File content as of revision 3:2bf425b00c93:

/*Use #define MPU6050_ES before you include this file if you have an engineering sample (older EVBs will have them), to find out if you have one, check your accelerometer output. 
If it is half of what you expected, and you still are on the correct planet, you got an engineering sample
*/
 
 
#ifndef MPU6050_H
#define MPU6050_H
 
/**
 * Includes
 */
#include "mbed.h"
 
 
/**
 * Defines
 */
#ifndef MPU6050_ADDRESS
    #define MPU6050_ADDRESS             0x68 // address pin low (GND), default for InvenSense evaluation board
#endif
 
#ifdef MPU6050_ES
        #define DOUBLE_ACCELERO
#endif  
 
/**
 * Registers
 */
 #define MPU6050_CONFIG_REG         0x1A
 #define MPU6050_GYRO_CONFIG_REG    0x1B
 #define MPU6050_ACCELERO_CONFIG_REG    0x1C
  
 #define MPU6050_INT_PIN_CFG        0x37
 
 #define MPU6050_ACCEL_XOUT_H_REG   0x3B
 #define MPU6050_ACCEL_YOUT_H_REG   0x3D
 #define MPU6050_ACCEL_ZOUT_H_REG   0x3F
 
 #define MPU6050_TEMP_H_REG         0x41
 
 #define MPU6050_GYRO_XOUT_H_REG    0x43
 #define MPU6050_GYRO_YOUT_H_REG    0x45
 #define MPU6050_GYRO_ZOUT_H_REG    0x47
 
 
 
 #define MPU6050_PWR_MGMT_1_REG     0x6B
 #define MPU6050_WHO_AM_I_REG       0x75
 
                 
 
 /**
  * Definitions
  */
#define MPU6050_SLP_BIT             6
#define MPU6050_BYPASS_BIT         1
 
#define MPU6050_BW_256              0
#define MPU6050_BW_188              1
#define MPU6050_BW_98               2
#define MPU6050_BW_42               3
#define MPU6050_BW_20               4
#define MPU6050_BW_10               5
#define MPU6050_BW_5                6
 
#define MPU6050_ACCELERO_RANGE_2G   0
#define MPU6050_ACCELERO_RANGE_4G   1
#define MPU6050_ACCELERO_RANGE_8G   2
#define MPU6050_ACCELERO_RANGE_16G  3
 
#define MPU6050_GYRO_RANGE_250      0
#define MPU6050_GYRO_RANGE_500      1
#define MPU6050_GYRO_RANGE_1000     2
#define MPU6050_GYRO_RANGE_2000     3
 
//define how the accelerometer is placed on surface
#define X_AXIS 1
#define Y_AXIS 2
#define Z_AXIS 0
 
#define RADIANS_TO_DEGREES 180/3.1415926536
 
#define ALPHA 0.97   //filter constant
 
#define GYRO_SCALE 2.31 //scale the gyro
 
/** MPU6050 IMU library.
  *
  * Example:
  * @code
  * Later, maybe
  * @endcode
  */
class MPU6050 {
    public:
     /**
     * Constructor.
     *
     * Sleep mode of MPU6050 is immediatly disabled
     *
     * @param sda - mbed pin to use for the SDA I2C line.
     * @param scl - mbed pin to use for the SCL I2C line.
     */
     MPU6050(PinName sda, PinName scl);
     
 
     /**
     * Tests the I2C connection by reading the WHO_AM_I register. 
     *
     * @return True for a working connection, false for an error
     */     
     bool testConnection( void );
     
     /**
     * Sets the bandwidth of the digital low-pass filter 
     *
     * Macros: MPU6050_BW_256 - MPU6050_BW_188 - MPU6050_BW_98 - MPU6050_BW_42 - MPU6050_BW_20 - MPU6050_BW_10 - MPU6050_BW_5
     * Last number is the gyro's BW in Hz (accelero BW is virtually identical)
     *
     * @param BW - The three bits that set the bandwidth (use the predefined macros)
     */     
     void setBW( char BW );
     
     /**
     * Sets the auxiliary I2C bus in bypass mode to read the sensors behind the MPU6050 (useful for eval board, otherwise just connect them to primary I2C bus) 
     *
     * @param state - Enables/disables the I2C bypass mode
     */     
     void setI2CBypass ( bool state );
     
     /**
     * Sets the Accelero full-scale range
     *
     * Macros: MPU6050_ACCELERO_RANGE_2G - MPU6050_ACCELERO_RANGE_4G - MPU6050_ACCELERO_RANGE_8G - MPU6050_ACCELERO_RANGE_16G
     *
     * @param range - The two bits that set the full-scale range (use the predefined macros)
     */
     void setAcceleroRange(char range);
     
     /**
     * Reads the accelero x-axis.
     *
     * @return 16-bit signed integer x-axis accelero data
     */   
     int getAcceleroRawX( void );
     
     /**
     * Reads the accelero y-axis.
     *
     * @return 16-bit signed integer y-axis accelero data
     */   
     int getAcceleroRawY( void );
     
     /**
     * Reads the accelero z-axis.
     *
     * @return 16-bit signed integer z-axis accelero data
     */   
     int getAcceleroRawZ( void );
     
     /**
     * Reads all accelero data.
     *
     * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
     */   
     void getAcceleroRaw( int *data );
     
     /**
     * Reads all accelero data, gives the acceleration in m/s2
     *
     * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
     *
     * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
     */   
     void getAccelero( float *data );
     
     /**
     * Sets the Gyro full-scale range
     *
     * Macros: MPU6050_GYRO_RANGE_250 - MPU6050_GYRO_RANGE_500 - MPU6050_GYRO_RANGE_1000 - MPU6050_GYRO_RANGE_2000
     *
     * @param range - The two bits that set the full-scale range (use the predefined macros)
     */
     void setGyroRange(char range);
 
     /**
     * Reads the gyro x-axis.
     *
     * @return 16-bit signed integer x-axis gyro data
     */   
     int getGyroRawX( void );
     
     /**
     * Reads the gyro y-axis.
     *
     * @return 16-bit signed integer y-axis gyro data
     */   
     int getGyroRawY( void );
     
     /**
     * Reads the gyro z-axis.
     *
     * @return 16-bit signed integer z-axis gyro data
     */   
     int getGyroRawZ( void );
     
     /**
     * Reads all gyro data.
     *
     * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
     */   
     void getGyroRaw( int *data );  
     
     /**
     * Reads all gyro data, gives the gyro in rad/s
     *
     * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
     *
     * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
     */   
     void getGyro( float *data);     
     
     /**
     * Reads temperature data.
     *
     * @return 16 bit signed integer with the raw temperature register value
     */  
     int getTempRaw( void );
     
     /**
     * Returns current temperature
     *
     * @returns float with the current temperature
     */  
     float getTemp( void );
 
     /**
     * Sets the sleep mode of the MPU6050 
     *
     * @param state - true for sleeping, false for wake up
     */     
     void setSleepMode( bool state );
     
     
     /**
     * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU. 
     *
     * @param adress - register address to write to
     * @param data - data to write
     */
     void write( char address, char data);
     
     /**
     * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU. 
     *
     * @param adress - register address to write to
     * @return - data from the register specified by RA
     */
     char read( char adress);
     
     /**
     * Read multtiple regigsters from the device, more efficient than using multiple normal reads. 
     *
     * @param adress - register address to write to
     * @param length - number of bytes to read
     * @param data - pointer where the data needs to be written to 
     */
     void read( char adress, char *data, int length);
     
    //added aditional functions
     void getAcceleroAngle( float *data );
     void getOffset(float *accOffset, float *gyroOffset, int sampleSize);
     void computeAngle (float *angle, float *accOffset, float *gyroOffset, float *currTime, float *prevTime);
        
     private:
 
     I2C connection;
     char currentAcceleroRange;
     char currentGyroRange;
     
 
};
 
 
 
#endif/**
 * Includes
 */
#include "MPU6050.h"

MPU6050::MPU6050(PinName sda, PinName scl) : connection(sda, scl) {
    this->setSleepMode(false);
    
    //Initializations:
    currentGyroRange = 0;
    currentAcceleroRange=0;
}

//--------------------------------------------------
//-------------------General------------------------
//--------------------------------------------------

void MPU6050::write(char address, char data) {
    char temp[2];
    temp[0]=address;
    temp[1]=data;
    
    connection.write(MPU6050_ADDRESS * 2,temp,2);
}

char MPU6050::read(char address) {
    char retval;
    connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
    connection.read(MPU6050_ADDRESS * 2, &retval, 1);
    return retval;
}

void MPU6050::read(char address, char *data, int length) {
    connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
    connection.read(MPU6050_ADDRESS * 2, data, length);
}

void MPU6050::setSleepMode(bool state) {
    char temp;
    temp = this->read(MPU6050_PWR_MGMT_1_REG);
    if (state == true)
        temp |= 1<<MPU6050_SLP_BIT;
    if (state == false)
        temp &= ~(1<<MPU6050_SLP_BIT);
    this->write(MPU6050_PWR_MGMT_1_REG, temp);
}

bool MPU6050::testConnection( void ) {
    char temp;
    temp = this->read(MPU6050_WHO_AM_I_REG);
    return (temp == (MPU6050_ADDRESS & 0xFE));
}

void MPU6050::setBW(char BW) {
    char temp;
    BW=BW & 0x07;
    temp = this->read(MPU6050_CONFIG_REG);
    temp &= 0xF8;
    temp = temp + BW;
    this->write(MPU6050_CONFIG_REG, temp);
}

void MPU6050::setI2CBypass(bool state) {
    char temp;
    temp = this->read(MPU6050_INT_PIN_CFG);
    if (state == true)
        temp |= 1<<MPU6050_BYPASS_BIT;
    if (state == false)
        temp &= ~(1<<MPU6050_BYPASS_BIT);
    this->write(MPU6050_INT_PIN_CFG, temp);
}

//--------------------------------------------------
//----------------Accelerometer---------------------
//--------------------------------------------------

void MPU6050::setAcceleroRange( char range ) {
    char temp;
    range = range & 0x03;
    currentAcceleroRange = range;
    
    temp = this->read(MPU6050_ACCELERO_CONFIG_REG);
    temp &= ~(3<<3);
    temp = temp + (range<<3);
    this->write(MPU6050_ACCELERO_CONFIG_REG, temp);
}

int MPU6050::getAcceleroRawX( void ) {
    short retval;
    char data[2];
    this->read(MPU6050_ACCEL_XOUT_H_REG, data, 2);
    retval = (data[0]<<8) + data[1];
    return (int)retval;
}
    
int MPU6050::getAcceleroRawY( void ) {
    short retval;
    char data[2];
    this->read(MPU6050_ACCEL_YOUT_H_REG, data, 2);
    retval = (data[0]<<8) + data[1];
    return (int)retval;
}

int MPU6050::getAcceleroRawZ( void ) {
    short retval;
    char data[2];
    this->read(MPU6050_ACCEL_ZOUT_H_REG, data, 2);
    retval = (data[0]<<8) + data[1];
    return (int)retval;
}

void MPU6050::getAcceleroRaw( int *data ) {
    char temp[6];
    this->read(MPU6050_ACCEL_XOUT_H_REG, temp, 6);
    data[0] = (int)(short)((temp[0]<<8) + temp[1]);
    data[1] = (int)(short)((temp[2]<<8) + temp[3]);
    data[2] = (int)(short)((temp[4]<<8) + temp[5]);
}

void MPU6050::getAccelero( float *data ) {
    int temp[3];
    this->getAcceleroRaw(temp);
    if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_2G) {
        data[0]=(float)temp[0] / 16384.0 * 9.81;
        data[1]=(float)temp[1] / 16384.0 * 9.81;
        data[2]=(float)temp[2] / 16384.0 * 9.81;
        }
    if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_4G){
        data[0]=(float)temp[0] / 8192.0 * 9.81;
        data[1]=(float)temp[1] / 8192.0 * 9.81;
        data[2]=(float)temp[2] / 8192.0 * 9.81;
        }
    if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_8G){
        data[0]=(float)temp[0] / 4096.0 * 9.81;
        data[1]=(float)temp[1] / 4096.0 * 9.81;
        data[2]=(float)temp[2] / 4096.0 * 9.81;
        }
    if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_16G){
        data[0]=(float)temp[0] / 2048.0 * 9.81;
        data[1]=(float)temp[1] / 2048.0 * 9.81;
        data[2]=(float)temp[2] / 2048.0 * 9.81;
        }
    
    #ifdef DOUBLE_ACCELERO
        data[0]*=2;
        data[1]*=2;   
        data[2]*=2;
    #endif   
}

//--------------------------------------------------
//------------------Gyroscope-----------------------
//--------------------------------------------------
void MPU6050::setGyroRange( char range ) {
    char temp;
    currentGyroRange = range;
    range = range & 0x03;
    temp = this->read(MPU6050_GYRO_CONFIG_REG);
    temp &= ~(3<<3);
    temp = temp + range<<3;
    this->write(MPU6050_GYRO_CONFIG_REG, temp);
}

int MPU6050::getGyroRawX( void ) {
    short retval;
    char data[2];
    this->read(MPU6050_GYRO_XOUT_H_REG, data, 2);
    retval = (data[0]<<8) + data[1];
    return (int)retval;
}
    
int MPU6050::getGyroRawY( void ) {
    short retval;
    char data[2];
    this->read(MPU6050_GYRO_YOUT_H_REG, data, 2);
    retval = (data[0]<<8) + data[1];
    return (int)retval;
}

int MPU6050::getGyroRawZ( void ) {
    short retval;
    char data[2];
    this->read(MPU6050_GYRO_ZOUT_H_REG, data, 2);
    retval = (data[0]<<8) + data[1];
    return (int)retval;
}

void MPU6050::getGyroRaw( int *data ) {
    char temp[6];
    this->read(MPU6050_GYRO_XOUT_H_REG, temp, 6);
    data[0] = (int)(short)((temp[0]<<8) + temp[1]);
    data[1] = (int)(short)((temp[2]<<8) + temp[3]);
    data[2] = (int)(short)((temp[4]<<8) + temp[5]);
}

void MPU6050::getGyro( float *data ) {
    int temp[3];
    this->getGyroRaw(temp);
    if (currentGyroRange == MPU6050_GYRO_RANGE_250) {
        data[0]=(float)temp[0] / 7505.7;
        data[1]=(float)temp[1] / 7505.7;
        data[2]=(float)temp[2] / 7505.7;
        }
    if (currentGyroRange == MPU6050_GYRO_RANGE_500){
        data[0]=(float)temp[0] / 3752.9;
        data[1]=(float)temp[1] / 3752.9;
        data[2]=(float)temp[2] / 3752.9;
        }
    if (currentGyroRange == MPU6050_GYRO_RANGE_1000){
        data[0]=(float)temp[0] / 1879.3;;
        data[1]=(float)temp[1] / 1879.3;
        data[2]=(float)temp[2] / 1879.3;
        }
    if (currentGyroRange == MPU6050_GYRO_RANGE_2000){
        data[0]=(float)temp[0] / 939.7;
        data[1]=(float)temp[1] / 939.7;
        data[2]=(float)temp[2] / 939.7;
        }
}
//--------------------------------------------------
//-------------------Temperature--------------------
//--------------------------------------------------
int MPU6050::getTempRaw( void ) {
    short retval;
    char data[2];
    this->read(MPU6050_TEMP_H_REG, data, 2);
    retval = (data[0]<<8) + data[1];
    return (int)retval;
}

float MPU6050::getTemp( void ) {
    float retval;
    retval=(float)this->getTempRaw();
    retval=(retval+521.0)/340.0+35.0;
    return retval;
}