Diff: MPU9250/MPU9250.h

Revision:

0:29dce55dbcfe

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250/MPU9250.h	Tue Mar 20 13:46:54 2018 +0000
@@ -0,0 +1,426 @@
+/** Daqn change log
+ * 2018/02/16 :  Replace words "MPU6050" with "MPU9250".
+ * 2018/02/21 :  
+ */
+
+/*Use #define MPU9250_ES before you include this file if you have an engineering sample (older EVBs will have them), to find out if you have one, check your accelerometer output. 
+If it is half of what you expected, and you still are on the correct planet, you got an engineering sample
+*/
+
+
+#ifndef MPU9250_H
+#define MPU9250_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+
+/**
+ * Defines
+ */
+#ifndef MPU9250_ADDRESS
+    #define MPU9250_ADDRESS             0x68 // address pin low (GND), default for InvenSense evaluation board
+#endif
+
+#ifdef MPU9250_ES
+        #define DOUBLE_ACCELERO
+#endif  
+
+/**
+ * Registers
+ */
+ #define MPU9250_CONFIG_REG         0x1A
+ #define MPU9250_GYRO_CONFIG_REG    0x1B
+ #define MPU9250_ACCELERO_CONFIG_REG    0x1C
+  
+ #define MPU9250_INT_PIN_CFG        0x37
+ 
+ #define MPU9250_ACCEL_XOUT_H_REG   0x3B
+ #define MPU9250_ACCEL_YOUT_H_REG   0x3D
+ #define MPU9250_ACCEL_ZOUT_H_REG   0x3F
+ 
+ #define MPU9250_TEMP_H_REG         0x41
+ 
+ #define MPU9250_GYRO_XOUT_H_REG    0x43
+ #define MPU9250_GYRO_YOUT_H_REG    0x45
+ #define MPU9250_GYRO_ZOUT_H_REG    0x47
+ 
+ #define MPU9250_MAG_XOUT_H_REG    0x04 
+ #define MPU9250_MAG_YOUT_H_REG    0x06
+ #define MPU9250_MAG_ZOUT_H_REG    0x08
+ 
+ 
+ 
+ #define MPU9250_PWR_MGMT_1_REG     0x6B
+ #define MPU9250_WHO_AM_I_REG       0x75
+ 
+                 
+ 
+ /**
+  * Definitions
+  */
+#define MPU9250_SLP_BIT             6
+#define MPU9250_BYPASS_BIT         1
+
+#define MPU9250_BW_256              0
+#define MPU9250_BW_188              1
+#define MPU9250_BW_98               2
+#define MPU9250_BW_42               3
+#define MPU9250_BW_20               4
+#define MPU9250_BW_10               5
+#define MPU9250_BW_5                6
+
+#define MPU9250_ACCELERO_RANGE_2G   0
+#define MPU9250_ACCELERO_RANGE_4G   1
+#define MPU9250_ACCELERO_RANGE_8G   2
+#define MPU9250_ACCELERO_RANGE_16G  3
+
+#define MPU9250_GYRO_RANGE_250      0
+#define MPU9250_GYRO_RANGE_500      1
+#define MPU9250_GYRO_RANGE_1000     2
+#define MPU9250_GYRO_RANGE_2000     3
+
+//interrupt address
+#define MPU9250_RA_INT_ENABLE 0x38  
+//define how the accelerometer is placed on surface
+#define X_AXIS 1
+#define Y_AXIS 2
+#define Z_AXIS 0
+//translation from radians to degrees
+#define RADIANS_TO_DEGREES 180/3.1415926536
+//constant used for the complementary filter, which ranges usually from 0.9 to 1.0
+#define ALPHA 0.96   //filter constant
+//scale the gyro
+#define GYRO_SCALE 2.7176 
+
+
+ /**
+  * Magnetometer
+  */
+#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
+
+
+/** MPU9250 IMU library.
+  *
+  * Example:
+  * @code
+  * Later, maybe
+  * @endcode
+  */
+class MPU9250
+{
+public:
+    /**
+    * Constructor.
+    *
+    * Sleep mode of MPU9250 is immediatly disabled
+    *
+    * @param sda - mbed pin to use for the SDA I2C line.
+    * @param scl - mbed pin to use for the SCL I2C line.
+    */
+    MPU9250(PinName sda, PinName scl);
+    
+    
+    /**
+    * Tests the I2C connection by reading the WHO_AM_I register. 
+    *
+    * @return True for a working connection, false for an error
+    */     
+    bool testConnection( void );
+    
+    /**
+    * Sets the bandwidth of the digital low-pass filter 
+    *
+    * Macros: MPU9250_BW_256 - MPU9250_BW_188 - MPU9250_BW_98 - MPU9250_BW_42 - MPU9250_BW_20 - MPU9250_BW_10 - MPU9250_BW_5
+    * Last number is the gyro's BW in Hz (accelero BW is virtually identical)
+    *
+    * @param BW - The three bits that set the bandwidth (use the predefined macros)
+    */     
+    void setBW( char BW );
+    
+    /**
+    * Sets the auxiliary I2C bus in bypass mode to read the sensors behind the MPU9250 (useful for eval board, otherwise just connect them to primary I2C bus) 
+    *
+    * @param state - Enables/disables the I2C bypass mode
+    */     
+    void setI2CBypass ( bool state );
+    
+    /**
+    * Sets the Accelero full-scale range
+    *
+    * Macros: MPU9250_ACCELERO_RANGE_2G - MPU9250_ACCELERO_RANGE_4G - MPU9250_ACCELERO_RANGE_8G - MPU9250_ACCELERO_RANGE_16G
+    *
+    * @param range - The two bits that set the full-scale range (use the predefined macros)
+    */
+    void setAcceleroRange(char range);
+    
+    /**
+    * Reads the accelero x-axis.
+    *
+    * @return 16-bit signed integer x-axis accelero data
+    */   
+    int getAcceleroRawX( void );
+    
+    /**
+    * Reads the accelero y-axis.
+    *
+    * @return 16-bit signed integer y-axis accelero data
+    */   
+    int getAcceleroRawY( void );
+    
+    /**
+    * Reads the accelero z-axis.
+    *
+    * @return 16-bit signed integer z-axis accelero data
+    */   
+    int getAcceleroRawZ( void );
+    
+    /**
+    * Reads all accelero data.
+    *
+    * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
+    */   
+    void getAcceleroRaw( int *data );
+    
+    /**
+    * Reads all accelero data, gives the acceleration in m/s2
+    *
+    * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
+    *
+    * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
+    */   
+    void getAccelero( float *data );
+    
+    /**
+    * Sets the Gyro full-scale range
+    *
+    * Macros: MPU9250_GYRO_RANGE_250 - MPU9250_GYRO_RANGE_500 - MPU9250_GYRO_RANGE_1000 - MPU9250_GYRO_RANGE_2000
+    *
+    * @param range - The two bits that set the full-scale range (use the predefined macros)
+    */
+    void setGyroRange(char range);
+    
+    /**
+    * Reads the gyro x-axis.
+    *
+    * @return 16-bit signed integer x-axis gyro data
+    */   
+    int getGyroRawX( void );
+    
+    /**
+    * Reads the gyro y-axis.
+    *
+    * @return 16-bit signed integer y-axis gyro data
+    */   
+    int getGyroRawY( void );
+    
+    /**
+    * Reads the gyro z-axis.
+    *
+    * @return 16-bit signed integer z-axis gyro data
+    */   
+    int getGyroRawZ( void );
+    
+    /**
+    * Reads all gyro data.
+    *
+    * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
+    */   
+    void getGyroRaw( int *data );  
+    
+    /**
+    * Reads all gyro data, gives the gyro in rad/s
+    *
+    * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
+    *
+    * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
+    */   
+    void getGyro( float *data);
+    
+    /**
+    * Reads temperature data.
+    *
+    * @return 16 bit signed integer with the raw temperature register value
+    */  
+    int getTempRaw( void );
+    
+    /**
+    * Returns current temperature
+    *
+    * @returns float with the current temperature
+    */  
+    float getTemp( void );
+    
+    /**
+    * Sets the sleep mode of the MPU9250 
+    *
+    * @param state - true for sleeping, false for wake up
+    */     
+    void setSleepMode( bool state );
+    
+    
+    /**
+    * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU. 
+    *
+    * @param adress - register address to write to
+    * @param data - data to write
+    */
+    void write( char address, char data);
+    
+    /**
+    * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU. 
+    *
+    * @param adress - register address to write to
+    * @return - data from the register specified by RA
+    */
+    char read( char adress);
+    
+    /**
+    * Read multtiple regigsters from the device, more efficient than using multiple normal reads. 
+    *
+    * @param adress - register address to write to
+    * @param length - number of bytes to read
+    * @param data - pointer where the data needs to be written to 
+    */
+    void read( char adress, char *data, int length);
+    
+    /**
+    * function for calculating the angle from the accelerometer.
+    * it takes 3 values which correspond acceleration in X, Y and Z direction and calculates angles in degrees
+    * for pitch, roll and one more direction.. (NOT YAW!)
+    *
+    * @param data - angle calculated using only accelerometer
+    *
+    */ 
+    void getAcceleroAngle( float *data );
+    
+    
+    /**function which allows to produce the offset values for gyro and accelerometer.
+    * offset for gyro is simply a value, which needs to be substracted from original gyro rad/sec speed
+    * but offset for accelerometer is calculated in angles... later on might change that
+    * function simply takes the number of samples to be taken and calculated the average
+    * 
+    * @param accOffset - accelerometer offset in angle
+    * @param gyroOffset - gyroscope offset in rad/s
+    * @param sampleSize - number of samples to be taken for calculating offsets
+    *
+    */
+    void getOffset(float *accOffset, float *gyroOffset, int sampleSize);
+    
+    /**
+    * function for computing the angle, when accelerometer angle offset and gyro offset are both known.
+    * we also need to know how much time passed from previous calculation to now
+    * it produces the angle in degrees. However angles are produced from -90.0 to 90.0 degrees
+    * if anyone need smth different, they can update this library...
+    *
+    * @param angle - calculated accurate angle from complemetary filter
+    * @param accOffset - offset in angle for the accelerometer
+    * @param gyroOffset - offset in rad/s for the gyroscope
+    * @param interval - time before previous angle calculation and now
+    *
+    */
+    void computeAngle (float *angle, float *accOffset, float *gyroOffset, float interval);
+    
+    ///function, which enables interrupts on MPU9250 INT pin
+    void enableInt( void );
+    
+    ///disables interrupts
+    void disableInt( void );
+    
+    /**function which sets the alpha value - constant for the complementary filter. default alpha = 0.97
+    *
+    * @param val - value the alpha (complementary filter constant) should be set to
+    *
+    */
+    void setAlpha(float val);
+    
+    ////////////////////////////////////////////////////////////////////////////
+    ////////////////////////////////////////////////////////////////////////////
+    ////////////////////////////////////////////////////////////////////////////
+    
+    /** Daqn added
+    * read bytes on specific address and subaddress.
+    *
+    * @param adress - register address to write to
+    * @param subadress - register address to write to
+    * @param length - number of bytes to read
+    * @param data - pointer where the data needs to be written to 
+    */
+    void read(char address, char subaddress, char *data, int length);
+    
+    /** Daqn added
+    * Sets the Magneto full-scale range
+    *
+    * Macros: MPU9250_MAGNETO_RANGE_250 - MPU9250_MAGNETO_RANGE_500 - MPU9250_MAGNETO_RANGE_1000 - MPU9250_MAGNETO_RANGE_2000
+    *
+    * @param range - The two bits that set the full-scale range (use the predefined macros)
+    */
+//    void setMagnetoRange(char range);
+    
+    /** Daqn added
+    * Reads the magnetometer x-axis.
+    *
+    * @return 16-bit signed integer x-axis magnetometer data
+    */   
+    int getMagnetoRawX( void );
+    
+    /** Daqn added
+    * Reads the magnetometer y-axis.
+    *
+    * @return 16-bit signed integer y-axis magnetometer data
+    */   
+    int getMagnetoRawY( void );
+    
+    /** Daqn added
+    * Reads the magnetometer z-axis.
+    *
+    * @return 16-bit signed integer z-axis magnetometer data
+    */   
+    int getMagnetoRawZ( void );
+    
+    /** Daqn added
+    * Reads all magnetometer data.
+    *
+    * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
+    */   
+    void getMagnetoRaw( int *data );  
+    
+    /** Daqn added
+    * Reads all magnetometer data, gives the magnetometer in [[[TBD]]]
+    *
+    * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
+    *
+    * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
+    */   
+    void getMagneto( float *data);
+    
+private:
+    
+    I2C connection;
+    char currentAcceleroRange;
+    char currentGyroRange;
+    float alpha;   
+
+};
+
+
+
+#endif