Diff: MPU6000.h

Revision:

0:2edbd561b520

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6000.h	Sat Mar 08 12:38:14 2014 +0000
@@ -0,0 +1,162 @@
+/*CODED by Bruno Alfano on 07/03/2014
+www.xene.it
+
+USAGE (example program):
+#include "mbed.h"
+#include "MPU6000.h"        //Include library
+SPI spi(p11, p12, p13);     //define the SPI (mosi, miso, sclk)
+mpu6000_spi imu(spi,p22);   //define the mpu6000 object
+int main(){
+    if(imu.init(1,BITS_DLPF_CFG_5HZ)){  //INIT the mpu6000
+        printf("\nCouldn't initialize MPU6000 via SPI!");
+    }    
+    wait(0.1);    
+    printf("\n\nWHOAMI=%u\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
+    wait(0.1);    
+    printf("\nGyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS));    //Set full scale range for gyros
+    wait(1);  
+    printf("\nAcc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G));          //Set full scale range for accs
+    wait(0.1);    
+    while(1) {
+        myled = 1;
+        wait(0.3);
+        myled = 0;
+        wait(0.3);
+        printf("\nT=%.3f",imu.read_temp());
+        printf(" X=%.3f",imu.read_acc(0));  
+        printf(" Y=%.3f",imu.read_acc(1)); 
+        printf(" Z=%.3f",imu.read_acc(2));   
+        printf(" rX=%.3f",imu.read_rot(0));  
+        printf(" rY=%.3f",imu.read_rot(1)); 
+        printf(" rZ=%.3f",imu.read_rot(2));
+    }
+}
+*/
+
+
+#ifndef MPU6000_h
+#define MPU6000_h
+#include "mbed.h"
+
+
+class mpu6000_spi
+{
+    SPI& spi;
+    DigitalOut cs;
+    
+  public:
+    mpu6000_spi(SPI& _spi, PinName _cs);
+    bool init(int sample_rate_div,int low_pass_filter);
+    float read_acc(int axis);
+    float read_rot(int axis);
+    unsigned int set_gyro_scale(int scale);
+    unsigned int set_acc_scale(int scale);
+    int calib_acc(int axis);
+    float read_temp();
+    void select();
+    void deselect();
+    unsigned int whoami();
+    
+    float acc_divider;
+    float gyro_divider;
+    
+  private:
+    PinName _CS_pin;
+    PinName _SO_pin;
+    PinName _SCK_pin;
+    float _error;
+};
+
+#endif
+
+
+
+// MPU6000 registers
+#define MPUREG_XG_OFFS_TC 0x00
+#define MPUREG_YG_OFFS_TC 0x01
+#define MPUREG_ZG_OFFS_TC 0x02
+#define MPUREG_X_FINE_GAIN 0x03
+#define MPUREG_Y_FINE_GAIN 0x04
+#define MPUREG_Z_FINE_GAIN 0x05
+#define MPUREG_XA_OFFS_H 0x06
+#define MPUREG_XA_OFFS_L 0x07
+#define MPUREG_YA_OFFS_H 0x08
+#define MPUREG_YA_OFFS_L 0x09
+#define MPUREG_ZA_OFFS_H 0x0A
+#define MPUREG_ZA_OFFS_L 0x0B
+#define MPUREG_PRODUCT_ID 0x0C
+#define MPUREG_SELF_TEST_X 0x0D
+#define MPUREG_SELF_TEST_Y 0x0E
+#define MPUREG_SELF_TEST_Z 0x0F
+#define MPUREG_SELF_TEST_A 0x10
+#define MPUREG_XG_OFFS_USRH 0x13
+#define MPUREG_XG_OFFS_USRL 0x14
+#define MPUREG_YG_OFFS_USRH 0x15
+#define MPUREG_YG_OFFS_USRL 0x16
+#define MPUREG_ZG_OFFS_USRH 0x17
+#define MPUREG_ZG_OFFS_USRL 0x18
+#define MPUREG_SMPLRT_DIV 0x19
+#define MPUREG_CONFIG 0x1A
+#define MPUREG_GYRO_CONFIG 0x1B
+#define MPUREG_ACCEL_CONFIG 0x1C
+#define MPUREG_INT_PIN_CFG 0x37
+#define MPUREG_INT_ENABLE 0x38
+#define MPUREG_ACCEL_XOUT_H 0x3B
+#define MPUREG_ACCEL_XOUT_L 0x3C
+#define MPUREG_ACCEL_YOUT_H 0x3D
+#define MPUREG_ACCEL_YOUT_L 0x3E
+#define MPUREG_ACCEL_ZOUT_H 0x3F
+#define MPUREG_ACCEL_ZOUT_L 0x40
+#define MPUREG_TEMP_OUT_H 0x41
+#define MPUREG_TEMP_OUT_L 0x42
+#define MPUREG_GYRO_XOUT_H 0x43
+#define MPUREG_GYRO_XOUT_L 0x44
+#define MPUREG_GYRO_YOUT_H 0x45
+#define MPUREG_GYRO_YOUT_L 0x46
+#define MPUREG_GYRO_ZOUT_H 0x47
+#define MPUREG_GYRO_ZOUT_L 0x48
+#define MPUREG_USER_CTRL 0x6A
+#define MPUREG_PWR_MGMT_1 0x6B
+#define MPUREG_PWR_MGMT_2 0x6C
+#define MPUREG_BANK_SEL 0x6D
+#define MPUREG_MEM_START_ADDR 0x6E
+#define MPUREG_MEM_R_W 0x6F
+#define MPUREG_DMP_CFG_1 0x70
+#define MPUREG_DMP_CFG_2 0x71
+#define MPUREG_FIFO_COUNTH 0x72
+#define MPUREG_FIFO_COUNTL 0x73
+#define MPUREG_FIFO_R_W 0x74
+#define MPUREG_WHOAMI 0x75
+
+// Configuration bits MPU6000
+#define BIT_SLEEP 0x40
+#define BIT_H_RESET 0x80
+#define BITS_CLKSEL 0x07
+#define MPU_CLK_SEL_PLLGYROX 0x01
+#define MPU_CLK_SEL_PLLGYROZ 0x03
+#define MPU_EXT_SYNC_GYROX 0x02
+#define BITS_FS_250DPS              0x00
+#define BITS_FS_500DPS              0x08
+#define BITS_FS_1000DPS             0x10
+#define BITS_FS_2000DPS             0x18
+#define BITS_FS_2G                  0x00
+#define BITS_FS_4G                  0x08
+#define BITS_FS_8G                  0x10
+#define BITS_FS_16G                 0x18
+#define BITS_FS_MASK                0x18
+#define BITS_DLPF_CFG_256HZ_NOLPF2  0x00
+#define BITS_DLPF_CFG_188HZ         0x01
+#define BITS_DLPF_CFG_98HZ          0x02
+#define BITS_DLPF_CFG_42HZ          0x03
+#define BITS_DLPF_CFG_20HZ          0x04
+#define BITS_DLPF_CFG_10HZ          0x05
+#define BITS_DLPF_CFG_5HZ           0x06
+#define BITS_DLPF_CFG_2100HZ_NOLPF  0x07
+#define BITS_DLPF_CFG_MASK          0x07
+#define BIT_INT_ANYRD_2CLEAR        0x10
+#define BIT_RAW_RDY_EN              0x01
+#define BIT_I2C_IF_DIS              0x10
+
+#define READ_FLAG   0x80
+
+