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/*
Note: The MPU6886 is an I2C sensor and uses the Arduino Wire library.
Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or
a 3.3 V Teensy 3.1. We have disabled the internal pull-ups used by the Wire
library in the Wire.h/twi.c utility file. We are also using the 400 kHz fast
I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
*/
#ifndef _MPU6886_H_
#define _MPU6886_H_
#include <Wire.h>
#include <Arduino.h>
#include "MahonyAHRS.h"
#define MPU6886_ADDRESS 0x68
#define MPU6886_WHOAMI 0x75
#define MPU6886_ACCEL_INTEL_CTRL 0x69
#define MPU6886_SMPLRT_DIV 0x19
#define MPU6886_INT_PIN_CFG 0x37
#define MPU6886_INT_ENABLE 0x38
#define MPU6886_ACCEL_XOUT_H 0x3B
#define MPU6886_ACCEL_XOUT_L 0x3C
#define MPU6886_ACCEL_YOUT_H 0x3D
#define MPU6886_ACCEL_YOUT_L 0x3E
#define MPU6886_ACCEL_ZOUT_H 0x3F
#define MPU6886_ACCEL_ZOUT_L 0x40
#define MPU6886_TEMP_OUT_H 0x41
#define MPU6886_TEMP_OUT_L 0x42
#define MPU6886_GYRO_XOUT_H 0x43
#define MPU6886_GYRO_XOUT_L 0x44
#define MPU6886_GYRO_YOUT_H 0x45
#define MPU6886_GYRO_YOUT_L 0x46
#define MPU6886_GYRO_ZOUT_H 0x47
#define MPU6886_GYRO_ZOUT_L 0x48
#define MPU6886_USER_CTRL 0x6A
#define MPU6886_PWR_MGMT_1 0x6B
#define MPU6886_PWR_MGMT_2 0x6C
#define MPU6886_CONFIG 0x1A
#define MPU6886_GYRO_CONFIG 0x1B
#define MPU6886_ACCEL_CONFIG 0x1C
#define MPU6886_ACCEL_CONFIG2 0x1D
#define MPU6886_FIFO_EN 0x23
//#define G (9.8)
#define RtA 57.324841
#define AtR 0.0174533
#define Gyro_Gr 0.0010653
class MPU6886 {
public:
enum Ascale {
AFS_2G = 0,
AFS_4G,
AFS_8G,
AFS_16G
};
enum Gscale {
GFS_250DPS = 0,
GFS_500DPS,
GFS_1000DPS,
GFS_2000DPS
};
Gscale Gyscale = GFS_2000DPS;
Ascale Acscale = AFS_8G;
public:
MPU6886();
int Init(void);
void getAccelAdc(int16_t* ax, int16_t* ay, int16_t* az);
void getGyroAdc(int16_t* gx, int16_t* gy, int16_t* gz);
void getTempAdc(int16_t *t);
void getAccelData(float* ax, float* ay, float* az);
void getGyroData(float* gx, float* gy, float* gz);
void getTempData(float *t);
void SetGyroFsr(Gscale scale);
void SetAccelFsr(Ascale scale);
void getAhrsData(float *pitch,float *roll,float *yaw);
public:
float aRes, gRes;
private:
private:
void I2C_Read_NBytes(uint8_t driver_Addr, uint8_t start_Addr, uint8_t number_Bytes, uint8_t *read_Buffer);
void I2C_Write_NBytes(uint8_t driver_Addr, uint8_t start_Addr, uint8_t number_Bytes, uint8_t *write_Buffer);
void getGres();
void getAres();
};
#endif
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