Diff: MPU9250/MPU9250.h

Revision:

6:166746820555

Parent:

5:8bfe95431ec0

Child:

7:8989a4b84695

--- a/MPU9250/MPU9250.h	Fri Feb 08 09:11:27 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,159 +0,0 @@
-#ifndef MPU9250_H
-#define MPU9250_H
- 
-#include "mbed.h"
-#include "math.h"
-#include "MPU9250_register.h"
- 
-
-#define AK8963_ADDRESS   0x0C<<1
-
-// Using the MSENSR-9250 breakout board, ADO is set to 0 
-// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
-//mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
-#define ADO 0
-#if ADO
-#define MPU9250_ADDRESS 0x69<<1  // Device address when ADO = 1
-#else
-#define MPU9250_ADDRESS 0x68<<1  // Device address when ADO = 0
-#endif
-
-#define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral
-#define Ki 0.0f
-
-#define IAM_MPU9250         0x71
-#define IAM_AK8963          0x48
-
-#define DECLINATION -7.45f //Declination at Tokyo is -7.45 degree 2017/06/14
-
-const float PI = 3.14159265358979323846f;
-const float LPGAIN_MAG = 0.0;
-
-
-enum Ascale {
-  AFS_2G = 0,
-  AFS_4G,
-  AFS_8G,
-  AFS_16G
-};
-
-enum Gscale {
-  GFS_250DPS = 0,
-  GFS_500DPS,
-  GFS_1000DPS,
-  GFS_2000DPS
-};
-
-enum Mscale {
-  MFS_14BITS = 0, // 0.6 mG per LSB
-  MFS_16BITS      // 0.15 mG per LSB
-};
-
-
-
-class MPU9250 {
- 
-public:
-    //MPU9250();
-    MPU9250(PinName sda, PinName scl, RawSerial* serial_p);
-    ~MPU9250();
-
-    bool Initialize(void);
-    bool sensingAcGyMg(void);
-    void calculatePostureAngle(float degree[3]);
-    float calculateYawByMg(void);
-    
-    void MPU9250SelfTest(float * destination);
-
-    void pickupAccel(float accel[3]);
-    void pickupGyro(float gyro[3]);
-    void pickupMag(float mag[3]);
-    float pickupTemp(void);
-
-    void displayAccel(void);
-    void displayGyro(void);
-    void displayMag(void);
-    void displayAngle(void);
-    void displayQuaternion(void);
-    void displayTemperature(void);
-
-    void setMagBias(float bias_x, float bias_y, float bias_z);
-
-private:
-//add
-    I2C *i2c_p;
-    I2C &i2c;
-
-    RawSerial* pc_p;
-
-    Timer timer;
-
-    uint8_t Ascale;     // AFS_2G, AFS_4G, AFS_8G, AFS_16G
-    uint8_t Gscale; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
-    uint8_t Mscale; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
-    uint8_t Mmode;        // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR  
-    float aRes, gRes, mRes;      // scale resolutions per LSB for the sensors
-
-    int16_t accelCount[3];  // Stores the 16-bit signed accelerometer sensor output
-    int16_t gyroCount[3];   // Stores the 16-bit signed gyro sensor output
-    int16_t magCount[3];    // Stores the 16-bit signed magnetometer sensor output
-    float magCalibration[3], magbias[3];  // Factory mag calibration and mag bias
-    float gyroBias[3], accelBias[3]; // Bias corrections for gyro and accelerometer
-    float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values 
-    int16_t tempCount;   // Stores the real internal chip temperature in degrees Celsius
-    float temperature;
-    float SelfTest[6];
-
-// parameters for 6 DoF sensor fusion calculations
-    float GyroMeasError;    // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
-    float beta;  // compute beta
-    float GyroMeasDrift;      // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
-    float zeta ;  // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
-
-    float pitch, yaw, roll;
-    float deltat;                             // integration interval for both filter schemes
-    int lastUpdate, firstUpdate, Now;    // used to calculate integration interval                               // used to calculate integration interval
-    float q[4];           // vector to hold quaternion
-    float eInt[3];              // vector to hold integral error for Mahony method
-
-    float lpmag[3];
-
-  void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
-  char readByte(uint8_t address, uint8_t subAddress);
-  void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest);
-    
-  void initializeValue(void);
-
-    void initMPU9250(void);
-    void initAK8963(float * destination);
-    void resetMPU9250(void);
-    void calibrateMPU9250(float * dest1, float * dest2);
-
-    void getMres(void);
-    void getGres(void);
-    void getAres(void);
-    
-    void readAccelData(int16_t * destination);
-    void readGyroData(int16_t * destination);
-    void readMagData(int16_t * destination);
-    int16_t readTempData(void);
-
-    uint8_t Whoami_MPU9250(void);
-    uint8_t Whoami_AK8963(void);
-
-    void sensingAccel(void);
-    void sensingGyro(void);
-    void sensingMag(void);
-    void sensingTemp(void);
-
-    void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
-    void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);  
-    void translateQuaternionToDeg(float quaternion[4]);
-    void calibrateDegree(void);
-
-    void transformCoordinateFromCompassToMPU();
-protected:
-
-};
-
-#endif
\ No newline at end of file