File content as of revision 0:f86c91eb17cb:

#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