Library to talk with MPU6050 IMUs
Fork of MPU6050 by
MPU6050.h
- Committer:
- zork
- Date:
- 2016-04-15
- Revision:
- 4:ffdb79b00e32
- Parent:
- 3:16cb051b0702
File content as of revision 4:ffdb79b00e32:
/*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_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 */ #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 /** 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 */ char 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); void setAcceleroFilter(char bandwidth); /** * 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); private: I2C connection; char currentAcceleroRange; char currentGyroRange; }; #endif