259 lines
7.8 KiB
C++
259 lines
7.8 KiB
C++
/*
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MPU6050.h - Header file for the MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
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Version: 1.0.3
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(c) 2014-2015 Korneliusz Jarzebski
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www.jarzebski.pl
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This program is free software: you can redistribute it and/or modify
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it under the terms of the version 3 GNU General Public License as
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published by the Free Software Foundation.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef MPU6050_h
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#define MPU6050_h
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#if ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#define MPU6050_ADDRESS (0x68) // 0x69 when AD0 pin to Vcc
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#define MPU6050_REG_ACCEL_XOFFS_H (0x06)
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#define MPU6050_REG_ACCEL_XOFFS_L (0x07)
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#define MPU6050_REG_ACCEL_YOFFS_H (0x08)
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#define MPU6050_REG_ACCEL_YOFFS_L (0x09)
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#define MPU6050_REG_ACCEL_ZOFFS_H (0x0A)
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#define MPU6050_REG_ACCEL_ZOFFS_L (0x0B)
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#define MPU6050_REG_GYRO_XOFFS_H (0x13)
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#define MPU6050_REG_GYRO_XOFFS_L (0x14)
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#define MPU6050_REG_GYRO_YOFFS_H (0x15)
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#define MPU6050_REG_GYRO_YOFFS_L (0x16)
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#define MPU6050_REG_GYRO_ZOFFS_H (0x17)
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#define MPU6050_REG_GYRO_ZOFFS_L (0x18)
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#define MPU6050_REG_CONFIG (0x1A)
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#define MPU6050_REG_GYRO_CONFIG (0x1B) // Gyroscope Configuration
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#define MPU6050_REG_ACCEL_CONFIG (0x1C) // Accelerometer Configuration
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#define MPU6050_REG_FF_THRESHOLD (0x1D)
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#define MPU6050_REG_FF_DURATION (0x1E)
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#define MPU6050_REG_MOT_THRESHOLD (0x1F)
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#define MPU6050_REG_MOT_DURATION (0x20)
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#define MPU6050_REG_ZMOT_THRESHOLD (0x21)
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#define MPU6050_REG_ZMOT_DURATION (0x22)
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#define MPU6050_REG_INT_PIN_CFG (0x37) // INT Pin. Bypass Enable Configuration
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#define MPU6050_REG_INT_ENABLE (0x38) // INT Enable
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#define MPU6050_REG_INT_STATUS (0x3A)
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#define MPU6050_REG_ACCEL_XOUT_H (0x3B)
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#define MPU6050_REG_ACCEL_XOUT_L (0x3C)
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#define MPU6050_REG_ACCEL_YOUT_H (0x3D)
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#define MPU6050_REG_ACCEL_YOUT_L (0x3E)
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#define MPU6050_REG_ACCEL_ZOUT_H (0x3F)
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#define MPU6050_REG_ACCEL_ZOUT_L (0x40)
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#define MPU6050_REG_TEMP_OUT_H (0x41)
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#define MPU6050_REG_TEMP_OUT_L (0x42)
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#define MPU6050_REG_GYRO_XOUT_H (0x43)
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#define MPU6050_REG_GYRO_XOUT_L (0x44)
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#define MPU6050_REG_GYRO_YOUT_H (0x45)
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#define MPU6050_REG_GYRO_YOUT_L (0x46)
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#define MPU6050_REG_GYRO_ZOUT_H (0x47)
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#define MPU6050_REG_GYRO_ZOUT_L (0x48)
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#define MPU6050_REG_MOT_DETECT_STATUS (0x61)
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#define MPU6050_REG_MOT_DETECT_CTRL (0x69)
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#define MPU6050_REG_USER_CTRL (0x6A) // User Control
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#define MPU6050_REG_PWR_MGMT_1 (0x6B) // Power Management 1
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#define MPU6050_REG_WHO_AM_I (0x75) // Who Am I
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#ifndef VECTOR_STRUCT_H
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#define VECTOR_STRUCT_H
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struct Vector
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{
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float XAxis;
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float YAxis;
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float ZAxis;
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};
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#endif
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struct Activites
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{
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bool isOverflow;
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bool isFreeFall;
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bool isInactivity;
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bool isActivity;
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bool isPosActivityOnX;
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bool isPosActivityOnY;
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bool isPosActivityOnZ;
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bool isNegActivityOnX;
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bool isNegActivityOnY;
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bool isNegActivityOnZ;
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bool isDataReady;
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};
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typedef enum
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{
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MPU6050_CLOCK_KEEP_RESET = 0b111,
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MPU6050_CLOCK_EXTERNAL_19MHZ = 0b101,
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MPU6050_CLOCK_EXTERNAL_32KHZ = 0b100,
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MPU6050_CLOCK_PLL_ZGYRO = 0b011,
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MPU6050_CLOCK_PLL_YGYRO = 0b010,
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MPU6050_CLOCK_PLL_XGYRO = 0b001,
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MPU6050_CLOCK_INTERNAL_8MHZ = 0b000
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} mpu6050_clockSource_t;
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typedef enum
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{
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MPU6050_SCALE_2000DPS = 0b11,
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MPU6050_SCALE_1000DPS = 0b10,
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MPU6050_SCALE_500DPS = 0b01,
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MPU6050_SCALE_250DPS = 0b00
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} mpu6050_dps_t;
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typedef enum
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{
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MPU6050_RANGE_16G = 0b11,
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MPU6050_RANGE_8G = 0b10,
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MPU6050_RANGE_4G = 0b01,
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MPU6050_RANGE_2G = 0b00,
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} mpu6050_range_t;
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typedef enum
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{
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MPU6050_DELAY_3MS = 0b11,
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MPU6050_DELAY_2MS = 0b10,
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MPU6050_DELAY_1MS = 0b01,
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MPU6050_NO_DELAY = 0b00,
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} mpu6050_onDelay_t;
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typedef enum
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{
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MPU6050_DHPF_HOLD = 0b111,
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MPU6050_DHPF_0_63HZ = 0b100,
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MPU6050_DHPF_1_25HZ = 0b011,
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MPU6050_DHPF_2_5HZ = 0b010,
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MPU6050_DHPF_5HZ = 0b001,
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MPU6050_DHPF_RESET = 0b000,
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} mpu6050_dhpf_t;
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typedef enum
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{
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MPU6050_DLPF_6 = 0b110,
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MPU6050_DLPF_5 = 0b101,
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MPU6050_DLPF_4 = 0b100,
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MPU6050_DLPF_3 = 0b011,
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MPU6050_DLPF_2 = 0b010,
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MPU6050_DLPF_1 = 0b001,
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MPU6050_DLPF_0 = 0b000,
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} mpu6050_dlpf_t;
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class MPU6050
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{
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public:
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bool begin(mpu6050_dps_t scale = MPU6050_SCALE_2000DPS, mpu6050_range_t range = MPU6050_RANGE_2G, int mpua = MPU6050_ADDRESS);
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void setClockSource(mpu6050_clockSource_t source);
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void setScale(mpu6050_dps_t scale);
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void setRange(mpu6050_range_t range);
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mpu6050_clockSource_t getClockSource(void);
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mpu6050_dps_t getScale(void);
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mpu6050_range_t getRange(void);
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void setDHPFMode(mpu6050_dhpf_t dhpf);
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void setDLPFMode(mpu6050_dlpf_t dlpf);
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mpu6050_onDelay_t getAccelPowerOnDelay();
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void setAccelPowerOnDelay(mpu6050_onDelay_t delay);
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uint8_t getIntStatus(void);
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bool getIntZeroMotionEnabled(void);
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void setIntZeroMotionEnabled(bool state);
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bool getIntMotionEnabled(void);
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void setIntMotionEnabled(bool state);
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bool getIntFreeFallEnabled(void);
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void setIntFreeFallEnabled(bool state);
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uint8_t getMotionDetectionThreshold(void);
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void setMotionDetectionThreshold(uint8_t threshold);
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uint8_t getMotionDetectionDuration(void);
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void setMotionDetectionDuration(uint8_t duration);
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uint8_t getZeroMotionDetectionThreshold(void);
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void setZeroMotionDetectionThreshold(uint8_t threshold);
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uint8_t getZeroMotionDetectionDuration(void);
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void setZeroMotionDetectionDuration(uint8_t duration);
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uint8_t getFreeFallDetectionThreshold(void);
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void setFreeFallDetectionThreshold(uint8_t threshold);
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uint8_t getFreeFallDetectionDuration(void);
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void setFreeFallDetectionDuration(uint8_t duration);
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bool getSleepEnabled(void);
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void setSleepEnabled(bool state);
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bool getI2CMasterModeEnabled(void);
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void setI2CMasterModeEnabled(bool state);
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bool getI2CBypassEnabled(void);
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void setI2CBypassEnabled(bool state);
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float readTemperature(void);
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Activites readActivites(void);
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int16_t getGyroOffsetX(void);
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void setGyroOffsetX(int16_t offset);
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int16_t getGyroOffsetY(void);
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void setGyroOffsetY(int16_t offset);
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int16_t getGyroOffsetZ(void);
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void setGyroOffsetZ(int16_t offset);
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int16_t getAccelOffsetX(void);
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void setAccelOffsetX(int16_t offset);
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int16_t getAccelOffsetY(void);
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void setAccelOffsetY(int16_t offset);
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int16_t getAccelOffsetZ(void);
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void setAccelOffsetZ(int16_t offset);
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void calibrateGyro(uint8_t samples = 50);
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void setThreshold(uint8_t multiple = 1);
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uint8_t getThreshold(void);
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Vector readRawGyro(void);
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Vector readNormalizeGyro(void);
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Vector readRawAccel(void);
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Vector readNormalizeAccel(void);
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Vector readScaledAccel(void);
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private:
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Vector ra, rg; // Raw vectors
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Vector na, ng; // Normalized vectors
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Vector tg, dg; // Threshold and Delta for Gyro
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Vector th; // Threshold
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Activites a; // Activities
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float dpsPerDigit, rangePerDigit;
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float actualThreshold;
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bool useCalibrate;
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int mpuAddress;
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uint8_t fastRegister8(uint8_t reg);
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uint8_t readRegister8(uint8_t reg);
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void writeRegister8(uint8_t reg, uint8_t value);
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int16_t readRegister16(uint8_t reg);
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void writeRegister16(uint8_t reg, int16_t value);
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bool readRegisterBit(uint8_t reg, uint8_t pos);
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void writeRegisterBit(uint8_t reg, uint8_t pos, bool state);
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};
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#endif
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