BE@R lab / Mbed 2 deprecated MPU9250AHRS_OOP

Class of MPU9250

Dependencies:   AHRS_fillter mbed

Fork of MPU9250AHRS by BE@R lab

MPU9250.h@6:5665d427bceb, 2016-01-20 (annotated)

Committer:
icyzkungz
Date:
Wed Jan 20 02:34:07 2016 +0000
Revision:
6:5665d427bceb
Parent:
5:d31487b34216 
MPU9250-OOP

Who changed what in which revision?

UserRevisionLine numberNew contents of line
onehorse 0:2e5e65a6fb30 1 #ifndef MPU9250_H
onehorse 0:2e5e65a6fb30 2 #define MPU9250_H
icyzkungz 6:5665d427bceb 3
onehorse 0:2e5e65a6fb30 4 #include "mbed.h"
onehorse 0:2e5e65a6fb30 5 #include "math.h"
icyzkungz 6:5665d427bceb 6 #include "register.h"
onehorse 0:2e5e65a6fb30 7
soulx 5:d31487b34216 8
icyzkungz 6:5665d427bceb 9 static DigitalOut myled(LED1);
onehorse 0:2e5e65a6fb30 10
onehorse 0:2e5e65a6fb30 11
icyzkungz 6:5665d427bceb 12 class MPU9250
onehorse 0:2e5e65a6fb30 13 {
onehorse 0:2e5e65a6fb30 14
icyzkungz 6:5665d427bceb 15 protected:
onehorse 0:2e5e65a6fb30 16
icyzkungz 6:5665d427bceb 17 public:
icyzkungz 6:5665d427bceb 18 enum Ascale {
icyzkungz 6:5665d427bceb 19 AFS_2G = 0,
icyzkungz 6:5665d427bceb 20 AFS_4G,
icyzkungz 6:5665d427bceb 21 AFS_8G,
icyzkungz 6:5665d427bceb 22 AFS_16G
icyzkungz 6:5665d427bceb 23 };
onehorse 0:2e5e65a6fb30 24
icyzkungz 6:5665d427bceb 25 enum Gscale {
icyzkungz 6:5665d427bceb 26 GFS_250DPS = 0,
icyzkungz 6:5665d427bceb 27 GFS_500DPS,
icyzkungz 6:5665d427bceb 28 GFS_1000DPS,
icyzkungz 6:5665d427bceb 29 GFS_2000DPS
icyzkungz 6:5665d427bceb 30 };
onehorse 0:2e5e65a6fb30 31
icyzkungz 6:5665d427bceb 32 enum Mscale {
icyzkungz 6:5665d427bceb 33 MFS_14BITS = 0, // 0.6 mG per LSB
icyzkungz 6:5665d427bceb 34 MFS_16BITS // 0.15 mG per LSB
icyzkungz 6:5665d427bceb 35 };
onehorse 0:2e5e65a6fb30 36
icyzkungz 6:5665d427bceb 37 MPU9250(PinName sda, PinName scl, PinName tx, PinName rx, int address);
icyzkungz 6:5665d427bceb 38 ~MPU9250() {}
onehorse 0:2e5e65a6fb30 39
icyzkungz 6:5665d427bceb 40 Serial pc;
icyzkungz 6:5665d427bceb 41 I2C i2c;
icyzkungz 6:5665d427bceb 42 void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
icyzkungz 6:5665d427bceb 43 char readByte(uint8_t address, uint8_t subAddress);
icyzkungz 6:5665d427bceb 44 void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest) ;
onehorse 0:2e5e65a6fb30 45
icyzkungz 6:5665d427bceb 46 void initMPU9250();
icyzkungz 6:5665d427bceb 47 void calibrateMPU9250();
onehorse 0:2e5e65a6fb30 48
icyzkungz 6:5665d427bceb 49 void setMres();
icyzkungz 6:5665d427bceb 50 void setGres();
icyzkungz 6:5665d427bceb 51 void setAres();
onehorse 0:2e5e65a6fb30 52
icyzkungz 6:5665d427bceb 53 void getMres();
icyzkungz 6:5665d427bceb 54 void getGres();
icyzkungz 6:5665d427bceb 55 void getAres();
onehorse 0:2e5e65a6fb30 56
icyzkungz 6:5665d427bceb 57 void AccelXYZCal();
icyzkungz 6:5665d427bceb 58 void GyroXYZCal();
icyzkungz 6:5665d427bceb 59 void MagXYZCal();
onehorse 0:2e5e65a6fb30 60
icyzkungz 6:5665d427bceb 61 void MagCal();
onehorse 0:2e5e65a6fb30 62
icyzkungz 6:5665d427bceb 63 void readAccelData();
icyzkungz 6:5665d427bceb 64 void readGyroData();
icyzkungz 6:5665d427bceb 65 void readMagData();
icyzkungz 6:5665d427bceb 66 void readTempData();
onehorse 0:2e5e65a6fb30 67
icyzkungz 6:5665d427bceb 68 void resetMPU9250();
icyzkungz 6:5665d427bceb 69 void initAK8963();
icyzkungz 6:5665d427bceb 70 void MPU9250SelfTest();
icyzkungz 6:5665d427bceb 71
icyzkungz 6:5665d427bceb 72 void Start();
icyzkungz 6:5665d427bceb 73 void ReadRawAccGyroMag();
icyzkungz 6:5665d427bceb 74
icyzkungz 6:5665d427bceb 75 float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values
icyzkungz 6:5665d427bceb 76
onehorse 2:4e59a37182df 77
icyzkungz 6:5665d427bceb 78 protected:
icyzkungz 6:5665d427bceb 79 float temperature;
icyzkungz 6:5665d427bceb 80 uint8_t whoami;
icyzkungz 6:5665d427bceb 81
icyzkungz 6:5665d427bceb 82 private:
icyzkungz 6:5665d427bceb 83 uint8_t MPU9250_ADDRESS;
onehorse 2:4e59a37182df 84
icyzkungz 6:5665d427bceb 85 int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output
icyzkungz 6:5665d427bceb 86 int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
icyzkungz 6:5665d427bceb 87 int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output
icyzkungz 6:5665d427bceb 88 float magCalibration[3], magbias[3]; // Factory mag calibration and mag bias
icyzkungz 6:5665d427bceb 89 float gyroBias[3], accelBias[3]; // Bias corrections for gyro and accelerometer
icyzkungz 6:5665d427bceb 90 //int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius
icyzkungz 6:5665d427bceb 91 float SelfTest[6];
onehorse 0:2e5e65a6fb30 92
onehorse 0:2e5e65a6fb30 93
onehorse 0:2e5e65a6fb30 94
icyzkungz 6:5665d427bceb 95 //MagCal
icyzkungz 6:5665d427bceb 96 float xmax,xmin;
icyzkungz 6:5665d427bceb 97 float ymax,ymin;
icyzkungz 6:5665d427bceb 98 float zmax,zmin;
icyzkungz 6:5665d427bceb 99 bool change;
onehorse 0:2e5e65a6fb30 100
icyzkungz 6:5665d427bceb 101 uint8_t Ascale; // AFS_2G, AFS_4G, AFS_8G, AFS_16G
icyzkungz 6:5665d427bceb 102 uint8_t Gscale; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
icyzkungz 6:5665d427bceb 103 uint8_t Mscale; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
icyzkungz 6:5665d427bceb 104 uint8_t Mmode; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR
icyzkungz 6:5665d427bceb 105 float aRes, gRes, mRes; // scale resolutions per LSB for the sensors
onehorse 0:2e5e65a6fb30 106
icyzkungz 6:5665d427bceb 107 };
onehorse 0:2e5e65a6fb30 108 #endif