MPU6050 FreeIMU library
Dependents: FreeIMU FreeIMU_external_magnetometer
Fork of MPU6050_tmp by
Async MPU6050 library
My port of the MPU6050 library samples the chip at 500Hz using Timer. Async I2C is achieved using a custom I2C library, which supports I2C calls from interrupts. Link given below:
Import libraryMODI2C
Improvements to Olieman's MODI2C library. Supports calls from IRQ.
Difference between this port and the Arduino MPU6050 library
The getMotion6 function only returns a copy of the last obtained readings, which is sampled at a frequency of 500Hz (adjustable). Hence it can be called at any frequency without taxing the I2C.
I2Cdev.h
- Committer:
- pommzorz
- Date:
- 2013-02-20
- Revision:
- 2:3cf70c42a784
- Parent:
- 0:662207e34fba
- Child:
- 7:95e74f827c08
File content as of revision 2:3cf70c42a784:
//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 //written by szymon gaertig (email: szymon@gaertig.com.pl), small correction by Aloïs Wolff // //Changelog: //2013-01-08 - first beta release //2013-02-18 - fixed a malloc with no free in ::readBytes #ifndef I2Cdev_h #define I2Cdev_h #include "mbed.h" #define I2C_SDA p28 #define I2C_SCL p27 class I2Cdev { private: I2C i2c; Serial debugSerial; public: I2Cdev(); I2Cdev(PinName i2cSda, PinName i2cScl); int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data); bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data); bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data); bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data); bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data); bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data); bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data); bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data); static uint16_t readTimeout(void); }; #endif