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- #ifndef MPU6050_H
- #define MPU6050_H
- #include "mbed.h"
- #include "softwarei2c.h"
- #include "millis.h"
- #include "math.h"
- // Define registers per MPU6050, Register Map and Descriptions, Rev 4.2, 08/19/2013 6 DOF Motion sensor fusion device
- // Invensense Inc., www.invensense.com
- // See also MPU-6050 Register Map and Descriptions, Revision 4.0, RM-MPU-6050A-00, 9/12/2012 for registers not listed in
- // above document; the MPU6050 and MPU 9150 are virtually identical but the latter has an on-board magnetic sensor
- //
- #define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD
- #define YGOFFS_TC 0x01
- #define ZGOFFS_TC 0x02
- #define X_FINE_GAIN 0x03 // [7:0] fine gain
- #define Y_FINE_GAIN 0x04
- #define Z_FINE_GAIN 0x05
- #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
- #define XA_OFFSET_L_TC 0x07
- #define YA_OFFSET_H 0x08
- #define YA_OFFSET_L_TC 0x09
- #define ZA_OFFSET_H 0x0A
- #define ZA_OFFSET_L_TC 0x0B
- #define SELF_TEST_X 0x0D
- #define SELF_TEST_Y 0x0E
- #define SELF_TEST_Z 0x0F
- #define SELF_TEST_A 0x10
- #define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050?
- #define XG_OFFS_USRL 0x14
- #define YG_OFFS_USRH 0x15
- #define YG_OFFS_USRL 0x16
- #define ZG_OFFS_USRH 0x17
- #define ZG_OFFS_USRL 0x18
- #define SMPLRT_DIV 0x19
- #define CONFIG 0x1A
- #define GYRO_CONFIG 0x1B
- #define ACCEL_CONFIG 0x1C
- #define FF_THR 0x1D // Free-fall
- #define FF_DUR 0x1E // Free-fall
- #define MOT_THR 0x1F // Motion detection threshold bits [7:0]
- #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
- #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
- #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
- #define FIFO_EN 0x23
- #define I2C_MST_CTRL 0x24
- #define I2C_SLV0_ADDR 0x25
- #define I2C_SLV0_REG 0x26
- #define I2C_SLV0_CTRL 0x27
- #define I2C_SLV1_ADDR 0x28
- #define I2C_SLV1_REG 0x29
- #define I2C_SLV1_CTRL 0x2A
- #define I2C_SLV2_ADDR 0x2B
- #define I2C_SLV2_REG 0x2C
- #define I2C_SLV2_CTRL 0x2D
- #define I2C_SLV3_ADDR 0x2E
- #define I2C_SLV3_REG 0x2F
- #define I2C_SLV3_CTRL 0x30
- #define I2C_SLV4_ADDR 0x31
- #define I2C_SLV4_REG 0x32
- #define I2C_SLV4_DO 0x33
- #define I2C_SLV4_CTRL 0x34
- #define I2C_SLV4_DI 0x35
- #define I2C_MST_STATUS 0x36
- #define INT_PIN_CFG 0x37
- #define INT_ENABLE 0x38
- #define DMP_INT_STATUS 0x39 // Check DMP interrupt
- #define INT_STATUS 0x3A
- #define ACCEL_XOUT_H 0x3B
- #define ACCEL_XOUT_L 0x3C
- #define ACCEL_YOUT_H 0x3D
- #define ACCEL_YOUT_L 0x3E
- #define ACCEL_ZOUT_H 0x3F
- #define ACCEL_ZOUT_L 0x40
- #define TEMP_OUT_H 0x41
- #define TEMP_OUT_L 0x42
- #define GYRO_XOUT_H 0x43
- #define GYRO_XOUT_L 0x44
- #define GYRO_YOUT_H 0x45
- #define GYRO_YOUT_L 0x46
- #define GYRO_ZOUT_H 0x47
- #define GYRO_ZOUT_L 0x48
- #define EXT_SENS_DATA_00 0x49
- #define EXT_SENS_DATA_01 0x4A
- #define EXT_SENS_DATA_02 0x4B
- #define EXT_SENS_DATA_03 0x4C
- #define EXT_SENS_DATA_04 0x4D
- #define EXT_SENS_DATA_05 0x4E
- #define EXT_SENS_DATA_06 0x4F
- #define EXT_SENS_DATA_07 0x50
- #define EXT_SENS_DATA_08 0x51
- #define EXT_SENS_DATA_09 0x52
- #define EXT_SENS_DATA_10 0x53
- #define EXT_SENS_DATA_11 0x54
- #define EXT_SENS_DATA_12 0x55
- #define EXT_SENS_DATA_13 0x56
- #define EXT_SENS_DATA_14 0x57
- #define EXT_SENS_DATA_15 0x58
- #define EXT_SENS_DATA_16 0x59
- #define EXT_SENS_DATA_17 0x5A
- #define EXT_SENS_DATA_18 0x5B
- #define EXT_SENS_DATA_19 0x5C
- #define EXT_SENS_DATA_20 0x5D
- #define EXT_SENS_DATA_21 0x5E
- #define EXT_SENS_DATA_22 0x5F
- #define EXT_SENS_DATA_23 0x60
- #define MOT_DETECT_STATUS 0x61
- #define I2C_SLV0_DO 0x63
- #define I2C_SLV1_DO 0x64
- #define I2C_SLV2_DO 0x65
- #define I2C_SLV3_DO 0x66
- #define I2C_MST_DELAY_CTRL 0x67
- #define SIGNAL_PATH_RESET 0x68
- #define MOT_DETECT_CTRL 0x69
- #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
- #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
- #define PWR_MGMT_2 0x6C
- #define DMP_BANK 0x6D // Activates a specific bank in the DMP
- #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
- #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
- #define DMP_REG_1 0x70
- #define DMP_REG_2 0x71
- #define FIFO_COUNTH 0x72
- #define FIFO_COUNTL 0x73
- #define FIFO_R_W 0x74
- #define WHO_AM_I_MPU6050 0x75 // Should return 0x68
- // Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor
- // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
- #define ADO 0
- #if ADO
- #define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1
- #else
- #define MPU6050_ADDRESS 0x68<<1 // Device address when ADO = 0
- #endif
- // Set initial input parameters
- enum Ascale {
- AFS_2G = 0,
- AFS_4G,
- AFS_8G,
- AFS_16G
- };
- enum Gscale {
- GFS_250DPS = 0,
- GFS_500DPS,
- GFS_1000DPS,
- GFS_2000DPS
- };
- class MPU6050
- {
- protected:
- float q[4]; // vector to hold quaternion
- SoftwareI2C *i2c;
- DigitalOut *ad0;
- private:
- // Specify sensor full scale
- int gScale, aScale;
- float aRes, gRes; // scale resolutions per LSB for the sensors
- int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output
- int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
- float ax, ay, az; // Stores the real accel value in g's
- float gx, gy, gz; // Stores the real gyro value in degrees per seconds
- float gyroBias[3];
- float accelBias[3];
- int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius
- float temperature;
- float selfTestData[6];
- float pitch, yaw, roll;
- float dt; // integration interval for both filter schemes
- // parameters for 6 DoF sensor fusion calculations
- const static float PI;
- const static float GyroMeasError; // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
- const static float beta; // compute beta
- const static float GyroMeasDrift; // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
- const static float zeta; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
- int lastUpdate, firstUpdate; // used to calculate integration interval
- public:
- MPU6050(SoftwareI2C *iic, PinName ad0pin);
- MPU6050(){};
- ~MPU6050(){delete ad0;};
- void create(SoftwareI2C *iic, PinName ad0pin);
- public:
- void writeByte(uint8_t address, uint8_t subAddress, uint8_t data) ;
- uint8_t readByte(uint8_t address, uint8_t subAddress);
- void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest);
- public:
- void getGres();
- void getAres();
- public:
- void readAccelData(int16_t * destination);
- void readGyroData(int16_t * destination);
- int16_t readTempData();
- public:
- void init();
- void reset();
- // Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
- // of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
- void calibrate(float * dest1, float * dest2);
- void selfTest(float * destination); // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
- void updateDt();
- void updateQuaternion(float ax, float ay, float az, float gx, float gy, float gz);
- float invSqrt(float x);
- };
- #endif
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