BME SmartLab
SmartCone Demo
Diff: MPU9250Mod.h
- Revision:
- 0:f86c91eb17cb
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250Mod.h Thu Jan 19 13:25:53 2017 +0000
@@ -0,0 +1,456 @@
+#ifndef MPU9250_H
+#define MPU9250_H
+
+#include "mbed.h"
+#include "math.h"
+
+//const uint16_t this_node = 01;
+ #define this_node 01
+// 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
+// above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
+//
+//Magnetometer Registers
+#define AK8963_ADDRESS 0x0C<<1
+#define WHO_AM_I_AK8963 0x00 // should return 0x48
+#define INFO 0x01
+#define AK8963_ST1 0x02 // data ready status bit 0
+#define AK8963_XOUT_L 0x03 // data
+#define AK8963_XOUT_H 0x04
+#define AK8963_YOUT_L 0x05
+#define AK8963_YOUT_H 0x06
+#define AK8963_ZOUT_L 0x07
+#define AK8963_ZOUT_H 0x08
+#define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
+#define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
+#define AK8963_ASTC 0x0C // Self test control
+#define AK8963_I2CDIS 0x0F // I2C disable
+#define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
+#define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
+#define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
+
+#define SELF_TEST_X_GYRO 0x00
+#define SELF_TEST_Y_GYRO 0x01
+#define SELF_TEST_Z_GYRO 0x02
+
+/*#define X_FINE_GAIN 0x03 // [7:0] fine gain
+#define Y_FINE_GAIN 0x04
+#define Z_FINE_GAIN 0x05
+#define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
+#define XA_OFFSET_L_TC 0x07
+#define YA_OFFSET_H 0x08
+#define YA_OFFSET_L_TC 0x09
+#define ZA_OFFSET_H 0x0A
+#define ZA_OFFSET_L_TC 0x0B */
+
+#define SELF_TEST_X_ACCEL 0x0D
+#define SELF_TEST_Y_ACCEL 0x0E
+#define SELF_TEST_Z_ACCEL 0x0F
+
+#define SELF_TEST_A 0x10
+
+#define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
+#define XG_OFFSET_L 0x14
+#define YG_OFFSET_H 0x15
+#define YG_OFFSET_L 0x16
+#define ZG_OFFSET_H 0x17
+#define ZG_OFFSET_L 0x18
+#define SMPLRT_DIV 0x19
+#define CONFIG 0x1A
+#define GYRO_CONFIG 0x1B
+#define ACCEL_CONFIG 0x1C
+#define ACCEL_CONFIG2 0x1D
+#define LP_ACCEL_ODR 0x1E
+#define WOM_THR 0x1F
+
+#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
+#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
+#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
+
+#define FIFO_EN 0x23
+#define I2C_MST_CTRL 0x24
+#define I2C_SLV0_ADDR 0x25
+#define I2C_SLV0_REG 0x26
+#define I2C_SLV0_CTRL 0x27
+#define I2C_SLV1_ADDR 0x28
+#define I2C_SLV1_REG 0x29
+#define I2C_SLV1_CTRL 0x2A
+#define I2C_SLV2_ADDR 0x2B
+#define I2C_SLV2_REG 0x2C
+#define I2C_SLV2_CTRL 0x2D
+#define I2C_SLV3_ADDR 0x2E
+#define I2C_SLV3_REG 0x2F
+#define I2C_SLV3_CTRL 0x30
+#define I2C_SLV4_ADDR 0x31
+#define I2C_SLV4_REG 0x32
+#define I2C_SLV4_DO 0x33
+#define I2C_SLV4_CTRL 0x34
+#define I2C_SLV4_DI 0x35
+#define I2C_MST_STATUS 0x36
+#define INT_PIN_CFG 0x37
+#define INT_ENABLE 0x38
+#define DMP_INT_STATUS 0x39 // Check DMP interrupt
+#define INT_STATUS 0x3A
+#define ACCEL_XOUT_H 0x3B
+#define ACCEL_XOUT_L 0x3C
+#define ACCEL_YOUT_H 0x3D
+#define ACCEL_YOUT_L 0x3E
+#define ACCEL_ZOUT_H 0x3F
+#define ACCEL_ZOUT_L 0x40
+#define TEMP_OUT_H 0x41
+#define TEMP_OUT_L 0x42
+#define GYRO_XOUT_H 0x43
+#define GYRO_XOUT_L 0x44
+#define GYRO_YOUT_H 0x45
+#define GYRO_YOUT_L 0x46
+#define GYRO_ZOUT_H 0x47
+#define GYRO_ZOUT_L 0x48
+#define EXT_SENS_DATA_00 0x49
+#define EXT_SENS_DATA_01 0x4A
+#define EXT_SENS_DATA_02 0x4B
+#define EXT_SENS_DATA_03 0x4C
+#define EXT_SENS_DATA_04 0x4D
+#define EXT_SENS_DATA_05 0x4E
+#define EXT_SENS_DATA_06 0x4F
+#define EXT_SENS_DATA_07 0x50
+#define EXT_SENS_DATA_08 0x51
+#define EXT_SENS_DATA_09 0x52
+#define EXT_SENS_DATA_10 0x53
+#define EXT_SENS_DATA_11 0x54
+#define EXT_SENS_DATA_12 0x55
+#define EXT_SENS_DATA_13 0x56
+#define EXT_SENS_DATA_14 0x57
+#define EXT_SENS_DATA_15 0x58
+#define EXT_SENS_DATA_16 0x59
+#define EXT_SENS_DATA_17 0x5A
+#define EXT_SENS_DATA_18 0x5B
+#define EXT_SENS_DATA_19 0x5C
+#define EXT_SENS_DATA_20 0x5D
+#define EXT_SENS_DATA_21 0x5E
+#define EXT_SENS_DATA_22 0x5F
+#define EXT_SENS_DATA_23 0x60
+#define MOT_DETECT_STATUS 0x61
+#define I2C_SLV0_DO 0x63
+#define I2C_SLV1_DO 0x64
+#define I2C_SLV2_DO 0x65
+#define I2C_SLV3_DO 0x66
+#define I2C_MST_DELAY_CTRL 0x67
+#define SIGNAL_PATH_RESET 0x68
+#define MOT_DETECT_CTRL 0x69
+#define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
+#define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
+#define PWR_MGMT_2 0x6C
+#define DMP_BANK 0x6D // Activates a specific bank in the DMP
+#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
+#define DMP_REG 0x6F // Register in DMP from which to read or to which to write
+#define DMP_REG_1 0x70
+#define DMP_REG_2 0x71
+#define FIFO_COUNTH 0x72
+#define FIFO_COUNTL 0x73
+#define FIFO_R_W 0x74
+#define WHO_AM_I_MPU9250 0x75 // Should return 0x71
+#define XA_OFFSET_H 0x77
+#define XA_OFFSET_L 0x78
+#define YA_OFFSET_H 0x7A
+#define YA_OFFSET_L 0x7B
+#define ZA_OFFSET_H 0x7D
+#define ZA_OFFSET_L 0x7E
+
+// 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
+
+// Set initial input parameters
+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
+};
+
+uint8_t Ascale = AFS_8G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G
+uint8_t Gscale = GFS_2000DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
+uint8_t Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
+uint8_t Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR
+float aRes, gRes, mRes; // scale resolutions per LSB for the sensors
+
+//Set up I2C, (SDA,SCL)
+//I2C i2c(PB_9, PB_8);
+I2C i2c(PF_0,PF_1);
+
+
+float magbias[3] = {303.12, 163.22, -259.35}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
+ float magscale[3] = {1.16,0.987234,0.888889};
+ float gyroBias[3] = {0.326364,-0.87681,0.723182}, accelBias[3] = {-0.00906,0.009605,0.002286}; // Bias corrections for gyro and accelerometer
+
+/*
+#if this_node == 01
+ float magbias[3] = {303.12, 163.22, -259.35}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
+ float magscale[3] = {1.16,0.987234,0.888889};
+ float gyroBias[3] = {0.326364,-0.87681,0.723182}, accelBias[3] = {-0.00906,0.009605,0.002286}; // Bias corrections for gyro and accelerometer
+#elif this_node == 02
+ float magbias[3] = {152.937, 284.675, 32.2063}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
+ float magscale[3] = {1.05367, 0.986772, 0.963824};
+ //float gyroBias[3] = {2.16792601,-3.441743604,-11.80535044}, accelBias[3] = {0.063996427,-0.04823691,-0.045249821};
+ float gyroBias[3] = {2.450195,-1.63298,-18.4074}, accelBias[3] = {0.021225,0.018935,-0.05172};
+#elif this_node == 03 //racket
+ float magbias[3] = {263.908875, 440.263977, -235.16362}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
+ float magscale[3] = {1.013227, 0.997396, 0.989664};
+ float gyroBias[3] = {-1.12645,0.154036,0.416789}, accelBias[3] = {-0.009199,-0.03983,-0.00774};
+#endif
+*/
+
+
+// Pin definitions
+int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins
+
+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 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];
+
+int delt_t = 0; // used to control display output rate
+int count = 0; // used to control display output rate
+
+// parameters for 6 DoF sensor fusion calculations
+float PI = 3.14159265358979323846f;
+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
+float beta = sqrt(3.0f / 4.0f) * GyroMeasError; //3 volt // compute beta
+float GyroMeasDrift = PI * (0.0f / 180.0f); //1.0 volt // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
+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
+#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 0.005f
+
+float pitch, yaw, roll;
+float deltat = 0.0f; // integration interval for both filter schemes
+int lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval
+float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion
+float eInt[3] = {0.0f, 0.0f, 0.0f}; // vector to hold integral error for Mahony method
+
+class MPU9250 {
+
+ protected:
+
+ public:
+ //===================================================================================================================
+//====== Set of useful function to access acceleratio, gyroscope, and temperature data
+//===================================================================================================================
+
+ void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
+{
+ char data_write[2];
+ data_write[0] = subAddress;
+ data_write[1] = data;
+ i2c.write(address, data_write, 2, 0);
+}
+
+ char readByte(uint8_t address, uint8_t subAddress)
+{
+ char data[1]; // `data` will store the register data
+ char data_write[1];
+ data_write[0] = subAddress;
+ i2c.write(address, data_write, 1, 1); // no stop
+ i2c.read(address, data, 1, 0);
+ return data[0];
+}
+
+ void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
+{
+ char data[14];
+ char data_write[1];
+ data_write[0] = subAddress;
+ i2c.write(address, data_write, 1, 1); // no stop
+ i2c.read(address, data, count, 0);
+ for(int ii = 0; ii < count; ii++) {
+ dest[ii] = data[ii];
+ }
+}
+
+
+void getMres() {
+ switch (Mscale)
+ {
+ // Possible magnetometer scales (and their register bit settings) are:
+ // 14 bit resolution (0) and 16 bit resolution (1)
+ case MFS_14BITS:
+ mRes = 10.0*4219.0/8190.0; // Proper scale to return milliGauss
+ break;
+ case MFS_16BITS:
+ mRes = 10.0*4219.0/32760.0; // Proper scale to return milliGauss
+ break;
+ }
+}
+
+
+void getGres() {
+ switch (Gscale)
+ {
+ // Possible gyro scales (and their register bit settings) are:
+ // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
+ // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
+ case GFS_250DPS:
+ gRes = 250.0/32768.0;
+ break;
+ case GFS_500DPS:
+ gRes = 500.0/32768.0;
+ break;
+ case GFS_1000DPS:
+ gRes = 1000.0/32768.0;
+ break;
+ case GFS_2000DPS:
+ gRes = 2000.0/32768.0;
+ break;
+ }
+}
+
+
+void getAres() {
+ switch (Ascale)
+ {
+ // Possible accelerometer scales (and their register bit settings) are:
+ // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
+ // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
+ case AFS_2G:
+ aRes = 2.0/32768.0;
+ break;
+ case AFS_4G:
+ aRes = 4.0/32768.0;
+ break;
+ case AFS_8G:
+ aRes = 8.0/32768.0;
+ break;
+ case AFS_16G:
+ aRes = 16.0/32768.0;
+ break;
+ }
+}
+
+
+void readAccelData(int16_t * destination)
+{
+ uint8_t rawData[6]; // x/y/z accel register data stored here
+ readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
+ destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
+ destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
+ destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+}
+
+void readGyroData(int16_t * destination)
+{
+ uint8_t rawData[6]; // x/y/z gyro register data stored here
+ readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
+ destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
+ destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
+ destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+}
+
+void readMagData(int16_t * destination)
+{
+ uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition
+ if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set
+ readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array
+ uint8_t c = rawData[6]; // End data read by reading ST2 register
+ if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data
+ destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value
+ destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian
+ destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ;
+ }
+ }
+}
+
+int16_t readTempData()
+{
+ uint8_t rawData[2]; // x/y/z gyro register data stored here
+ readBytes(MPU9250_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
+ return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value
+}
+
+
+void resetMPU9250() {
+ // reset device
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
+ wait(0.1);
+}
+
+
+void initMPU9250()
+{
+ // Initialize MPU9250 device
+ // wake up device
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors
+ wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt
+
+ // get stable time source
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
+
+ // Configure Gyro and Accelerometer
+ // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively;
+ // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both
+ // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate
+ writeByte(MPU9250_ADDRESS, CONFIG, 0x01 );
+
+ // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
+ writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x09); // Use a 200 Hz rate; the same rate set in CONFIG above
+
+ // Set gyroscope full scale range
+ // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
+ uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG);
+ writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
+ writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
+ writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro
+
+ // Set accelerometer configuration
+ c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG);
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer
+
+ // Set accelerometer sample rate configuration
+ // It is possible to get a 4 kHz sample rate from the accelerometer by choosing 1 for
+ // accel_fchoice_b bit [3]; in this case the bandwidth is 1.13 kHz
+ c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG2);
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c & ~0x0F); // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0])
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c | 0x01); // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz
+
+ // The accelerometer, gyro, and thermometer are set to 1 kHz sample rates,
+ // but all these rates are further reduced by a factor of 5 to 200 Hz because of the SMPLRT_DIV setting
+
+ // Configure Interrupts and Bypass Enable
+ // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips
+ // can join the I2C bus and all can be controlled by the Arduino as master
+ writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22);
+ writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
+}
+
+
+
+
+
+};
+
+
+
+
+
+
+#endif
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