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mpu6050.c
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mpu6050.c
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/*!
* \file mpu6050.c
* \author Tycho Jobsis
* \date 04-04-2021
* \version 0.1.0
*
* \brief MPU6050 library for the Xmega with the <a href="https://github.com/TychoJ/Xmega-TWI">Xmega-TWI library</a>
*
* \details This library is used to communicate with an MPU6050 sensor over I2C.
*
* \note For the HvA-Xmegaboard you need to use TWIE!
*
* \note This library <b>does not</b> support slave devices for the mpu6050!
*/
/*! \copyright
*
* MIT License
*
* Copyright (c) 2021 TychoJ
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include "mpu6050.h"
typedef union {
struct {
uint8_t DATA_RDY : 1;
uint8_t : 2;
uint8_t I2C_MST : 1;
uint8_t FIFO_OFLOW : 1;
uint8_t : 3;
};
uint8_t int_reg;
} MPU6050_INT_STATUS_TYPE;
typedef union {
struct {
uint8_t CLKSEL : 3;
uint8_t TEMP_DIS : 1;
uint8_t : 1;
uint8_t CYCLE : 1;
uint8_t MPU_SLEEP : 1;
uint8_t DEVICE_RESET : 1;
};
uint8_t PWR_MGMT_1;
} MPU6050_PWR_MGMT_1_TYPE;
typedef union {
struct {
uint8_t STBY_ZG : 1;
uint8_t STBY_YG : 1;
uint8_t STBY_XG : 1;
uint8_t STBY_ZA : 1;
uint8_t STBY_YA : 1;
uint8_t STBY_XA : 1;
uint8_t LP_WAKE_CTRL : 2;
};
uint8_t PWR_MGMT_2;
} MPU6050_PWR_MGMT_2_TYPE;
typedef union {
struct {
uint8_t : 3;
uint8_t FS_SEL : 2;
uint8_t ZG_ST : 1;
uint8_t YG_ST : 1;
uint8_t XG_ST : 1;
};
uint8_t GYRO_CONFIG;
} MPU6050_GYRO_CONFIG_TYPE;
typedef union {
struct {
uint8_t : 3;
uint8_t AFS_SEL : 2;
uint8_t ZA_ST : 1;
uint8_t YA_ST : 1;
uint8_t XA_ST : 1;
};
uint8_t ACCEL_CONFIG;
} MPU6050_ACCEL_CONFIG_TYPE;
static uint8_t accel_state;
static uint8_t gyro_state;
static float gyro_degrees_sec_mpu6050(int16_t raw, uint8_t range);
static float accel_val_to_g_mpu6050(int16_t raw, uint8_t range);
/*! \brief Checks for errors
*
* \note This function is for internal use
*
* \param err byte that is checked for error status
*
* \return 0 if no errors occurred if TWI/I2C bus is in use returns 1 otherwise returns 2
*/
uint8_t check_err_mpu6050(uint8_t err){
if(err == TWI_STATUS_OK) return 0;
if(err == BUS_IN_USE) return 1;
if(err == NACK) return 100;
if(err == DATA_NOT_SEND) return 20;
if(err == DATA_NOT_RECEIVED) return 2;
return 0;
}
/*! \brief Enables the MPU6050
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t enable_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t err;
for(uint8_t i = 0; i < 4; i++){
ACCELX_OFFSET_MPU6050[i] = 0;
ACCELY_OFFSET_MPU6050[i] = 0;
ACCELZ_OFFSET_MPU6050[i] = 0;
GYROX_OFFSET_MPU6050[i] = 0;
GYROY_OFFSET_MPU6050[i] = 0;
GYROZ_OFFSET_MPU6050[i] = 0;
}
//err = wake_up_mpu6050(twi, addr);
err = write_8bit_register_TWI(twi, addr, 0, MPU_6050_PWR_MGMT_1);
if(check_err_mpu6050(err) != 0) return err;
//if(err != 0) return err;
//err = enable_temp_mpu6050(twi, addr);
//if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
err = stdby_all_mpu6050(twi, addr, OFF);
if(err != 0) return err;
err = calibrate_accel_x_mpu6050(twi, addr);
err = calibrate_accel_y_mpu6050(twi, addr);
err = calibrate_accel_z_mpu6050(twi, addr);
err = calibrate_gyro_x_mpu6050(twi, addr);
err = calibrate_gyro_y_mpu6050(twi, addr);
err = calibrate_gyro_z_mpu6050(twi, addr);
accel_set_scale_mpu6050(twi, addr, MPU6050_ACCEL_SCL_2G);
gyro_set_scale_mpu6050(twi, addr, MPU6050_GYRO_SCL_250);
return MPU6050_TWI_OK;
}
/*! \brief Disables the MPU6050
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t disable_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t old_reg, err;
err = disable_temp_mpu6050(twi, addr);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
old_reg = 1; //!< Makes the Gyroscope and the accelerometer inactive
err = write_8bit_register_TWI(twi, addr, old_reg, MPU_6050_PWR_MGMT_2);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
err = sleep_mpu6050(twi, addr);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
return 0;
}
/*! \brief Wakes the MPU6050 from sleep
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t wake_up_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t err, old_reg;
err = read_8bit_register_TWI(twi, addr, &old_reg, MPU_6050_PWR_MGMT_1);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
old_reg = (0 << 6); //!< Disables sleep
err = write_8bit_register_TWI(twi, addr, old_reg, MPU_6050_PWR_MGMT_1);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
return 0;
}
/*! \brief Lets the MPU6050 go to sleep
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t sleep_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t err, old_reg;
err = read_8bit_register_TWI(twi, addr, &old_reg, MPU_6050_PWR_MGMT_1);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
old_reg = (1 << 6); //!< Enables sleep
err = write_8bit_register_TWI(twi, addr, old_reg, MPU_6050_PWR_MGMT_1);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
return 0;
}
/*! \brief Get x-axis accelerometer data without calibration
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param data pointer to store accelerometer x direction data
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t get_accel_x_raw_mpu6050(TWI_t *twi, uint8_t addr, int16_t *data){
uint8_t err, read;
data16_t accel_x;
accel_x.DATA = 0;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_ACCEL_XOUT_L);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
accel_x.DATAL = read;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_ACCEL_XOUT_H);
if (check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
accel_x.DATAH = read;
(*data) = accel_x.DATA;
return 0;
}
/*! \brief Get y-axis accelerometer data without calibration
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param data pointer to store accelerometer y direction data
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t get_accel_y_raw_mpu6050(TWI_t *twi, uint8_t addr, int16_t *data){
uint8_t err, read;
data16_t accel_y;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_ACCEL_YOUT_L);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
accel_y.DATAL = read;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_ACCEL_YOUT_H);
if (check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
accel_y.DATAH = read;
(*data) = accel_y.DATA;
return 0;
}
/*! \brief Get z-axis accelerometer data
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param data pointer to store accelerometer z direction data
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t get_accel_z_raw_mpu6050(TWI_t *twi, uint8_t addr, int16_t *data){
uint8_t err, read;
data16_t accel_z;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_ACCEL_ZOUT_L);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
accel_z.DATAL = read;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_ACCEL_ZOUT_H);
if (check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
accel_z.DATAH = read;
(*data) = accel_z.DATA;
return 0;
}
/*! \brief Get x-axis gyroscope data
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param data pointer to store gyroscope x direction data
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t get_gyro_x_raw_mpu6050(TWI_t *twi, uint8_t addr, int16_t *data){
uint8_t err, read;
data16_t gyro_x;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_GYRO_XOUT_L);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
gyro_x.DATAL = read;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_GYRO_XOUT_H);
if (check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
gyro_x.DATAH = read;
(*data) = gyro_x.DATA;
return 0;
}
/*! \brief Get y-axis gyroscope data
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param data pointer to store gyroscope y direction data
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t get_gyro_y_raw_mpu6050(TWI_t *twi, uint8_t addr, int16_t *data){
uint8_t err, read;
data16_t gyro_y;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_GYRO_YOUT_L);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
gyro_y.DATAL = read;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_GYRO_YOUT_H);
if (check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
gyro_y.DATAH = read;
(*data) = gyro_y.DATA;
return 0;
}
/*! \brief Get z-axis gyroscope data
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param data pointer to store gyroscope z direction data
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t get_gyro_z_raw_mpu6050(TWI_t *twi, uint8_t addr, int16_t *data){
uint8_t err, read;
data16_t gyro_z;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_GYRO_ZOUT_L);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
gyro_z.DATAL = read;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_GYRO_ZOUT_H);
if (check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
gyro_z.DATAH = read;
(*data) = gyro_z.DATA;
return 0;
}
/*! \brief Get x-axis accelerometer data
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param data pointer to store accelerometer x direction data
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t get_accel_x_mpu6050(TWI_t *twi, uint8_t addr, float *data){
uint8_t err;
int16_t raw;
err = get_accel_x_raw_mpu6050(twi, addr, &raw);
if(err != 0) return err;
raw -= ACCELX_OFFSET_MPU6050[accel_state];
float ret = accel_val_to_g_mpu6050(raw, accel_state);
(*data) = ret;
return 0;
}
/*! \brief Get y-axis accelerometer data
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param data pointer to store accelerometer y direction data
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t get_accel_y_mpu6050(TWI_t *twi, uint8_t addr, float *data){
uint8_t err;
int16_t raw;
err = get_accel_y_raw_mpu6050(twi, addr, &raw);
if(err != 0) return err;
raw -= ACCELY_OFFSET_MPU6050[accel_state];
float ret = accel_val_to_g_mpu6050(raw, accel_state);
(*data) = ret;
return 0;
}
/*! \brief Get z-axis accelerometer data
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param data pointer to store accelerometer z direction data
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t get_accel_z_mpu6050(TWI_t *twi, uint8_t addr, float *data){
uint8_t err;
int16_t raw;
err = get_accel_z_raw_mpu6050(twi, addr, &raw);
if(err != 0) return err;
raw -= ACCELY_OFFSET_MPU6050[accel_state];
float ret = accel_val_to_g_mpu6050(raw, accel_state);
(*data) = ret;
return 0;
}
/*! \brief Get x-axis gyroscope data
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param data pointer to store gyroscope x direction data
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t get_gyro_x_mpu6050(TWI_t *twi, uint8_t addr, float *data){
uint8_t err;
int16_t raw;
err = get_gyro_x_raw_mpu6050(twi, addr, &raw);
if(err != 0) return err;
raw -= GYROX_OFFSET_MPU6050[gyro_state];
float ret = gyro_degrees_sec_mpu6050(raw, gyro_state);
(*data) = ret;
return 0;
}
/*! \brief Get y-axis gyroscope data
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param data pointer to store gyroscope y direction data
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t get_gyro_y_mpu6050(TWI_t *twi, uint8_t addr, float *data){
uint8_t err;
int16_t raw;
err = get_gyro_y_raw_mpu6050(twi, addr, &raw);
if(err != 0) return err;
raw -= GYROY_OFFSET_MPU6050[gyro_state];
float ret = gyro_degrees_sec_mpu6050(raw, gyro_state);
(*data) = ret;
return 0;
}
/*! \brief Get z-axis gyroscope data
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param data pointer to store gyroscope z direction data
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t get_gyro_z_mpu6050(TWI_t *twi, uint8_t addr, float *data){
uint8_t err;
int16_t raw;
err = get_gyro_z_raw_mpu6050(twi, addr, &raw);
if(err != 0) return err;
raw -= GYROZ_OFFSET_MPU6050[gyro_state];
float ret = gyro_degrees_sec_mpu6050(raw, gyro_state);
(*data) = ret;
return 0;
}
/*! \brief Get the gyroscope scale/range
*
* \param raw value that is used to calculate degrees per second
* \param range value to specify in what range the raw value was read
*
* \return degrees per second if the input range is invalid the raw value will be returned
*/
static float gyro_degrees_sec_mpu6050(int16_t raw, uint8_t range){
float ret;
switch(range){
case 0: //!< +-250 degrees per second Max measurement
//ret = ( (float) ( ( raw + 32768) * 500 ) / 65535 ) - 250;
ret = (float) raw / 131.072;
break;
case 1: //!< +-500 degrees per second Max measurement
//ret = ( (float) ( ( raw + 32768) * 1000 ) / 65535 ) - 500;
ret = (float) raw / 65.536;
break;
case 2: //!< +-1000 degrees per second Max measurement
//ret = ( (float) ( ( raw + 32768) * 2000 )/ 65535 ) - 1000;
ret = (float) raw / 32.768;
break;
case 3: //!< +-2000 degrees per second Max measurement
//ret = ( (float) ( ( raw + 32768) * 4000 )/ 65535 ) - 2000;
ret = (float) raw / 16.384;
break;
default:
ret = (float) raw;
break;
}
return ret;
}
/*! \brief Get the gyroscope scale/range
*
* \param raw value that is used to calculate G-force
* \param range value to specify in what range the raw value was read
*
* \return G-force if the input range is invalid the raw value will be returned
*/
static float accel_val_to_g_mpu6050(int16_t raw, uint8_t range){
float ret;
switch(range){
case 0: //!< +-2G Max measurement
// ret = ( (float) ( raw + 32768) * 4 ) / 65535 ) - 2;
ret = (float) raw / 16384;
break;
case 1: //!< +-4G Max measurement
//ret = ( (float) ( ( raw + 32768) * 8 ) / 65535 ) - 4;
ret = (float) raw / 8192;
break;
case 2: //!< +-8G Max measurement
//ret = ( (float) ( ( raw + 32768) * 16 ) / 65535 ) - 8;
ret = (float) raw / 4096;
break;
case 3: //!< +-16G Max measurement
//ret = ( (float) ( ( raw + 32768) * 32 ) / 65535 ) - 16;
ret = (float) raw / 2048;
break;
default:
ret = (float) raw;
break;
}
return ret;
}
/*! \brief Get calibration data Gyro x axis
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if successful 1 if unsuccessful full
*/
uint8_t calibrate_gyro_x_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t range[] = { MPU6050_GYRO_SCL_250, MPU6050_GYRO_SCL_500, MPU6050_GYRO_SCL_1000, MPU6050_GYRO_SCL_2000};
uint8_t err;
int32_t sum;
int16_t value;
for(uint8_t i = 0; i < 4; i++){
sum = 0;
err = gyro_set_scale_mpu6050(twi, addr, range[i]); // Selecting the range
//if(check_err_mpu6050(err) != 0) return 1;
for(uint16_t j = 0; j < 700; j++){ // Loop to get average offset
err = get_gyro_x_raw_mpu6050(twi, addr, &value);
//if(check_err_mpu6050(err) != 0) return 1;
sum += value;
}
ACCELX_OFFSET_MPU6050[i] = (float) sum / 700;
}
err = gyro_set_scale_mpu6050(twi, addr, MPU6050_GYRO_SCL_250);
if(check_err_mpu6050(err) != 0) return 1;
return 0;
}
/*! \brief Get calibration data Gyro y axis
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if successful 1 if unsuccessful full
*/
uint8_t calibrate_gyro_y_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t range[] = { MPU6050_GYRO_SCL_250, MPU6050_GYRO_SCL_500, MPU6050_GYRO_SCL_1000, MPU6050_GYRO_SCL_2000};
uint8_t err;
int32_t sum;
int16_t value;
for(uint8_t i = 0; i < 4; i++){
sum = 0;
err = gyro_set_scale_mpu6050(twi, addr, range[i]); //!< Selecting the range
//if(check_err_mpu6050(err) != 0) return 1;
for(uint16_t j = 0; j < 700; j++){ //!< Loop to get average offset
err = get_gyro_y_raw_mpu6050(twi, addr, &value);
//if(check_err_mpu6050(err) != 0) return 1;
sum += value;
}
ACCELX_OFFSET_MPU6050[i] = (float) sum / 700;
}
err = gyro_set_scale_mpu6050(twi, addr, MPU6050_GYRO_SCL_250);
if(check_err_mpu6050(err) != 0) return 1;
return 0;
}
/*! \brief Get calibration data Gyro z axis
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if successful 1 if unsuccessful full
*/
uint8_t calibrate_gyro_z_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t range[] = { MPU6050_GYRO_SCL_250, MPU6050_GYRO_SCL_500, MPU6050_GYRO_SCL_1000, MPU6050_GYRO_SCL_2000};
uint8_t err;
int32_t sum;
int16_t value;
for(uint8_t i = 0; i < 4; i++){
sum = 0;
err = gyro_set_scale_mpu6050(twi, addr, range[i]); //!< Selecting the range
//if(check_err_mpu6050(err) != 0) return 1;
for(uint16_t j = 0; j < 700; j++){ //!< Loop to get average offset
err = get_gyro_z_raw_mpu6050(twi, addr, &value);
//if(check_err_mpu6050(err) != 0) return 1;
sum += value;
}
ACCELX_OFFSET_MPU6050[i] = (float) sum / 700;
}
err = gyro_set_scale_mpu6050(twi, addr, MPU6050_GYRO_SCL_250);
if(check_err_mpu6050(err) != 0) return 1;
return 0;
}
/*! \brief Get calibration data accelerometer x axis
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if successful 1 if unsuccessful full
*/
uint8_t calibrate_accel_x_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t range[] = { MPU6050_ACCEL_SCL_2G, MPU6050_ACCEL_SCL_4G, MPU6050_ACCEL_SCL_8G, MPU6050_ACCEL_SCL_16G};
uint8_t err;
int32_t sum;
int16_t value;
for(uint8_t i = 0; i < 4; i++){
sum = 0;
err = accel_set_scale_mpu6050(twi, addr, range[i]); //!< Selecting the range
//if(check_err_mpu6050(err) != 0) return 1;
for(uint16_t j = 0; j < 700; j++){ //!< Loop to get average offset
err = get_accel_x_raw_mpu6050(twi, addr, &value);
//if(check_err_mpu6050(err) != 0) return 1;
sum += value;
}
ACCELX_OFFSET_MPU6050[i] = (float) sum / 700;
}
err = accel_set_scale_mpu6050(twi, addr, MPU6050_GYRO_SCL_250);
if(check_err_mpu6050(err) != 0) return 1;
return 0;
}
/*! \brief Get calibration data accelerometer y axis
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if successful 1 if unsuccessful full
*/
uint8_t calibrate_accel_y_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t range[] = { MPU6050_ACCEL_SCL_2G, MPU6050_ACCEL_SCL_4G, MPU6050_ACCEL_SCL_8G, MPU6050_ACCEL_SCL_16G};
uint8_t err;
int32_t sum;
int16_t value;
for(uint8_t i = 0; i < 4; i++){
sum = 0;
err = accel_set_scale_mpu6050(twi, addr, range[i]); //!< Selecting the range
//if(check_err_mpu6050(err) != 0) return 1;
for(uint16_t j = 0; j < 700; j++){ //!< Loop to get average offset
err = get_accel_y_raw_mpu6050(twi, addr, &value);
//if(check_err_mpu6050(err) != 0) return 1;
sum += value;
}
ACCELX_OFFSET_MPU6050[i] = (float) sum / 700;
}
err = accel_set_scale_mpu6050(twi, addr, MPU6050_GYRO_SCL_250);
if(check_err_mpu6050(err) != 0) return 1;
return 0;
}
/*! \brief Get calibration data accelerometer z axis
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if successful 1 if unsuccessful full
*/
uint8_t calibrate_accel_z_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t range[] = { MPU6050_ACCEL_SCL_2G, MPU6050_ACCEL_SCL_4G, MPU6050_ACCEL_SCL_8G, MPU6050_ACCEL_SCL_16G};
uint8_t err;
int32_t sum;
int16_t value;
for(uint8_t i = 0; i < 4; i++){
sum = 0;
err = accel_set_scale_mpu6050(twi, addr, range[i]); //!< Selecting the range
//if(check_err_mpu6050(err) != 0) return 1;
for(uint16_t j = 0; j < 700; j++){ //!< Loop to get average offset
err = get_accel_z_raw_mpu6050(twi, addr, &value);
//if(check_err_mpu6050(err) != 0) return 1;
sum += value;
}
ACCELX_OFFSET_MPU6050[i] = (float) ( sum / 700 ) - 1;
}
err = accel_set_scale_mpu6050(twi, addr, MPU6050_GYRO_SCL_250);
if(check_err_mpu6050(err) != 0) return 1;
return 0;
}
/*! \brief Get temperature
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param data pointer to store temperature data
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t get_temp_mpu6050(TWI_t *twi, uint8_t addr, float *data){
uint8_t err, read;
TEMP16_t temp;
float ret;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_TEMP_OUT_L);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
temp.DATAL = read;
err = read_8bit_register_TWI(twi, addr, &read, MPU_6050_TEMP_OUT_H);
if (check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
temp.DATAH = (read << 0);
ret = temp.TEMP;
ret = (ret / 340) + 36.53;
(*data) = ret;
return 0;
}
/*! \brief Enables interrupts from the MPU6050
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param interupt byte to select what interrupt will be enabled
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t int_enable_mpu6050(TWI_t *twi, uint8_t addr, uint8_t interupt){
uint8_t reg_old, err;
err = read_8bit_register_TWI(twi, addr, ®_old, MPU_6050_INT_ENABLE);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
reg_old = (1 << interupt);
err = write_8bit_register_TWI(twi, addr, reg_old, MPU_6050_INT_ENABLE);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
return 0;
}
/*! \brief Disables interrupts from the MPU6050
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param interupt byte to select what interrupt will be disabled
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t int_disable_mpu6050(TWI_t *twi, uint8_t addr, uint8_t interupt){
uint8_t reg_old, err;
err = read_8bit_register_TWI(twi, addr, ®_old, MPU_6050_INT_ENABLE);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
reg_old = (0 << interupt);
err = write_8bit_register_TWI(twi, addr, reg_old, MPU_6050_INT_ENABLE);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
return 0;
}
/*! \brief checks what caused the interrupt from the MPU6050
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return returns 1 if TWI/I2C bus is in use returns 2 if something went wrong.
* returns 3 if FIFO_OVF_INT is 1
* returns 4 if I2C_MST_INT is 1
* returns 5 if DATA_RDY_INT is 1
* returns 7 if FIFO_OVF_INT is 1 and I2C_MST_INT is 1
* returns 8 if FIFO_OVF_INT is 1 and DATA_RDY_INT is 1
* returns 9 if I2C_MST_INT is 1 and DATA_RDY_INT is 1
* returns 12 if FIFO_OVF_INT is 1 and I2C_MST_INT is 1 and DATA_RDY_INT is 1
*/
uint8_t what_happend_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t err, ret = 0;
MPU6050_INT_STATUS_TYPE int_status;
err = read_8bit_register_TWI(twi, addr, &int_status.int_reg, MPU_6050_INT_STATUS);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
if(int_status.FIFO_OFLOW == 1) ret += 3;
if(int_status.I2C_MST == 1) ret += 4;
if(int_status.DATA_RDY == 1) ret += 5;
return ret;
}
/*! \brief Read external sensor value from the MPU6050
*
* \warning External sensors for the MPU6050 are not supported by this library!
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
* \param reg byte to select which external sensor register needs to be read
* \param *data pointer to store the external sensor value
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t ext_sens_value_mpu6050(TWI_t *twi, uint8_t addr, uint8_t reg, uint8_t *data){
uint8_t err, sensor_value;
err = read_8bit_register_TWI(twi, addr, &sensor_value, reg);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
return 0;
}
/*! \brief Disables temperature measurement
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t disable_temp_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t old_reg, err;
err = read_8bit_register_TWI(twi, addr, &old_reg, MPU_6050_PWR_MGMT_1);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
old_reg = (1 << 3); //!< Disables Temperature measurements
err = write_8bit_register_TWI(twi, addr, old_reg, MPU_6050_PWR_MGMT_1);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
return 0;
}
/*! \brief Enables temperature measurement
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*/
uint8_t enable_temp_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t old_reg, err;
err = read_8bit_register_TWI(twi, addr, &old_reg, MPU_6050_PWR_MGMT_1);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
old_reg = (0 << 3); //!< Enables Temperature measurements
err = write_8bit_register_TWI(twi, addr, old_reg, MPU_6050_PWR_MGMT_1);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
return 0;
}
/*! \brief Resets the MPU6050
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*
* When set to 1, this bit resets all internal registers to their default values.
* The bit automatically clears to 0 once the reset is done.
*/
uint8_t reset_mpu6050(TWI_t *twi, uint8_t addr){
uint8_t err;
uint8_t reset = 0;
reset = (1 << 7);
err = write_8bit_register_TWI(twi, addr, reset, MPU_6050_PWR_MGMT_1);
if(check_err_mpu6050(err) != 0) return check_err_mpu6050(err);
return 0;
}
/*! \brief Resets the accelerometer of the MPU6050
*
* \param *twi pointer to the TWI module that is connected to the MPU6050
* \param addr address of the MPU6050
*
* \return 0 if succeeded if TWI/I2C bus is in use 1 otherwise returns 2
*
* This register is used to reset the analog and digital signal paths of the accelerometer.