52 lines
1.6 KiB
C
52 lines
1.6 KiB
C
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#ifndef IMU_H
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#define IMU_H
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#include <stdint.h>
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#define I2C_ADDRESS 0x68
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// MPU-6050 register addresses
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#define MPU_WHO_AM_I 0x75
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#define MPU_PWR_MGMT_1 0x6B
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#define MPU_CONFIG 0x1A
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#define MPU_ACCEL_XOUT_H 0x3B
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// Digital low-pass filter bandwidth (CONFIG register bits [2:0]).
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// 0 = 256 Hz gyro BW (default, noisiest)
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// 1 = 188 Hz, 2 = 98 Hz, 3 = 44 Hz, 4 = 21 Hz, 5 = 10 Hz, 6 = 5 Hz
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// Lower BW = more smoothing, more lag. 3 is a good default for 50 Hz control.
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#define IMU_DLPF_CFG 0x03
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// Number of back-to-back samples averaged per IMU_Read call.
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// Must be power of 2 so compiler uses shift for divide.
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#define IMU_AVG_SAMPLES 4
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// Conversion scales
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#define ACCEL_SCALE 16384 // for 1 G
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#define GYRO_SCALE 131 // degrees/sec
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// Latest sensor readings, updated on each IMU_Read call.
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// Raw signed 16-bit ADC counts (big-endian from chip, assembled).
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// Default scale factors
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// accel: 16384 LSB/g (+/-2 g range)
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// gyro: 131 LSB/(deg/s) (+/-250 dps range)
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// temp: T_C = raw/340 + 36.53
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extern volatile int16_t IMU_AccelX;
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extern volatile int16_t IMU_AccelY;
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extern volatile int16_t IMU_AccelZ;
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extern volatile int16_t IMU_Temp;
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extern volatile int16_t IMU_GyroX;
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extern volatile int16_t IMU_GyroY;
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extern volatile int16_t IMU_GyroZ;
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// Initialize MPU-6050.
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// Calls I2C_Init, verifies WHO_AM_I, clears SLEEP bit to wake chip.
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// Returns 0 on success, nonzero on error (see IMU.c for codes).
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int IMU_Init(void);
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// Burst read all 14 sensor bytes and update IMU_* globals.
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// Returns 0 on success, nonzero on error.
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int IMU_Read(void);
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#endif
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