Yifei Teng / MPU6050

MPU6050 FreeIMU library

Dependents:   FreeIMU FreeIMU_external_magnetometer

Fork of MPU6050_tmp by Aloïs Wolff

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.

Last commit 28 Mar 2018 by Yifei Teng

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@2:3cf70c42a784, 2013-02-20 (annotated)

Committer:
pommzorz
Date:
Wed Feb 20 17:32:50 2013 +0000
Revision:
2:3cf70c42a784
Parent:
0:662207e34fba
Child:
7:95e74f827c08
added contact info

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garfieldsg 0:662207e34fba 1 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
pommzorz 2:3cf70c42a784 2 //written by szymon gaertig (email: szymon@gaertig.com.pl), small correction by Aloïs Wolff
garfieldsg 0:662207e34fba 3 //
garfieldsg 0:662207e34fba 4 //Changelog:
garfieldsg 0:662207e34fba 5 //2013-01-08 - first beta release
pommzorz 2:3cf70c42a784 6 //2013-02-18 - fixed a malloc with no free in ::readBytes
garfieldsg 0:662207e34fba 7
garfieldsg 0:662207e34fba 8 #ifndef I2Cdev_h
garfieldsg 0:662207e34fba 9 #define I2Cdev_h
garfieldsg 0:662207e34fba 10
garfieldsg 0:662207e34fba 11 #include "mbed.h"
garfieldsg 0:662207e34fba 12
garfieldsg 0:662207e34fba 13 #define I2C_SDA p28
garfieldsg 0:662207e34fba 14 #define I2C_SCL p27
garfieldsg 0:662207e34fba 15
garfieldsg 0:662207e34fba 16 class I2Cdev {
garfieldsg 0:662207e34fba 17 private:
garfieldsg 0:662207e34fba 18 I2C i2c;
garfieldsg 0:662207e34fba 19 Serial debugSerial;
garfieldsg 0:662207e34fba 20 public:
garfieldsg 0:662207e34fba 21 I2Cdev();
garfieldsg 0:662207e34fba 22 I2Cdev(PinName i2cSda, PinName i2cScl);
garfieldsg 0:662207e34fba 23
garfieldsg 0:662207e34fba 24 int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 25 int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 26 int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 27 int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 28 int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 29 int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 30 int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 31 int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 32
garfieldsg 0:662207e34fba 33 bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
garfieldsg 0:662207e34fba 34 bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
garfieldsg 0:662207e34fba 35 bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
garfieldsg 0:662207e34fba 36 bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
garfieldsg 0:662207e34fba 37 bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
garfieldsg 0:662207e34fba 38 bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
garfieldsg 0:662207e34fba 39 bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
garfieldsg 0:662207e34fba 40 bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
garfieldsg 0:662207e34fba 41
garfieldsg 0:662207e34fba 42 static uint16_t readTimeout(void);
garfieldsg 0:662207e34fba 43 };
garfieldsg 0:662207e34fba 44
garfieldsg 0:662207e34fba 45 #endif