Mark van Raai / MPU6050a

Library to talk with MPU6050 IMUs

Fork of MPU6050 by Mark Vandermeulen

MPU6050.h@1:a3366f09e95c, 2012-09-10 (annotated)

Committer:
Sissors
Date:
Mon Sep 10 21:22:39 2012 +0000
Revision:
1:a3366f09e95c
Parent:
0:6757f7363a9f
Child:
2:5c63e20c50f3
v0.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sissors 1:a3366f09e95c 1 /*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.
Sissors 0:6757f7363a9f 2 If it is half of what you expected, and you still are on the correct planet, you got an engineering sample
Sissors 0:6757f7363a9f 3 */
Sissors 0:6757f7363a9f 4
Sissors 0:6757f7363a9f 5
Sissors 0:6757f7363a9f 6 #ifndef MPU6050_H
Sissors 0:6757f7363a9f 7 #define MPU6050_H
Sissors 0:6757f7363a9f 8
Sissors 0:6757f7363a9f 9 /**
Sissors 0:6757f7363a9f 10 * Includes
Sissors 0:6757f7363a9f 11 */
Sissors 0:6757f7363a9f 12 #include "mbed.h"
Sissors 1:a3366f09e95c 13
Sissors 0:6757f7363a9f 14
Sissors 0:6757f7363a9f 15 /**
Sissors 0:6757f7363a9f 16 * Defines
Sissors 0:6757f7363a9f 17 */
Sissors 1:a3366f09e95c 18 #ifndef MPU6050_ADDRESS
Sissors 1:a3366f09e95c 19 #define MPU6050_ADDRESS 0x69 // address pin low (GND), default for InvenSense evaluation board
Sissors 1:a3366f09e95c 20 #endif
Sissors 1:a3366f09e95c 21
Sissors 0:6757f7363a9f 22 #ifdef MPU6050_ES
Sissors 0:6757f7363a9f 23 #define DOUBLE_ACCELERO
Sissors 0:6757f7363a9f 24 #endif
Sissors 0:6757f7363a9f 25
Sissors 0:6757f7363a9f 26 /**
Sissors 0:6757f7363a9f 27 * Registers
Sissors 0:6757f7363a9f 28 */
Sissors 0:6757f7363a9f 29 #define MPU6050_CONFIG_REG 0x1A
Sissors 0:6757f7363a9f 30 #define MPU6050_GYRO_CONFIG_REG 0x1B
Sissors 0:6757f7363a9f 31 #define MPU6050_ACCELERO_CONFIG_REG 0x1C
Sissors 0:6757f7363a9f 32
Sissors 0:6757f7363a9f 33 #define MPU6050_INT_PIN_CFG 0x37
Sissors 0:6757f7363a9f 34
Sissors 0:6757f7363a9f 35 #define MPU6050_ACCEL_XOUT_H_REG 0x3B
Sissors 0:6757f7363a9f 36 #define MPU6050_ACCEL_YOUT_H_REG 0x3D
Sissors 0:6757f7363a9f 37 #define MPU6050_ACCEL_ZOUT_H_REG 0x3F
Sissors 0:6757f7363a9f 38
Sissors 0:6757f7363a9f 39 #define MPU6050_TEMP_H_REG 0x41
Sissors 0:6757f7363a9f 40
Sissors 0:6757f7363a9f 41 #define MPU6050_GYRO_XOUT_H_REG 0x43
Sissors 0:6757f7363a9f 42 #define MPU6050_GYRO_YOUT_H_REG 0x45
Sissors 0:6757f7363a9f 43 #define MPU6050_GYRO_ZOUT_H_REG 0x47
Sissors 0:6757f7363a9f 44
Sissors 0:6757f7363a9f 45
Sissors 0:6757f7363a9f 46
Sissors 0:6757f7363a9f 47 #define MPU6050_PWR_MGMT_1_REG 0x6B
Sissors 0:6757f7363a9f 48 #define MPU6050_WHO_AM_I_REG 0x75
Sissors 0:6757f7363a9f 49
Sissors 0:6757f7363a9f 50
Sissors 0:6757f7363a9f 51
Sissors 0:6757f7363a9f 52 /**
Sissors 0:6757f7363a9f 53 * Definitions
Sissors 0:6757f7363a9f 54 */
Sissors 0:6757f7363a9f 55 #define MPU6050_SLP_BIT 6
Sissors 0:6757f7363a9f 56 #define MPU6050_BYPASS_BIT 1
Sissors 0:6757f7363a9f 57
Sissors 0:6757f7363a9f 58 #define MPU6050_BW_256 0
Sissors 0:6757f7363a9f 59 #define MPU6050_BW_188 1
Sissors 0:6757f7363a9f 60 #define MPU6050_BW_98 2
Sissors 0:6757f7363a9f 61 #define MPU6050_BW_42 3
Sissors 0:6757f7363a9f 62 #define MPU6050_BW_20 4
Sissors 0:6757f7363a9f 63 #define MPU6050_BW_10 5
Sissors 0:6757f7363a9f 64 #define MPU6050_BW_5 6
Sissors 0:6757f7363a9f 65
Sissors 0:6757f7363a9f 66 #define MPU6050_ACCELERO_RANGE_2G 0
Sissors 0:6757f7363a9f 67 #define MPU6050_ACCELERO_RANGE_4G 1
Sissors 0:6757f7363a9f 68 #define MPU6050_ACCELERO_RANGE_8G 2
Sissors 0:6757f7363a9f 69 #define MPU6050_ACCELERO_RANGE_16G 3
Sissors 0:6757f7363a9f 70
Sissors 0:6757f7363a9f 71 #define MPU6050_GYRO_RANGE_250 0
Sissors 0:6757f7363a9f 72 #define MPU6050_GYRO_RANGE_500 1
Sissors 0:6757f7363a9f 73 #define MPU6050_GYRO_RANGE_1000 2
Sissors 0:6757f7363a9f 74 #define MPU6050_GYRO_RANGE_2000 3
Sissors 0:6757f7363a9f 75
Sissors 0:6757f7363a9f 76
Sissors 0:6757f7363a9f 77
Sissors 0:6757f7363a9f 78 class MPU6050 {
Sissors 0:6757f7363a9f 79 public:
Sissors 0:6757f7363a9f 80 /**
Sissors 0:6757f7363a9f 81 * Constructor.
Sissors 0:6757f7363a9f 82 *
Sissors 0:6757f7363a9f 83 * Sleep mode of MPU6050 is immediatly disabled
Sissors 0:6757f7363a9f 84 *
Sissors 0:6757f7363a9f 85 * @param sda - mbed pin to use for the SDA I2C line.
Sissors 0:6757f7363a9f 86 * @param scl - mbed pin to use for the SCL I2C line.
Sissors 0:6757f7363a9f 87 */
Sissors 0:6757f7363a9f 88 MPU6050(PinName sda, PinName scl);
Sissors 0:6757f7363a9f 89
Sissors 0:6757f7363a9f 90
Sissors 0:6757f7363a9f 91 /**
Sissors 0:6757f7363a9f 92 * Tests the I2C connection by reading the WHO_AM_I register.
Sissors 0:6757f7363a9f 93 *
Sissors 0:6757f7363a9f 94 * @return True for a working connection, false for an error
Sissors 0:6757f7363a9f 95 */
Sissors 0:6757f7363a9f 96 bool testConnection( void );
Sissors 0:6757f7363a9f 97
Sissors 0:6757f7363a9f 98 /**
Sissors 0:6757f7363a9f 99 * Sets the bandwidth of the digital low-pass filter
Sissors 0:6757f7363a9f 100 *
Sissors 0:6757f7363a9f 101 * Macros: MPU6050_BW_256 - MPU6050_BW_188 - MPU6050_BW_98 - MPU6050_BW_42 - MPU6050_BW_20 - MPU6050_BW_10 - MPU6050_BW_5
Sissors 0:6757f7363a9f 102 * Last number is the gyro's BW in Hz (accelero BW is virtually identical)
Sissors 0:6757f7363a9f 103 *
Sissors 0:6757f7363a9f 104 * @param BW - The three bits that set the bandwidth (use the predefined macros)
Sissors 0:6757f7363a9f 105 */
Sissors 0:6757f7363a9f 106 void setBW( char BW );
Sissors 0:6757f7363a9f 107
Sissors 0:6757f7363a9f 108 /**
Sissors 0:6757f7363a9f 109 * 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)
Sissors 0:6757f7363a9f 110 *
Sissors 0:6757f7363a9f 111 * @param state - Enables/disables the I2C bypass mode
Sissors 0:6757f7363a9f 112 */
Sissors 0:6757f7363a9f 113 void setI2CBypass ( bool state );
Sissors 0:6757f7363a9f 114
Sissors 0:6757f7363a9f 115 /**
Sissors 0:6757f7363a9f 116 * Sets the Accelero full-scale range
Sissors 0:6757f7363a9f 117 *
Sissors 0:6757f7363a9f 118 * Macros: MPU6050_ACCELERO_RANGE_2G - MPU6050_ACCELERO_RANGE_4G - MPU6050_ACCELERO_RANGE_8G - MPU6050_ACCELERO_RANGE_16G
Sissors 0:6757f7363a9f 119 *
Sissors 0:6757f7363a9f 120 * @param range - The two bits that set the full-scale range (use the predefined macros)
Sissors 0:6757f7363a9f 121 */
Sissors 0:6757f7363a9f 122 void setAcceleroRange(char range);
Sissors 0:6757f7363a9f 123
Sissors 0:6757f7363a9f 124 /**
Sissors 0:6757f7363a9f 125 * Reads the accelero x-axis.
Sissors 0:6757f7363a9f 126 *
Sissors 0:6757f7363a9f 127 * @return 16-bit signed integer x-axis accelero data
Sissors 0:6757f7363a9f 128 */
Sissors 0:6757f7363a9f 129 int getAcceleroRawX( void );
Sissors 0:6757f7363a9f 130
Sissors 0:6757f7363a9f 131 /**
Sissors 0:6757f7363a9f 132 * Reads the accelero y-axis.
Sissors 0:6757f7363a9f 133 *
Sissors 0:6757f7363a9f 134 * @return 16-bit signed integer y-axis accelero data
Sissors 0:6757f7363a9f 135 */
Sissors 0:6757f7363a9f 136 int getAcceleroRawY( void );
Sissors 0:6757f7363a9f 137
Sissors 0:6757f7363a9f 138 /**
Sissors 0:6757f7363a9f 139 * Reads the accelero z-axis.
Sissors 0:6757f7363a9f 140 *
Sissors 0:6757f7363a9f 141 * @return 16-bit signed integer z-axis accelero data
Sissors 0:6757f7363a9f 142 */
Sissors 0:6757f7363a9f 143 int getAcceleroRawZ( void );
Sissors 0:6757f7363a9f 144
Sissors 0:6757f7363a9f 145 /**
Sissors 0:6757f7363a9f 146 * Reads all accelero data.
Sissors 0:6757f7363a9f 147 *
Sissors 0:6757f7363a9f 148 * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 149 */
Sissors 0:6757f7363a9f 150 void getAcceleroRaw( int *data );
Sissors 0:6757f7363a9f 151
Sissors 0:6757f7363a9f 152 /**
Sissors 0:6757f7363a9f 153 * Reads all accelero data, gives the acceleration in m/s2
Sissors 0:6757f7363a9f 154 *
Sissors 0:6757f7363a9f 155 * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
Sissors 0:6757f7363a9f 156 *
Sissors 0:6757f7363a9f 157 * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 158 */
Sissors 0:6757f7363a9f 159 void getAccelero( float *data );
Sissors 0:6757f7363a9f 160
Sissors 0:6757f7363a9f 161 /**
Sissors 0:6757f7363a9f 162 * Sets the Gyro full-scale range
Sissors 0:6757f7363a9f 163 *
Sissors 0:6757f7363a9f 164 * Macros: MPU6050_GYRO_RANGE_250 - MPU6050_GYRO_RANGE_500 - MPU6050_GYRO_RANGE_1000 - MPU6050_GYRO_RANGE_2000
Sissors 0:6757f7363a9f 165 *
Sissors 0:6757f7363a9f 166 * @param range - The two bits that set the full-scale range (use the predefined macros)
Sissors 0:6757f7363a9f 167 */
Sissors 0:6757f7363a9f 168 void setGyroRange(char range);
Sissors 0:6757f7363a9f 169
Sissors 0:6757f7363a9f 170 /**
Sissors 0:6757f7363a9f 171 * Reads the gyro x-axis.
Sissors 0:6757f7363a9f 172 *
Sissors 0:6757f7363a9f 173 * @return 16-bit signed integer x-axis gyro data
Sissors 0:6757f7363a9f 174 */
Sissors 0:6757f7363a9f 175 int getGyroRawX( void );
Sissors 0:6757f7363a9f 176
Sissors 0:6757f7363a9f 177 /**
Sissors 0:6757f7363a9f 178 * Reads the gyro y-axis.
Sissors 0:6757f7363a9f 179 *
Sissors 0:6757f7363a9f 180 * @return 16-bit signed integer y-axis gyro data
Sissors 0:6757f7363a9f 181 */
Sissors 0:6757f7363a9f 182 int getGyroRawY( void );
Sissors 0:6757f7363a9f 183
Sissors 0:6757f7363a9f 184 /**
Sissors 0:6757f7363a9f 185 * Reads the gyro z-axis.
Sissors 0:6757f7363a9f 186 *
Sissors 0:6757f7363a9f 187 * @return 16-bit signed integer z-axis gyro data
Sissors 0:6757f7363a9f 188 */
Sissors 0:6757f7363a9f 189 int getGyroRawZ( void );
Sissors 0:6757f7363a9f 190
Sissors 0:6757f7363a9f 191 /**
Sissors 0:6757f7363a9f 192 * Reads all gyro data.
Sissors 0:6757f7363a9f 193 *
Sissors 0:6757f7363a9f 194 * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 195 */
Sissors 0:6757f7363a9f 196 void getGyroRaw( int *data );
Sissors 0:6757f7363a9f 197
Sissors 0:6757f7363a9f 198 /**
Sissors 0:6757f7363a9f 199 * Reads all gyro data, gives the gyro in rad/s
Sissors 0:6757f7363a9f 200 *
Sissors 0:6757f7363a9f 201 * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
Sissors 0:6757f7363a9f 202 *
Sissors 0:6757f7363a9f 203 * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 204 */
Sissors 0:6757f7363a9f 205 void getGyro( float *data);
Sissors 0:6757f7363a9f 206
Sissors 0:6757f7363a9f 207 /**
Sissors 0:6757f7363a9f 208 * Reads temperature data.
Sissors 0:6757f7363a9f 209 *
Sissors 0:6757f7363a9f 210 * @return 16 bit signed integer with the raw temperature register value
Sissors 0:6757f7363a9f 211 */
Sissors 0:6757f7363a9f 212 int getTempRaw( void );
Sissors 0:6757f7363a9f 213
Sissors 0:6757f7363a9f 214 /**
Sissors 0:6757f7363a9f 215 * Returns current temperature
Sissors 0:6757f7363a9f 216 *
Sissors 0:6757f7363a9f 217 * @returns float with the current temperature
Sissors 0:6757f7363a9f 218 */
Sissors 0:6757f7363a9f 219 float getTemp( void );
Sissors 0:6757f7363a9f 220
Sissors 0:6757f7363a9f 221 /**
Sissors 0:6757f7363a9f 222 * Sets the sleep mode of the MPU6050
Sissors 0:6757f7363a9f 223 *
Sissors 0:6757f7363a9f 224 * @param state - true for sleeping, false for wake up
Sissors 0:6757f7363a9f 225 */
Sissors 0:6757f7363a9f 226 void setSleepMode( bool state );
Sissors 0:6757f7363a9f 227
Sissors 0:6757f7363a9f 228
Sissors 0:6757f7363a9f 229 /**
Sissors 0:6757f7363a9f 230 * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU.
Sissors 0:6757f7363a9f 231 *
Sissors 0:6757f7363a9f 232 * @param adress - register address to write to
Sissors 0:6757f7363a9f 233 * @param data - data to write
Sissors 0:6757f7363a9f 234 */
Sissors 0:6757f7363a9f 235 void write( char address, char data);
Sissors 0:6757f7363a9f 236
Sissors 0:6757f7363a9f 237 /**
Sissors 0:6757f7363a9f 238 * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU.
Sissors 0:6757f7363a9f 239 *
Sissors 0:6757f7363a9f 240 * @param adress - register address to write to
Sissors 0:6757f7363a9f 241 * @return - data from the register specified by RA
Sissors 0:6757f7363a9f 242 */
Sissors 0:6757f7363a9f 243 char read( char adress);
Sissors 0:6757f7363a9f 244
Sissors 0:6757f7363a9f 245 /**
Sissors 0:6757f7363a9f 246 * Read multtiple regigsters from the device, more efficient than using multiple normal reads.
Sissors 0:6757f7363a9f 247 *
Sissors 0:6757f7363a9f 248 * @param adress - register address to write to
Sissors 0:6757f7363a9f 249 * @param length - number of bytes to read
Sissors 0:6757f7363a9f 250 * @param data - pointer where the data needs to be written to
Sissors 0:6757f7363a9f 251 */
Sissors 0:6757f7363a9f 252 void read( char adress, char *data, int length);
Sissors 0:6757f7363a9f 253
Sissors 0:6757f7363a9f 254
Sissors 0:6757f7363a9f 255
Sissors 0:6757f7363a9f 256
Sissors 0:6757f7363a9f 257 private:
Sissors 0:6757f7363a9f 258
Sissors 1:a3366f09e95c 259 I2C connection;
Sissors 0:6757f7363a9f 260 char currentAcceleroRange;
Sissors 0:6757f7363a9f 261 char currentGyroRange;
Sissors 0:6757f7363a9f 262
Sissors 0:6757f7363a9f 263
Sissors 0:6757f7363a9f 264 };
Sissors 0:6757f7363a9f 265
Sissors 0:6757f7363a9f 266
Sissors 0:6757f7363a9f 267
Sissors 0:6757f7363a9f 268 #endif