Mark van Raai / MPU6050a

Library to talk with MPU6050 IMUs

Fork of MPU6050 by Mark Vandermeulen

MPU6050.h@4:ffdb79b00e32, 2016-04-15 (annotated)

Committer:
zork
Date:
Fri Apr 15 11:30:36 2016 +0000
Revision:
4:ffdb79b00e32
Parent:
3:16cb051b0702 
General working version. Used for communication directly with Unity over vcomm (black wire; com4).

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
majik 3:16cb051b0702 19 #define MPU6050_ADDRESS 0x68 // 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
zork 4:ffdb79b00e32 30 #define MPU6050_XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD
zork 4:ffdb79b00e32 31 #define MPU6050_YGOFFS_TC 0x01
zork 4:ffdb79b00e32 32 #define MPU6050_ZGOFFS_TC 0x02
zork 4:ffdb79b00e32 33 #define MPU6050_X_FINE_GAIN 0x03 // [7:0] fine gain
zork 4:ffdb79b00e32 34 #define MPU6050_Y_FINE_GAIN 0x04
zork 4:ffdb79b00e32 35 #define MPU6050_Z_FINE_GAIN 0x05
zork 4:ffdb79b00e32 36 #define MPU6050_XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
zork 4:ffdb79b00e32 37 #define MPU6050_XA_OFFSET_L_TC 0x07
zork 4:ffdb79b00e32 38 #define MPU6050_YA_OFFSET_H 0x08
zork 4:ffdb79b00e32 39 #define MPU6050_YA_OFFSET_L_TC 0x09
zork 4:ffdb79b00e32 40 #define MPU6050_ZA_OFFSET_H 0x0A
zork 4:ffdb79b00e32 41 #define MPU6050_ZA_OFFSET_L_TC 0x0B
zork 4:ffdb79b00e32 42 #define MPU6050_SELF_TEST_X 0x0D
zork 4:ffdb79b00e32 43 #define MPU6050_SELF_TEST_Y 0x0E
zork 4:ffdb79b00e32 44 #define MPU6050_SELF_TEST_Z 0x0F
zork 4:ffdb79b00e32 45 #define MPU6050_SELF_TEST_A 0x10
zork 4:ffdb79b00e32 46 #define MPU6050_XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050?
zork 4:ffdb79b00e32 47 #define MPU6050_XG_OFFS_USRL 0x14
zork 4:ffdb79b00e32 48 #define MPU6050_YG_OFFS_USRH 0x15
zork 4:ffdb79b00e32 49 #define MPU6050_YG_OFFS_USRL 0x16
zork 4:ffdb79b00e32 50 #define MPU6050_ZG_OFFS_USRH 0x17
zork 4:ffdb79b00e32 51 #define MPU6050_ZG_OFFS_USRL 0x18
zork 4:ffdb79b00e32 52 #define MPU6050_SMPLRT_DIV 0x19
zork 4:ffdb79b00e32 53 #define MPU6050_CONFIG 0x1A
zork 4:ffdb79b00e32 54
zork 4:ffdb79b00e32 55 // Filter bandwidth of accelerometer setting
zork 4:ffdb79b00e32 56 #define MPU6050_EXT_FSYNC_TEMP 0x08
zork 4:ffdb79b00e32 57 #define MPU6050_DLPF_CFG_260 0x00
zork 4:ffdb79b00e32 58 #define MPU6050_DLPF_CFG_184 0x01
zork 4:ffdb79b00e32 59 #define MPU6050_DLPF_CFG_94 0x02
zork 4:ffdb79b00e32 60 #define MPU6050_DLPF_CFG_44 0x03
zork 4:ffdb79b00e32 61 #define MPU6050_DLPF_CFG_21 0x04
zork 4:ffdb79b00e32 62 #define MPU6050_DLPF_CFG_10 0x05
zork 4:ffdb79b00e32 63 #define MPU6050_DLPF_CFG_5 0x06
zork 4:ffdb79b00e32 64
zork 4:ffdb79b00e32 65 #define MPU6050_GYRO_CONFIG 0x1B
zork 4:ffdb79b00e32 66 #define MPU6050_ACCEL_CONFIG 0x1C
zork 4:ffdb79b00e32 67 #define MPU6050_FF_THR 0x1D // Free-fall
zork 4:ffdb79b00e32 68 #define MPU6050_FF_DUR 0x1E // Free-fall
zork 4:ffdb79b00e32 69 #define MPU6050_MOT_THR 0x1F // Motion detection threshold bits [7:0]
zork 4:ffdb79b00e32 70 #define MPU6050_MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
zork 4:ffdb79b00e32 71 #define MPU6050_ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
zork 4:ffdb79b00e32 72 #define MPU6050_ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
zork 4:ffdb79b00e32 73 #define MPU6050_FIFO_EN 0x23
zork 4:ffdb79b00e32 74 #define MPU6050_I2C_MST_CTRL 0x24
zork 4:ffdb79b00e32 75 #define MPU6050_I2C_SLV0_ADDR 0x25
zork 4:ffdb79b00e32 76 #define MPU6050_I2C_SLV0_REG 0x26
zork 4:ffdb79b00e32 77 #define MPU6050_I2C_SLV0_CTRL 0x27
zork 4:ffdb79b00e32 78 #define MPU6050_I2C_SLV1_ADDR 0x28
zork 4:ffdb79b00e32 79 #define MPU6050_I2C_SLV1_REG 0x29
zork 4:ffdb79b00e32 80 #define MPU6050_I2C_SLV1_CTRL 0x2A
zork 4:ffdb79b00e32 81 #define MPU6050_I2C_SLV2_ADDR 0x2B
zork 4:ffdb79b00e32 82 #define MPU6050_I2C_SLV2_REG 0x2C
zork 4:ffdb79b00e32 83 #define MPU6050_I2C_SLV2_CTRL 0x2D
zork 4:ffdb79b00e32 84 #define MPU6050_I2C_SLV3_ADDR 0x2E
zork 4:ffdb79b00e32 85 #define MPU6050_I2C_SLV3_REG 0x2F
zork 4:ffdb79b00e32 86 #define MPU6050_I2C_SLV3_CTRL 0x30
zork 4:ffdb79b00e32 87 #define MPU6050_I2C_SLV4_ADDR 0x31
zork 4:ffdb79b00e32 88 #define MPU6050_I2C_SLV4_REG 0x32
zork 4:ffdb79b00e32 89 #define MPU6050_I2C_SLV4_DO 0x33
zork 4:ffdb79b00e32 90 #define MPU6050_I2C_SLV4_CTRL 0x34
zork 4:ffdb79b00e32 91 #define MPU6050_I2C_SLV4_DI 0x35
zork 4:ffdb79b00e32 92 #define MPU6050_I2C_MST_STATUS 0x36
zork 4:ffdb79b00e32 93 #define MPU6050_INT_PIN_CFG 0x37
zork 4:ffdb79b00e32 94 #define MPU6050_INT_ENABLE 0x38
zork 4:ffdb79b00e32 95 #define MPU6050_DMP_INT_STATUS 0x39 // Check DMP interrupt
zork 4:ffdb79b00e32 96 #define MPU6050_INT_STATUS 0x3A
zork 4:ffdb79b00e32 97 #define MPU6050_ACCEL_XOUT_H 0x3B
zork 4:ffdb79b00e32 98 #define MPU6050_ACCEL_XOUT_L 0x3C
zork 4:ffdb79b00e32 99 #define MPU6050_ACCEL_YOUT_H 0x3D
zork 4:ffdb79b00e32 100 #define MPU6050_ACCEL_YOUT_L 0x3E
zork 4:ffdb79b00e32 101 #define MPU6050_ACCEL_ZOUT_H 0x3F
zork 4:ffdb79b00e32 102 #define MPU6050_ACCEL_ZOUT_L 0x40
zork 4:ffdb79b00e32 103 #define MPU6050_TEMP_OUT_H 0x41
zork 4:ffdb79b00e32 104 #define MPU6050_TEMP_OUT_L 0x42
zork 4:ffdb79b00e32 105 #define MPU6050_GYRO_XOUT_H 0x43
zork 4:ffdb79b00e32 106 #define MPU6050_GYRO_XOUT_L 0x44
zork 4:ffdb79b00e32 107 #define MPU6050_GYRO_YOUT_H 0x45
zork 4:ffdb79b00e32 108 #define MPU6050_GYRO_YOUT_L 0x46
zork 4:ffdb79b00e32 109 #define MPU6050_GYRO_ZOUT_H 0x47
zork 4:ffdb79b00e32 110 #define MPU6050_GYRO_ZOUT_L 0x48
zork 4:ffdb79b00e32 111 #define MPU6050_EXT_SENS_DATA_00 0x49
zork 4:ffdb79b00e32 112 #define MPU6050_EXT_SENS_DATA_01 0x4A
zork 4:ffdb79b00e32 113 #define MPU6050_EXT_SENS_DATA_02 0x4B
zork 4:ffdb79b00e32 114 #define MPU6050_EXT_SENS_DATA_03 0x4C
zork 4:ffdb79b00e32 115 #define MPU6050_EXT_SENS_DATA_04 0x4D
zork 4:ffdb79b00e32 116 #define MPU6050_EXT_SENS_DATA_05 0x4E
zork 4:ffdb79b00e32 117 #define MPU6050_EXT_SENS_DATA_06 0x4F
zork 4:ffdb79b00e32 118 #define MPU6050_EXT_SENS_DATA_07 0x50
zork 4:ffdb79b00e32 119 #define MPU6050_EXT_SENS_DATA_08 0x51
zork 4:ffdb79b00e32 120 #define MPU6050_EXT_SENS_DATA_09 0x52
zork 4:ffdb79b00e32 121 #define MPU6050_EXT_SENS_DATA_10 0x53
zork 4:ffdb79b00e32 122 #define MPU6050_EXT_SENS_DATA_11 0x54
zork 4:ffdb79b00e32 123 #define MPU6050_EXT_SENS_DATA_12 0x55
zork 4:ffdb79b00e32 124 #define MPU6050_EXT_SENS_DATA_13 0x56
zork 4:ffdb79b00e32 125 #define MPU6050_EXT_SENS_DATA_14 0x57
zork 4:ffdb79b00e32 126 #define MPU6050_EXT_SENS_DATA_15 0x58
zork 4:ffdb79b00e32 127 #define MPU6050_EXT_SENS_DATA_16 0x59
zork 4:ffdb79b00e32 128 #define MPU6050_EXT_SENS_DATA_17 0x5A
zork 4:ffdb79b00e32 129 #define MPU6050_EXT_SENS_DATA_18 0x5B
zork 4:ffdb79b00e32 130 #define MPU6050_EXT_SENS_DATA_19 0x5C
zork 4:ffdb79b00e32 131 #define MPU6050_EXT_SENS_DATA_20 0x5D
zork 4:ffdb79b00e32 132 #define MPU6050_EXT_SENS_DATA_21 0x5E
zork 4:ffdb79b00e32 133 #define MPU6050_EXT_SENS_DATA_22 0x5F
zork 4:ffdb79b00e32 134 #define MPU6050_EXT_SENS_DATA_23 0x60
zork 4:ffdb79b00e32 135 #define MPU6050_MOT_DETECT_STATUS 0x61
zork 4:ffdb79b00e32 136 #define MPU6050_I2C_SLV0_DO 0x63
zork 4:ffdb79b00e32 137 #define MPU6050_I2C_SLV1_DO 0x64
zork 4:ffdb79b00e32 138 #define MPU6050_I2C_SLV2_DO 0x65
zork 4:ffdb79b00e32 139 #define MPU6050_I2C_SLV3_DO 0x66
zork 4:ffdb79b00e32 140 #define MPU6050_I2C_MST_DELAY_CTRL 0x67
zork 4:ffdb79b00e32 141 #define MPU6050_SIGNAL_PATH_RESET 0x68
zork 4:ffdb79b00e32 142 #define MPU6050_MOT_DETECT_CTRL 0x69
zork 4:ffdb79b00e32 143 #define MPU6050_USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
zork 4:ffdb79b00e32 144 #define MPU6050_PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
zork 4:ffdb79b00e32 145 #define MPU6050_PWR_MGMT_2 0x6C
zork 4:ffdb79b00e32 146 #define MPU6050_DMP_BANK 0x6D // Activates a specific bank in the DMP
zork 4:ffdb79b00e32 147 #define MPU6050_DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
zork 4:ffdb79b00e32 148 #define MPU6050_DMP_REG 0x6F // Register in DMP from which to read or to which to write
zork 4:ffdb79b00e32 149 #define MPU6050_DMP_REG_1 0x70
zork 4:ffdb79b00e32 150 #define MPU6050_DMP_REG_2 0x71
zork 4:ffdb79b00e32 151 #define MPU6050_FIFO_COUNTH 0x72
zork 4:ffdb79b00e32 152 #define MPU6050_FIFO_COUNTL 0x73
zork 4:ffdb79b00e32 153 #define MPU6050_FIFO_R_W 0x74
zork 4:ffdb79b00e32 154 #define MPU6050_WHO_AM_I 0x75 // Should return 0x68
Sissors 0:6757f7363a9f 155
Sissors 0:6757f7363a9f 156 /**
Sissors 0:6757f7363a9f 157 * Definitions
Sissors 0:6757f7363a9f 158 */
Sissors 0:6757f7363a9f 159 #define MPU6050_SLP_BIT 6
Sissors 0:6757f7363a9f 160 #define MPU6050_BYPASS_BIT 1
Sissors 0:6757f7363a9f 161
Sissors 0:6757f7363a9f 162 #define MPU6050_BW_256 0
Sissors 0:6757f7363a9f 163 #define MPU6050_BW_188 1
Sissors 0:6757f7363a9f 164 #define MPU6050_BW_98 2
Sissors 0:6757f7363a9f 165 #define MPU6050_BW_42 3
Sissors 0:6757f7363a9f 166 #define MPU6050_BW_20 4
Sissors 0:6757f7363a9f 167 #define MPU6050_BW_10 5
Sissors 0:6757f7363a9f 168 #define MPU6050_BW_5 6
Sissors 0:6757f7363a9f 169
Sissors 0:6757f7363a9f 170 #define MPU6050_ACCELERO_RANGE_2G 0
Sissors 0:6757f7363a9f 171 #define MPU6050_ACCELERO_RANGE_4G 1
Sissors 0:6757f7363a9f 172 #define MPU6050_ACCELERO_RANGE_8G 2
Sissors 0:6757f7363a9f 173 #define MPU6050_ACCELERO_RANGE_16G 3
Sissors 0:6757f7363a9f 174
Sissors 0:6757f7363a9f 175 #define MPU6050_GYRO_RANGE_250 0
Sissors 0:6757f7363a9f 176 #define MPU6050_GYRO_RANGE_500 1
Sissors 0:6757f7363a9f 177 #define MPU6050_GYRO_RANGE_1000 2
Sissors 0:6757f7363a9f 178 #define MPU6050_GYRO_RANGE_2000 3
Sissors 0:6757f7363a9f 179
Sissors 0:6757f7363a9f 180
Sissors 2:5c63e20c50f3 181 /** MPU6050 IMU library.
Sissors 2:5c63e20c50f3 182 *
Sissors 2:5c63e20c50f3 183 * Example:
Sissors 2:5c63e20c50f3 184 * @code
Sissors 2:5c63e20c50f3 185 * Later, maybe
Sissors 2:5c63e20c50f3 186 * @endcode
Sissors 2:5c63e20c50f3 187 */
Sissors 0:6757f7363a9f 188 class MPU6050 {
Sissors 0:6757f7363a9f 189 public:
Sissors 0:6757f7363a9f 190 /**
Sissors 0:6757f7363a9f 191 * Constructor.
Sissors 0:6757f7363a9f 192 *
Sissors 0:6757f7363a9f 193 * Sleep mode of MPU6050 is immediatly disabled
Sissors 0:6757f7363a9f 194 *
Sissors 0:6757f7363a9f 195 * @param sda - mbed pin to use for the SDA I2C line.
Sissors 0:6757f7363a9f 196 * @param scl - mbed pin to use for the SCL I2C line.
Sissors 0:6757f7363a9f 197 */
Sissors 0:6757f7363a9f 198 MPU6050(PinName sda, PinName scl);
Sissors 0:6757f7363a9f 199
Sissors 0:6757f7363a9f 200
Sissors 0:6757f7363a9f 201 /**
Sissors 0:6757f7363a9f 202 * Tests the I2C connection by reading the WHO_AM_I register.
Sissors 0:6757f7363a9f 203 *
Sissors 0:6757f7363a9f 204 * @return True for a working connection, false for an error
Sissors 0:6757f7363a9f 205 */
majik 3:16cb051b0702 206 char testConnection( void );
Sissors 0:6757f7363a9f 207
Sissors 0:6757f7363a9f 208 /**
Sissors 0:6757f7363a9f 209 * Sets the bandwidth of the digital low-pass filter
Sissors 0:6757f7363a9f 210 *
Sissors 0:6757f7363a9f 211 * 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 212 * Last number is the gyro's BW in Hz (accelero BW is virtually identical)
Sissors 0:6757f7363a9f 213 *
Sissors 0:6757f7363a9f 214 * @param BW - The three bits that set the bandwidth (use the predefined macros)
Sissors 0:6757f7363a9f 215 */
Sissors 0:6757f7363a9f 216 void setBW( char BW );
Sissors 0:6757f7363a9f 217
Sissors 0:6757f7363a9f 218 /**
Sissors 0:6757f7363a9f 219 * 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 220 *
Sissors 0:6757f7363a9f 221 * @param state - Enables/disables the I2C bypass mode
Sissors 0:6757f7363a9f 222 */
Sissors 0:6757f7363a9f 223 void setI2CBypass ( bool state );
Sissors 0:6757f7363a9f 224
Sissors 0:6757f7363a9f 225 /**
Sissors 0:6757f7363a9f 226 * Sets the Accelero full-scale range
Sissors 0:6757f7363a9f 227 *
Sissors 0:6757f7363a9f 228 * Macros: MPU6050_ACCELERO_RANGE_2G - MPU6050_ACCELERO_RANGE_4G - MPU6050_ACCELERO_RANGE_8G - MPU6050_ACCELERO_RANGE_16G
Sissors 0:6757f7363a9f 229 *
Sissors 0:6757f7363a9f 230 * @param range - The two bits that set the full-scale range (use the predefined macros)
Sissors 0:6757f7363a9f 231 */
Sissors 0:6757f7363a9f 232 void setAcceleroRange(char range);
Sissors 0:6757f7363a9f 233
zork 4:ffdb79b00e32 234
zork 4:ffdb79b00e32 235 void setAcceleroFilter(char bandwidth);
zork 4:ffdb79b00e32 236
zork 4:ffdb79b00e32 237
Sissors 0:6757f7363a9f 238 /**
Sissors 0:6757f7363a9f 239 * Reads the accelero x-axis.
Sissors 0:6757f7363a9f 240 *
Sissors 0:6757f7363a9f 241 * @return 16-bit signed integer x-axis accelero data
Sissors 0:6757f7363a9f 242 */
Sissors 0:6757f7363a9f 243 int getAcceleroRawX( void );
Sissors 0:6757f7363a9f 244
Sissors 0:6757f7363a9f 245 /**
Sissors 0:6757f7363a9f 246 * Reads the accelero y-axis.
Sissors 0:6757f7363a9f 247 *
Sissors 0:6757f7363a9f 248 * @return 16-bit signed integer y-axis accelero data
Sissors 0:6757f7363a9f 249 */
Sissors 0:6757f7363a9f 250 int getAcceleroRawY( void );
Sissors 0:6757f7363a9f 251
Sissors 0:6757f7363a9f 252 /**
Sissors 0:6757f7363a9f 253 * Reads the accelero z-axis.
Sissors 0:6757f7363a9f 254 *
Sissors 0:6757f7363a9f 255 * @return 16-bit signed integer z-axis accelero data
Sissors 0:6757f7363a9f 256 */
Sissors 0:6757f7363a9f 257 int getAcceleroRawZ( void );
Sissors 0:6757f7363a9f 258
Sissors 0:6757f7363a9f 259 /**
Sissors 0:6757f7363a9f 260 * Reads all accelero data.
Sissors 0:6757f7363a9f 261 *
Sissors 0:6757f7363a9f 262 * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 263 */
Sissors 0:6757f7363a9f 264 void getAcceleroRaw( int *data );
Sissors 0:6757f7363a9f 265
Sissors 0:6757f7363a9f 266 /**
Sissors 0:6757f7363a9f 267 * Reads all accelero data, gives the acceleration in m/s2
Sissors 0:6757f7363a9f 268 *
Sissors 0:6757f7363a9f 269 * 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 270 *
Sissors 0:6757f7363a9f 271 * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 272 */
Sissors 0:6757f7363a9f 273 void getAccelero( float *data );
Sissors 0:6757f7363a9f 274
Sissors 0:6757f7363a9f 275 /**
Sissors 0:6757f7363a9f 276 * Sets the Gyro full-scale range
Sissors 0:6757f7363a9f 277 *
Sissors 0:6757f7363a9f 278 * Macros: MPU6050_GYRO_RANGE_250 - MPU6050_GYRO_RANGE_500 - MPU6050_GYRO_RANGE_1000 - MPU6050_GYRO_RANGE_2000
Sissors 0:6757f7363a9f 279 *
Sissors 0:6757f7363a9f 280 * @param range - The two bits that set the full-scale range (use the predefined macros)
Sissors 0:6757f7363a9f 281 */
Sissors 0:6757f7363a9f 282 void setGyroRange(char range);
Sissors 0:6757f7363a9f 283
Sissors 0:6757f7363a9f 284 /**
Sissors 0:6757f7363a9f 285 * Reads the gyro x-axis.
Sissors 0:6757f7363a9f 286 *
Sissors 0:6757f7363a9f 287 * @return 16-bit signed integer x-axis gyro data
Sissors 0:6757f7363a9f 288 */
Sissors 0:6757f7363a9f 289 int getGyroRawX( void );
Sissors 0:6757f7363a9f 290
Sissors 0:6757f7363a9f 291 /**
Sissors 0:6757f7363a9f 292 * Reads the gyro y-axis.
Sissors 0:6757f7363a9f 293 *
Sissors 0:6757f7363a9f 294 * @return 16-bit signed integer y-axis gyro data
Sissors 0:6757f7363a9f 295 */
Sissors 0:6757f7363a9f 296 int getGyroRawY( void );
Sissors 0:6757f7363a9f 297
Sissors 0:6757f7363a9f 298 /**
Sissors 0:6757f7363a9f 299 * Reads the gyro z-axis.
Sissors 0:6757f7363a9f 300 *
Sissors 0:6757f7363a9f 301 * @return 16-bit signed integer z-axis gyro data
Sissors 0:6757f7363a9f 302 */
Sissors 0:6757f7363a9f 303 int getGyroRawZ( void );
Sissors 0:6757f7363a9f 304
Sissors 0:6757f7363a9f 305 /**
Sissors 0:6757f7363a9f 306 * Reads all gyro data.
Sissors 0:6757f7363a9f 307 *
Sissors 0:6757f7363a9f 308 * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 309 */
Sissors 0:6757f7363a9f 310 void getGyroRaw( int *data );
Sissors 0:6757f7363a9f 311
Sissors 0:6757f7363a9f 312 /**
Sissors 0:6757f7363a9f 313 * Reads all gyro data, gives the gyro in rad/s
Sissors 0:6757f7363a9f 314 *
Sissors 0:6757f7363a9f 315 * 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 316 *
Sissors 0:6757f7363a9f 317 * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
Sissors 0:6757f7363a9f 318 */
Sissors 0:6757f7363a9f 319 void getGyro( float *data);
Sissors 0:6757f7363a9f 320
Sissors 0:6757f7363a9f 321 /**
Sissors 0:6757f7363a9f 322 * Reads temperature data.
Sissors 0:6757f7363a9f 323 *
Sissors 0:6757f7363a9f 324 * @return 16 bit signed integer with the raw temperature register value
Sissors 0:6757f7363a9f 325 */
Sissors 0:6757f7363a9f 326 int getTempRaw( void );
Sissors 0:6757f7363a9f 327
Sissors 0:6757f7363a9f 328 /**
Sissors 0:6757f7363a9f 329 * Returns current temperature
Sissors 0:6757f7363a9f 330 *
Sissors 0:6757f7363a9f 331 * @returns float with the current temperature
Sissors 0:6757f7363a9f 332 */
Sissors 0:6757f7363a9f 333 float getTemp( void );
Sissors 0:6757f7363a9f 334
Sissors 0:6757f7363a9f 335 /**
Sissors 0:6757f7363a9f 336 * Sets the sleep mode of the MPU6050
Sissors 0:6757f7363a9f 337 *
Sissors 0:6757f7363a9f 338 * @param state - true for sleeping, false for wake up
Sissors 0:6757f7363a9f 339 */
Sissors 0:6757f7363a9f 340 void setSleepMode( bool state );
Sissors 0:6757f7363a9f 341
Sissors 0:6757f7363a9f 342
Sissors 0:6757f7363a9f 343 /**
Sissors 0:6757f7363a9f 344 * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU.
Sissors 0:6757f7363a9f 345 *
Sissors 0:6757f7363a9f 346 * @param adress - register address to write to
Sissors 0:6757f7363a9f 347 * @param data - data to write
Sissors 0:6757f7363a9f 348 */
Sissors 0:6757f7363a9f 349 void write( char address, char data);
Sissors 0:6757f7363a9f 350
Sissors 0:6757f7363a9f 351 /**
Sissors 0:6757f7363a9f 352 * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU.
Sissors 0:6757f7363a9f 353 *
Sissors 0:6757f7363a9f 354 * @param adress - register address to write to
Sissors 0:6757f7363a9f 355 * @return - data from the register specified by RA
Sissors 0:6757f7363a9f 356 */
Sissors 0:6757f7363a9f 357 char read( char adress);
Sissors 0:6757f7363a9f 358
Sissors 0:6757f7363a9f 359 /**
Sissors 0:6757f7363a9f 360 * Read multtiple regigsters from the device, more efficient than using multiple normal reads.
Sissors 0:6757f7363a9f 361 *
Sissors 0:6757f7363a9f 362 * @param adress - register address to write to
Sissors 0:6757f7363a9f 363 * @param length - number of bytes to read
Sissors 0:6757f7363a9f 364 * @param data - pointer where the data needs to be written to
Sissors 0:6757f7363a9f 365 */
Sissors 0:6757f7363a9f 366 void read( char adress, char *data, int length);
Sissors 0:6757f7363a9f 367
Sissors 0:6757f7363a9f 368
Sissors 0:6757f7363a9f 369
Sissors 0:6757f7363a9f 370
Sissors 0:6757f7363a9f 371 private:
Sissors 0:6757f7363a9f 372
Sissors 1:a3366f09e95c 373 I2C connection;
Sissors 0:6757f7363a9f 374 char currentAcceleroRange;
Sissors 0:6757f7363a9f 375 char currentGyroRange;
Sissors 0:6757f7363a9f 376
Sissors 0:6757f7363a9f 377
Sissors 0:6757f7363a9f 378 };
Sissors 0:6757f7363a9f 379
Sissors 0:6757f7363a9f 380
Sissors 0:6757f7363a9f 381
Sissors 0:6757f7363a9f 382 #endif