Bruno Alfano / MPU6000_spi

MPU6000 library to get accelerometer, gyroscope and temperature readings via SPI.

MPU6000.cpp@0:2edbd561b520, 2014-03-08 (annotated)

Committer:
brunoalfano
Date:
Sat Mar 08 12:38:14 2014 +0000
Revision:
0:2edbd561b520
First version of a simple MPU6000 SPI library to read sensors' data

Who changed what in which revision?

UserRevisionLine numberNew contents of line
brunoalfano 0:2edbd561b520 1 /*CODED by Bruno Alfano on 07/03/2014
brunoalfano 0:2edbd561b520 2 www.xene.it
brunoalfano 0:2edbd561b520 3 */
brunoalfano 0:2edbd561b520 4
brunoalfano 0:2edbd561b520 5 #include <mbed.h>
brunoalfano 0:2edbd561b520 6 #include "MPU6000.h"
brunoalfano 0:2edbd561b520 7
brunoalfano 0:2edbd561b520 8 mpu6000_spi::mpu6000_spi(SPI& _spi, PinName _cs) : spi(_spi), cs(_cs) {}
brunoalfano 0:2edbd561b520 9
brunoalfano 0:2edbd561b520 10 /*-----------------------------------------------------------------------------------------------
brunoalfano 0:2edbd561b520 11 INITIALIZATION
brunoalfano 0:2edbd561b520 12 usage: call this function at startup, giving the sample rate divider (raging from 0 to 255) and
brunoalfano 0:2edbd561b520 13 low pass filter value; suitable values are:
brunoalfano 0:2edbd561b520 14 BITS_DLPF_CFG_256HZ_NOLPF2
brunoalfano 0:2edbd561b520 15 BITS_DLPF_CFG_188HZ
brunoalfano 0:2edbd561b520 16 BITS_DLPF_CFG_98HZ
brunoalfano 0:2edbd561b520 17 BITS_DLPF_CFG_42HZ
brunoalfano 0:2edbd561b520 18 BITS_DLPF_CFG_20HZ
brunoalfano 0:2edbd561b520 19 BITS_DLPF_CFG_10HZ
brunoalfano 0:2edbd561b520 20 BITS_DLPF_CFG_5HZ
brunoalfano 0:2edbd561b520 21 BITS_DLPF_CFG_2100HZ_NOLPF
brunoalfano 0:2edbd561b520 22 returns 1 if an error occurred
brunoalfano 0:2edbd561b520 23 -----------------------------------------------------------------------------------------------*/
brunoalfano 0:2edbd561b520 24 bool mpu6000_spi::init(int sample_rate_div,int low_pass_filter){
brunoalfano 0:2edbd561b520 25 unsigned int response;
brunoalfano 0:2edbd561b520 26 spi.format(8,0);
brunoalfano 0:2edbd561b520 27 spi.frequency(1000000);
brunoalfano 0:2edbd561b520 28 //FIRST OF ALL DISABLE I2C
brunoalfano 0:2edbd561b520 29 select();
brunoalfano 0:2edbd561b520 30 response=spi.write(MPUREG_USER_CTRL);
brunoalfano 0:2edbd561b520 31 response=spi.write(BIT_I2C_IF_DIS);
brunoalfano 0:2edbd561b520 32 deselect();
brunoalfano 0:2edbd561b520 33 //RESET CHIP
brunoalfano 0:2edbd561b520 34 select();
brunoalfano 0:2edbd561b520 35 response=spi.write(MPUREG_PWR_MGMT_1);
brunoalfano 0:2edbd561b520 36 response=spi.write(BIT_H_RESET);
brunoalfano 0:2edbd561b520 37 deselect();
brunoalfano 0:2edbd561b520 38 wait(0.15);
brunoalfano 0:2edbd561b520 39 //WAKE UP AND SET GYROZ CLOCK
brunoalfano 0:2edbd561b520 40 select();
brunoalfano 0:2edbd561b520 41 response=spi.write(MPUREG_PWR_MGMT_1);
brunoalfano 0:2edbd561b520 42 response=spi.write(MPU_CLK_SEL_PLLGYROZ);
brunoalfano 0:2edbd561b520 43 deselect();
brunoalfano 0:2edbd561b520 44 //DISABLE I2C
brunoalfano 0:2edbd561b520 45 select();
brunoalfano 0:2edbd561b520 46 response=spi.write(MPUREG_USER_CTRL);
brunoalfano 0:2edbd561b520 47 response=spi.write(BIT_I2C_IF_DIS);
brunoalfano 0:2edbd561b520 48 deselect();
brunoalfano 0:2edbd561b520 49 //WHO AM I?
brunoalfano 0:2edbd561b520 50 select();
brunoalfano 0:2edbd561b520 51 response=spi.write(MPUREG_WHOAMI|READ_FLAG);
brunoalfano 0:2edbd561b520 52 response=spi.write(0x00);
brunoalfano 0:2edbd561b520 53 deselect();
brunoalfano 0:2edbd561b520 54 if(response<100){return 0;}//COULDN'T RECEIVE WHOAMI
brunoalfano 0:2edbd561b520 55 //SET SAMPLE RATE
brunoalfano 0:2edbd561b520 56 select();
brunoalfano 0:2edbd561b520 57 response=spi.write(MPUREG_SMPLRT_DIV);
brunoalfano 0:2edbd561b520 58 response=spi.write(sample_rate_div);
brunoalfano 0:2edbd561b520 59 deselect();
brunoalfano 0:2edbd561b520 60 // FS & DLPF
brunoalfano 0:2edbd561b520 61 select();
brunoalfano 0:2edbd561b520 62 response=spi.write(MPUREG_CONFIG);
brunoalfano 0:2edbd561b520 63 response=spi.write(low_pass_filter);
brunoalfano 0:2edbd561b520 64 deselect();
brunoalfano 0:2edbd561b520 65 //DISABLE INTERRUPTS
brunoalfano 0:2edbd561b520 66 select();
brunoalfano 0:2edbd561b520 67 response=spi.write(MPUREG_INT_ENABLE);
brunoalfano 0:2edbd561b520 68 response=spi.write(0x00);
brunoalfano 0:2edbd561b520 69 deselect();
brunoalfano 0:2edbd561b520 70 return 0;
brunoalfano 0:2edbd561b520 71 }
brunoalfano 0:2edbd561b520 72
brunoalfano 0:2edbd561b520 73 /*-----------------------------------------------------------------------------------------------
brunoalfano 0:2edbd561b520 74 ACCELEROMETER SCALE
brunoalfano 0:2edbd561b520 75 usage: call this function at startup, after initialization, to set the right range for the
brunoalfano 0:2edbd561b520 76 accelerometers. Suitable ranges are:
brunoalfano 0:2edbd561b520 77 BITS_FS_2G
brunoalfano 0:2edbd561b520 78 BITS_FS_4G
brunoalfano 0:2edbd561b520 79 BITS_FS_8G
brunoalfano 0:2edbd561b520 80 BITS_FS_16G
brunoalfano 0:2edbd561b520 81 returns the range set (2,4,8 or 16)
brunoalfano 0:2edbd561b520 82 -----------------------------------------------------------------------------------------------*/
brunoalfano 0:2edbd561b520 83 unsigned int mpu6000_spi::set_acc_scale(int scale){
brunoalfano 0:2edbd561b520 84 unsigned int temp_scale;
brunoalfano 0:2edbd561b520 85 select();
brunoalfano 0:2edbd561b520 86 spi.write(MPUREG_ACCEL_CONFIG);
brunoalfano 0:2edbd561b520 87 spi.write(scale);
brunoalfano 0:2edbd561b520 88 deselect();
brunoalfano 0:2edbd561b520 89 switch (scale){
brunoalfano 0:2edbd561b520 90 case BITS_FS_2G:
brunoalfano 0:2edbd561b520 91 acc_divider=16384;
brunoalfano 0:2edbd561b520 92 break;
brunoalfano 0:2edbd561b520 93 case BITS_FS_4G:
brunoalfano 0:2edbd561b520 94 acc_divider=8192;
brunoalfano 0:2edbd561b520 95 break;
brunoalfano 0:2edbd561b520 96 case BITS_FS_8G:
brunoalfano 0:2edbd561b520 97 acc_divider=4096;
brunoalfano 0:2edbd561b520 98 break;
brunoalfano 0:2edbd561b520 99 case BITS_FS_16G:
brunoalfano 0:2edbd561b520 100 acc_divider=2048;
brunoalfano 0:2edbd561b520 101 break;
brunoalfano 0:2edbd561b520 102 }
brunoalfano 0:2edbd561b520 103 wait(0.01);
brunoalfano 0:2edbd561b520 104 select();
brunoalfano 0:2edbd561b520 105 temp_scale=spi.write(MPUREG_ACCEL_CONFIG|READ_FLAG);
brunoalfano 0:2edbd561b520 106 temp_scale=spi.write(0x00);
brunoalfano 0:2edbd561b520 107 deselect();
brunoalfano 0:2edbd561b520 108 switch (temp_scale){
brunoalfano 0:2edbd561b520 109 case BITS_FS_2G:
brunoalfano 0:2edbd561b520 110 temp_scale=2;
brunoalfano 0:2edbd561b520 111 break;
brunoalfano 0:2edbd561b520 112 case BITS_FS_4G:
brunoalfano 0:2edbd561b520 113 temp_scale=4;
brunoalfano 0:2edbd561b520 114 break;
brunoalfano 0:2edbd561b520 115 case BITS_FS_8G:
brunoalfano 0:2edbd561b520 116 temp_scale=8;
brunoalfano 0:2edbd561b520 117 break;
brunoalfano 0:2edbd561b520 118 case BITS_FS_16G:
brunoalfano 0:2edbd561b520 119 temp_scale=16;
brunoalfano 0:2edbd561b520 120 break;
brunoalfano 0:2edbd561b520 121 }
brunoalfano 0:2edbd561b520 122 return temp_scale;
brunoalfano 0:2edbd561b520 123 }
brunoalfano 0:2edbd561b520 124
brunoalfano 0:2edbd561b520 125
brunoalfano 0:2edbd561b520 126 /*-----------------------------------------------------------------------------------------------
brunoalfano 0:2edbd561b520 127 GYROSCOPE SCALE
brunoalfano 0:2edbd561b520 128 usage: call this function at startup, after initialization, to set the right range for the
brunoalfano 0:2edbd561b520 129 gyroscopes. Suitable ranges are:
brunoalfano 0:2edbd561b520 130 BITS_FS_250DPS
brunoalfano 0:2edbd561b520 131 BITS_FS_500DPS
brunoalfano 0:2edbd561b520 132 BITS_FS_1000DPS
brunoalfano 0:2edbd561b520 133 BITS_FS_2000DPS
brunoalfano 0:2edbd561b520 134 returns the range set (250,500,1000 or 2000)
brunoalfano 0:2edbd561b520 135 -----------------------------------------------------------------------------------------------*/
brunoalfano 0:2edbd561b520 136 unsigned int mpu6000_spi::set_gyro_scale(int scale){
brunoalfano 0:2edbd561b520 137 unsigned int temp_scale;
brunoalfano 0:2edbd561b520 138 select();
brunoalfano 0:2edbd561b520 139 spi.write(MPUREG_GYRO_CONFIG);
brunoalfano 0:2edbd561b520 140 spi.write(scale);
brunoalfano 0:2edbd561b520 141 deselect();
brunoalfano 0:2edbd561b520 142 switch (scale){
brunoalfano 0:2edbd561b520 143 case BITS_FS_250DPS:
brunoalfano 0:2edbd561b520 144 gyro_divider=131;
brunoalfano 0:2edbd561b520 145 break;
brunoalfano 0:2edbd561b520 146 case BITS_FS_500DPS:
brunoalfano 0:2edbd561b520 147 gyro_divider=65.5;
brunoalfano 0:2edbd561b520 148 break;
brunoalfano 0:2edbd561b520 149 case BITS_FS_1000DPS:
brunoalfano 0:2edbd561b520 150 gyro_divider=32.8;
brunoalfano 0:2edbd561b520 151 break;
brunoalfano 0:2edbd561b520 152 case BITS_FS_2000DPS:
brunoalfano 0:2edbd561b520 153 gyro_divider=16.4;
brunoalfano 0:2edbd561b520 154 break;
brunoalfano 0:2edbd561b520 155 }
brunoalfano 0:2edbd561b520 156 wait(0.01);
brunoalfano 0:2edbd561b520 157 select();
brunoalfano 0:2edbd561b520 158 temp_scale=spi.write(MPUREG_GYRO_CONFIG|READ_FLAG);
brunoalfano 0:2edbd561b520 159 temp_scale=spi.write(0x00);
brunoalfano 0:2edbd561b520 160 deselect();
brunoalfano 0:2edbd561b520 161 switch (temp_scale){
brunoalfano 0:2edbd561b520 162 case BITS_FS_250DPS:
brunoalfano 0:2edbd561b520 163 temp_scale=250;
brunoalfano 0:2edbd561b520 164 break;
brunoalfano 0:2edbd561b520 165 case BITS_FS_500DPS:
brunoalfano 0:2edbd561b520 166 temp_scale=500;
brunoalfano 0:2edbd561b520 167 break;
brunoalfano 0:2edbd561b520 168 case BITS_FS_1000DPS:
brunoalfano 0:2edbd561b520 169 temp_scale=1000;
brunoalfano 0:2edbd561b520 170 break;
brunoalfano 0:2edbd561b520 171 case BITS_FS_2000DPS:
brunoalfano 0:2edbd561b520 172 temp_scale=2000;
brunoalfano 0:2edbd561b520 173 break;
brunoalfano 0:2edbd561b520 174 }
brunoalfano 0:2edbd561b520 175 return temp_scale;
brunoalfano 0:2edbd561b520 176 }
brunoalfano 0:2edbd561b520 177
brunoalfano 0:2edbd561b520 178
brunoalfano 0:2edbd561b520 179 /*-----------------------------------------------------------------------------------------------
brunoalfano 0:2edbd561b520 180 WHO AM I?
brunoalfano 0:2edbd561b520 181 usage: call this function to know if SPI is working correctly. It checks the I2C address of the
brunoalfano 0:2edbd561b520 182 mpu6000 which should be 104 when in SPI mode.
brunoalfano 0:2edbd561b520 183 returns the I2C address (104)
brunoalfano 0:2edbd561b520 184 -----------------------------------------------------------------------------------------------*/
brunoalfano 0:2edbd561b520 185 unsigned int mpu6000_spi::whoami(){
brunoalfano 0:2edbd561b520 186 unsigned int response;
brunoalfano 0:2edbd561b520 187 select();
brunoalfano 0:2edbd561b520 188 response=spi.write(MPUREG_WHOAMI|READ_FLAG);
brunoalfano 0:2edbd561b520 189 response=spi.write(0x00);
brunoalfano 0:2edbd561b520 190 deselect();
brunoalfano 0:2edbd561b520 191 return response;
brunoalfano 0:2edbd561b520 192 }
brunoalfano 0:2edbd561b520 193
brunoalfano 0:2edbd561b520 194
brunoalfano 0:2edbd561b520 195 /*-----------------------------------------------------------------------------------------------
brunoalfano 0:2edbd561b520 196 READ ACCELEROMETER
brunoalfano 0:2edbd561b520 197 usage: call this function to read accelerometer data. Axis represents selected axis:
brunoalfano 0:2edbd561b520 198 0 -> X axis
brunoalfano 0:2edbd561b520 199 1 -> Y axis
brunoalfano 0:2edbd561b520 200 2 -> Z axis
brunoalfano 0:2edbd561b520 201 returns the value in Gs
brunoalfano 0:2edbd561b520 202 -----------------------------------------------------------------------------------------------*/
brunoalfano 0:2edbd561b520 203 float mpu6000_spi::read_acc(int axis){
brunoalfano 0:2edbd561b520 204 uint8_t responseH,responseL;
brunoalfano 0:2edbd561b520 205 int16_t bit_data;
brunoalfano 0:2edbd561b520 206 float data;
brunoalfano 0:2edbd561b520 207 select();
brunoalfano 0:2edbd561b520 208 switch (axis){
brunoalfano 0:2edbd561b520 209 case 0:
brunoalfano 0:2edbd561b520 210 responseH=spi.write(MPUREG_ACCEL_XOUT_H | READ_FLAG);
brunoalfano 0:2edbd561b520 211 break;
brunoalfano 0:2edbd561b520 212 case 1:
brunoalfano 0:2edbd561b520 213 responseH=spi.write(MPUREG_ACCEL_YOUT_H | READ_FLAG);
brunoalfano 0:2edbd561b520 214 break;
brunoalfano 0:2edbd561b520 215 case 2:
brunoalfano 0:2edbd561b520 216 responseH=spi.write(MPUREG_ACCEL_ZOUT_H | READ_FLAG);
brunoalfano 0:2edbd561b520 217 break;
brunoalfano 0:2edbd561b520 218 }
brunoalfano 0:2edbd561b520 219 responseH=spi.write(0x00);
brunoalfano 0:2edbd561b520 220 responseL=spi.write(0x00);
brunoalfano 0:2edbd561b520 221 bit_data=((int16_t)responseH<<8)|responseL;
brunoalfano 0:2edbd561b520 222 data=(float)bit_data;
brunoalfano 0:2edbd561b520 223 data=data/acc_divider;
brunoalfano 0:2edbd561b520 224 deselect();
brunoalfano 0:2edbd561b520 225 return data;
brunoalfano 0:2edbd561b520 226 }
brunoalfano 0:2edbd561b520 227
brunoalfano 0:2edbd561b520 228 /*-----------------------------------------------------------------------------------------------
brunoalfano 0:2edbd561b520 229 READ GYROSCOPE
brunoalfano 0:2edbd561b520 230 usage: call this function to read gyroscope data. Axis represents selected axis:
brunoalfano 0:2edbd561b520 231 0 -> X axis
brunoalfano 0:2edbd561b520 232 1 -> Y axis
brunoalfano 0:2edbd561b520 233 2 -> Z axis
brunoalfano 0:2edbd561b520 234 returns the value in Degrees per second
brunoalfano 0:2edbd561b520 235 -----------------------------------------------------------------------------------------------*/
brunoalfano 0:2edbd561b520 236 float mpu6000_spi::read_rot(int axis){
brunoalfano 0:2edbd561b520 237 uint8_t responseH,responseL;
brunoalfano 0:2edbd561b520 238 int16_t bit_data;
brunoalfano 0:2edbd561b520 239 float data;
brunoalfano 0:2edbd561b520 240 select();
brunoalfano 0:2edbd561b520 241 switch (axis){
brunoalfano 0:2edbd561b520 242 case 0:
brunoalfano 0:2edbd561b520 243 responseH=spi.write(MPUREG_GYRO_XOUT_H | READ_FLAG);
brunoalfano 0:2edbd561b520 244 break;
brunoalfano 0:2edbd561b520 245 case 1:
brunoalfano 0:2edbd561b520 246 responseH=spi.write(MPUREG_GYRO_YOUT_H | READ_FLAG);
brunoalfano 0:2edbd561b520 247 break;
brunoalfano 0:2edbd561b520 248 case 2:
brunoalfano 0:2edbd561b520 249 responseH=spi.write(MPUREG_GYRO_ZOUT_H | READ_FLAG);
brunoalfano 0:2edbd561b520 250 break;
brunoalfano 0:2edbd561b520 251 }
brunoalfano 0:2edbd561b520 252 responseH=spi.write(0x00);
brunoalfano 0:2edbd561b520 253 responseL=spi.write(0x00);
brunoalfano 0:2edbd561b520 254 bit_data=((int16_t)responseH<<8)|responseL;
brunoalfano 0:2edbd561b520 255 data=(float)bit_data;
brunoalfano 0:2edbd561b520 256 data=data/gyro_divider;
brunoalfano 0:2edbd561b520 257 deselect();
brunoalfano 0:2edbd561b520 258 return data;
brunoalfano 0:2edbd561b520 259 }
brunoalfano 0:2edbd561b520 260
brunoalfano 0:2edbd561b520 261 /*-----------------------------------------------------------------------------------------------
brunoalfano 0:2edbd561b520 262 READ TEMPERATURE
brunoalfano 0:2edbd561b520 263 usage: call this function to read temperature data.
brunoalfano 0:2edbd561b520 264 returns the value in °C
brunoalfano 0:2edbd561b520 265 -----------------------------------------------------------------------------------------------*/
brunoalfano 0:2edbd561b520 266 float mpu6000_spi::read_temp(){
brunoalfano 0:2edbd561b520 267 uint8_t responseH,responseL;
brunoalfano 0:2edbd561b520 268 int16_t bit_data;
brunoalfano 0:2edbd561b520 269 float data;
brunoalfano 0:2edbd561b520 270 select();
brunoalfano 0:2edbd561b520 271 responseH=spi.write(MPUREG_TEMP_OUT_H | READ_FLAG);
brunoalfano 0:2edbd561b520 272 responseH=spi.write(0x00);
brunoalfano 0:2edbd561b520 273 responseL=spi.write(0x00);
brunoalfano 0:2edbd561b520 274 bit_data=((int16_t)responseH<<8)|responseL;
brunoalfano 0:2edbd561b520 275 data=(float)bit_data;
brunoalfano 0:2edbd561b520 276 data=(data/340)+36.53;
brunoalfano 0:2edbd561b520 277 deselect();
brunoalfano 0:2edbd561b520 278 return data;
brunoalfano 0:2edbd561b520 279 }
brunoalfano 0:2edbd561b520 280
brunoalfano 0:2edbd561b520 281 /*-----------------------------------------------------------------------------------------------
brunoalfano 0:2edbd561b520 282 READ ACCELEROMETER CALIBRATION
brunoalfano 0:2edbd561b520 283 usage: call this function to read accelerometer data. Axis represents selected axis:
brunoalfano 0:2edbd561b520 284 0 -> X axis
brunoalfano 0:2edbd561b520 285 1 -> Y axis
brunoalfano 0:2edbd561b520 286 2 -> Z axis
brunoalfano 0:2edbd561b520 287 returns Factory Trim value
brunoalfano 0:2edbd561b520 288 -----------------------------------------------------------------------------------------------*/
brunoalfano 0:2edbd561b520 289 int mpu6000_spi::calib_acc(int axis){
brunoalfano 0:2edbd561b520 290 uint8_t responseH,responseL,calib_data;
brunoalfano 0:2edbd561b520 291 int temp_scale;
brunoalfano 0:2edbd561b520 292 //READ CURRENT ACC SCALE
brunoalfano 0:2edbd561b520 293 select();
brunoalfano 0:2edbd561b520 294 responseH=spi.write(MPUREG_ACCEL_CONFIG|READ_FLAG);
brunoalfano 0:2edbd561b520 295 temp_scale=spi.write(0x00);
brunoalfano 0:2edbd561b520 296 deselect();
brunoalfano 0:2edbd561b520 297 wait(0.01);
brunoalfano 0:2edbd561b520 298 set_acc_scale(BITS_FS_8G);
brunoalfano 0:2edbd561b520 299 wait(0.01);
brunoalfano 0:2edbd561b520 300 //ENABLE SELF TEST
brunoalfano 0:2edbd561b520 301 select();
brunoalfano 0:2edbd561b520 302 responseH=spi.write(MPUREG_ACCEL_CONFIG);
brunoalfano 0:2edbd561b520 303 temp_scale=spi.write(0x80>>axis);
brunoalfano 0:2edbd561b520 304 deselect();
brunoalfano 0:2edbd561b520 305 wait(0.01);
brunoalfano 0:2edbd561b520 306 select();
brunoalfano 0:2edbd561b520 307 responseH=spi.write(MPUREG_SELF_TEST_X|READ_FLAG);
brunoalfano 0:2edbd561b520 308 switch(axis){
brunoalfano 0:2edbd561b520 309 case 0:
brunoalfano 0:2edbd561b520 310 responseH=spi.write(0x00);
brunoalfano 0:2edbd561b520 311 responseL=spi.write(0x00);
brunoalfano 0:2edbd561b520 312 responseL=spi.write(0x00);
brunoalfano 0:2edbd561b520 313 responseL=spi.write(0x00);
brunoalfano 0:2edbd561b520 314 calib_data=((responseH&11100000)>>3)|((responseL&00110000)>>4);
brunoalfano 0:2edbd561b520 315 break;
brunoalfano 0:2edbd561b520 316 case 1:
brunoalfano 0:2edbd561b520 317 responseH=spi.write(0x00);
brunoalfano 0:2edbd561b520 318 responseH=spi.write(0x00);
brunoalfano 0:2edbd561b520 319 responseL=spi.write(0x00);
brunoalfano 0:2edbd561b520 320 responseL=spi.write(0x00);
brunoalfano 0:2edbd561b520 321 calib_data=((responseH&11100000)>>3)|((responseL&00001100)>>2);
brunoalfano 0:2edbd561b520 322 break;
brunoalfano 0:2edbd561b520 323 case 2:
brunoalfano 0:2edbd561b520 324 responseH=spi.write(0x00);
brunoalfano 0:2edbd561b520 325 responseH=spi.write(0x00);
brunoalfano 0:2edbd561b520 326 responseH=spi.write(0x00);
brunoalfano 0:2edbd561b520 327 responseL=spi.write(0x00);
brunoalfano 0:2edbd561b520 328 calib_data=((responseH&11100000)>>3)|((responseL&00000011));
brunoalfano 0:2edbd561b520 329 break;
brunoalfano 0:2edbd561b520 330 }
brunoalfano 0:2edbd561b520 331 deselect();
brunoalfano 0:2edbd561b520 332 wait(0.01);
brunoalfano 0:2edbd561b520 333 set_acc_scale(temp_scale);
brunoalfano 0:2edbd561b520 334 return calib_data;
brunoalfano 0:2edbd561b520 335 }
brunoalfano 0:2edbd561b520 336
brunoalfano 0:2edbd561b520 337 /*-----------------------------------------------------------------------------------------------
brunoalfano 0:2edbd561b520 338 SPI SELECT AND DESELECT
brunoalfano 0:2edbd561b520 339 usage: enable and disable mpu6000 communication bus
brunoalfano 0:2edbd561b520 340 -----------------------------------------------------------------------------------------------*/
brunoalfano 0:2edbd561b520 341 void mpu6000_spi::select() {
brunoalfano 0:2edbd561b520 342 //Set CS low to start transmission (interrupts conversion)
brunoalfano 0:2edbd561b520 343 cs = 0;
brunoalfano 0:2edbd561b520 344 }
brunoalfano 0:2edbd561b520 345 void mpu6000_spi::deselect() {
brunoalfano 0:2edbd561b520 346 //Set CS high to stop transmission (restarts conversion)
brunoalfano 0:2edbd561b520 347 cs = 1;
brunoalfano 0:2edbd561b520 348 }