/** Power on and prepare for general usage.
* This will activate the device and take it out of sleep mode (which must be done
* after start-up). This function also sets both the accelerometer and the gyroscope
* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
* the clock source to use the X Gyro for reference, which is slightly better than
* the default internal clock source.
*/
void MPU6050_Initialize()
{
// GYRO AT 2000g AND ACC AT 2g
MPU6050_SetClockSource(MPU6050_CLOCK_PLL_XGYRO);
MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, MPU6050_DLPF_BW_42); //set DLPF bandwidth to 42Hz
MPU6050_SetFullScaleGyroRange(MPU6050_GYRO_FS_2000);
MPU6050_SetFullScaleAccelRange(MPU6050_ACCEL_FS_2);
MPU6050_SetSleepModeStatus(DISABLE);
}
void KumpasHazirla(void)
{
MPU6050_WriteBits(0x0C<<1, 0x0A, 0, 8, 0x00); //PowerDownMode
MPU6050_WriteBits(0x0C<<1, 0x0A, 0, 8, 0x0F); //SelfTest
MPU6050_WriteBits(0x0C<<1, 0x0A, 0, 8, 0x00); //PowerDownMode,
/** Write multiple bits in an 8-bit device register.
* @param slaveAddr I2C slave device address
* @param regAddr Register regAddr to write to
* @param bitStart First bit position to write (0-7)
* @param length Number of bits to write (not more than 8)
* @param data Right-aligned value to write
*/
// MPU9150_I2C_ADDRESS = 0x0C; //change Adress to Compass
// MPU9150_writeSensor(0x0A, 0x00); //PowerDownMode
// MPU9150_writeSensor(0x0A, 0x0F); //SelfTest
// MPU9150_writeSensor(0x0A, 0x00); //PowerDownMode
// MPU9150_I2C_ADDRESS = 0x69; //change Adress to MPU
//
// MPU9150_writeSensor(0x24, 0x40); //Wait for Data at Slave0
// MPU9150_writeSensor(0x25, 0x8C); //Set i2c address at slave0 at 0x0C
// MPU9150_writeSensor(0x26, 0x02); //Set where reading at slave 0 starts
// MPU9150_writeSensor(0x27, 0x88); //set offset at start reading and enable
// MPU9150_writeSensor(0x28, 0x0C); //set i2c address at slv1 at 0x0C
// MPU9150_writeSensor(0x29, 0x0A); //Set where reading at slave 1 starts
// MPU9150_writeSensor(0x2A, 0x81); //Enable at set length to 1
// MPU9150_writeSensor(0x64, 0x01); //overvride register
// MPU9150_writeSensor(0x67, 0x03); //set delay rate
// MPU9150_writeSensor(0x01, 0x80);
//
// MPU9150_writeSensor(0x34, 0x04); //set i2c slv4 delay
// MPU9150_writeSensor(0x64, 0x00); //override register
// MPU9150_writeSensor(0x6A, 0x00); //clear usr setting
// MPU9150_writeSensor(0x64, 0x01); //override register
// MPU9150_writeSensor(0x6A, 0x20); //enable master i2c mode
// MPU9150_writeSensor(0x34, 0x13); //disable slv4
}
void MPU6050_enablemagnetometer()
{
//MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS,0x24, 7,8, 0x40);
//delay(100);
MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS,0x37, 7,8, 0x32);
delay(100);
MPU6050_WriteBit(MPU6050_DEFAULT_ADDRESS, 0x6A, 5,DISABLE);
delay(100);
MPU6050_WriteBits(AK8975_I2C_ADDR,AK8975_CNTL, 3,4, 0x0F);
delay(100);
MPU6050_WriteBits(AK8975_I2C_ADDR,AK8975_CNTL, 3,4, 0x0F);
delay(100);
MPU6050_WriteBits(AK8975_I2C_ADDR,AK8975_CNTL, 3,4, 0x0F);
delay(100);
MPU6050_WriteBits(AK8975_I2C_ADDR,AK8975_CNTL, 3,4, 0x00);
delay(100);
MPU6050_WriteBits(AK8975_I2C_ADDR,AK8975_CNTL, 3,4, 0x01);
delay(100);
}
/** Set full-scale accelerometer range.
* @param range New full-scale accelerometer range setting
* @see MPU6050_GetFullScaleAccelRange()
*/
void MPU6050_SetFullScaleAccelRange(uint8_t range)
{
MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
}
/** Set full-scale gyroscope range.
* @param range New full-scale gyroscope range value
* @see MPU6050_GetFullScaleGyroRange()
* @see MPU6050_GYRO_FS_250
* @see MPU6050_RA_GYRO_CONFIG
* @see MPU6050_GCONFIG_FS_SEL_BIT
* @see MPU6050_GCONFIG_FS_SEL_LENGTH
*/
void MPU6050_SetFullScaleGyroRange(uint8_t range)
{
MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
}
/** Set clock source setting.
* An internal 8MHz oscillator, gyroscope based clock, or external sources can
* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
* or an external source is chosen as the clock source, the MPU-60X0 can operate
* in low power modes with the gyroscopes disabled.
*
* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
* However, it is highly recommended that the device be configured to use one of
* the gyroscopes (or an external clock source) as the clock reference for
* improved stability. The clock source can be selected according to the following table:
*
* <pre>
* CLK_SEL | Clock Source
* --------+--------------------------------------
* 0 | Internal oscillator
* 1 | PLL with X Gyro reference
* 2 | PLL with Y Gyro reference
* 3 | PLL with Z Gyro reference
* 4 | PLL with external 32.768kHz reference
* 5 | PLL with external 19.2MHz reference
* 6 | Reserved
* 7 | Stops the clock and keeps the timing generator in reset
* </pre>
*
* @param source New clock source setting
* @see MPU6050_GetClockSource()
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_CLKSEL_BIT
* @see MPU6050_PWR1_CLKSEL_LENGTH
*/
void MPU6050_SetClockSource(uint8_t source)
{
MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
}
void MPU6050_Config(uint8_t source)
{
MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_CONFIG, 2, 3, source);
}
void MPU6050_SetLowPassFilter(uint8_t range)
{
MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_CONFIG, 0, 8, range);
}
/** Set DLPF_CFG
* DLPF_CFG | Accelerometer(Fs 1khz) | Gyroscope
* -----------+--------------------------------------
* |Bandwidth hz | Delay ms |Bandwidth hz | Delay ms | FS khz
* 0x00 | 260 0.0 256 0.98 8
* 0x01 | 184 2.0 188 1.9 1
* 0x02 | 94 3.0 98 2.8 1
* 0x03 | 44 4.9 42 4.8 1
* 0x04 | 21 8.5 20 8.3 1
* 0x05 | 10 13.8 10 13.4 1
* 0x06 | 5 19.0 5 18.6 1
* 0x07 | RESERVED RESERVED 8
*/
void MPU6050_SetDigitalLowPassFilter(uint8_t range)
{
MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, range);
}
