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Dependencies: ArduinoSerial I2Cdev
Fork of MPU6050 by
Diff: MPU6050.h
- Revision:
- 6:f38dfe62d74c
- Parent:
- 3:25e1a5a10e53
- Child:
- 7:d5845b617139
--- a/MPU6050.h Sat Nov 23 16:47:00 2013 +0000 +++ b/MPU6050.h Sat Jan 30 17:12:45 2016 +0000 @@ -1,9 +1,3 @@ -//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 -//written by szymon gaertig (email: szymon@gaertig.com.pl) -// -//Changelog: -//2013-01-08 - first beta release - // I2Cdev library collection - MPU6050 I2C device class // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) // 10/3/2011 by Jeff Rowberg <jeff@rowberg.net> @@ -44,7 +38,19 @@ #define _MPU6050_H_ #include "I2Cdev.h" -#include "helper_3dmath.h" + +// supporting link: http://forum.arduino.cc/index.php?&topic=143444.msg1079517#msg1079517 +// also: http://forum.arduino.cc/index.php?&topic=141571.msg1062899#msg1062899s +#ifndef __arm__ +#include <avr/pgmspace.h> +#else +#define PROGMEM /* empty */ +#define pgm_read_byte(x) (*(x)) +#define pgm_read_word(x) (*(x)) +#define pgm_read_float(x) (*(x)) +#define PSTR(STR) STR +#endif + #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) @@ -102,32 +108,20 @@ #define MPU6050_RA_INT_ENABLE 0x38 #define MPU6050_RA_DMP_INT_STATUS 0x39 #define MPU6050_RA_INT_STATUS 0x3A - #define MPU6050_RA_ACCEL_XOUT_H 0x3B #define MPU6050_RA_ACCEL_XOUT_L 0x3C #define MPU6050_RA_ACCEL_YOUT_H 0x3D #define MPU6050_RA_ACCEL_YOUT_L 0x3E #define MPU6050_RA_ACCEL_ZOUT_H 0x3F #define MPU6050_RA_ACCEL_ZOUT_L 0x40 - #define MPU6050_RA_TEMP_OUT_H 0x41 #define MPU6050_RA_TEMP_OUT_L 0x42 - #define MPU6050_RA_GYRO_XOUT_H 0x43 #define MPU6050_RA_GYRO_XOUT_L 0x44 #define MPU6050_RA_GYRO_YOUT_H 0x45 #define MPU6050_RA_GYRO_YOUT_L 0x46 #define MPU6050_RA_GYRO_ZOUT_H 0x47 #define MPU6050_RA_GYRO_ZOUT_L 0x48 - -#define MPU9150_RA_MAG_ADDRESS 0x0C -#define MPU9150_RA_MAG_XOUT_L 0x03 -#define MPU9150_RA_MAG_XOUT_H 0x04 -#define MPU9150_RA_MAG_YOUT_L 0x05 -#define MPU9150_RA_MAG_YOUT_H 0x06 -#define MPU9150_RA_MAG_ZOUT_L 0x07 -#define MPU9150_RA_MAG_ZOUT_H 0x08 - #define MPU6050_RA_EXT_SENS_DATA_00 0x49 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A #define MPU6050_RA_EXT_SENS_DATA_02 0x4B @@ -416,8 +410,7 @@ class MPU6050 { private: - I2Cdev i2Cdev; - Serial debugSerial; + I2Cdev i2cdev; public: MPU6050(); MPU6050(uint8_t address); @@ -617,6 +610,7 @@ uint32_t getExternalSensorDWord(int position); // MOT_DETECT_STATUS register + uint8_t getMotionStatus(); bool getXNegMotionDetected(); bool getXPosMotionDetected(); bool getYNegMotionDetected(); @@ -701,16 +695,16 @@ // XG_OFFS_TC register uint8_t getOTPBankValid(); void setOTPBankValid(bool enabled); - int8_t getXGyroOffset(); - void setXGyroOffset(int8_t offset); + int8_t getXGyroOffsetTC(); + void setXGyroOffsetTC(int8_t offset); // YG_OFFS_TC register - int8_t getYGyroOffset(); - void setYGyroOffset(int8_t offset); + int8_t getYGyroOffsetTC(); + void setYGyroOffsetTC(int8_t offset); // ZG_OFFS_TC register - int8_t getZGyroOffset(); - void setZGyroOffset(int8_t offset); + int8_t getZGyroOffsetTC(); + void setZGyroOffsetTC(int8_t offset); // X_FINE_GAIN register int8_t getXFineGain(); @@ -737,16 +731,16 @@ void setZAccelOffset(int16_t offset); // XG_OFFS_USR* registers - int16_t getXGyroOffsetUser(); - void setXGyroOffsetUser(int16_t offset); + int16_t getXGyroOffset(); + void setXGyroOffset(int16_t offset); // YG_OFFS_USR* register - int16_t getYGyroOffsetUser(); - void setYGyroOffsetUser(int16_t offset); + int16_t getYGyroOffset(); + void setYGyroOffset(int16_t offset); // ZG_OFFS_USR* register - int16_t getZGyroOffsetUser(); - void setZGyroOffsetUser(int16_t offset); + int16_t getZGyroOffset(); + void setZGyroOffset(int16_t offset); // INT_ENABLE register (DMP functions) bool getIntPLLReadyEnabled();