CIA / Mbed 2 deprecated MPU9250_Quaternion_Binary_Serial

エラー判定用 '\0' + クォータニオンのfloat型4成分，合計17byteのデータをひたすらバイナリ形式で送り続ける．最初のバイトが '\0' でなかったらズレているので，適当なバイト数見送って先頭が '\0' になるよう合わせること．

Dependencies:   Eigen mbed

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MPU9250 Class Reference
Public Member Functions

MPU9250 Class Reference

MPU9250 IMU library. More...

#include <MPU9250.h>

Public Member Functions

 MPU9250 (PinName sda, PinName scl)
 Constructor.
bool testConnection (void)
 Tests the I2C connection by reading the WHO_AM_I register.
void setBW (char BW)
 Sets the bandwidth of the digital low-pass filter.
void setI2CBypass (bool state)
 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)
void setAcceleroRange (char range)
 Sets the Accelero full-scale range.
int getAcceleroRawX (void)
 Reads the accelero x-axis.
int getAcceleroRawY (void)
 Reads the accelero y-axis.
int getAcceleroRawZ (void)
 Reads the accelero z-axis.
void getAcceleroRaw (int *data)
 Reads all accelero data.
void getAccelero (float *data)
 Reads all accelero data, gives the acceleration in m/s2.
void setGyroRange (char range)
 Sets the Gyro full-scale range.
int getGyroRawX (void)
 Reads the gyro x-axis.
int getGyroRawY (void)
 Reads the gyro y-axis.
int getGyroRawZ (void)
 Reads the gyro z-axis.
void getGyroRaw (int *data)
 Reads all gyro data.
void getGyro (float *data)
 Reads all gyro data, gives the gyro in rad/s.
int getTempRaw (void)
 Reads temperature data.
float getTemp (void)
 Returns current temperature.
void setSleepMode (bool state)
 Sets the sleep mode of the MPU9250.
void write (char address, char data)
 Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU.
char read (char adress)
 Read data from the device, could be private, but public is handy so you can transmit directly to the MPU.
void read (char adress, char *data, int length)
 Read multtiple regigsters from the device, more efficient than using multiple normal reads.
void getAcceleroAngle (float *data)
 function for calculating the angle from the accelerometer.
void getOffset (float *accOffset, float *gyroOffset, int sampleSize)
 function which allows to produce the offset values for gyro and accelerometer.
void computeAngle (float *angle, float *accOffset, float *gyroOffset, float interval)
 function for computing the angle, when accelerometer angle offset and gyro offset are both known.
void enableInt (void)
 function, which enables interrupts on MPU9250 INT pin
void disableInt (void)
 disables interrupts
void setAlpha (float val)
 function which sets the alpha value - constant for the complementary filter.
void read (char address, char subaddress, char *data, int length)
 Daqn added read bytes on specific address and subaddress.
int getMagnetoRawX (void)
 Daqn added Sets the Magneto full-scale range.
int getMagnetoRawY (void)
 Daqn added Reads the magnetometer y-axis.
int getMagnetoRawZ (void)
 Daqn added Reads the magnetometer z-axis.
void getMagnetoRaw (int *data)
 Daqn added Reads all magnetometer data.
void getMagneto (float *data)
 Daqn added Reads all magnetometer data, gives the magnetometer in [[[TBD]]].

Detailed Description

MPU9250 IMU library.

Example: 

 Later, maybe

Definition at line 128 of file MPU9250.h.

Constructor & Destructor Documentation

MPU9250 ( PinName  sda,
PinName  scl 
)

Constructor.

Daqn change log 2018/02/16 : Replace words "MPU6050" with "MPU9250".

Sleep mode of MPU9250 is immediatly disabled

Parameters:
sda- mbed pin to use for the SDA I2C line.
scl- mbed pin to use for the SCL I2C line.

2018/02/16 : L57, flip T/F by adding "!". 2018/02/21 : L Includes

Definition at line 12 of file MPU9250.cpp.

Member Function Documentation

void computeAngle ( float *  angle,
float *  accOffset,
float *  gyroOffset,
float  interval 
)

function for computing the angle, when accelerometer angle offset and gyro offset are both known.

function for computing angles for roll, pitch anf yaw

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...

Parameters:
angle- calculated accurate angle from complemetary filter
accOffset- offset in angle for the accelerometer
gyroOffset- offset in rad/s for the gyroscope
interval- time before previous angle calculation and now

Definition at line 349 of file MPU9250.cpp.

void disableInt ( void   )

disables interrupts

function for disbling interrupts on MPU9250 INT pin, when the data is ready to take

Definition at line 383 of file MPU9250.cpp.

void enableInt ( void   )

function, which enables interrupts on MPU9250 INT pin

function for enabling interrupts on MPU9250 INT pin, when the data is ready to take

Definition at line 375 of file MPU9250.cpp.

void getAccelero ( float *  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.

Parameters:
data- pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z

Definition at line 127 of file MPU9250.cpp.

void getAcceleroAngle ( float *  data )

function for calculating the angle from the accelerometer.

Additional function added by Montvydas Klumbys, which will allow easy offset, angle calculation and much more.

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!)

Parameters:
data- angle calculated using only accelerometer

function for getting angles in degrees from accelerometer

Definition at line 314 of file MPU9250.cpp.

void getAcceleroRaw ( int *  data )

Reads all accelero data.

Parameters:
data- pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z

Definition at line 119 of file MPU9250.cpp.

int getAcceleroRawX ( void   )

Reads the accelero x-axis.

Returns:
16-bit signed integer x-axis accelero data

Definition at line 95 of file MPU9250.cpp.

int getAcceleroRawY ( void   )

Reads the accelero y-axis.

Returns:
16-bit signed integer y-axis accelero data

Definition at line 103 of file MPU9250.cpp.

int getAcceleroRawZ ( void   )

Reads the accelero z-axis.

Returns:
16-bit signed integer z-axis accelero data

Definition at line 111 of file MPU9250.cpp.

void getGyro ( float *  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.

Parameters:
data- pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z

Definition at line 202 of file MPU9250.cpp.

void getGyroRaw ( int *  data )

Reads all gyro data.

Parameters:
data- pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z

Definition at line 194 of file MPU9250.cpp.

int getGyroRawX ( void   )

Reads the gyro x-axis.

Returns:
16-bit signed integer x-axis gyro data

Definition at line 170 of file MPU9250.cpp.

int getGyroRawY ( void   )

Reads the gyro y-axis.

Returns:
16-bit signed integer y-axis gyro data

Definition at line 178 of file MPU9250.cpp.

int getGyroRawZ ( void   )

Reads the gyro z-axis.

Returns:
16-bit signed integer z-axis gyro data

Definition at line 186 of file MPU9250.cpp.

void getMagneto ( float *  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.

Parameters:
data- pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z

Definition at line 303 of file MPU9250.cpp.

void getMagnetoRaw ( int *  data )

Daqn added Reads all magnetometer data.

Parameters:
data- pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z

Definition at line 295 of file MPU9250.cpp.

int getMagnetoRawX ( void   )

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

Parameters:
range- The two bits that set the full-scale range (use the predefined macros) Daqn added Reads the magnetometer x-axis.
Returns:
16-bit signed integer x-axis magnetometer data

Definition at line 268 of file MPU9250.cpp.

int getMagnetoRawY ( void   )

Daqn added Reads the magnetometer y-axis.

Returns:
16-bit signed integer y-axis magnetometer data

Definition at line 277 of file MPU9250.cpp.

int getMagnetoRawZ ( void   )

Daqn added Reads the magnetometer z-axis.

Returns:
16-bit signed integer z-axis magnetometer data

Definition at line 286 of file MPU9250.cpp.

void getOffset ( float *  accOffset,
float *  gyroOffset,
int  sampleSize 
)

function which allows to produce the offset values for gyro and accelerometer.

function for getting offset values for the gyro & 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

Parameters:
accOffset- accelerometer offset in angle
gyroOffset- gyroscope offset in rad/s
sampleSize- number of samples to be taken for calculating offsets

Definition at line 327 of file MPU9250.cpp.

float getTemp ( void   )

Returns current temperature.

Returns:
float with the current temperature

Definition at line 237 of file MPU9250.cpp.

int getTempRaw ( void   )

Reads temperature data.

Returns:
16 bit signed integer with the raw temperature register value

Definition at line 229 of file MPU9250.cpp.

void read ( char  address,
char  subaddress,
char *  data,
int  length 
)

Daqn added read bytes on specific address and subaddress.

Parameters:
adress- register address to write to
subadress- register address to write to
length- number of bytes to read
data- pointer where the data needs to be written to

Definition at line 248 of file MPU9250.cpp.

char read ( char  adress )

Read data from the device, could be private, but public is handy so you can transmit directly to the MPU.

Parameters:
adress- register address to write to
Returns:
- data from the register specified by RA

Definition at line 33 of file MPU9250.cpp.

void read ( char  adress,
char *  data,
int  length 
)

Read multtiple regigsters from the device, more efficient than using multiple normal reads.

Parameters:
adress- register address to write to
length- number of bytes to read
data- pointer where the data needs to be written to

Definition at line 40 of file MPU9250.cpp.

void setAcceleroRange ( char  range )

Sets the Accelero full-scale range.

Macros: MPU9250_ACCELERO_RANGE_2G - MPU9250_ACCELERO_RANGE_4G - MPU9250_ACCELERO_RANGE_8G - MPU9250_ACCELERO_RANGE_16G

Parameters:
range- The two bits that set the full-scale range (use the predefined macros)

Definition at line 84 of file MPU9250.cpp.

void setAlpha ( float  val )

function which sets the alpha value - constant for the complementary filter.

function for setting a different Alpha value, which is used in complemetary filter calculations

default alpha = 0.97

Parameters:
val- value the alpha (complementary filter constant) should be set to

Definition at line 370 of file MPU9250.cpp.

void setBW ( char  BW )

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)

Parameters:
BW- The three bits that set the bandwidth (use the predefined macros)

Definition at line 61 of file MPU9250.cpp.

void setGyroRange ( char  range )

Sets the Gyro full-scale range.

Macros: MPU9250_GYRO_RANGE_250 - MPU9250_GYRO_RANGE_500 - MPU9250_GYRO_RANGE_1000 - MPU9250_GYRO_RANGE_2000

Parameters:
range- The two bits that set the full-scale range (use the predefined macros)

Definition at line 160 of file MPU9250.cpp.

void setI2CBypass ( bool  state )

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)

Parameters:
state- Enables/disables the I2C bypass mode

Definition at line 70 of file MPU9250.cpp.

void setSleepMode ( bool  state )

Sets the sleep mode of the MPU9250.

Parameters:
state- true for sleeping, false for wake up

Definition at line 45 of file MPU9250.cpp.

bool testConnection ( void   )

Tests the I2C connection by reading the WHO_AM_I register.

Returns:
True for a working connection, false for an error

Definition at line 55 of file MPU9250.cpp.

void write ( char  address,
char  data 
)

Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU.

Parameters:
adress- register address to write to
data- data to write

Definition at line 25 of file MPU9250.cpp.

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