 #include "mpu6500.h"
rkuo2000 0:95e46ae24046 3
rkuo2000 0:95e46ae24046 4 I2C mpu6500_i2c(PC_9, PA_15); // I2C0_SDA, I2C0_SCL
rkuo2000 0:95e46ae24046 5
rkuo2000 0:95e46ae24046 6 void MPU6500_WriteByte(uint8_t MPU6500_reg, uint8_t MPU6500_data)
rkuo2000 0:95e46ae24046 7 {
rkuo2000 0:95e46ae24046 8 char data_out[2];
rkuo2000 0:95e46ae24046 9 data_out[0]=MPU6500_reg;
rkuo2000 0:95e46ae24046 10 data_out[1]=MPU6500_data;
rkuo2000 0:95e46ae24046 11 mpu6500_i2c.write(MPU6500_slave_addr, data_out, 2, 0);
rkuo2000 0:95e46ae24046 12 }
rkuo2000 0:95e46ae24046 13
rkuo2000 0:95e46ae24046 14 uint8_t MPU6500_ReadByte(uint8_t MPU6500_reg)
rkuo2000 0:95e46ae24046 15 {
rkuo2000 0:95e46ae24046 16 char data_out[1], data_in[1];
rkuo2000 0:95e46ae24046 17 data_out[0] = MPU6500_reg;
rkuo2000 0:95e46ae24046 18 mpu6500_i2c.write(MPU6500_slave_addr, data_out, 1, 1);
rkuo2000 0:95e46ae24046 19 mpu6500_i2c.read(MPU6500_slave_addr, data_in, 1, 0);
rkuo2000 0:95e46ae24046 20 return (data_in[0]);
rkuo2000 0:95e46ae24046 21 }
rkuo2000 0:95e46ae24046 22
rkuo2000 0:95e46ae24046 23 void MPU6500::initialize()
rkuo2000 0:95e46ae24046 24 {
rkuo2000 0:95e46ae24046 25 MPU6500_WriteByte(MPU6500_PWR_MGMT_1, 0x00); // CLK_SEL=0: internal 8MHz, TEMP_DIS=0, SLEEP=0
rkuo2000 0:95e46ae24046 26 MPU6500_WriteByte(MPU6500_SMPLRT_DIV, 0x07); // Gyro output sample rate = Gyro Output Rate/(1+SMPLRT_DIV)
rkuo2000 0:95e46ae24046 27 MPU6500_WriteByte(MPU6500_CONFIG, 0x06); // set TEMP_OUT_L, DLPF=2 (Fs=1KHz)
rkuo2000 0:95e46ae24046 28 MPU6500_WriteByte(MPU6500_GYRO_CONFIG, 0x18); // bit[4:3] 0=+-250d/s,1=+-500d/s,2=+-1000d/s,3=+-2000d/s
rkuo2000 0:95e46ae24046 29 MPU6500_WriteByte(MPU6500_ACCEL_CONFIG, 0x01);// bit[4:3] 0=+-2g,1=+-4g,2=+-8g,3=+-16g, ACC_HPF=On (5Hz)
rkuo2000 0:95e46ae24046 30 }
rkuo2000 0:95e46ae24046 31
rkuo2000 0:95e46ae24046 32 int16_t MPU6500::getAccelXvalue()
rkuo2000 0:95e46ae24046 33 {
rkuo2000 0:95e46ae24046 34 uint8_t LoByte, HiByte;
rkuo2000 0:95e46ae24046 35 LoByte = MPU6500_ReadByte(MPU6500_ACCEL_XOUT_L); // read Accelerometer X_Low value
rkuo2000 0:95e46ae24046 36 HiByte = MPU6500_ReadByte(MPU6500_ACCEL_XOUT_H); // read Accelerometer X_High value
rkuo2000 0:95e46ae24046 37 return((HiByte<<8) | LoByte);
rkuo2000 0:95e46ae24046 38 }
rkuo2000 0:95e46ae24046 39
rkuo2000 0:95e46ae24046 40 int16_t MPU6500::getAccelYvalue()
rkuo2000 0:95e46ae24046 41 {
rkuo2000 0:95e46ae24046 42 uint8_t LoByte, HiByte;
rkuo2000 0:95e46ae24046 43 LoByte = MPU6500_ReadByte(MPU6500_ACCEL_YOUT_L); // read Accelerometer X_Low value
rkuo2000 0:95e46ae24046 44 HiByte = MPU6500_ReadByte(MPU6500_ACCEL_YOUT_H); // read Accelerometer X_High value
rkuo2000 0:95e46ae24046 45 return ((HiByte<<8) | LoByte);
rkuo2000 0:95e46ae24046 46 }
rkuo2000 0:95e46ae24046 47
rkuo2000 0:95e46ae24046 48 int16_t MPU6500::getAccelZvalue()
rkuo2000 0:95e46ae24046 49 {
rkuo2000 0:95e46ae24046 50 uint8_t LoByte, HiByte;
rkuo2000 0:95e46ae24046 51 LoByte = MPU6500_ReadByte(MPU6500_ACCEL_ZOUT_L); // read Accelerometer X_Low value
rkuo2000 0:95e46ae24046 52 HiByte = MPU6500_ReadByte(MPU6500_ACCEL_ZOUT_H); // read Accelerometer X_High value
rkuo2000 0:95e46ae24046 53 return ((HiByte<<8) | LoByte);
rkuo2000 0:95e46ae24046 54 }
rkuo2000 0:95e46ae24046 55
rkuo2000 0:95e46ae24046 56 int16_t MPU6500::getGyroXvalue()
rkuo2000 0:95e46ae24046 57 {
rkuo2000 0:95e46ae24046 58 uint8_t LoByte, HiByte;
rkuo2000 0:95e46ae24046 59 LoByte = MPU6500_ReadByte(MPU6500_GYRO_XOUT_L); // read Accelerometer X_Low value
rkuo2000 0:95e46ae24046 60 HiByte = MPU6500_ReadByte(MPU6500_GYRO_XOUT_H); // read Accelerometer X_High value
rkuo2000 0:95e46ae24046 61 return ((HiByte<<8) | LoByte);
rkuo2000 0:95e46ae24046 62 }
rkuo2000 0:95e46ae24046 63
rkuo2000 0:95e46ae24046 64 int16_t MPU6500::getGyroYvalue()
rkuo2000 0:95e46ae24046 65 {
rkuo2000 0:95e46ae24046 66 uint8_t LoByte, HiByte;
rkuo2000 0:95e46ae24046 67 LoByte = MPU6500_ReadByte(MPU6500_GYRO_YOUT_L); // read Accelerometer X_Low value
rkuo2000 0:95e46ae24046 68 HiByte = MPU6500_ReadByte(MPU6500_GYRO_YOUT_H); // read Accelerometer X_High value
rkuo2000 0:95e46ae24046 69 return ((HiByte<<8) | LoByte);
rkuo2000 0:95e46ae24046 70 }
rkuo2000 0:95e46ae24046 71
rkuo2000 0:95e46ae24046 72 int16_t MPU6500::getGyroZvalue()
rkuo2000 0:95e46ae24046 73 {
rkuo2000 0:95e46ae24046 74 uint8_t LoByte, HiByte;
rkuo2000 0:95e46ae24046 75 LoByte = MPU6500_ReadByte(MPU6500_GYRO_ZOUT_L); // read Accelerometer X_Low value
rkuo2000 0:95e46ae24046 76 HiByte = MPU6500_ReadByte(MPU6500_GYRO_ZOUT_H); // read Accelerometer X_High value
rkuo2000 0:95e46ae24046 77 return ((HiByte<<8) | LoByte);
rkuo2000 0:95e46ae24046 78 }