MPU6050.h

/*
MPU6050.h - Header file for the MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.

Version: 1.0.3
(c) 2014-2015 Korneliusz Jarzebski
www.jarzebski.pl

This program is free software: you can redistribute it and/or modify
it under the terms of the version 3 GNU General Public License as
published by the Free Software Foundation.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef MPU6050_h
#define MPU6050_h

#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif

#define MPU6050_ADDRESS (0x68) // 0x69 when AD0 pin to Vcc

#define MPU6050_REG_ACCEL_XOFFS_H (0x06)
#define MPU6050_REG_ACCEL_XOFFS_L (0x07)
#define MPU6050_REG_ACCEL_YOFFS_H (0x08)
#define MPU6050_REG_ACCEL_YOFFS_L (0x09)
#define MPU6050_REG_ACCEL_ZOFFS_H (0x0A)
#define MPU6050_REG_ACCEL_ZOFFS_L (0x0B)
#define MPU6050_REG_GYRO_XOFFS_H (0x13)
#define MPU6050_REG_GYRO_XOFFS_L (0x14)
#define MPU6050_REG_GYRO_YOFFS_H (0x15)
#define MPU6050_REG_GYRO_YOFFS_L (0x16)
#define MPU6050_REG_GYRO_ZOFFS_H (0x17)
#define MPU6050_REG_GYRO_ZOFFS_L (0x18)
#define MPU6050_REG_CONFIG (0x1A)
#define MPU6050_REG_GYRO_CONFIG (0x1B)  // Gyroscope Configuration
#define MPU6050_REG_ACCEL_CONFIG (0x1C) // Accelerometer Configuration
#define MPU6050_REG_FF_THRESHOLD (0x1D)
#define MPU6050_REG_FF_DURATION (0x1E)
#define MPU6050_REG_MOT_THRESHOLD (0x1F)
#define MPU6050_REG_MOT_DURATION (0x20)
#define MPU6050_REG_ZMOT_THRESHOLD (0x21)
#define MPU6050_REG_ZMOT_DURATION (0x22)
#define MPU6050_REG_INT_PIN_CFG (0x37) // INT Pin. Bypass Enable Configuration
#define MPU6050_REG_INT_ENABLE (0x38)  // INT Enable
#define MPU6050_REG_INT_STATUS (0x3A)
#define MPU6050_REG_ACCEL_XOUT_H (0x3B)
#define MPU6050_REG_ACCEL_XOUT_L (0x3C)
#define MPU6050_REG_ACCEL_YOUT_H (0x3D)
#define MPU6050_REG_ACCEL_YOUT_L (0x3E)
#define MPU6050_REG_ACCEL_ZOUT_H (0x3F)
#define MPU6050_REG_ACCEL_ZOUT_L (0x40)
#define MPU6050_REG_TEMP_OUT_H (0x41)
#define MPU6050_REG_TEMP_OUT_L (0x42)
#define MPU6050_REG_GYRO_XOUT_H (0x43)
#define MPU6050_REG_GYRO_XOUT_L (0x44)
#define MPU6050_REG_GYRO_YOUT_H (0x45)
#define MPU6050_REG_GYRO_YOUT_L (0x46)
#define MPU6050_REG_GYRO_ZOUT_H (0x47)
#define MPU6050_REG_GYRO_ZOUT_L (0x48)
#define MPU6050_REG_MOT_DETECT_STATUS (0x61)
#define MPU6050_REG_MOT_DETECT_CTRL (0x69)
#define MPU6050_REG_USER_CTRL (0x6A)  // User Control
#define MPU6050_REG_PWR_MGMT_1 (0x6B) // Power Management 1
#define MPU6050_REG_WHO_AM_I (0x75)   // Who Am I

#ifndef VECTOR_STRUCT_H
#define VECTOR_STRUCT_H
struct Vector
{
	float XAxis;
	float YAxis;
	float ZAxis;
};
#endif

struct Activites
{
	bool isOverflow;
	bool isFreeFall;
	bool isInactivity;
	bool isActivity;
	bool isPosActivityOnX;
	bool isPosActivityOnY;
	bool isPosActivityOnZ;
	bool isNegActivityOnX;
	bool isNegActivityOnY;
	bool isNegActivityOnZ;
	bool isDataReady;
};

typedef enum
{
	MPU6050_CLOCK_KEEP_RESET = 0b111,
	MPU6050_CLOCK_EXTERNAL_19MHZ = 0b101,
	MPU6050_CLOCK_EXTERNAL_32KHZ = 0b100,
	MPU6050_CLOCK_PLL_ZGYRO = 0b011,
	MPU6050_CLOCK_PLL_YGYRO = 0b010,
	MPU6050_CLOCK_PLL_XGYRO = 0b001,
	MPU6050_CLOCK_INTERNAL_8MHZ = 0b000
} mpu6050_clockSource_t;

typedef enum
{
	MPU6050_SCALE_2000DPS = 0b11,
	MPU6050_SCALE_1000DPS = 0b10,
	MPU6050_SCALE_500DPS = 0b01,
	MPU6050_SCALE_250DPS = 0b00
} mpu6050_dps_t;

typedef enum
{
	MPU6050_RANGE_16G = 0b11,
	MPU6050_RANGE_8G = 0b10,
	MPU6050_RANGE_4G = 0b01,
	MPU6050_RANGE_2G = 0b00,
} mpu6050_range_t;

typedef enum
{
	MPU6050_DELAY_3MS = 0b11,
	MPU6050_DELAY_2MS = 0b10,
	MPU6050_DELAY_1MS = 0b01,
	MPU6050_NO_DELAY = 0b00,
} mpu6050_onDelay_t;

typedef enum
{
	MPU6050_DHPF_HOLD = 0b111,
	MPU6050_DHPF_0_63HZ = 0b100,
	MPU6050_DHPF_1_25HZ = 0b011,
	MPU6050_DHPF_2_5HZ = 0b010,
	MPU6050_DHPF_5HZ = 0b001,
	MPU6050_DHPF_RESET = 0b000,
} mpu6050_dhpf_t;

typedef enum
{
	MPU6050_DLPF_6 = 0b110,
	MPU6050_DLPF_5 = 0b101,
	MPU6050_DLPF_4 = 0b100,
	MPU6050_DLPF_3 = 0b011,
	MPU6050_DLPF_2 = 0b010,
	MPU6050_DLPF_1 = 0b001,
	MPU6050_DLPF_0 = 0b000,
} mpu6050_dlpf_t;

class MPU6050
{
public:
	bool begin(mpu6050_dps_t scale = MPU6050_SCALE_2000DPS, mpu6050_range_t range = MPU6050_RANGE_2G, int mpua = MPU6050_ADDRESS, int SDA = -1, int SCL = -1);

	void setClockSource(mpu6050_clockSource_t source);
	void setScale(mpu6050_dps_t scale);
	void setRange(mpu6050_range_t range);
	mpu6050_clockSource_t getClockSource(void);
	mpu6050_dps_t getScale(void);
	mpu6050_range_t getRange(void);
	void setDHPFMode(mpu6050_dhpf_t dhpf);
	void setDLPFMode(mpu6050_dlpf_t dlpf);
	mpu6050_onDelay_t getAccelPowerOnDelay();
	void setAccelPowerOnDelay(mpu6050_onDelay_t delay);

	uint8_t getIntStatus(void);

	bool getIntZeroMotionEnabled(void);
	void setIntZeroMotionEnabled(bool state);
	bool getIntMotionEnabled(void);
	void setIntMotionEnabled(bool state);
	bool getIntFreeFallEnabled(void);
	void setIntFreeFallEnabled(bool state);

	uint8_t getMotionDetectionThreshold(void);
	void setMotionDetectionThreshold(uint8_t threshold);
	uint8_t getMotionDetectionDuration(void);
	void setMotionDetectionDuration(uint8_t duration);

	uint8_t getZeroMotionDetectionThreshold(void);
	void setZeroMotionDetectionThreshold(uint8_t threshold);
	uint8_t getZeroMotionDetectionDuration(void);
	void setZeroMotionDetectionDuration(uint8_t duration);

	uint8_t getFreeFallDetectionThreshold(void);
	void setFreeFallDetectionThreshold(uint8_t threshold);
	uint8_t getFreeFallDetectionDuration(void);
	void setFreeFallDetectionDuration(uint8_t duration);

	bool getSleepEnabled(void);
	void setSleepEnabled(bool state);
	bool getI2CMasterModeEnabled(void);
	void setI2CMasterModeEnabled(bool state);
	bool getI2CBypassEnabled(void);
	void setI2CBypassEnabled(bool state);

	float readTemperature(void);
	Activites readActivites(void);

	int16_t getGyroOffsetX(void);
	void setGyroOffsetX(int16_t offset);
	int16_t getGyroOffsetY(void);
	void setGyroOffsetY(int16_t offset);
	int16_t getGyroOffsetZ(void);
	void setGyroOffsetZ(int16_t offset);

	int16_t getAccelOffsetX(void);
	void setAccelOffsetX(int16_t offset);
	int16_t getAccelOffsetY(void);
	void setAccelOffsetY(int16_t offset);
	int16_t getAccelOffsetZ(void);
	void setAccelOffsetZ(int16_t offset);

	void calibrateGyro(uint8_t samples = 50);
	void setThreshold(uint8_t multiple = 1);
	uint8_t getThreshold(void);

	Vector readRawGyro(void);
	Vector readNormalizeGyro(void);

	Vector readRawAccel(void);
	Vector readNormalizeAccel(void);
	Vector readScaledAccel(void);

private:
	Vector ra, rg; // Raw vectors
	Vector na, ng; // Normalized vectors
	Vector tg, dg; // Threshold and Delta for Gyro
	Vector th;	 // Threshold
	Activites a;   // Activities

	float dpsPerDigit, rangePerDigit;
	float actualThreshold;
	bool useCalibrate;
	int mpuAddress;

	uint8_t fastRegister8(uint8_t reg);

	uint8_t readRegister8(uint8_t reg);
	void writeRegister8(uint8_t reg, uint8_t value);

	int16_t readRegister16(uint8_t reg);
	void writeRegister16(uint8_t reg, int16_t value);

	bool readRegisterBit(uint8_t reg, uint8_t pos);
	void writeRegisterBit(uint8_t reg, uint8_t pos, bool state);
};

#endif