BME SmartLab / Mbed 2 deprecated SmartCone

SmartCone Demo

Dependencies:   RF24 mbed

MPU9250Mod.h@0:f86c91eb17cb, 2017-01-19 (annotated)

Committer:
mrcrsch
Date:
Thu Jan 19 13:25:53 2017 +0000
Revision:
0:f86c91eb17cb
Init for publish;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mrcrsch 0:f86c91eb17cb 1 #ifndef MPU9250_H
mrcrsch 0:f86c91eb17cb 2 #define MPU9250_H
mrcrsch 0:f86c91eb17cb 3
mrcrsch 0:f86c91eb17cb 4 #include "mbed.h"
mrcrsch 0:f86c91eb17cb 5 #include "math.h"
mrcrsch 0:f86c91eb17cb 6
mrcrsch 0:f86c91eb17cb 7 //const uint16_t this_node = 01;
mrcrsch 0:f86c91eb17cb 8 #define this_node 01
mrcrsch 0:f86c91eb17cb 9 // See also MPU-9250 Register Map and Descriptions, Revision 4.0, RM-MPU-9250A-00, Rev. 1.4, 9/9/2013 for registers not listed in
mrcrsch 0:f86c91eb17cb 10 // above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
mrcrsch 0:f86c91eb17cb 11 //
mrcrsch 0:f86c91eb17cb 12 //Magnetometer Registers
mrcrsch 0:f86c91eb17cb 13 #define AK8963_ADDRESS 0x0C<<1
mrcrsch 0:f86c91eb17cb 14 #define WHO_AM_I_AK8963 0x00 // should return 0x48
mrcrsch 0:f86c91eb17cb 15 #define INFO 0x01
mrcrsch 0:f86c91eb17cb 16 #define AK8963_ST1 0x02 // data ready status bit 0
mrcrsch 0:f86c91eb17cb 17 #define AK8963_XOUT_L 0x03 // data
mrcrsch 0:f86c91eb17cb 18 #define AK8963_XOUT_H 0x04
mrcrsch 0:f86c91eb17cb 19 #define AK8963_YOUT_L 0x05
mrcrsch 0:f86c91eb17cb 20 #define AK8963_YOUT_H 0x06
mrcrsch 0:f86c91eb17cb 21 #define AK8963_ZOUT_L 0x07
mrcrsch 0:f86c91eb17cb 22 #define AK8963_ZOUT_H 0x08
mrcrsch 0:f86c91eb17cb 23 #define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
mrcrsch 0:f86c91eb17cb 24 #define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
mrcrsch 0:f86c91eb17cb 25 #define AK8963_ASTC 0x0C // Self test control
mrcrsch 0:f86c91eb17cb 26 #define AK8963_I2CDIS 0x0F // I2C disable
mrcrsch 0:f86c91eb17cb 27 #define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
mrcrsch 0:f86c91eb17cb 28 #define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
mrcrsch 0:f86c91eb17cb 29 #define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
mrcrsch 0:f86c91eb17cb 30
mrcrsch 0:f86c91eb17cb 31 #define SELF_TEST_X_GYRO 0x00
mrcrsch 0:f86c91eb17cb 32 #define SELF_TEST_Y_GYRO 0x01
mrcrsch 0:f86c91eb17cb 33 #define SELF_TEST_Z_GYRO 0x02
mrcrsch 0:f86c91eb17cb 34
mrcrsch 0:f86c91eb17cb 35 /*#define X_FINE_GAIN 0x03 // [7:0] fine gain
mrcrsch 0:f86c91eb17cb 36 #define Y_FINE_GAIN 0x04
mrcrsch 0:f86c91eb17cb 37 #define Z_FINE_GAIN 0x05
mrcrsch 0:f86c91eb17cb 38 #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
mrcrsch 0:f86c91eb17cb 39 #define XA_OFFSET_L_TC 0x07
mrcrsch 0:f86c91eb17cb 40 #define YA_OFFSET_H 0x08
mrcrsch 0:f86c91eb17cb 41 #define YA_OFFSET_L_TC 0x09
mrcrsch 0:f86c91eb17cb 42 #define ZA_OFFSET_H 0x0A
mrcrsch 0:f86c91eb17cb 43 #define ZA_OFFSET_L_TC 0x0B */
mrcrsch 0:f86c91eb17cb 44
mrcrsch 0:f86c91eb17cb 45 #define SELF_TEST_X_ACCEL 0x0D
mrcrsch 0:f86c91eb17cb 46 #define SELF_TEST_Y_ACCEL 0x0E
mrcrsch 0:f86c91eb17cb 47 #define SELF_TEST_Z_ACCEL 0x0F
mrcrsch 0:f86c91eb17cb 48
mrcrsch 0:f86c91eb17cb 49 #define SELF_TEST_A 0x10
mrcrsch 0:f86c91eb17cb 50
mrcrsch 0:f86c91eb17cb 51 #define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
mrcrsch 0:f86c91eb17cb 52 #define XG_OFFSET_L 0x14
mrcrsch 0:f86c91eb17cb 53 #define YG_OFFSET_H 0x15
mrcrsch 0:f86c91eb17cb 54 #define YG_OFFSET_L 0x16
mrcrsch 0:f86c91eb17cb 55 #define ZG_OFFSET_H 0x17
mrcrsch 0:f86c91eb17cb 56 #define ZG_OFFSET_L 0x18
mrcrsch 0:f86c91eb17cb 57 #define SMPLRT_DIV 0x19
mrcrsch 0:f86c91eb17cb 58 #define CONFIG 0x1A
mrcrsch 0:f86c91eb17cb 59 #define GYRO_CONFIG 0x1B
mrcrsch 0:f86c91eb17cb 60 #define ACCEL_CONFIG 0x1C
mrcrsch 0:f86c91eb17cb 61 #define ACCEL_CONFIG2 0x1D
mrcrsch 0:f86c91eb17cb 62 #define LP_ACCEL_ODR 0x1E
mrcrsch 0:f86c91eb17cb 63 #define WOM_THR 0x1F
mrcrsch 0:f86c91eb17cb 64
mrcrsch 0:f86c91eb17cb 65 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
mrcrsch 0:f86c91eb17cb 66 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
mrcrsch 0:f86c91eb17cb 67 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
mrcrsch 0:f86c91eb17cb 68
mrcrsch 0:f86c91eb17cb 69 #define FIFO_EN 0x23
mrcrsch 0:f86c91eb17cb 70 #define I2C_MST_CTRL 0x24
mrcrsch 0:f86c91eb17cb 71 #define I2C_SLV0_ADDR 0x25
mrcrsch 0:f86c91eb17cb 72 #define I2C_SLV0_REG 0x26
mrcrsch 0:f86c91eb17cb 73 #define I2C_SLV0_CTRL 0x27
mrcrsch 0:f86c91eb17cb 74 #define I2C_SLV1_ADDR 0x28
mrcrsch 0:f86c91eb17cb 75 #define I2C_SLV1_REG 0x29
mrcrsch 0:f86c91eb17cb 76 #define I2C_SLV1_CTRL 0x2A
mrcrsch 0:f86c91eb17cb 77 #define I2C_SLV2_ADDR 0x2B
mrcrsch 0:f86c91eb17cb 78 #define I2C_SLV2_REG 0x2C
mrcrsch 0:f86c91eb17cb 79 #define I2C_SLV2_CTRL 0x2D
mrcrsch 0:f86c91eb17cb 80 #define I2C_SLV3_ADDR 0x2E
mrcrsch 0:f86c91eb17cb 81 #define I2C_SLV3_REG 0x2F
mrcrsch 0:f86c91eb17cb 82 #define I2C_SLV3_CTRL 0x30
mrcrsch 0:f86c91eb17cb 83 #define I2C_SLV4_ADDR 0x31
mrcrsch 0:f86c91eb17cb 84 #define I2C_SLV4_REG 0x32
mrcrsch 0:f86c91eb17cb 85 #define I2C_SLV4_DO 0x33
mrcrsch 0:f86c91eb17cb 86 #define I2C_SLV4_CTRL 0x34
mrcrsch 0:f86c91eb17cb 87 #define I2C_SLV4_DI 0x35
mrcrsch 0:f86c91eb17cb 88 #define I2C_MST_STATUS 0x36
mrcrsch 0:f86c91eb17cb 89 #define INT_PIN_CFG 0x37
mrcrsch 0:f86c91eb17cb 90 #define INT_ENABLE 0x38
mrcrsch 0:f86c91eb17cb 91 #define DMP_INT_STATUS 0x39 // Check DMP interrupt
mrcrsch 0:f86c91eb17cb 92 #define INT_STATUS 0x3A
mrcrsch 0:f86c91eb17cb 93 #define ACCEL_XOUT_H 0x3B
mrcrsch 0:f86c91eb17cb 94 #define ACCEL_XOUT_L 0x3C
mrcrsch 0:f86c91eb17cb 95 #define ACCEL_YOUT_H 0x3D
mrcrsch 0:f86c91eb17cb 96 #define ACCEL_YOUT_L 0x3E
mrcrsch 0:f86c91eb17cb 97 #define ACCEL_ZOUT_H 0x3F
mrcrsch 0:f86c91eb17cb 98 #define ACCEL_ZOUT_L 0x40
mrcrsch 0:f86c91eb17cb 99 #define TEMP_OUT_H 0x41
mrcrsch 0:f86c91eb17cb 100 #define TEMP_OUT_L 0x42
mrcrsch 0:f86c91eb17cb 101 #define GYRO_XOUT_H 0x43
mrcrsch 0:f86c91eb17cb 102 #define GYRO_XOUT_L 0x44
mrcrsch 0:f86c91eb17cb 103 #define GYRO_YOUT_H 0x45
mrcrsch 0:f86c91eb17cb 104 #define GYRO_YOUT_L 0x46
mrcrsch 0:f86c91eb17cb 105 #define GYRO_ZOUT_H 0x47
mrcrsch 0:f86c91eb17cb 106 #define GYRO_ZOUT_L 0x48
mrcrsch 0:f86c91eb17cb 107 #define EXT_SENS_DATA_00 0x49
mrcrsch 0:f86c91eb17cb 108 #define EXT_SENS_DATA_01 0x4A
mrcrsch 0:f86c91eb17cb 109 #define EXT_SENS_DATA_02 0x4B
mrcrsch 0:f86c91eb17cb 110 #define EXT_SENS_DATA_03 0x4C
mrcrsch 0:f86c91eb17cb 111 #define EXT_SENS_DATA_04 0x4D
mrcrsch 0:f86c91eb17cb 112 #define EXT_SENS_DATA_05 0x4E
mrcrsch 0:f86c91eb17cb 113 #define EXT_SENS_DATA_06 0x4F
mrcrsch 0:f86c91eb17cb 114 #define EXT_SENS_DATA_07 0x50
mrcrsch 0:f86c91eb17cb 115 #define EXT_SENS_DATA_08 0x51
mrcrsch 0:f86c91eb17cb 116 #define EXT_SENS_DATA_09 0x52
mrcrsch 0:f86c91eb17cb 117 #define EXT_SENS_DATA_10 0x53
mrcrsch 0:f86c91eb17cb 118 #define EXT_SENS_DATA_11 0x54
mrcrsch 0:f86c91eb17cb 119 #define EXT_SENS_DATA_12 0x55
mrcrsch 0:f86c91eb17cb 120 #define EXT_SENS_DATA_13 0x56
mrcrsch 0:f86c91eb17cb 121 #define EXT_SENS_DATA_14 0x57
mrcrsch 0:f86c91eb17cb 122 #define EXT_SENS_DATA_15 0x58
mrcrsch 0:f86c91eb17cb 123 #define EXT_SENS_DATA_16 0x59
mrcrsch 0:f86c91eb17cb 124 #define EXT_SENS_DATA_17 0x5A
mrcrsch 0:f86c91eb17cb 125 #define EXT_SENS_DATA_18 0x5B
mrcrsch 0:f86c91eb17cb 126 #define EXT_SENS_DATA_19 0x5C
mrcrsch 0:f86c91eb17cb 127 #define EXT_SENS_DATA_20 0x5D
mrcrsch 0:f86c91eb17cb 128 #define EXT_SENS_DATA_21 0x5E
mrcrsch 0:f86c91eb17cb 129 #define EXT_SENS_DATA_22 0x5F
mrcrsch 0:f86c91eb17cb 130 #define EXT_SENS_DATA_23 0x60
mrcrsch 0:f86c91eb17cb 131 #define MOT_DETECT_STATUS 0x61
mrcrsch 0:f86c91eb17cb 132 #define I2C_SLV0_DO 0x63
mrcrsch 0:f86c91eb17cb 133 #define I2C_SLV1_DO 0x64
mrcrsch 0:f86c91eb17cb 134 #define I2C_SLV2_DO 0x65
mrcrsch 0:f86c91eb17cb 135 #define I2C_SLV3_DO 0x66
mrcrsch 0:f86c91eb17cb 136 #define I2C_MST_DELAY_CTRL 0x67
mrcrsch 0:f86c91eb17cb 137 #define SIGNAL_PATH_RESET 0x68
mrcrsch 0:f86c91eb17cb 138 #define MOT_DETECT_CTRL 0x69
mrcrsch 0:f86c91eb17cb 139 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
mrcrsch 0:f86c91eb17cb 140 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
mrcrsch 0:f86c91eb17cb 141 #define PWR_MGMT_2 0x6C
mrcrsch 0:f86c91eb17cb 142 #define DMP_BANK 0x6D // Activates a specific bank in the DMP
mrcrsch 0:f86c91eb17cb 143 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
mrcrsch 0:f86c91eb17cb 144 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
mrcrsch 0:f86c91eb17cb 145 #define DMP_REG_1 0x70
mrcrsch 0:f86c91eb17cb 146 #define DMP_REG_2 0x71
mrcrsch 0:f86c91eb17cb 147 #define FIFO_COUNTH 0x72
mrcrsch 0:f86c91eb17cb 148 #define FIFO_COUNTL 0x73
mrcrsch 0:f86c91eb17cb 149 #define FIFO_R_W 0x74
mrcrsch 0:f86c91eb17cb 150 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71
mrcrsch 0:f86c91eb17cb 151 #define XA_OFFSET_H 0x77
mrcrsch 0:f86c91eb17cb 152 #define XA_OFFSET_L 0x78
mrcrsch 0:f86c91eb17cb 153 #define YA_OFFSET_H 0x7A
mrcrsch 0:f86c91eb17cb 154 #define YA_OFFSET_L 0x7B
mrcrsch 0:f86c91eb17cb 155 #define ZA_OFFSET_H 0x7D
mrcrsch 0:f86c91eb17cb 156 #define ZA_OFFSET_L 0x7E
mrcrsch 0:f86c91eb17cb 157
mrcrsch 0:f86c91eb17cb 158 // Using the MSENSR-9250 breakout board, ADO is set to 0
mrcrsch 0:f86c91eb17cb 159 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
mrcrsch 0:f86c91eb17cb 160 //mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
mrcrsch 0:f86c91eb17cb 161 #define ADO 0
mrcrsch 0:f86c91eb17cb 162 #if ADO
mrcrsch 0:f86c91eb17cb 163 #define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1
mrcrsch 0:f86c91eb17cb 164 #else
mrcrsch 0:f86c91eb17cb 165 #define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0
mrcrsch 0:f86c91eb17cb 166 #endif
mrcrsch 0:f86c91eb17cb 167
mrcrsch 0:f86c91eb17cb 168 // Set initial input parameters
mrcrsch 0:f86c91eb17cb 169 enum Ascale {
mrcrsch 0:f86c91eb17cb 170 AFS_2G = 0,
mrcrsch 0:f86c91eb17cb 171 AFS_4G,
mrcrsch 0:f86c91eb17cb 172 AFS_8G,
mrcrsch 0:f86c91eb17cb 173 AFS_16G
mrcrsch 0:f86c91eb17cb 174 };
mrcrsch 0:f86c91eb17cb 175
mrcrsch 0:f86c91eb17cb 176 enum Gscale {
mrcrsch 0:f86c91eb17cb 177 GFS_250DPS = 0,
mrcrsch 0:f86c91eb17cb 178 GFS_500DPS,
mrcrsch 0:f86c91eb17cb 179 GFS_1000DPS,
mrcrsch 0:f86c91eb17cb 180 GFS_2000DPS
mrcrsch 0:f86c91eb17cb 181 };
mrcrsch 0:f86c91eb17cb 182
mrcrsch 0:f86c91eb17cb 183 enum Mscale {
mrcrsch 0:f86c91eb17cb 184 MFS_14BITS = 0, // 0.6 mG per LSB
mrcrsch 0:f86c91eb17cb 185 MFS_16BITS // 0.15 mG per LSB
mrcrsch 0:f86c91eb17cb 186 };
mrcrsch 0:f86c91eb17cb 187
mrcrsch 0:f86c91eb17cb 188 uint8_t Ascale = AFS_8G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G
mrcrsch 0:f86c91eb17cb 189 uint8_t Gscale = GFS_2000DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
mrcrsch 0:f86c91eb17cb 190 uint8_t Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
mrcrsch 0:f86c91eb17cb 191 uint8_t Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR
mrcrsch 0:f86c91eb17cb 192 float aRes, gRes, mRes; // scale resolutions per LSB for the sensors
mrcrsch 0:f86c91eb17cb 193
mrcrsch 0:f86c91eb17cb 194 //Set up I2C, (SDA,SCL)
mrcrsch 0:f86c91eb17cb 195 //I2C i2c(PB_9, PB_8);
mrcrsch 0:f86c91eb17cb 196 I2C i2c(PF_0,PF_1);
mrcrsch 0:f86c91eb17cb 197
mrcrsch 0:f86c91eb17cb 198
mrcrsch 0:f86c91eb17cb 199 float magbias[3] = {303.12, 163.22, -259.35}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
mrcrsch 0:f86c91eb17cb 200 float magscale[3] = {1.16,0.987234,0.888889};
mrcrsch 0:f86c91eb17cb 201 float gyroBias[3] = {0.326364,-0.87681,0.723182}, accelBias[3] = {-0.00906,0.009605,0.002286}; // Bias corrections for gyro and accelerometer
mrcrsch 0:f86c91eb17cb 202
mrcrsch 0:f86c91eb17cb 203 /*
mrcrsch 0:f86c91eb17cb 204 #if this_node == 01
mrcrsch 0:f86c91eb17cb 205 float magbias[3] = {303.12, 163.22, -259.35}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
mrcrsch 0:f86c91eb17cb 206 float magscale[3] = {1.16,0.987234,0.888889};
mrcrsch 0:f86c91eb17cb 207 float gyroBias[3] = {0.326364,-0.87681,0.723182}, accelBias[3] = {-0.00906,0.009605,0.002286}; // Bias corrections for gyro and accelerometer
mrcrsch 0:f86c91eb17cb 208 #elif this_node == 02
mrcrsch 0:f86c91eb17cb 209 float magbias[3] = {152.937, 284.675, 32.2063}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
mrcrsch 0:f86c91eb17cb 210 float magscale[3] = {1.05367, 0.986772, 0.963824};
mrcrsch 0:f86c91eb17cb 211 //float gyroBias[3] = {2.16792601,-3.441743604,-11.80535044}, accelBias[3] = {0.063996427,-0.04823691,-0.045249821};
mrcrsch 0:f86c91eb17cb 212 float gyroBias[3] = {2.450195,-1.63298,-18.4074}, accelBias[3] = {0.021225,0.018935,-0.05172};
mrcrsch 0:f86c91eb17cb 213 #elif this_node == 03 //racket
mrcrsch 0:f86c91eb17cb 214 float magbias[3] = {263.908875, 440.263977, -235.16362}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
mrcrsch 0:f86c91eb17cb 215 float magscale[3] = {1.013227, 0.997396, 0.989664};
mrcrsch 0:f86c91eb17cb 216 float gyroBias[3] = {-1.12645,0.154036,0.416789}, accelBias[3] = {-0.009199,-0.03983,-0.00774};
mrcrsch 0:f86c91eb17cb 217 #endif
mrcrsch 0:f86c91eb17cb 218 */
mrcrsch 0:f86c91eb17cb 219
mrcrsch 0:f86c91eb17cb 220
mrcrsch 0:f86c91eb17cb 221 // Pin definitions
mrcrsch 0:f86c91eb17cb 222 int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins
mrcrsch 0:f86c91eb17cb 223
mrcrsch 0:f86c91eb17cb 224 int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output
mrcrsch 0:f86c91eb17cb 225 int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
mrcrsch 0:f86c91eb17cb 226 int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output
mrcrsch 0:f86c91eb17cb 227 float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values
mrcrsch 0:f86c91eb17cb 228 int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius
mrcrsch 0:f86c91eb17cb 229 float temperature;
mrcrsch 0:f86c91eb17cb 230 float SelfTest[6];
mrcrsch 0:f86c91eb17cb 231
mrcrsch 0:f86c91eb17cb 232 int delt_t = 0; // used to control display output rate
mrcrsch 0:f86c91eb17cb 233 int count = 0; // used to control display output rate
mrcrsch 0:f86c91eb17cb 234
mrcrsch 0:f86c91eb17cb 235 // parameters for 6 DoF sensor fusion calculations
mrcrsch 0:f86c91eb17cb 236 float PI = 3.14159265358979323846f;
mrcrsch 0:f86c91eb17cb 237 float GyroMeasError = PI * (40.0f / 180.0f); //60 volt // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
mrcrsch 0:f86c91eb17cb 238 float beta = sqrt(3.0f / 4.0f) * GyroMeasError; //3 volt // compute beta
mrcrsch 0:f86c91eb17cb 239 float GyroMeasDrift = PI * (0.0f / 180.0f); //1.0 volt // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
mrcrsch 0:f86c91eb17cb 240 float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
mrcrsch 0:f86c91eb17cb 241 #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
mrcrsch 0:f86c91eb17cb 242 #define Ki 0.005f
mrcrsch 0:f86c91eb17cb 243
mrcrsch 0:f86c91eb17cb 244 float pitch, yaw, roll;
mrcrsch 0:f86c91eb17cb 245 float deltat = 0.0f; // integration interval for both filter schemes
mrcrsch 0:f86c91eb17cb 246 int lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval
mrcrsch 0:f86c91eb17cb 247 float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion
mrcrsch 0:f86c91eb17cb 248 float eInt[3] = {0.0f, 0.0f, 0.0f}; // vector to hold integral error for Mahony method
mrcrsch 0:f86c91eb17cb 249
mrcrsch 0:f86c91eb17cb 250 class MPU9250 {
mrcrsch 0:f86c91eb17cb 251
mrcrsch 0:f86c91eb17cb 252 protected:
mrcrsch 0:f86c91eb17cb 253
mrcrsch 0:f86c91eb17cb 254 public:
mrcrsch 0:f86c91eb17cb 255 //===================================================================================================================
mrcrsch 0:f86c91eb17cb 256 //====== Set of useful function to access acceleratio, gyroscope, and temperature data
mrcrsch 0:f86c91eb17cb 257 //===================================================================================================================
mrcrsch 0:f86c91eb17cb 258
mrcrsch 0:f86c91eb17cb 259 void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
mrcrsch 0:f86c91eb17cb 260 {
mrcrsch 0:f86c91eb17cb 261 char data_write[2];
mrcrsch 0:f86c91eb17cb 262 data_write[0] = subAddress;
mrcrsch 0:f86c91eb17cb 263 data_write[1] = data;
mrcrsch 0:f86c91eb17cb 264 i2c.write(address, data_write, 2, 0);
mrcrsch 0:f86c91eb17cb 265 }
mrcrsch 0:f86c91eb17cb 266
mrcrsch 0:f86c91eb17cb 267 char readByte(uint8_t address, uint8_t subAddress)
mrcrsch 0:f86c91eb17cb 268 {
mrcrsch 0:f86c91eb17cb 269 char data[1]; // `data` will store the register data
mrcrsch 0:f86c91eb17cb 270 char data_write[1];
mrcrsch 0:f86c91eb17cb 271 data_write[0] = subAddress;
mrcrsch 0:f86c91eb17cb 272 i2c.write(address, data_write, 1, 1); // no stop
mrcrsch 0:f86c91eb17cb 273 i2c.read(address, data, 1, 0);
mrcrsch 0:f86c91eb17cb 274 return data[0];
mrcrsch 0:f86c91eb17cb 275 }
mrcrsch 0:f86c91eb17cb 276
mrcrsch 0:f86c91eb17cb 277 void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
mrcrsch 0:f86c91eb17cb 278 {
mrcrsch 0:f86c91eb17cb 279 char data[14];
mrcrsch 0:f86c91eb17cb 280 char data_write[1];
mrcrsch 0:f86c91eb17cb 281 data_write[0] = subAddress;
mrcrsch 0:f86c91eb17cb 282 i2c.write(address, data_write, 1, 1); // no stop
mrcrsch 0:f86c91eb17cb 283 i2c.read(address, data, count, 0);
mrcrsch 0:f86c91eb17cb 284 for(int ii = 0; ii < count; ii++) {
mrcrsch 0:f86c91eb17cb 285 dest[ii] = data[ii];
mrcrsch 0:f86c91eb17cb 286 }
mrcrsch 0:f86c91eb17cb 287 }
mrcrsch 0:f86c91eb17cb 288
mrcrsch 0:f86c91eb17cb 289
mrcrsch 0:f86c91eb17cb 290 void getMres() {
mrcrsch 0:f86c91eb17cb 291 switch (Mscale)
mrcrsch 0:f86c91eb17cb 292 {
mrcrsch 0:f86c91eb17cb 293 // Possible magnetometer scales (and their register bit settings) are:
mrcrsch 0:f86c91eb17cb 294 // 14 bit resolution (0) and 16 bit resolution (1)
mrcrsch 0:f86c91eb17cb 295 case MFS_14BITS:
mrcrsch 0:f86c91eb17cb 296 mRes = 10.0*4219.0/8190.0; // Proper scale to return milliGauss
mrcrsch 0:f86c91eb17cb 297 break;
mrcrsch 0:f86c91eb17cb 298 case MFS_16BITS:
mrcrsch 0:f86c91eb17cb 299 mRes = 10.0*4219.0/32760.0; // Proper scale to return milliGauss
mrcrsch 0:f86c91eb17cb 300 break;
mrcrsch 0:f86c91eb17cb 301 }
mrcrsch 0:f86c91eb17cb 302 }
mrcrsch 0:f86c91eb17cb 303
mrcrsch 0:f86c91eb17cb 304
mrcrsch 0:f86c91eb17cb 305 void getGres() {
mrcrsch 0:f86c91eb17cb 306 switch (Gscale)
mrcrsch 0:f86c91eb17cb 307 {
mrcrsch 0:f86c91eb17cb 308 // Possible gyro scales (and their register bit settings) are:
mrcrsch 0:f86c91eb17cb 309 // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
mrcrsch 0:f86c91eb17cb 310 // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
mrcrsch 0:f86c91eb17cb 311 case GFS_250DPS:
mrcrsch 0:f86c91eb17cb 312 gRes = 250.0/32768.0;
mrcrsch 0:f86c91eb17cb 313 break;
mrcrsch 0:f86c91eb17cb 314 case GFS_500DPS:
mrcrsch 0:f86c91eb17cb 315 gRes = 500.0/32768.0;
mrcrsch 0:f86c91eb17cb 316 break;
mrcrsch 0:f86c91eb17cb 317 case GFS_1000DPS:
mrcrsch 0:f86c91eb17cb 318 gRes = 1000.0/32768.0;
mrcrsch 0:f86c91eb17cb 319 break;
mrcrsch 0:f86c91eb17cb 320 case GFS_2000DPS:
mrcrsch 0:f86c91eb17cb 321 gRes = 2000.0/32768.0;
mrcrsch 0:f86c91eb17cb 322 break;
mrcrsch 0:f86c91eb17cb 323 }
mrcrsch 0:f86c91eb17cb 324 }
mrcrsch 0:f86c91eb17cb 325
mrcrsch 0:f86c91eb17cb 326
mrcrsch 0:f86c91eb17cb 327 void getAres() {
mrcrsch 0:f86c91eb17cb 328 switch (Ascale)
mrcrsch 0:f86c91eb17cb 329 {
mrcrsch 0:f86c91eb17cb 330 // Possible accelerometer scales (and their register bit settings) are:
mrcrsch 0:f86c91eb17cb 331 // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
mrcrsch 0:f86c91eb17cb 332 // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
mrcrsch 0:f86c91eb17cb 333 case AFS_2G:
mrcrsch 0:f86c91eb17cb 334 aRes = 2.0/32768.0;
mrcrsch 0:f86c91eb17cb 335 break;
mrcrsch 0:f86c91eb17cb 336 case AFS_4G:
mrcrsch 0:f86c91eb17cb 337 aRes = 4.0/32768.0;
mrcrsch 0:f86c91eb17cb 338 break;
mrcrsch 0:f86c91eb17cb 339 case AFS_8G:
mrcrsch 0:f86c91eb17cb 340 aRes = 8.0/32768.0;
mrcrsch 0:f86c91eb17cb 341 break;
mrcrsch 0:f86c91eb17cb 342 case AFS_16G:
mrcrsch 0:f86c91eb17cb 343 aRes = 16.0/32768.0;
mrcrsch 0:f86c91eb17cb 344 break;
mrcrsch 0:f86c91eb17cb 345 }
mrcrsch 0:f86c91eb17cb 346 }
mrcrsch 0:f86c91eb17cb 347
mrcrsch 0:f86c91eb17cb 348
mrcrsch 0:f86c91eb17cb 349 void readAccelData(int16_t * destination)
mrcrsch 0:f86c91eb17cb 350 {
mrcrsch 0:f86c91eb17cb 351 uint8_t rawData[6]; // x/y/z accel register data stored here
mrcrsch 0:f86c91eb17cb 352 readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
mrcrsch 0:f86c91eb17cb 353 destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
mrcrsch 0:f86c91eb17cb 354 destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
mrcrsch 0:f86c91eb17cb 355 destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
mrcrsch 0:f86c91eb17cb 356 }
mrcrsch 0:f86c91eb17cb 357
mrcrsch 0:f86c91eb17cb 358 void readGyroData(int16_t * destination)
mrcrsch 0:f86c91eb17cb 359 {
mrcrsch 0:f86c91eb17cb 360 uint8_t rawData[6]; // x/y/z gyro register data stored here
mrcrsch 0:f86c91eb17cb 361 readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
mrcrsch 0:f86c91eb17cb 362 destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
mrcrsch 0:f86c91eb17cb 363 destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
mrcrsch 0:f86c91eb17cb 364 destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
mrcrsch 0:f86c91eb17cb 365 }
mrcrsch 0:f86c91eb17cb 366
mrcrsch 0:f86c91eb17cb 367 void readMagData(int16_t * destination)
mrcrsch 0:f86c91eb17cb 368 {
mrcrsch 0:f86c91eb17cb 369 uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition
mrcrsch 0:f86c91eb17cb 370 if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set
mrcrsch 0:f86c91eb17cb 371 readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array
mrcrsch 0:f86c91eb17cb 372 uint8_t c = rawData[6]; // End data read by reading ST2 register
mrcrsch 0:f86c91eb17cb 373 if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data
mrcrsch 0:f86c91eb17cb 374 destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value
mrcrsch 0:f86c91eb17cb 375 destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian
mrcrsch 0:f86c91eb17cb 376 destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ;
mrcrsch 0:f86c91eb17cb 377 }
mrcrsch 0:f86c91eb17cb 378 }
mrcrsch 0:f86c91eb17cb 379 }
mrcrsch 0:f86c91eb17cb 380
mrcrsch 0:f86c91eb17cb 381 int16_t readTempData()
mrcrsch 0:f86c91eb17cb 382 {
mrcrsch 0:f86c91eb17cb 383 uint8_t rawData[2]; // x/y/z gyro register data stored here
mrcrsch 0:f86c91eb17cb 384 readBytes(MPU9250_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
mrcrsch 0:f86c91eb17cb 385 return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value
mrcrsch 0:f86c91eb17cb 386 }
mrcrsch 0:f86c91eb17cb 387
mrcrsch 0:f86c91eb17cb 388
mrcrsch 0:f86c91eb17cb 389 void resetMPU9250() {
mrcrsch 0:f86c91eb17cb 390 // reset device
mrcrsch 0:f86c91eb17cb 391 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
mrcrsch 0:f86c91eb17cb 392 wait(0.1);
mrcrsch 0:f86c91eb17cb 393 }
mrcrsch 0:f86c91eb17cb 394
mrcrsch 0:f86c91eb17cb 395
mrcrsch 0:f86c91eb17cb 396 void initMPU9250()
mrcrsch 0:f86c91eb17cb 397 {
mrcrsch 0:f86c91eb17cb 398 // Initialize MPU9250 device
mrcrsch 0:f86c91eb17cb 399 // wake up device
mrcrsch 0:f86c91eb17cb 400 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors
mrcrsch 0:f86c91eb17cb 401 wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt
mrcrsch 0:f86c91eb17cb 402
mrcrsch 0:f86c91eb17cb 403 // get stable time source
mrcrsch 0:f86c91eb17cb 404 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
mrcrsch 0:f86c91eb17cb 405
mrcrsch 0:f86c91eb17cb 406 // Configure Gyro and Accelerometer
mrcrsch 0:f86c91eb17cb 407 // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively;
mrcrsch 0:f86c91eb17cb 408 // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both
mrcrsch 0:f86c91eb17cb 409 // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate
mrcrsch 0:f86c91eb17cb 410 writeByte(MPU9250_ADDRESS, CONFIG, 0x01 );
mrcrsch 0:f86c91eb17cb 411
mrcrsch 0:f86c91eb17cb 412 // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
mrcrsch 0:f86c91eb17cb 413 writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x09); // Use a 200 Hz rate; the same rate set in CONFIG above
mrcrsch 0:f86c91eb17cb 414
mrcrsch 0:f86c91eb17cb 415 // Set gyroscope full scale range
mrcrsch 0:f86c91eb17cb 416 // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
mrcrsch 0:f86c91eb17cb 417 uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG);
mrcrsch 0:f86c91eb17cb 418 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
mrcrsch 0:f86c91eb17cb 419 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
mrcrsch 0:f86c91eb17cb 420 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro
mrcrsch 0:f86c91eb17cb 421
mrcrsch 0:f86c91eb17cb 422 // Set accelerometer configuration
mrcrsch 0:f86c91eb17cb 423 c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG);
mrcrsch 0:f86c91eb17cb 424 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
mrcrsch 0:f86c91eb17cb 425 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
mrcrsch 0:f86c91eb17cb 426 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer
mrcrsch 0:f86c91eb17cb 427
mrcrsch 0:f86c91eb17cb 428 // Set accelerometer sample rate configuration
mrcrsch 0:f86c91eb17cb 429 // It is possible to get a 4 kHz sample rate from the accelerometer by choosing 1 for
mrcrsch 0:f86c91eb17cb 430 // accel_fchoice_b bit [3]; in this case the bandwidth is 1.13 kHz
mrcrsch 0:f86c91eb17cb 431 c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG2);
mrcrsch 0:f86c91eb17cb 432 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c & ~0x0F); // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0])
mrcrsch 0:f86c91eb17cb 433 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c | 0x01); // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz
mrcrsch 0:f86c91eb17cb 434
mrcrsch 0:f86c91eb17cb 435 // The accelerometer, gyro, and thermometer are set to 1 kHz sample rates,
mrcrsch 0:f86c91eb17cb 436 // but all these rates are further reduced by a factor of 5 to 200 Hz because of the SMPLRT_DIV setting
mrcrsch 0:f86c91eb17cb 437
mrcrsch 0:f86c91eb17cb 438 // Configure Interrupts and Bypass Enable
mrcrsch 0:f86c91eb17cb 439 // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips
mrcrsch 0:f86c91eb17cb 440 // can join the I2C bus and all can be controlled by the Arduino as master
mrcrsch 0:f86c91eb17cb 441 writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22);
mrcrsch 0:f86c91eb17cb 442 writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
mrcrsch 0:f86c91eb17cb 443 }
mrcrsch 0:f86c91eb17cb 444
mrcrsch 0:f86c91eb17cb 445
mrcrsch 0:f86c91eb17cb 446
mrcrsch 0:f86c91eb17cb 447
mrcrsch 0:f86c91eb17cb 448
mrcrsch 0:f86c91eb17cb 449 };
mrcrsch 0:f86c91eb17cb 450
mrcrsch 0:f86c91eb17cb 451
mrcrsch 0:f86c91eb17cb 452
mrcrsch 0:f86c91eb17cb 453
mrcrsch 0:f86c91eb17cb 454
mrcrsch 0:f86c91eb17cb 455
mrcrsch 0:f86c91eb17cb 456 #endif