Library containing functions to talk with both the MPU6050 IMUs on the Limbic Controller.

Fork of MPU6050 by Mark Vandermeulen

Files at this revision

API Documentation at this revision

Comitter:
zork
Date:
Tue Apr 05 16:19:06 2016 +0000
Parent:
3:16cb051b0702
Commit message:
Mouse changed to absolute;

Changed in this revision

MPU6050.cpp Show annotated file Show diff for this revision Revisions of this file
MPU6050.h Show annotated file Show diff for this revision Revisions of this file
diff -r 16cb051b0702 -r d1262cdbcf9d MPU6050.cpp
--- a/MPU6050.cpp	Sun Dec 01 06:20:11 2013 +0000
+++ b/MPU6050.cpp	Tue Apr 05 16:19:06 2016 +0000
@@ -37,17 +37,17 @@
 
 void MPU6050::setSleepMode(bool state) {
     char temp;
-    temp = this->read(MPU6050_PWR_MGMT_1_REG);
+    temp = this->read(MPU6050_PWR_MGMT_1);
     if (state == true)
         temp |= 1<<MPU6050_SLP_BIT;
     if (state == false)
         temp &= ~(1<<MPU6050_SLP_BIT);
-    this->write(MPU6050_PWR_MGMT_1_REG, temp);
+    this->write(MPU6050_PWR_MGMT_1, temp);
 }
 
 char MPU6050::testConnection( void ) {
     char temp;
-    temp = this->read(MPU6050_WHO_AM_I_REG);
+    temp = this->read(MPU6050_WHO_AM_I);
     //return (temp == (MPU6050_ADDRESS & 0xFE));
     return temp;
 }
@@ -55,10 +55,10 @@
 void MPU6050::setBW(char BW) {
     char temp;
     BW=BW & 0x07;
-    temp = this->read(MPU6050_CONFIG_REG);
+    temp = this->read(MPU6050_CONFIG);
     temp &= 0xF8;
     temp = temp + BW;
-    this->write(MPU6050_CONFIG_REG, temp);
+    this->write(MPU6050_CONFIG, temp);
 }
 
 void MPU6050::setI2CBypass(bool state) {
@@ -80,16 +80,16 @@
     range = range & 0x03;
     currentAcceleroRange = range;
     
-    temp = this->read(MPU6050_ACCELERO_CONFIG_REG);
+    temp = this->read(MPU6050_ACCEL_CONFIG);
     temp &= ~(3<<3);
     temp = temp + (range<<3);
-    this->write(MPU6050_ACCELERO_CONFIG_REG, temp);
+    this->write(MPU6050_ACCEL_CONFIG, temp);
 }
 
 int MPU6050::getAcceleroRawX( void ) {
     short retval;
     char data[2];
-    this->read(MPU6050_ACCEL_XOUT_H_REG, data, 2);
+    this->read(MPU6050_ACCEL_XOUT_H, data, 2);
     retval = (data[0]<<8) + data[1];
     return (int)retval;
 }
@@ -97,7 +97,7 @@
 int MPU6050::getAcceleroRawY( void ) {
     short retval;
     char data[2];
-    this->read(MPU6050_ACCEL_YOUT_H_REG, data, 2);
+    this->read(MPU6050_ACCEL_YOUT_H, data, 2);
     retval = (data[0]<<8) + data[1];
     return (int)retval;
 }
@@ -105,14 +105,14 @@
 int MPU6050::getAcceleroRawZ( void ) {
     short retval;
     char data[2];
-    this->read(MPU6050_ACCEL_ZOUT_H_REG, data, 2);
+    this->read(MPU6050_ACCEL_ZOUT_H, 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);
+    this->read(MPU6050_ACCEL_XOUT_H, 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]);
@@ -156,16 +156,16 @@
     char temp;
     currentGyroRange = range;
     range = range & 0x03;
-    temp = this->read(MPU6050_GYRO_CONFIG_REG);
+    temp = this->read(MPU6050_GYRO_CONFIG);
     temp &= ~(3<<3);
     temp = temp + range<<3;
-    this->write(MPU6050_GYRO_CONFIG_REG, temp);
+    this->write(MPU6050_GYRO_CONFIG, temp);
 }
 
 int MPU6050::getGyroRawX( void ) {
     short retval;
     char data[2];
-    this->read(MPU6050_GYRO_XOUT_H_REG, data, 2);
+    this->read(MPU6050_GYRO_XOUT_H, data, 2);
     retval = (data[0]<<8) + data[1];
     return (int)retval;
 }
@@ -173,7 +173,7 @@
 int MPU6050::getGyroRawY( void ) {
     short retval;
     char data[2];
-    this->read(MPU6050_GYRO_YOUT_H_REG, data, 2);
+    this->read(MPU6050_GYRO_YOUT_H, data, 2);
     retval = (data[0]<<8) + data[1];
     return (int)retval;
 }
@@ -181,14 +181,14 @@
 int MPU6050::getGyroRawZ( void ) {
     short retval;
     char data[2];
-    this->read(MPU6050_GYRO_ZOUT_H_REG, data, 2);
+    this->read(MPU6050_GYRO_ZOUT_H, 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);
+    this->read(MPU6050_GYRO_XOUT_H, 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]);
@@ -224,7 +224,7 @@
 int MPU6050::getTempRaw( void ) {
     short retval;
     char data[2];
-    this->read(MPU6050_TEMP_H_REG, data, 2);
+    this->read(MPU6050_TEMP_OUT_H, data, 2);
     retval = (data[0]<<8) + data[1];
     return (int)retval;
 }
diff -r 16cb051b0702 -r d1262cdbcf9d MPU6050.h
--- a/MPU6050.h	Sun Dec 01 06:20:11 2013 +0000
+++ b/MPU6050.h	Tue Apr 05 16:19:06 2016 +0000
@@ -26,28 +26,132 @@
 /**
  * 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
- 
-                 
+#define MPU6050_XGOFFS_TC        0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD                 
+#define MPU6050_YGOFFS_TC        0x01                                                                          
+#define MPU6050_ZGOFFS_TC        0x02
+#define MPU6050_X_FINE_GAIN      0x03 // [7:0] fine gain
+#define MPU6050_Y_FINE_GAIN      0x04
+#define MPU6050_Z_FINE_GAIN      0x05
+#define MPU6050_XA_OFFSET_H      0x06 // User-defined trim values for accelerometer
+#define MPU6050_XA_OFFSET_L_TC   0x07
+#define MPU6050_YA_OFFSET_H      0x08
+#define MPU6050_YA_OFFSET_L_TC   0x09
+#define MPU6050_ZA_OFFSET_H      0x0A
+#define MPU6050_ZA_OFFSET_L_TC   0x0B
+#define MPU6050_SELF_TEST_X      0x0D
+#define MPU6050_SELF_TEST_Y      0x0E    
+#define MPU6050_SELF_TEST_Z      0x0F
+#define MPU6050_SELF_TEST_A      0x10
+#define MPU6050_XG_OFFS_USRH     0x13  // User-defined trim values for gyroscope; supported in MPU-6050?
+#define MPU6050_XG_OFFS_USRL     0x14
+#define MPU6050_YG_OFFS_USRH     0x15
+#define MPU6050_YG_OFFS_USRL     0x16
+#define MPU6050_ZG_OFFS_USRH     0x17
+#define MPU6050_ZG_OFFS_USRL     0x18
+#define MPU6050_SMPLRT_DIV       0x19
+#define MPU6050_CONFIG           0x1A
+
+// Filter bandwidth of accelerometer setting
+#define MPU6050_EXT_FSYNC_TEMP   0x08
+#define MPU6050_DLPF_CFG_260     0x00
+#define MPU6050_DLPF_CFG_184     0x01
+#define MPU6050_DLPF_CFG_94      0x02
+#define MPU6050_DLPF_CFG_44      0x03
+#define MPU6050_DLPF_CFG_21      0x04
+#define MPU6050_DLPF_CFG_10      0x05
+#define MPU6050_DLPF_CFG_5       0x06
+
+#define MPU6050_GYRO_CONFIG      0x1B
+#define MPU6050_ACCEL_CONFIG     0x1C
+#define MPU6050_FF_THR           0x1D  // Free-fall
+#define MPU6050_FF_DUR           0x1E  // Free-fall
+#define MPU6050_MOT_THR          0x1F  // Motion detection threshold bits [7:0]
+#define MPU6050_MOT_DUR          0x20  // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
+#define MPU6050_ZMOT_THR         0x21  // Zero-motion detection threshold bits [7:0]
+#define MPU6050_ZRMOT_DUR        0x22  // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
+#define MPU6050_FIFO_EN          0x23
+#define MPU6050_I2C_MST_CTRL     0x24   
+#define MPU6050_I2C_SLV0_ADDR    0x25
+#define MPU6050_I2C_SLV0_REG     0x26
+#define MPU6050_I2C_SLV0_CTRL    0x27
+#define MPU6050_I2C_SLV1_ADDR    0x28
+#define MPU6050_I2C_SLV1_REG     0x29
+#define MPU6050_I2C_SLV1_CTRL    0x2A
+#define MPU6050_I2C_SLV2_ADDR    0x2B
+#define MPU6050_I2C_SLV2_REG     0x2C
+#define MPU6050_I2C_SLV2_CTRL    0x2D
+#define MPU6050_I2C_SLV3_ADDR    0x2E
+#define MPU6050_I2C_SLV3_REG     0x2F
+#define MPU6050_I2C_SLV3_CTRL    0x30
+#define MPU6050_I2C_SLV4_ADDR    0x31
+#define MPU6050_I2C_SLV4_REG     0x32
+#define MPU6050_I2C_SLV4_DO      0x33
+#define MPU6050_I2C_SLV4_CTRL    0x34
+#define MPU6050_I2C_SLV4_DI      0x35
+#define MPU6050_I2C_MST_STATUS   0x36
+#define MPU6050_INT_PIN_CFG      0x37
+#define MPU6050_INT_ENABLE       0x38
+#define MPU6050_DMP_INT_STATUS   0x39  // Check DMP interrupt
+#define MPU6050_INT_STATUS       0x3A
+#define MPU6050_ACCEL_XOUT_H     0x3B
+#define MPU6050_ACCEL_XOUT_L     0x3C
+#define MPU6050_ACCEL_YOUT_H     0x3D
+#define MPU6050_ACCEL_YOUT_L     0x3E
+#define MPU6050_ACCEL_ZOUT_H     0x3F
+#define MPU6050_ACCEL_ZOUT_L     0x40
+#define MPU6050_TEMP_OUT_H       0x41
+#define MPU6050_TEMP_OUT_L       0x42
+#define MPU6050_GYRO_XOUT_H      0x43
+#define MPU6050_GYRO_XOUT_L      0x44
+#define MPU6050_GYRO_YOUT_H      0x45
+#define MPU6050_GYRO_YOUT_L      0x46
+#define MPU6050_GYRO_ZOUT_H      0x47
+#define MPU6050_GYRO_ZOUT_L      0x48
+#define MPU6050_EXT_SENS_DATA_00 0x49
+#define MPU6050_EXT_SENS_DATA_01 0x4A
+#define MPU6050_EXT_SENS_DATA_02 0x4B
+#define MPU6050_EXT_SENS_DATA_03 0x4C
+#define MPU6050_EXT_SENS_DATA_04 0x4D
+#define MPU6050_EXT_SENS_DATA_05 0x4E
+#define MPU6050_EXT_SENS_DATA_06 0x4F
+#define MPU6050_EXT_SENS_DATA_07 0x50
+#define MPU6050_EXT_SENS_DATA_08 0x51
+#define MPU6050_EXT_SENS_DATA_09 0x52
+#define MPU6050_EXT_SENS_DATA_10 0x53
+#define MPU6050_EXT_SENS_DATA_11 0x54
+#define MPU6050_EXT_SENS_DATA_12 0x55
+#define MPU6050_EXT_SENS_DATA_13 0x56
+#define MPU6050_EXT_SENS_DATA_14 0x57
+#define MPU6050_EXT_SENS_DATA_15 0x58
+#define MPU6050_EXT_SENS_DATA_16 0x59
+#define MPU6050_EXT_SENS_DATA_17 0x5A
+#define MPU6050_EXT_SENS_DATA_18 0x5B
+#define MPU6050_EXT_SENS_DATA_19 0x5C
+#define MPU6050_EXT_SENS_DATA_20 0x5D
+#define MPU6050_EXT_SENS_DATA_21 0x5E
+#define MPU6050_EXT_SENS_DATA_22 0x5F
+#define MPU6050_EXT_SENS_DATA_23 0x60
+#define MPU6050_MOT_DETECT_STATUS 0x61
+#define MPU6050_I2C_SLV0_DO      0x63
+#define MPU6050_I2C_SLV1_DO      0x64
+#define MPU6050_I2C_SLV2_DO      0x65
+#define MPU6050_I2C_SLV3_DO      0x66
+#define MPU6050_I2C_MST_DELAY_CTRL 0x67
+#define MPU6050_SIGNAL_PATH_RESET  0x68
+#define MPU6050_MOT_DETECT_CTRL   0x69
+#define MPU6050_USER_CTRL        0x6A  // Bit 7 enable DMP, bit 3 reset DMP
+#define MPU6050_PWR_MGMT_1       0x6B // Device defaults to the SLEEP mode
+#define MPU6050_PWR_MGMT_2       0x6C
+#define MPU6050_DMP_BANK         0x6D  // Activates a specific bank in the DMP
+#define MPU6050_DMP_RW_PNT       0x6E  // Set read/write pointer to a specific start address in specified DMP bank
+#define MPU6050_DMP_REG          0x6F  // Register in DMP from which to read or to which to write
+#define MPU6050_DMP_REG_1        0x70
+#define MPU6050_DMP_REG_2        0x71
+#define MPU6050_FIFO_COUNTH      0x72
+#define MPU6050_FIFO_COUNTL      0x73
+#define MPU6050_FIFO_R_W         0x74
+#define MPU6050_WHO_AM_I 0x75 // Should return 0x68                 
  
  /**
   * Definitions
@@ -127,6 +231,10 @@
      */
      void setAcceleroRange(char range);
      
+     
+     void setAcceleroFilter(char bandwidth);
+     
+     
      /**
      * Reads the accelero x-axis.
      *