Revision 4:ffdb79b00e32, committed 2016-04-15

Comitter:

zork

Date:

Fri Apr 15 11:30:36 2016 +0000

Parent:

3:16cb051b0702

Commit message:

General working version. Used for communication directly with Unity over vcomm (black wire; com4).

Changed in this revision

diff -r 16cb051b0702 -r ffdb79b00e32 MPU6050.cpp
--- a/MPU6050.cpp	Sun Dec 01 06:20:11 2013 +0000
+++ b/MPU6050.cpp	Fri Apr 15 11:30:36 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 ffdb79b00e32 MPU6050.h
--- a/MPU6050.h	Sun Dec 01 06:20:11 2013 +0000
+++ b/MPU6050.h	Fri Apr 15 11:30:36 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.
      *