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@11:9549be34fa7f, 2014-09-24 (annotated)

Committer:
tyftyftyf
Date:
Wed Sep 24 01:10:42 2014 +0000
Revision:
11:9549be34fa7f
Parent:
10:11cc1b413f49 
Allow starting and stopping MPU6050 sampling

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
tyftyftyf 9:d879deb55ae1 11 #ifndef I2C_SDA
tyftyftyf 9:d879deb55ae1 12 #define I2C_SDA p28
tyftyftyf 9:d879deb55ae1 13 #define I2C_SCL p27
tyftyftyf 9:d879deb55ae1 14 #endif
garfieldsg 0:662207e34fba 15
tyftyftyf 9:d879deb55ae1 16 #include "mbed.h"
tyftyftyf 9:d879deb55ae1 17 #include "MODI2C.h"
garfieldsg 0:662207e34fba 18
garfieldsg 0:662207e34fba 19 class I2Cdev {
garfieldsg 0:662207e34fba 20 private:
tyftyftyf 9:d879deb55ae1 21
garfieldsg 0:662207e34fba 22 Serial debugSerial;
garfieldsg 0:662207e34fba 23 public:
garfieldsg 0:662207e34fba 24 I2Cdev();
garfieldsg 0:662207e34fba 25 I2Cdev(PinName i2cSda, PinName i2cScl);
tyftyftyf 9:d879deb55ae1 26 I2Cdev(MODI2C i2c_);
garfieldsg 0:662207e34fba 27
garfieldsg 0:662207e34fba 28 int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 29 int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 30 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 31 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 32 int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 33 int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 34 int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 35 int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 36
garfieldsg 0:662207e34fba 37 bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
garfieldsg 0:662207e34fba 38 bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
garfieldsg 0:662207e34fba 39 bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
garfieldsg 0:662207e34fba 40 bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
garfieldsg 0:662207e34fba 41 bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
garfieldsg 0:662207e34fba 42 bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
garfieldsg 0:662207e34fba 43 bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
garfieldsg 0:662207e34fba 44 bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
tyftyftyf 9:d879deb55ae1 45
tyftyftyf 9:d879deb55ae1 46 void readBytes_nb(uint8_t devAddr, char *command, uint8_t length, uint8_t *data, uint32_t (*function)(uint32_t), void* param);
garfieldsg 0:662207e34fba 47
garfieldsg 0:662207e34fba 48 static uint16_t readTimeout(void);
tyftyftyf 9:d879deb55ae1 49
tyftyftyf 9:d879deb55ae1 50 MODI2C i2c;
tyftyftyf 9:d879deb55ae1 51
tyftyftyf 9:d879deb55ae1 52 char* allocbuffer();
tyftyftyf 9:d879deb55ae1 53 void freebuffer();
tyftyftyf 9:d879deb55ae1 54
tyftyftyf 10:11cc1b413f49 55 MemoryPool<char[14], 16> pool;
tyftyftyf 10:11cc1b413f49 56 Queue<char, 16> queue;
garfieldsg 0:662207e34fba 57 };
garfieldsg 0:662207e34fba 58
garfieldsg 0:662207e34fba 59 #endif