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Diffstat (limited to 'libraries/MPU6050/MPU6050.cpp')
| -rw-r--r-- | libraries/MPU6050/MPU6050.cpp | 195 |
1 files changed, 0 insertions, 195 deletions
diff --git a/libraries/MPU6050/MPU6050.cpp b/libraries/MPU6050/MPU6050.cpp deleted file mode 100644 index 86901d9..0000000 --- a/libraries/MPU6050/MPU6050.cpp +++ /dev/null @@ -1,195 +0,0 @@ -// 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); -} |