MPU6050.h

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#ifndef MPU6050_H
#define MPU6050_H
 
#include "mbed.h"
#include "math.h"
 
#ifndef M_PI
#define M_PI                3.14159265358979323846
#endif
 
// 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
 
// Register bits
#define DATA_RDY_INT        0
#define I2C_MST_EN          5
 
enum AccelScale
{
    AFS_2G,
    AFS_4G,
    AFS_8G,
    AFS_16G
};
 
enum GyroScale
{
    GFS_250DPS,
    GFS_500DPS,
    GFS_1000DPS,
    GFS_2000DPS
};
 
class MPU6050
{
    uint8_t     _addr;
    AccelScale  _accelScale;
    GyroScale   _gyroScale;
    I2C         _i2c;
    InterruptIn _interruptIn;
    float       _accelRes;
    float       _gyroRes;
    int16_t     _accelAdc[3];                           // Stores the 16-bit signed accelerometer sensor output
    int16_t     _gyroAdc[3];                            // Stores the 16-bit signed gyro sensor output
    float       _gyroBias[3] = { 0 };
    float       _accelBias[3] = { 0 };                  // Bias corrections for gyro and accelerometer
    int16_t     _tempInt;                               // Stores the real internal chip temperature in degrees Celsius
    float       _temp;
    float       _selfTest[6];
 
    // parameters for 6 DoF sensor fusion calculations
    const float _gyroError = M_PI * (40.0f / 180.0f);   // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
    const float _gyroDrift = M_PI * (2.0f / 180.0f);    // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
    float       _beta;                                  // compute beta
    float       _zeta;                                  // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
    float       _pitch, _yaw, _roll;
    float       _q[4] = { 1.0f, 0.0f, 0.0f, 0.0f };     // vector to hold quaternion
    void        writeReg(uint8_t reg, uint8_t byte);
    uint8_t     readReg(uint8_t reg);
    void        readRegBytes(uint8_t reg, uint8_t len, uint8_t* dest);
    int16_t*    accelADC();
    int16_t*    gyroADC();
    int16_t     tempADC();
public:
    float   accelData[3];                               // Stores the real accelerometer sensor output
    float&  accelX = accelData[0];                          // Acceleration liases
    float&  accelY = accelData[1];
    float&  accelZ = accelData[2];
    float   gyroData[3];                                // Stores the real gyro sensor output
    float&  gyroX = gyroData[0];                           // Gyro aliases
    float&  gyroY = gyroData[1];
    float&  gyroZ = gyroData[2];
 
    MPU6050
    (
        uint8_t     addr = 0x68,
        AccelScale  accelScale = AFS_2G,
        GyroScale   gyroScale = GFS_250DPS,
        PinName     sdaPin = I2C_SDA,
        PinName     sclPin = I2C_SCL,
        PinName     interruptInPin = NC
    );
    virtual ~MPU6050()  { }
    void    rise(Callback<void (void)> func);
    template<typename T>
    void rise(T* tptr, void (T:: *mptr) (void));
    void fall(Callback<void (void)> func);
    template<typename T>
    void fall(T* tptr, void (T:: *mptr) (void));
    bool init();
    bool dataReady();
    float* accel();
    float* gyro();
    float temp();
 
    // Configure the motion detection control for low power accelerometer mode
    void lowPowerAccelOnly();
    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();
 
    // Accelerometer and gyroscope self test; check calibration wrt factory settings
    bool selfTestOK();                                  // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
    void setGain(float beta, float zeta);
 
    // Implementation of Sebastian Madgwick's "...efficient orientation filter for inertial/magnetic sensor arrays"
    // (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
    // which fuses acceleration and rotation rate to produce a quaternion-based estimate of relative
    // device orientation -- which can be converted to yaw, pitch, and roll.
    // Useful for stabilizing quadcopters, etc.
    // The performance of the orientation filter is almost as good as conventional Kalman-based filtering algorithms
    // but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
    void madgwickFilter(float deltaT);
 
    // To compute yaw, pitch and roll after after aplying the madgwickFilter
    float yaw();
    float pitch();
    float roll();
};
#endif // MPU6050_H