Adafruit_MPU6050.h

Go to the documentation of this file.

#ifndef _ADAFRUIT_MPU6050_H
#define _ADAFRUIT_MPU6050_H

#include "Arduino.h"
#include <Adafruit_BusIO_Register.h>
#include <Adafruit_I2CDevice.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

#define MPU6050_I2CADDR_DEFAULT                                                \
  0x68                         
#define MPU6050_DEVICE_ID 0x68 

#define MPU6050_SELF_TEST_X                                                    \
  0x0D 
#define MPU6050_SELF_TEST_Y                                                    \
  0x0E 
#define MPU6050_SELF_TEST_Z                                                    \
  0x0F 
#define MPU6050_SELF_TEST_A                                                    \
  0x10 
#define MPU6050_SMPLRT_DIV 0x19  
#define MPU6050_CONFIG 0x1A      
#define MPU6050_GYRO_CONFIG 0x1B 
#define MPU6050_ACCEL_CONFIG                                                   \
  0x1C 
#define MPU6050_INT_PIN_CONFIG 0x37 
#define MPU6050_INT_ENABLE 0x38     
#define MPU6050_INT_STATUS 0x3A     
#define MPU6050_WHO_AM_I 0x75       
#define MPU6050_SIGNAL_PATH_RESET 0x68 
#define MPU6050_USER_CTRL 0x6A         
#define MPU6050_PWR_MGMT_1 0x6B        
#define MPU6050_PWR_MGMT_2 0x6C 
#define MPU6050_TEMP_H 0x41     
#define MPU6050_TEMP_L 0x42     
#define MPU6050_ACCEL_OUT 0x3B  
#define MPU6050_MOT_THR 0x1F    
#define MPU6050_MOT_DUR                                                        \
  0x20 


typedef enum fsync_out {
  MPU6050_FSYNC_OUT_DISABLED,
  MPU6050_FSYNC_OUT_TEMP,
  MPU6050_FSYNC_OUT_GYROX,
  MPU6050_FSYNC_OUT_GYROY,
  MPU6050_FSYNC_OUT_GYROZ,
  MPU6050_FSYNC_OUT_ACCELX,
  MPU6050_FSYNC_OUT_ACCELY,
  MPU6050_FSYNC_OUT_ACCEL_Z,
} mpu6050_fsync_out_t;

typedef enum clock_select {
  MPU6050_INTR_8MHz,
  MPU6050_PLL_GYROX,
  MPU6050_PLL_GYROY,
  MPU6050_PLL_GYROZ,
  MPU6050_PLL_EXT_32K,
  MPU6050_PLL_EXT_19MHz,
  MPU6050_STOP = 7,
} mpu6050_clock_select_t;

typedef enum {
  MPU6050_RANGE_2_G = 0b00,  
  MPU6050_RANGE_4_G = 0b01,  
  MPU6050_RANGE_8_G = 0b10,  
  MPU6050_RANGE_16_G = 0b11, 
} mpu6050_accel_range_t;

typedef enum {
  MPU6050_RANGE_250_DEG,  
  MPU6050_RANGE_500_DEG,  
  MPU6050_RANGE_1000_DEG, 
  MPU6050_RANGE_2000_DEG, 
} mpu6050_gyro_range_t;

typedef enum {
  MPU6050_BAND_260_HZ, 
  MPU6050_BAND_184_HZ, 
  MPU6050_BAND_94_HZ,  
  MPU6050_BAND_44_HZ,  
  MPU6050_BAND_21_HZ,  
  MPU6050_BAND_10_HZ,  
  MPU6050_BAND_5_HZ,   
} mpu6050_bandwidth_t;

typedef enum {
  MPU6050_HIGHPASS_DISABLE,
  MPU6050_HIGHPASS_5_HZ,
  MPU6050_HIGHPASS_2_5_HZ,
  MPU6050_HIGHPASS_1_25_HZ,
  MPU6050_HIGHPASS_0_63_HZ,
  MPU6050_HIGHPASS_UNUSED,
  MPU6050_HIGHPASS_HOLD,
} mpu6050_highpass_t;

typedef enum {
  MPU6050_CYCLE_1_25_HZ, 
  MPU6050_CYCLE_5_HZ,    
  MPU6050_CYCLE_20_HZ,   
  MPU6050_CYCLE_40_HZ,   
} mpu6050_cycle_rate_t;

class Adafruit_MPU6050;

class Adafruit_MPU6050_Temp : public Adafruit_Sensor {
public:
  Adafruit_MPU6050_Temp(Adafruit_MPU6050 *parent) { _theMPU6050 = parent; }
  bool getEvent(sensors_event_t *);
  void getSensor(sensor_t *);

private:
  int _sensorID = 0x650;
  Adafruit_MPU6050 *_theMPU6050 = NULL;
};

class Adafruit_MPU6050_Accelerometer : public Adafruit_Sensor {
public:
  Adafruit_MPU6050_Accelerometer(Adafruit_MPU6050 *parent) {
    _theMPU6050 = parent;
  }
  bool getEvent(sensors_event_t *);
  void getSensor(sensor_t *);

private:
  int _sensorID = 0x651;
  Adafruit_MPU6050 *_theMPU6050 = NULL;
};

class Adafruit_MPU6050_Gyro : public Adafruit_Sensor {
public:
  Adafruit_MPU6050_Gyro(Adafruit_MPU6050 *parent) { _theMPU6050 = parent; }
  bool getEvent(sensors_event_t *);
  void getSensor(sensor_t *);

private:
  int _sensorID = 0x652;
  Adafruit_MPU6050 *_theMPU6050 = NULL;
};

class Adafruit_MPU6050 final {
public:
  Adafruit_MPU6050();
  ~Adafruit_MPU6050();

  bool begin(uint8_t i2c_addr = MPU6050_I2CADDR_DEFAULT, TwoWire *wire = &Wire,
             int32_t sensorID = 0);

  // Adafruit_Sensor API/Interface
  bool getEvent(sensors_event_t *accel, sensors_event_t *gyro,
                sensors_event_t *temp);

  mpu6050_accel_range_t getAccelerometerRange(void);
  void setAccelerometerRange(mpu6050_accel_range_t);

  mpu6050_gyro_range_t getGyroRange(void);
  void setGyroRange(mpu6050_gyro_range_t);

  void setInterruptPinPolarity(bool active_low);
  void setInterruptPinLatch(bool held);
  void setFsyncSampleOutput(mpu6050_fsync_out_t fsync_output);

  mpu6050_highpass_t getHighPassFilter(void);
  void setHighPassFilter(mpu6050_highpass_t bandwidth);

  void setMotionInterrupt(bool active);
  void setMotionDetectionThreshold(uint8_t thr);
  void setMotionDetectionDuration(uint8_t dur);
  bool getMotionInterruptStatus(void);

  mpu6050_fsync_out_t getFsyncSampleOutput(void);
  void setI2CBypass(bool bypass);

  void setClock(mpu6050_clock_select_t);
  mpu6050_clock_select_t getClock(void);

  void setFilterBandwidth(mpu6050_bandwidth_t bandwidth);
  mpu6050_bandwidth_t getFilterBandwidth(void);

  void setSampleRateDivisor(uint8_t);
  uint8_t getSampleRateDivisor(void);

  bool enableSleep(bool enable);
  bool enableCycle(bool enable);

  void setCycleRate(mpu6050_cycle_rate_t rate);
  mpu6050_cycle_rate_t getCycleRate(void);

  bool setGyroStandby(bool xAxisStandby, bool yAxisStandby, bool zAxisStandby);
  bool setAccelerometerStandby(bool xAxisStandby, bool yAxisStandby,
                               bool zAxisStandby);
  bool setTemperatureStandby(bool enable);

  void reset(void);

  Adafruit_Sensor *getTemperatureSensor(void);
  Adafruit_Sensor *getAccelerometerSensor(void);
  Adafruit_Sensor *getGyroSensor(void);

private:
  void _getRawSensorData(void);
  void _scaleSensorData(void);

protected:
  float temperature, 
      accX,          
      accY,          
      accZ,          
      gyroX,         
      gyroY,         
      gyroZ;         

  Adafruit_I2CDevice *i2c_dev = NULL; 

  Adafruit_MPU6050_Temp *temp_sensor = NULL; 
  Adafruit_MPU6050_Accelerometer *accel_sensor =
      NULL;                                  
  Adafruit_MPU6050_Gyro *gyro_sensor = NULL; 

  uint16_t _sensorid_accel, 
      _sensorid_gyro,       
      _sensorid_temp;       

  void _read(void);
  virtual bool _init(int32_t sensor_id);

private:
  friend class Adafruit_MPU6050_Temp; 
  friend class Adafruit_MPU6050_Accelerometer; 
  friend class Adafruit_MPU6050_Gyro; 

  int16_t rawAccX, rawAccY, rawAccZ, rawTemp, rawGyroX, rawGyroY, rawGyroZ;

  void fillTempEvent(sensors_event_t *temp, uint32_t timestamp);
  void fillAccelEvent(sensors_event_t *accel, uint32_t timestamp);
  void fillGyroEvent(sensors_event_t *gyro, uint32_t timestamp);
};

#endif