first commit

CHANGELOG

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+MPU6050 Arduino Library W.I.P.
+======================================================================
+
+ * W.I.P.

MPU6050.cpp

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+/*
+MPU6050.cpp - Class file for the MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
+
+Version: W.I.P.
+(c) 2014 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/>.
+*/
+
+#if ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include <Wire.h>
+#include <math.h>
+
+#include <MPU6050.h>
+
+bool MPU6050::begin(mpu6050_dps_t scale, mpu6050_range_t range)
+{
+    Wire.begin();
+
+    // Check MPU6050 Who Am I Register
+    if (fastRegister8(MPU6050_REG_WHO_AM_I) != 0x68)
+    {
+	return false;
+    }
+
+    // Set Clock Source
+    setClockSource(MPU6050_CLOCK_PLL_XGYRO);
+
+    return true;
+}
+
+void MPU6050::setClockSource(mpu6050_clockSource_t source)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_PWR_MGMT_1);
+    value |= source;
+    writeRegister8(MPU6050_REG_PWR_MGMT_1, value);
+}
+
+mpu6050_clockSource_t MPU6050::getClockSource(void)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_PWR_MGMT_1);
+    value &= 0b00000111;
+    return (mpu6050_clockSource_t)value;
+}
+
+// Fast read 8-bit from register
+uint8_t MPU6050::fastRegister8(uint8_t reg)
+{
+    uint8_t value;
+
+    Wire.beginTransmission(MPU6050_ADDRESS);
+    #if ARDUINO >= 100
+	Wire.write(reg);
+    #else
+	Wire.send(reg);
+    #endif
+    Wire.endTransmission();
+
+    Wire.beginTransmission(MPU6050_ADDRESS);
+    Wire.requestFrom(MPU6050_ADDRESS, 1);
+    #if ARDUINO >= 100
+	value = Wire.read();
+    #else
+	value = Wire.receive();
+    #endif;
+    Wire.endTransmission();
+
+    return value;
+}
+
+// Read 8-bit from register
+uint8_t MPU6050::readRegister8(uint8_t reg)
+{
+    uint8_t value;
+
+    Wire.beginTransmission(MPU6050_ADDRESS);
+    #if ARDUINO >= 100
+	Wire.write(reg);
+    #else
+	Wire.send(reg);
+    #endif
+    Wire.endTransmission();
+
+    Wire.beginTransmission(MPU6050_ADDRESS);
+    Wire.requestFrom(MPU6050_ADDRESS, 1);
+    while(!Wire.available()) {};
+    #if ARDUINO >= 100
+	value = Wire.read();
+    #else
+	value = Wire.receive();
+    #endif;
+    Wire.endTransmission();
+
+    return value;
+}
+
+// Write 8-bit to register
+void MPU6050::writeRegister8(uint8_t reg, uint8_t value)
+{
+    Wire.beginTransmission(MPU6050_ADDRESS);
+
+    #if ARDUINO >= 100
+	Wire.write(reg);
+	Wire.write(value);
+    #else
+	Wire.send(reg);
+	Wire.send(value);
+    #endif
+    Wire.endTransmission();
+}

MPU6050.h

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+/*
+MPU6050.h - Header file for the MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
+
+Version: W.I.P
+(c) 2014 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_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
+
+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;
+
+class MPU6050
+{
+    public:
+
+	bool begin(mpu6050_dps_t scale = MPU6050_SCALE_2000DPS, mpu6050_range_t = MPU6050_RANGE_2G);
+
+	void setClockSource(mpu6050_clockSource_t source);
+	mpu6050_clockSource_t getClockSource(void);
+
+    private:
+
+	void writeRegister8(uint8_t reg, uint8_t value);
+	uint8_t readRegister8(uint8_t reg);
+	uint8_t fastRegister8(uint8_t reg);
+};
+
+#endif

MPU6050_simple/MPU6050_simple.ino

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+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Simple Example.
+    Read more: TODO
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+void setup() 
+{
+  Serial.begin(9600);
+
+  Serial.println("Initialize MPU6050");
+
+  while(!mpu.begin(MPU6050_SCALE_2000DPS))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+
+  checkSettings();
+}
+
+void checkSettings()
+{
+  Serial.println();
+
+  Serial.print(" * Clock Source: ");
+
+  switch(mpu.getClockSource())
+  {
+    case MPU6050_CLOCK_KEEP_RESET:     Serial.println("Stops the clock and keeps the timing generator in reset"); break;
+    case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
+    case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
+    case MPU6050_CLOCK_PLL_ZGYRO:      Serial.println("PLL with Z axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_YGYRO:      Serial.println("PLL with Y axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_XGYRO:      Serial.println("PLL with X axis gyroscope reference"); break;
+    case MPU6050_CLOCK_INTERNAL_8MHZ:  Serial.println("Internal 8MHz oscillator"); break;
+  }
+}
+
+void loop()
+{
+  delay(100);
+}

README.md

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+Arduino-MPU6050
+================
+
+MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
+
+Tutorials: TODO
+
+This library use I2C to communicate, 2 pins are required to interface
+