diff options
| -rw-r--r-- | libraries/MPU6050/MPU6050.cpp | 195 | ||||
| -rw-r--r-- | libraries/MPU6050/MPU6050.h | 645 |
2 files changed, 840 insertions, 0 deletions
diff --git a/libraries/MPU6050/MPU6050.cpp b/libraries/MPU6050/MPU6050.cpp new file mode 100644 index 0000000..86901d9 --- /dev/null +++ b/libraries/MPU6050/MPU6050.cpp @@ -0,0 +1,195 @@ +// MPU-6050 Accelerometer + Gyro +// ----------------------------- +// +// By arduino.cc user "Krodal". +// June 2012 +// Open Source / Public Domain +// +// Using Arduino 1.0.1 +// It will not work with an older version, +// since Wire.endTransmission() uses a parameter +// to hold or release the I2C bus. +// +// Documentation: +// - The InvenSense documents: +// - "MPU-6000 and MPU-6050 Product Specification", +// PS-MPU-6000A.pdf +// - "MPU-6000 and MPU-6050 Register Map and Descriptions", +// RM-MPU-6000A.pdf or RS-MPU-6000A.pdf +// - "MPU-6000/MPU-6050 9-Axis Evaluation Board User Guide" +// AN-MPU-6000EVB.pdf +// +// The accuracy is 16-bits. +// +// Temperature sensor from -40 to +85 degrees Celsius +// 340 per degrees, -512 at 35 degrees. +// +// At power-up, all registers are zero, except these two: +// Register 0x6B (PWR_MGMT_2) = 0x40 (I read zero). +// Register 0x75 (WHO_AM_I) = 0x68. +// + +#include <Arduino.h> +#include "MPU6050.h" + +// -------------------------------------------------------- +// MPU6050_read +// +// This is a common function to read multiple bytes +// from an I2C device. +// +// It uses the boolean parameter for Wire.endTransMission() +// to be able to hold or release the I2C-bus. +// This is implemented in Arduino 1.0.1. +// +// Only this function is used to read. +// There is no function for a single byte. +// +int MPU6050_read(int start, uint8_t *buffer, int size) +{ + int i, n; + + Wire.beginTransmission(MPU6050_I2C_ADDRESS); + n = Wire.write(start); + if (n != 1) + return (-10); + + n = Wire.endTransmission(false); // hold the I2C-bus + if (n != 0) + return (n); + + // Third parameter is true: relase I2C-bus after data is read. + Wire.requestFrom(MPU6050_I2C_ADDRESS, size, true); + i = 0; + while(Wire.available() && i<size) + { + buffer[i++]=Wire.read(); + } + if ( i != size) + return (-11); + + return (0); // return : no error +} + + +// -------------------------------------------------------- +// MPU6050_write +// +// This is a common function to write multiple bytes to an I2C device. +// +// If only a single register is written, +// use the function MPU_6050_write_reg(). +// +// Parameters: +// start : Start address, use a define for the register +// pData : A pointer to the data to write. +// size : The number of bytes to write. +// +// If only a single register is written, a pointer +// to the data has to be used, and the size is +// a single byte: +// int data = 0; // the data to write +// MPU6050_write (MPU6050_PWR_MGMT_1, &c, 1); +// +int MPU6050_write(int start, const uint8_t *pData, int size) +{ + int n, error; + + Wire.beginTransmission(MPU6050_I2C_ADDRESS); + n = Wire.write(start); // write the start address + if (n != 1) + return (-20); + + n = Wire.write(pData, size); // write data bytes + if (n != size) + return (-21); + + error = Wire.endTransmission(true); // release the I2C-bus + if (error != 0) + return (error); + + return (0); // return : no error +} + +// -------------------------------------------------------- +// MPU6050_write_reg +// +// An extra function to write a single register. +// It is just a wrapper around the MPU_6050_write() +// function, and it is only a convenient function +// to make it easier to write a single register. +// +int MPU6050_write_reg(int reg, uint8_t data) +{ + int error; + + error = MPU6050_write(reg, &data, 1); + + return (error); +} + +// -------------------------------------------------------- +// MPU6050_init +// +// Initialization +// +int MPU6050_init() +{ + // default at power-up: + // Gyro at 250 degrees second + // Acceleration at 2g + // Clock source at internal 8MHz + // The device is in sleep mode. + // + uint8_t c; + int error; + error = MPU6050_read (MPU6050_WHO_AM_I, &c, 1); + if (error) return error; + + // According to the datasheet, the 'sleep' bit + // should read a '1'. But I read a '0'. + // That bit has to be cleared, since the sensor + // is in sleep mode at power-up. Even if the + // bit reads '0'. + error = MPU6050_read (MPU6050_PWR_MGMT_2, &c, 1); + if (error) return error; + + // Clear the 'sleep' bit to start the sensor. + MPU6050_write_reg (MPU6050_PWR_MGMT_1, 0); + return 0; +} + +// -------------------------------------------------------- +// MPU6050_readout +// +// Perform an complete read-out +// + +int MPU6050_readout(accel_t_gyro_union* accel_t_gyro) +{ + int error; + + // Read the raw values. + // Read 14 bytes at once, + // containing acceleration, temperature and gyro. + // With the default settings of the MPU-6050, + // there is no filter enabled, and the values + // are not very stable. + error = MPU6050_read (MPU6050_ACCEL_XOUT_H, (uint8_t *)accel_t_gyro, sizeof(accel_t_gyro_union)); + if (error) return error; + + // Swap all high and low bytes. + // After this, the registers values are swapped, + // so the structure name like x_accel_l does no + // longer contain the lower byte. + uint8_t swap; + #define SWAP(x,y) swap = x; x = y; y = swap + + SWAP (accel_t_gyro->reg.x_accel_h, accel_t_gyro->reg.x_accel_l); + SWAP (accel_t_gyro->reg.y_accel_h, accel_t_gyro->reg.y_accel_l); + SWAP (accel_t_gyro->reg.z_accel_h, accel_t_gyro->reg.z_accel_l); + SWAP (accel_t_gyro->reg.t_h, accel_t_gyro->reg.t_l); + SWAP (accel_t_gyro->reg.x_gyro_h, accel_t_gyro->reg.x_gyro_l); + SWAP (accel_t_gyro->reg.y_gyro_h, accel_t_gyro->reg.y_gyro_l); + SWAP (accel_t_gyro->reg.z_gyro_h, accel_t_gyro->reg.z_gyro_l); +} diff --git a/libraries/MPU6050/MPU6050.h b/libraries/MPU6050/MPU6050.h new file mode 100644 index 0000000..3cf3296 --- /dev/null +++ b/libraries/MPU6050/MPU6050.h @@ -0,0 +1,645 @@ +#ifndef MPU6050_H_INCLUDED +#define MPU6050_H_INCLUDED + +#include <Wire.h> + +// The temperature sensor is -40 to +85 degrees Celsius. +// It is a signed integer. +// According to the datasheet: +// 340 per degrees Celsius, -512 at 35 degrees. +// At 0 degrees: -512 - (340 * 35) = -12412 +#define MPU6050_GET_TEMPERATURE(t) (( (float)t + 12412.0) / 340.0) + +// The name of the sensor is "MPU-6050". +// For program code, I omit the '-', +// therefor I use the name "MPU6050....". + + +// Register names according to the datasheet. +// According to the InvenSense document +// "MPU-6000 and MPU-6050 Register Map +// and Descriptions Revision 3.2", there are no registers +// at 0x02 ... 0x18, but according other information +// the registers in that unknown area are for gain +// and offsets. +// +//#define MPU6050_AUX_VDDIO 0x01 // R/W +#define MPU6050_SMPLRT_DIV 0x19 // R/W +#define MPU6050_CONFIG 0x1A // R/W +#define MPU6050_GYRO_CONFIG 0x1B // R/W +#define MPU6050_ACCEL_CONFIG 0x1C // R/W +#define MPU6050_FF_THR 0x1D // R/W +#define MPU6050_FF_DUR 0x1E // R/W +#define MPU6050_MOT_THR 0x1F // R/W +#define MPU6050_MOT_DUR 0x20 // R/W +#define MPU6050_ZRMOT_THR 0x21 // R/W +#define MPU6050_ZRMOT_DUR 0x22 // R/W +//#define MPU6050_FIFO_EN 0x23 // R/W +#define MPU6050_I2C_MST_CTRL 0x24 // R/W +#define MPU6050_I2C_SLV0_ADDR 0x25 // R/W +#define MPU6050_I2C_SLV0_REG 0x26 // R/W +#define MPU6050_I2C_SLV0_CTRL 0x27 // R/W +#define MPU6050_I2C_SLV1_ADDR 0x28 // R/W +#define MPU6050_I2C_SLV1_REG 0x29 // R/W +#define MPU6050_I2C_SLV1_CTRL 0x2A // R/W +#define MPU6050_I2C_SLV2_ADDR 0x2B // R/W +#define MPU6050_I2C_SLV2_REG 0x2C // R/W +#define MPU6050_I2C_SLV2_CTRL 0x2D // R/W +#define MPU6050_I2C_SLV3_ADDR 0x2E // R/W +#define MPU6050_I2C_SLV3_REG 0x2F // R/W +#define MPU6050_I2C_SLV3_CTRL 0x30 // R/W +#define MPU6050_I2C_SLV4_ADDR 0x31 // R/W +#define MPU6050_I2C_SLV4_REG 0x32 // R/W +#define MPU6050_I2C_SLV4_DO 0x33 // R/W +#define MPU6050_I2C_SLV4_CTRL 0x34 // R/W +#define MPU6050_I2C_SLV4_DI 0x35 // R +#define MPU6050_I2C_MST_STATUS 0x36 // R +#define MPU6050_INT_PIN_CFG 0x37 // R/W +#define MPU6050_INT_ENABLE 0x38 // R/W +#define MPU6050_INT_STATUS 0x3A // R +#define MPU6050_ACCEL_XOUT_H 0x3B // R +#define MPU6050_ACCEL_XOUT_L 0x3C // R +#define MPU6050_ACCEL_YOUT_H 0x3D // R +#define MPU6050_ACCEL_YOUT_L 0x3E // R +#define MPU6050_ACCEL_ZOUT_H 0x3F // R +#define MPU6050_ACCEL_ZOUT_L 0x40 // R +#define MPU6050_TEMP_OUT_H 0x41 // R +#define MPU6050_TEMP_OUT_L 0x42 // R +#define MPU6050_GYRO_XOUT_H 0x43 // R +#define MPU6050_GYRO_XOUT_L 0x44 // R +#define MPU6050_GYRO_YOUT_H 0x45 // R +#define MPU6050_GYRO_YOUT_L 0x46 // R +#define MPU6050_GYRO_ZOUT_H 0x47 // R +#define MPU6050_GYRO_ZOUT_L 0x48 // R +#define MPU6050_EXT_SENS_DATA_00 0x49 // R +#define MPU6050_EXT_SENS_DATA_01 0x4A // R +#define MPU6050_EXT_SENS_DATA_02 0x4B // R +#define MPU6050_EXT_SENS_DATA_03 0x4C // R +#define MPU6050_EXT_SENS_DATA_04 0x4D // R +#define MPU6050_EXT_SENS_DATA_05 0x4E // R +#define MPU6050_EXT_SENS_DATA_06 0x4F // R +#define MPU6050_EXT_SENS_DATA_07 0x50 // R +#define MPU6050_EXT_SENS_DATA_08 0x51 // R +#define MPU6050_EXT_SENS_DATA_09 0x52 // R +#define MPU6050_EXT_SENS_DATA_10 0x53 // R +#define MPU6050_EXT_SENS_DATA_11 0x54 // R +#define MPU6050_EXT_SENS_DATA_12 0x55 // R +#define MPU6050_EXT_SENS_DATA_13 0x56 // R +#define MPU6050_EXT_SENS_DATA_14 0x57 // R +#define MPU6050_EXT_SENS_DATA_15 0x58 // R +#define MPU6050_EXT_SENS_DATA_16 0x59 // R +#define MPU6050_EXT_SENS_DATA_17 0x5A // R +#define MPU6050_EXT_SENS_DATA_18 0x5B // R +#define MPU6050_EXT_SENS_DATA_19 0x5C // R +#define MPU6050_EXT_SENS_DATA_20 0x5D // R +#define MPU6050_EXT_SENS_DATA_21 0x5E // R +#define MPU6050_EXT_SENS_DATA_22 0x5F // R +#define MPU6050_EXT_SENS_DATA_23 0x60 // R +#define MPU6050_MOT_DETECT_STATUS 0x61 // R +#define MPU6050_I2C_SLV0_DO 0x63 // R/W +#define MPU6050_I2C_SLV1_DO 0x64 // R/W +#define MPU6050_I2C_SLV2_DO 0x65 // R/W +#define MPU6050_I2C_SLV3_DO 0x66 // R/W +#define MPU6050_I2C_MST_DELAY_CTRL 0x67 // R/W +#define MPU6050_SIGNAL_PATH_RESET 0x68 // R/W +#define MPU6050_MOT_DETECT_CTRL 0x69 // R/W +#define MPU6050_USER_CTRL 0x6A // R/W +#define MPU6050_PWR_MGMT_1 0x6B // R/W +#define MPU6050_PWR_MGMT_2 0x6C // R/W +#define MPU6050_FIFO_COUNTH 0x72 // R/W +#define MPU6050_FIFO_COUNTL 0x73 // R/W +#define MPU6050_FIFO_R_W 0x74 // R/W +#define MPU6050_WHO_AM_I 0x75 // R + + +// Defines for the bits, to be able to change +// between bit number and binary definition. +// By using the bit number, programming the sensor +// is like programming the AVR microcontroller. +// But instead of using "(1<<X)", or "_BV(X)", +// the Arduino "bit(X)" is used. +#define MPU6050_D0 0 +#define MPU6050_D1 1 +#define MPU6050_D2 2 +#define MPU6050_D3 3 +#define MPU6050_D4 4 +#define MPU6050_D5 5 +#define MPU6050_D6 6 +#define MPU6050_D7 7 + +// AUX_VDDIO Register +#define MPU6050_AUX_VDDIO MPU6050_D7 // I2C high: 1=VDD, 0=VLOGIC + +// CONFIG Register +// DLPF is Digital Low Pass Filter for both gyro and accelerometers. +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_DLPF_CFG0 MPU6050_D0 +#define MPU6050_DLPF_CFG1 MPU6050_D1 +#define MPU6050_DLPF_CFG2 MPU6050_D2 +#define MPU6050_EXT_SYNC_SET0 MPU6050_D3 +#define MPU6050_EXT_SYNC_SET1 MPU6050_D4 +#define MPU6050_EXT_SYNC_SET2 MPU6050_D5 + +// Combined definitions for the EXT_SYNC_SET values +#define MPU6050_EXT_SYNC_SET_0 (0) +#define MPU6050_EXT_SYNC_SET_1 (bit(MPU6050_EXT_SYNC_SET0)) +#define MPU6050_EXT_SYNC_SET_2 (bit(MPU6050_EXT_SYNC_SET1)) +#define MPU6050_EXT_SYNC_SET_3 (bit(MPU6050_EXT_SYNC_SET1)|bit(MPU6050_EXT_SYNC_SET0)) +#define MPU6050_EXT_SYNC_SET_4 (bit(MPU6050_EXT_SYNC_SET2)) +#define MPU6050_EXT_SYNC_SET_5 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET0)) +#define MPU6050_EXT_SYNC_SET_6 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET1)) +#define MPU6050_EXT_SYNC_SET_7 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET1)|bit(MPU6050_EXT_SYNC_SET0)) + +// Alternative names for the combined definitions. +#define MPU6050_EXT_SYNC_DISABLED MPU6050_EXT_SYNC_SET_0 +#define MPU6050_EXT_SYNC_TEMP_OUT_L MPU6050_EXT_SYNC_SET_1 +#define MPU6050_EXT_SYNC_GYRO_XOUT_L MPU6050_EXT_SYNC_SET_2 +#define MPU6050_EXT_SYNC_GYRO_YOUT_L MPU6050_EXT_SYNC_SET_3 +#define MPU6050_EXT_SYNC_GYRO_ZOUT_L MPU6050_EXT_SYNC_SET_4 +#define MPU6050_EXT_SYNC_ACCEL_XOUT_L MPU6050_EXT_SYNC_SET_5 +#define MPU6050_EXT_SYNC_ACCEL_YOUT_L MPU6050_EXT_SYNC_SET_6 +#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L MPU6050_EXT_SYNC_SET_7 + +// Combined definitions for the DLPF_CFG values +#define MPU6050_DLPF_CFG_0 (0) +#define MPU6050_DLPF_CFG_1 (bit(MPU6050_DLPF_CFG0)) +#define MPU6050_DLPF_CFG_2 (bit(MPU6050_DLPF_CFG1)) +#define MPU6050_DLPF_CFG_3 (bit(MPU6050_DLPF_CFG1)|bit(MPU6050_DLPF_CFG0)) +#define MPU6050_DLPF_CFG_4 (bit(MPU6050_DLPF_CFG2)) +#define MPU6050_DLPF_CFG_5 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG0)) +#define MPU6050_DLPF_CFG_6 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG1)) +#define MPU6050_DLPF_CFG_7 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG1)|bit(MPU6050_DLPF_CFG0)) + +// Alternative names for the combined definitions +// This name uses the bandwidth (Hz) for the accelometer, +// for the gyro the bandwidth is almost the same. +#define MPU6050_DLPF_260HZ MPU6050_DLPF_CFG_0 +#define MPU6050_DLPF_184HZ MPU6050_DLPF_CFG_1 +#define MPU6050_DLPF_94HZ MPU6050_DLPF_CFG_2 +#define MPU6050_DLPF_44HZ MPU6050_DLPF_CFG_3 +#define MPU6050_DLPF_21HZ MPU6050_DLPF_CFG_4 +#define MPU6050_DLPF_10HZ MPU6050_DLPF_CFG_5 +#define MPU6050_DLPF_5HZ MPU6050_DLPF_CFG_6 +#define MPU6050_DLPF_RESERVED MPU6050_DLPF_CFG_7 + +// GYRO_CONFIG Register +// The XG_ST, YG_ST, ZG_ST are bits for selftest. +// The FS_SEL sets the range for the gyro. +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_FS_SEL0 MPU6050_D3 +#define MPU6050_FS_SEL1 MPU6050_D4 +#define MPU6050_ZG_ST MPU6050_D5 +#define MPU6050_YG_ST MPU6050_D6 +#define MPU6050_XG_ST MPU6050_D7 + +// Combined definitions for the FS_SEL values +#define MPU6050_FS_SEL_0 (0) +#define MPU6050_FS_SEL_1 (bit(MPU6050_FS_SEL0)) +#define MPU6050_FS_SEL_2 (bit(MPU6050_FS_SEL1)) +#define MPU6050_FS_SEL_3 (bit(MPU6050_FS_SEL1)|bit(MPU6050_FS_SEL0)) + +// Alternative names for the combined definitions +// The name uses the range in degrees per second. +#define MPU6050_FS_SEL_250 MPU6050_FS_SEL_0 +#define MPU6050_FS_SEL_500 MPU6050_FS_SEL_1 +#define MPU6050_FS_SEL_1000 MPU6050_FS_SEL_2 +#define MPU6050_FS_SEL_2000 MPU6050_FS_SEL_3 + +// ACCEL_CONFIG Register +// The XA_ST, YA_ST, ZA_ST are bits for selftest. +// The AFS_SEL sets the range for the accelerometer. +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_ACCEL_HPF0 MPU6050_D0 +#define MPU6050_ACCEL_HPF1 MPU6050_D1 +#define MPU6050_ACCEL_HPF2 MPU6050_D2 +#define MPU6050_AFS_SEL0 MPU6050_D3 +#define MPU6050_AFS_SEL1 MPU6050_D4 +#define MPU6050_ZA_ST MPU6050_D5 +#define MPU6050_YA_ST MPU6050_D6 +#define MPU6050_XA_ST MPU6050_D7 + +// Combined definitions for the ACCEL_HPF values +#define MPU6050_ACCEL_HPF_0 (0) +#define MPU6050_ACCEL_HPF_1 (bit(MPU6050_ACCEL_HPF0)) +#define MPU6050_ACCEL_HPF_2 (bit(MPU6050_ACCEL_HPF1)) +#define MPU6050_ACCEL_HPF_3 (bit(MPU6050_ACCEL_HPF1)|bit(MPU6050_ACCEL_HPF0)) +#define MPU6050_ACCEL_HPF_4 (bit(MPU6050_ACCEL_HPF2)) +#define MPU6050_ACCEL_HPF_7 (bit(MPU6050_ACCEL_HPF2)|bit(MPU6050_ACCEL_HPF1)|bit(MPU6050_ACCEL_HPF0)) + +// Alternative names for the combined definitions +// The name uses the Cut-off frequency. +#define MPU6050_ACCEL_HPF_RESET MPU6050_ACCEL_HPF_0 +#define MPU6050_ACCEL_HPF_5HZ MPU6050_ACCEL_HPF_1 +#define MPU6050_ACCEL_HPF_2_5HZ MPU6050_ACCEL_HPF_2 +#define MPU6050_ACCEL_HPF_1_25HZ MPU6050_ACCEL_HPF_3 +#define MPU6050_ACCEL_HPF_0_63HZ MPU6050_ACCEL_HPF_4 +#define MPU6050_ACCEL_HPF_HOLD MPU6050_ACCEL_HPF_7 + +// Combined definitions for the AFS_SEL values +#define MPU6050_AFS_SEL_0 (0) +#define MPU6050_AFS_SEL_1 (bit(MPU6050_AFS_SEL0)) +#define MPU6050_AFS_SEL_2 (bit(MPU6050_AFS_SEL1)) +#define MPU6050_AFS_SEL_3 (bit(MPU6050_AFS_SEL1)|bit(MPU6050_AFS_SEL0)) + +// Alternative names for the combined definitions +// The name uses the full scale range for the accelerometer. +#define MPU6050_AFS_SEL_2G MPU6050_AFS_SEL_0 +#define MPU6050_AFS_SEL_4G MPU6050_AFS_SEL_1 +#define MPU6050_AFS_SEL_8G MPU6050_AFS_SEL_2 +#define MPU6050_AFS_SEL_16G MPU6050_AFS_SEL_3 + +// FIFO_EN Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_SLV0_FIFO_EN MPU6050_D0 +#define MPU6050_SLV1_FIFO_EN MPU6050_D1 +#define MPU6050_SLV2_FIFO_EN MPU6050_D2 +#define MPU6050_ACCEL_FIFO_EN MPU6050_D3 +#define MPU6050_ZG_FIFO_EN MPU6050_D4 +#define MPU6050_YG_FIFO_EN MPU6050_D5 +#define MPU6050_XG_FIFO_EN MPU6050_D6 +#define MPU6050_TEMP_FIFO_EN MPU6050_D7 + +// I2C_MST_CTRL Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_I2C_MST_CLK0 MPU6050_D0 +#define MPU6050_I2C_MST_CLK1 MPU6050_D1 +#define MPU6050_I2C_MST_CLK2 MPU6050_D2 +#define MPU6050_I2C_MST_CLK3 MPU6050_D3 +#define MPU6050_I2C_MST_P_NSR MPU6050_D4 +#define MPU6050_SLV_3_FIFO_EN MPU6050_D5 +#define MPU6050_WAIT_FOR_ES MPU6050_D6 +#define MPU6050_MULT_MST_EN MPU6050_D7 + +// Combined definitions for the I2C_MST_CLK +#define MPU6050_I2C_MST_CLK_0 (0) +#define MPU6050_I2C_MST_CLK_1 (bit(MPU6050_I2C_MST_CLK0)) +#define MPU6050_I2C_MST_CLK_2 (bit(MPU6050_I2C_MST_CLK1)) +#define MPU6050_I2C_MST_CLK_3 (bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0)) +#define MPU6050_I2C_MST_CLK_4 (bit(MPU6050_I2C_MST_CLK2)) +#define MPU6050_I2C_MST_CLK_5 (bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK0)) +#define MPU6050_I2C_MST_CLK_6 (bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1)) +#define MPU6050_I2C_MST_CLK_7 (bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0)) +#define MPU6050_I2C_MST_CLK_8 (bit(MPU6050_I2C_MST_CLK3)) +#define MPU6050_I2C_MST_CLK_9 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK0)) +#define MPU6050_I2C_MST_CLK_10 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK1)) +#define MPU6050_I2C_MST_CLK_11 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0)) +#define MPU6050_I2C_MST_CLK_12 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2)) +#define MPU6050_I2C_MST_CLK_13 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK0)) +#define MPU6050_I2C_MST_CLK_14 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1)) +#define MPU6050_I2C_MST_CLK_15 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0)) + +// Alternative names for the combined definitions +// The names uses I2C Master Clock Speed in kHz. +#define MPU6050_I2C_MST_CLK_348KHZ MPU6050_I2C_MST_CLK_0 +#define MPU6050_I2C_MST_CLK_333KHZ MPU6050_I2C_MST_CLK_1 +#define MPU6050_I2C_MST_CLK_320KHZ MPU6050_I2C_MST_CLK_2 +#define MPU6050_I2C_MST_CLK_308KHZ MPU6050_I2C_MST_CLK_3 +#define MPU6050_I2C_MST_CLK_296KHZ MPU6050_I2C_MST_CLK_4 +#define MPU6050_I2C_MST_CLK_286KHZ MPU6050_I2C_MST_CLK_5 +#define MPU6050_I2C_MST_CLK_276KHZ MPU6050_I2C_MST_CLK_6 +#define MPU6050_I2C_MST_CLK_267KHZ MPU6050_I2C_MST_CLK_7 +#define MPU6050_I2C_MST_CLK_258KHZ MPU6050_I2C_MST_CLK_8 +#define MPU6050_I2C_MST_CLK_500KHZ MPU6050_I2C_MST_CLK_9 +#define MPU6050_I2C_MST_CLK_471KHZ MPU6050_I2C_MST_CLK_10 +#define MPU6050_I2C_MST_CLK_444KHZ MPU6050_I2C_MST_CLK_11 +#define MPU6050_I2C_MST_CLK_421KHZ MPU6050_I2C_MST_CLK_12 +#define MPU6050_I2C_MST_CLK_400KHZ MPU6050_I2C_MST_CLK_13 +#define MPU6050_I2C_MST_CLK_381KHZ MPU6050_I2C_MST_CLK_14 +#define MPU6050_I2C_MST_CLK_364KHZ MPU6050_I2C_MST_CLK_15 + +// I2C_SLV0_ADDR Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_I2C_SLV0_RW MPU6050_D7 + +// I2C_SLV0_CTRL Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_I2C_SLV0_LEN0 MPU6050_D0 +#define MPU6050_I2C_SLV0_LEN1 MPU6050_D1 +#define MPU6050_I2C_SLV0_LEN2 MPU6050_D2 +#define MPU6050_I2C_SLV0_LEN3 MPU6050_D3 +#define MPU6050_I2C_SLV0_GRP MPU6050_D4 +#define MPU6050_I2C_SLV0_REG_DIS MPU6050_D5 +#define MPU6050_I2C_SLV0_BYTE_SW MPU6050_D6 +#define MPU6050_I2C_SLV0_EN MPU6050_D7 + +// A mask for the length +#define MPU6050_I2C_SLV0_LEN_MASK 0x0F + +// I2C_SLV1_ADDR Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_I2C_SLV1_RW MPU6050_D7 + +// I2C_SLV1_CTRL Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_I2C_SLV1_LEN0 MPU6050_D0 +#define MPU6050_I2C_SLV1_LEN1 MPU6050_D1 +#define MPU6050_I2C_SLV1_LEN2 MPU6050_D2 +#define MPU6050_I2C_SLV1_LEN3 MPU6050_D3 +#define MPU6050_I2C_SLV1_GRP MPU6050_D4 +#define MPU6050_I2C_SLV1_REG_DIS MPU6050_D5 +#define MPU6050_I2C_SLV1_BYTE_SW MPU6050_D6 +#define MPU6050_I2C_SLV1_EN MPU6050_D7 + +// A mask for the length +#define MPU6050_I2C_SLV1_LEN_MASK 0x0F + +// I2C_SLV2_ADDR Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_I2C_SLV2_RW MPU6050_D7 + +// I2C_SLV2_CTRL Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_I2C_SLV2_LEN0 MPU6050_D0 +#define MPU6050_I2C_SLV2_LEN1 MPU6050_D1 +#define MPU6050_I2C_SLV2_LEN2 MPU6050_D2 +#define MPU6050_I2C_SLV2_LEN3 MPU6050_D3 +#define MPU6050_I2C_SLV2_GRP MPU6050_D4 +#define MPU6050_I2C_SLV2_REG_DIS MPU6050_D5 +#define MPU6050_I2C_SLV2_BYTE_SW MPU6050_D6 +#define MPU6050_I2C_SLV2_EN MPU6050_D7 + +// A mask for the length +#define MPU6050_I2C_SLV2_LEN_MASK 0x0F + +// I2C_SLV3_ADDR Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_I2C_SLV3_RW MPU6050_D7 + +// I2C_SLV3_CTRL Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_I2C_SLV3_LEN0 MPU6050_D0 +#define MPU6050_I2C_SLV3_LEN1 MPU6050_D1 +#define MPU6050_I2C_SLV3_LEN2 MPU6050_D2 +#define MPU6050_I2C_SLV3_LEN3 MPU6050_D3 +#define MPU6050_I2C_SLV3_GRP MPU6050_D4 +#define MPU6050_I2C_SLV3_REG_DIS MPU6050_D5 +#define MPU6050_I2C_SLV3_BYTE_SW MPU6050_D6 +#define MPU6050_I2C_SLV3_EN MPU6050_D7 + +// A mask for the length +#define MPU6050_I2C_SLV3_LEN_MASK 0x0F + +// I2C_SLV4_ADDR Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_I2C_SLV4_RW MPU6050_D7 + +// I2C_SLV4_CTRL Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_I2C_MST_DLY0 MPU6050_D0 +#define MPU6050_I2C_MST_DLY1 MPU6050_D1 +#define MPU6050_I2C_MST_DLY2 MPU6050_D2 +#define MPU6050_I2C_MST_DLY3 MPU6050_D3 +#define MPU6050_I2C_MST_DLY4 MPU6050_D4 +#define MPU6050_I2C_SLV4_REG_DIS MPU6050_D5 +#define MPU6050_I2C_SLV4_INT_EN MPU6050_D6 +#define MPU6050_I2C_SLV4_EN MPU6050_D7 + +// A mask for the delay +#define MPU6050_I2C_MST_DLY_MASK 0x1F + +// I2C_MST_STATUS Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_I2C_SLV0_NACK MPU6050_D0 +#define MPU6050_I2C_SLV1_NACK MPU6050_D1 +#define MPU6050_I2C_SLV2_NACK MPU6050_D2 +#define MPU6050_I2C_SLV3_NACK MPU6050_D3 +#define MPU6050_I2C_SLV4_NACK MPU6050_D4 +#define MPU6050_I2C_LOST_ARB MPU6050_D5 +#define MPU6050_I2C_SLV4_DONE MPU6050_D6 +#define MPU6050_PASS_THROUGH MPU6050_D7 + +// I2C_PIN_CFG Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_CLKOUT_EN MPU6050_D0 +#define MPU6050_I2C_BYPASS_EN MPU6050_D1 +#define MPU6050_FSYNC_INT_EN MPU6050_D2 +#define MPU6050_FSYNC_INT_LEVEL MPU6050_D3 +#define MPU6050_INT_RD_CLEAR MPU6050_D4 +#define MPU6050_LATCH_INT_EN MPU6050_D5 +#define MPU6050_INT_OPEN MPU6050_D6 +#define MPU6050_INT_LEVEL MPU6050_D7 + +// INT_ENABLE Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_DATA_RDY_EN MPU6050_D0 +#define MPU6050_I2C_MST_INT_EN MPU6050_D3 +#define MPU6050_FIFO_OFLOW_EN MPU6050_D4 +#define MPU6050_ZMOT_EN MPU6050_D5 +#define MPU6050_MOT_EN MPU6050_D6 +#define MPU6050_FF_EN MPU6050_D7 + +// INT_STATUS Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_DATA_RDY_INT MPU6050_D0 +#define MPU6050_I2C_MST_INT MPU6050_D3 +#define MPU6050_FIFO_OFLOW_INT MPU6050_D4 +#define MPU6050_ZMOT_INT MPU6050_D5 +#define MPU6050_MOT_INT MPU6050_D6 +#define MPU6050_FF_INT MPU6050_D7 + +// MOT_DETECT_STATUS Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_MOT_ZRMOT MPU6050_D0 +#define MPU6050_MOT_ZPOS MPU6050_D2 +#define MPU6050_MOT_ZNEG MPU6050_D3 +#define MPU6050_MOT_YPOS MPU6050_D4 +#define MPU6050_MOT_YNEG MPU6050_D5 +#define MPU6050_MOT_XPOS MPU6050_D6 +#define MPU6050_MOT_XNEG MPU6050_D7 + +// IC2_MST_DELAY_CTRL Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_I2C_SLV0_DLY_EN MPU6050_D0 +#define MPU6050_I2C_SLV1_DLY_EN MPU6050_D1 +#define MPU6050_I2C_SLV2_DLY_EN MPU6050_D2 +#define MPU6050_I2C_SLV3_DLY_EN MPU6050_D3 +#define MPU6050_I2C_SLV4_DLY_EN MPU6050_D4 +#define MPU6050_DELAY_ES_SHADOW MPU6050_D7 + +// SIGNAL_PATH_RESET Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_TEMP_RESET MPU6050_D0 +#define MPU6050_ACCEL_RESET MPU6050_D1 +#define MPU6050_GYRO_RESET MPU6050_D2 + +// MOT_DETECT_CTRL Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_MOT_COUNT0 MPU6050_D0 +#define MPU6050_MOT_COUNT1 MPU6050_D1 +#define MPU6050_FF_COUNT0 MPU6050_D2 +#define MPU6050_FF_COUNT1 MPU6050_D3 +#define MPU6050_ACCEL_ON_DELAY0 MPU6050_D4 +#define MPU6050_ACCEL_ON_DELAY1 MPU6050_D5 + +// Combined definitions for the MOT_COUNT +#define MPU6050_MOT_COUNT_0 (0) +#define MPU6050_MOT_COUNT_1 (bit(MPU6050_MOT_COUNT0)) +#define MPU6050_MOT_COUNT_2 (bit(MPU6050_MOT_COUNT1)) +#define MPU6050_MOT_COUNT_3 (bit(MPU6050_MOT_COUNT1)|bit(MPU6050_MOT_COUNT0)) + +// Alternative names for the combined definitions +#define MPU6050_MOT_COUNT_RESET MPU6050_MOT_COUNT_0 + +// Combined definitions for the FF_COUNT +#define MPU6050_FF_COUNT_0 (0) +#define MPU6050_FF_COUNT_1 (bit(MPU6050_FF_COUNT0)) +#define MPU6050_FF_COUNT_2 (bit(MPU6050_FF_COUNT1)) +#define MPU6050_FF_COUNT_3 (bit(MPU6050_FF_COUNT1)|bit(MPU6050_FF_COUNT0)) + +// Alternative names for the combined definitions +#define MPU6050_FF_COUNT_RESET MPU6050_FF_COUNT_0 + +// Combined definitions for the ACCEL_ON_DELAY +#define MPU6050_ACCEL_ON_DELAY_0 (0) +#define MPU6050_ACCEL_ON_DELAY_1 (bit(MPU6050_ACCEL_ON_DELAY0)) +#define MPU6050_ACCEL_ON_DELAY_2 (bit(MPU6050_ACCEL_ON_DELAY1)) +#define MPU6050_ACCEL_ON_DELAY_3 (bit(MPU6050_ACCEL_ON_DELAY1)|bit(MPU6050_ACCEL_ON_DELAY0)) + +// Alternative names for the ACCEL_ON_DELAY +#define MPU6050_ACCEL_ON_DELAY_0MS MPU6050_ACCEL_ON_DELAY_0 +#define MPU6050_ACCEL_ON_DELAY_1MS MPU6050_ACCEL_ON_DELAY_1 +#define MPU6050_ACCEL_ON_DELAY_2MS MPU6050_ACCEL_ON_DELAY_2 +#define MPU6050_ACCEL_ON_DELAY_3MS MPU6050_ACCEL_ON_DELAY_3 + +// USER_CTRL Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_SIG_COND_RESET MPU6050_D0 +#define MPU6050_I2C_MST_RESET MPU6050_D1 +#define MPU6050_FIFO_RESET MPU6050_D2 +#define MPU6050_I2C_IF_DIS MPU6050_D4 // must be 0 for MPU-6050 +#define MPU6050_I2C_MST_EN MPU6050_D5 +#define MPU6050_FIFO_EN MPU6050_D6 + +// PWR_MGMT_1 Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_CLKSEL0 MPU6050_D0 +#define MPU6050_CLKSEL1 MPU6050_D1 +#define MPU6050_CLKSEL2 MPU6050_D2 +#define MPU6050_TEMP_DIS MPU6050_D3 // 1: disable temperature sensor +#define MPU6050_CYCLE MPU6050_D5 // 1: sample and sleep +#define MPU6050_SLEEP MPU6050_D6 // 1: sleep mode +#define MPU6050_DEVICE_RESET MPU6050_D7 // 1: reset to default values + +// Combined definitions for the CLKSEL +#define MPU6050_CLKSEL_0 (0) +#define MPU6050_CLKSEL_1 (bit(MPU6050_CLKSEL0)) +#define MPU6050_CLKSEL_2 (bit(MPU6050_CLKSEL1)) +#define MPU6050_CLKSEL_3 (bit(MPU6050_CLKSEL1)|bit(MPU6050_CLKSEL0)) +#define MPU6050_CLKSEL_4 (bit(MPU6050_CLKSEL2)) +#define MPU6050_CLKSEL_5 (bit(MPU6050_CLKSEL2)|bit(MPU6050_CLKSEL0)) +#define MPU6050_CLKSEL_6 (bit(MPU6050_CLKSEL2)|bit(MPU6050_CLKSEL1)) +#define MPU6050_CLKSEL_7 (bit(MPU6050_CLKSEL2)|bit(MPU6050_CLKSEL1)|bit(MPU6050_CLKSEL0)) + +// Alternative names for the combined definitions +#define MPU6050_CLKSEL_INTERNAL MPU6050_CLKSEL_0 +#define MPU6050_CLKSEL_X MPU6050_CLKSEL_1 +#define MPU6050_CLKSEL_Y MPU6050_CLKSEL_2 +#define MPU6050_CLKSEL_Z MPU6050_CLKSEL_3 +#define MPU6050_CLKSEL_EXT_32KHZ MPU6050_CLKSEL_4 +#define MPU6050_CLKSEL_EXT_19_2MHZ MPU6050_CLKSEL_5 +#define MPU6050_CLKSEL_RESERVED MPU6050_CLKSEL_6 +#define MPU6050_CLKSEL_STOP MPU6050_CLKSEL_7 + +// PWR_MGMT_2 Register +// These are the names for the bits. +// Use these only with the bit() macro. +#define MPU6050_STBY_ZG MPU6050_D0 +#define MPU6050_STBY_YG MPU6050_D1 +#define MPU6050_STBY_XG MPU6050_D2 +#define MPU6050_STBY_ZA MPU6050_D3 +#define MPU6050_STBY_YA MPU6050_D4 +#define MPU6050_STBY_XA MPU6050_D5 +#define MPU6050_LP_WAKE_CTRL0 MPU6050_D6 +#define MPU6050_LP_WAKE_CTRL1 MPU6050_D7 + +// Combined definitions for the LP_WAKE_CTRL +#define MPU6050_LP_WAKE_CTRL_0 (0) +#define MPU6050_LP_WAKE_CTRL_1 (bit(MPU6050_LP_WAKE_CTRL0)) +#define MPU6050_LP_WAKE_CTRL_2 (bit(MPU6050_LP_WAKE_CTRL1)) +#define MPU6050_LP_WAKE_CTRL_3 (bit(MPU6050_LP_WAKE_CTRL1)|bit(MPU6050_LP_WAKE_CTRL0)) + +// Alternative names for the combined definitions +// The names uses the Wake-up Frequency. +#define MPU6050_LP_WAKE_1_25HZ MPU6050_LP_WAKE_CTRL_0 +#define MPU6050_LP_WAKE_2_5HZ MPU6050_LP_WAKE_CTRL_1 +#define MPU6050_LP_WAKE_5HZ MPU6050_LP_WAKE_CTRL_2 +#define MPU6050_LP_WAKE_10HZ MPU6050_LP_WAKE_CTRL_3 + + +// Default I2C address for the MPU-6050 is 0x68. +// But only if the AD0 pin is low. +// Some sensor boards have AD0 high, and the +// I2C address thus becomes 0x69. +#define MPU6050_I2C_ADDRESS 0x68 + + +// Declaring an union for the registers and the axis values. +// The byte order does not match the byte order of +// the compiler and AVR chip. +// The AVR chip (on the Arduino board) has the Low Byte +// at the lower address. +// But the MPU-6050 has a different order: High Byte at +// lower address, so that has to be corrected. +// The register part "reg" is only used internally, +// and are swapped in code. +typedef union accel_t_gyro_union +{ + struct + { + uint8_t x_accel_h; + uint8_t x_accel_l; + uint8_t y_accel_h; + uint8_t y_accel_l; + uint8_t z_accel_h; + uint8_t z_accel_l; + uint8_t t_h; + uint8_t t_l; + uint8_t x_gyro_h; + uint8_t x_gyro_l; + uint8_t y_gyro_h; + uint8_t y_gyro_l; + uint8_t z_gyro_h; + uint8_t z_gyro_l; + } reg; + struct + { + int x_accel; + int y_accel; + int z_accel; + int temperature; + int x_gyro; + int y_gyro; + int z_gyro; + } value; +}; + +int MPU6050_init(); +int MPU6050_readout(accel_t_gyro_union* accel_t_gyro); +int MPU6050_read(int start, uint8_t *buffer, int size); + +#endif // MPU6050_H_INCLUDED |