Edutech IoT Team / MPU9250

MPU9250

Dependents:   pdiot-ble-notify-array StepTracking IMU_MPU925X_YAW chair_MPU9250 ... more

MPU9250.h@0:98a0cccbc509, 2016-07-05 (annotated)

Committer:
brdarji
Date:
Tue Jul 05 07:09:43 2016 +0000
Revision:
0:98a0cccbc509
MPU9250;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
brdarji 0:98a0cccbc509 1 #include "mbed.h"
brdarji 0:98a0cccbc509 2 #include "math.h"
brdarji 0:98a0cccbc509 3
brdarji 0:98a0cccbc509 4 // 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
brdarji 0:98a0cccbc509 5 // above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
brdarji 0:98a0cccbc509 6 //
brdarji 0:98a0cccbc509 7 //Magnetometer Registers
brdarji 0:98a0cccbc509 8 #define AK8963_ADDRESS 0x0C<<1
brdarji 0:98a0cccbc509 9 #define WHO_AM_I_AK8963 0x00 // should return 0x48
brdarji 0:98a0cccbc509 10 #define INFO 0x01
brdarji 0:98a0cccbc509 11 #define AK8963_ST1 0x02 // data ready status bit 0
brdarji 0:98a0cccbc509 12 #define AK8963_XOUT_L 0x03 // data
brdarji 0:98a0cccbc509 13 #define AK8963_XOUT_H 0x04
brdarji 0:98a0cccbc509 14 #define AK8963_YOUT_L 0x05
brdarji 0:98a0cccbc509 15 #define AK8963_YOUT_H 0x06
brdarji 0:98a0cccbc509 16 #define AK8963_ZOUT_L 0x07
brdarji 0:98a0cccbc509 17 #define AK8963_ZOUT_H 0x08
brdarji 0:98a0cccbc509 18 #define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
brdarji 0:98a0cccbc509 19 #define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
brdarji 0:98a0cccbc509 20 #define AK8963_ASTC 0x0C // Self test control
brdarji 0:98a0cccbc509 21 #define AK8963_I2CDIS 0x0F // I2C disable
brdarji 0:98a0cccbc509 22 #define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
brdarji 0:98a0cccbc509 23 #define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
brdarji 0:98a0cccbc509 24 #define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
brdarji 0:98a0cccbc509 25
brdarji 0:98a0cccbc509 26 #define SELF_TEST_X_GYRO 0x00
brdarji 0:98a0cccbc509 27 #define SELF_TEST_Y_GYRO 0x01
brdarji 0:98a0cccbc509 28 #define SELF_TEST_Z_GYRO 0x02
brdarji 0:98a0cccbc509 29
brdarji 0:98a0cccbc509 30 /*#define X_FINE_GAIN 0x03 // [7:0] fine gain
brdarji 0:98a0cccbc509 31 #define Y_FINE_GAIN 0x04
brdarji 0:98a0cccbc509 32 #define Z_FINE_GAIN 0x05
brdarji 0:98a0cccbc509 33 #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
brdarji 0:98a0cccbc509 34 #define XA_OFFSET_L_TC 0x07
brdarji 0:98a0cccbc509 35 #define YA_OFFSET_H 0x08
brdarji 0:98a0cccbc509 36 #define YA_OFFSET_L_TC 0x09
brdarji 0:98a0cccbc509 37 #define ZA_OFFSET_H 0x0A
brdarji 0:98a0cccbc509 38 #define ZA_OFFSET_L_TC 0x0B */
brdarji 0:98a0cccbc509 39
brdarji 0:98a0cccbc509 40 #define SELF_TEST_X_ACCEL 0x0D
brdarji 0:98a0cccbc509 41 #define SELF_TEST_Y_ACCEL 0x0E
brdarji 0:98a0cccbc509 42 #define SELF_TEST_Z_ACCEL 0x0F
brdarji 0:98a0cccbc509 43
brdarji 0:98a0cccbc509 44 #define SELF_TEST_A 0x10
brdarji 0:98a0cccbc509 45
brdarji 0:98a0cccbc509 46 #define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
brdarji 0:98a0cccbc509 47 #define XG_OFFSET_L 0x14
brdarji 0:98a0cccbc509 48 #define YG_OFFSET_H 0x15
brdarji 0:98a0cccbc509 49 #define YG_OFFSET_L 0x16
brdarji 0:98a0cccbc509 50 #define ZG_OFFSET_H 0x17
brdarji 0:98a0cccbc509 51 #define ZG_OFFSET_L 0x18
brdarji 0:98a0cccbc509 52 #define SMPLRT_DIV 0x19
brdarji 0:98a0cccbc509 53 #define CONFIG 0x1A
brdarji 0:98a0cccbc509 54 #define GYRO_CONFIG 0x1B
brdarji 0:98a0cccbc509 55 #define ACCEL_CONFIG 0x1C
brdarji 0:98a0cccbc509 56 #define ACCEL_CONFIG2 0x1D
brdarji 0:98a0cccbc509 57 #define LP_ACCEL_ODR 0x1E
brdarji 0:98a0cccbc509 58 #define WOM_THR 0x1F
brdarji 0:98a0cccbc509 59
brdarji 0:98a0cccbc509 60 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
brdarji 0:98a0cccbc509 61 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
brdarji 0:98a0cccbc509 62 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
brdarji 0:98a0cccbc509 63
brdarji 0:98a0cccbc509 64 #define FIFO_EN 0x23
brdarji 0:98a0cccbc509 65 #define I2C_MST_CTRL 0x24
brdarji 0:98a0cccbc509 66 #define I2C_SLV0_ADDR 0x25
brdarji 0:98a0cccbc509 67 #define I2C_SLV0_REG 0x26
brdarji 0:98a0cccbc509 68 #define I2C_SLV0_CTRL 0x27
brdarji 0:98a0cccbc509 69 #define I2C_SLV1_ADDR 0x28
brdarji 0:98a0cccbc509 70 #define I2C_SLV1_REG 0x29
brdarji 0:98a0cccbc509 71 #define I2C_SLV1_CTRL 0x2A
brdarji 0:98a0cccbc509 72 #define I2C_SLV2_ADDR 0x2B
brdarji 0:98a0cccbc509 73 #define I2C_SLV2_REG 0x2C
brdarji 0:98a0cccbc509 74 #define I2C_SLV2_CTRL 0x2D
brdarji 0:98a0cccbc509 75 #define I2C_SLV3_ADDR 0x2E
brdarji 0:98a0cccbc509 76 #define I2C_SLV3_REG 0x2F
brdarji 0:98a0cccbc509 77 #define I2C_SLV3_CTRL 0x30
brdarji 0:98a0cccbc509 78 #define I2C_SLV4_ADDR 0x31
brdarji 0:98a0cccbc509 79 #define I2C_SLV4_REG 0x32
brdarji 0:98a0cccbc509 80 #define I2C_SLV4_DO 0x33
brdarji 0:98a0cccbc509 81 #define I2C_SLV4_CTRL 0x34
brdarji 0:98a0cccbc509 82 #define I2C_SLV4_DI 0x35
brdarji 0:98a0cccbc509 83 #define I2C_MST_STATUS 0x36
brdarji 0:98a0cccbc509 84 #define INT_PIN_CFG 0x37
brdarji 0:98a0cccbc509 85 #define INT_ENABLE 0x38
brdarji 0:98a0cccbc509 86 #define DMP_INT_STATUS 0x39 // Check DMP interrupt
brdarji 0:98a0cccbc509 87 #define INT_STATUS 0x3A
brdarji 0:98a0cccbc509 88 #define ACCEL_XOUT_H 0x3B
brdarji 0:98a0cccbc509 89 #define ACCEL_XOUT_L 0x3C
brdarji 0:98a0cccbc509 90 #define ACCEL_YOUT_H 0x3D
brdarji 0:98a0cccbc509 91 #define ACCEL_YOUT_L 0x3E
brdarji 0:98a0cccbc509 92 #define ACCEL_ZOUT_H 0x3F
brdarji 0:98a0cccbc509 93 #define ACCEL_ZOUT_L 0x40
brdarji 0:98a0cccbc509 94 #define TEMP_OUT_H 0x41
brdarji 0:98a0cccbc509 95 #define TEMP_OUT_L 0x42
brdarji 0:98a0cccbc509 96 #define GYRO_XOUT_H 0x43
brdarji 0:98a0cccbc509 97 #define GYRO_XOUT_L 0x44
brdarji 0:98a0cccbc509 98 #define GYRO_YOUT_H 0x45
brdarji 0:98a0cccbc509 99 #define GYRO_YOUT_L 0x46
brdarji 0:98a0cccbc509 100 #define GYRO_ZOUT_H 0x47
brdarji 0:98a0cccbc509 101 #define GYRO_ZOUT_L 0x48
brdarji 0:98a0cccbc509 102 #define EXT_SENS_DATA_00 0x49
brdarji 0:98a0cccbc509 103 #define EXT_SENS_DATA_01 0x4A
brdarji 0:98a0cccbc509 104 #define EXT_SENS_DATA_02 0x4B
brdarji 0:98a0cccbc509 105 #define EXT_SENS_DATA_03 0x4C
brdarji 0:98a0cccbc509 106 #define EXT_SENS_DATA_04 0x4D
brdarji 0:98a0cccbc509 107 #define EXT_SENS_DATA_05 0x4E
brdarji 0:98a0cccbc509 108 #define EXT_SENS_DATA_06 0x4F
brdarji 0:98a0cccbc509 109 #define EXT_SENS_DATA_07 0x50
brdarji 0:98a0cccbc509 110 #define EXT_SENS_DATA_08 0x51
brdarji 0:98a0cccbc509 111 #define EXT_SENS_DATA_09 0x52
brdarji 0:98a0cccbc509 112 #define EXT_SENS_DATA_10 0x53
brdarji 0:98a0cccbc509 113 #define EXT_SENS_DATA_11 0x54
brdarji 0:98a0cccbc509 114 #define EXT_SENS_DATA_12 0x55
brdarji 0:98a0cccbc509 115 #define EXT_SENS_DATA_13 0x56
brdarji 0:98a0cccbc509 116 #define EXT_SENS_DATA_14 0x57
brdarji 0:98a0cccbc509 117 #define EXT_SENS_DATA_15 0x58
brdarji 0:98a0cccbc509 118 #define EXT_SENS_DATA_16 0x59
brdarji 0:98a0cccbc509 119 #define EXT_SENS_DATA_17 0x5A
brdarji 0:98a0cccbc509 120 #define EXT_SENS_DATA_18 0x5B
brdarji 0:98a0cccbc509 121 #define EXT_SENS_DATA_19 0x5C
brdarji 0:98a0cccbc509 122 #define EXT_SENS_DATA_20 0x5D
brdarji 0:98a0cccbc509 123 #define EXT_SENS_DATA_21 0x5E
brdarji 0:98a0cccbc509 124 #define EXT_SENS_DATA_22 0x5F
brdarji 0:98a0cccbc509 125 #define EXT_SENS_DATA_23 0x60
brdarji 0:98a0cccbc509 126 #define MOT_DETECT_STATUS 0x61
brdarji 0:98a0cccbc509 127 #define I2C_SLV0_DO 0x63
brdarji 0:98a0cccbc509 128 #define I2C_SLV1_DO 0x64
brdarji 0:98a0cccbc509 129 #define I2C_SLV2_DO 0x65
brdarji 0:98a0cccbc509 130 #define I2C_SLV3_DO 0x66
brdarji 0:98a0cccbc509 131 #define I2C_MST_DELAY_CTRL 0x67
brdarji 0:98a0cccbc509 132 #define SIGNAL_PATH_RESET 0x68
brdarji 0:98a0cccbc509 133 #define MOT_DETECT_CTRL 0x69
brdarji 0:98a0cccbc509 134 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
brdarji 0:98a0cccbc509 135 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
brdarji 0:98a0cccbc509 136 #define PWR_MGMT_2 0x6C
brdarji 0:98a0cccbc509 137 #define DMP_BANK 0x6D // Activates a specific bank in the DMP
brdarji 0:98a0cccbc509 138 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
brdarji 0:98a0cccbc509 139 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
brdarji 0:98a0cccbc509 140 #define DMP_REG_1 0x70
brdarji 0:98a0cccbc509 141 #define DMP_REG_2 0x71
brdarji 0:98a0cccbc509 142 #define FIFO_COUNTH 0x72
brdarji 0:98a0cccbc509 143 #define FIFO_COUNTL 0x73
brdarji 0:98a0cccbc509 144 #define FIFO_R_W 0x74
brdarji 0:98a0cccbc509 145 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71
brdarji 0:98a0cccbc509 146 #define XA_OFFSET_H 0x77
brdarji 0:98a0cccbc509 147 #define XA_OFFSET_L 0x78
brdarji 0:98a0cccbc509 148 #define YA_OFFSET_H 0x7A
brdarji 0:98a0cccbc509 149 #define YA_OFFSET_L 0x7B
brdarji 0:98a0cccbc509 150 #define ZA_OFFSET_H 0x7D
brdarji 0:98a0cccbc509 151 #define ZA_OFFSET_L 0x7E
brdarji 0:98a0cccbc509 152
brdarji 0:98a0cccbc509 153 #define PI 3.14159265358979323846f
brdarji 0:98a0cccbc509 154 // Using the MSENSR-9250 breakout board, ADO is set to 0
brdarji 0:98a0cccbc509 155 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
brdarji 0:98a0cccbc509 156 //mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
brdarji 0:98a0cccbc509 157 #define ADO 0
brdarji 0:98a0cccbc509 158 #if ADO
brdarji 0:98a0cccbc509 159 #define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1
brdarji 0:98a0cccbc509 160 #else
brdarji 0:98a0cccbc509 161 #define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0
brdarji 0:98a0cccbc509 162 #endif
brdarji 0:98a0cccbc509 163
brdarji 0:98a0cccbc509 164 // Set initial input parameters
brdarji 0:98a0cccbc509 165 enum Ascale {
brdarji 0:98a0cccbc509 166 AFS_2G = 0,
brdarji 0:98a0cccbc509 167 AFS_4G,
brdarji 0:98a0cccbc509 168 AFS_8G,
brdarji 0:98a0cccbc509 169 AFS_16G
brdarji 0:98a0cccbc509 170 };
brdarji 0:98a0cccbc509 171
brdarji 0:98a0cccbc509 172 enum Gscale {
brdarji 0:98a0cccbc509 173 GFS_250DPS = 0,
brdarji 0:98a0cccbc509 174 GFS_500DPS,
brdarji 0:98a0cccbc509 175 GFS_1000DPS,
brdarji 0:98a0cccbc509 176 GFS_2000DPS
brdarji 0:98a0cccbc509 177 };
brdarji 0:98a0cccbc509 178
brdarji 0:98a0cccbc509 179 enum Mscale {
brdarji 0:98a0cccbc509 180 MFS_14BITS = 0, // 0.6 mG per LSB
brdarji 0:98a0cccbc509 181 MFS_16BITS // 0.15 mG per LSB
brdarji 0:98a0cccbc509 182 };
brdarji 0:98a0cccbc509 183
brdarji 0:98a0cccbc509 184 class MPU9250 {
brdarji 0:98a0cccbc509 185
brdarji 0:98a0cccbc509 186 protected:
brdarji 0:98a0cccbc509 187
brdarji 0:98a0cccbc509 188 public:
brdarji 0:98a0cccbc509 189
brdarji 0:98a0cccbc509 190 MPU9250(PinName sda, PinName scl);
brdarji 0:98a0cccbc509 191 MPU9250(I2C *i2c);
brdarji 0:98a0cccbc509 192 ~MPU9250();
brdarji 0:98a0cccbc509 193
brdarji 0:98a0cccbc509 194 void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
brdarji 0:98a0cccbc509 195 char readByte(uint8_t address, uint8_t subAddress);
brdarji 0:98a0cccbc509 196 void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest);
brdarji 0:98a0cccbc509 197 void getMres();
brdarji 0:98a0cccbc509 198 void getGres();
brdarji 0:98a0cccbc509 199 void getAres();
brdarji 0:98a0cccbc509 200 void readAccelData(int16_t * destination);
brdarji 0:98a0cccbc509 201 void readGyroData(int16_t * destination);
brdarji 0:98a0cccbc509 202 void readMagData(int16_t * destination);
brdarji 0:98a0cccbc509 203 int16_t readTempData();
brdarji 0:98a0cccbc509 204 void resetMPU9250();
brdarji 0:98a0cccbc509 205 void initAK8963(float * destination);
brdarji 0:98a0cccbc509 206 void initMPU9250();
brdarji 0:98a0cccbc509 207 void calibrateMPU9250(float * dest1, float * dest2);
brdarji 0:98a0cccbc509 208 void MPU9250SelfTest(float * destination);
brdarji 0:98a0cccbc509 209 void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
brdarji 0:98a0cccbc509 210 void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
brdarji 0:98a0cccbc509 211
brdarji 0:98a0cccbc509 212 float SelfTest[6];
brdarji 0:98a0cccbc509 213 float gyroBias[3],accelBias[3]; // Bias corrections for gyro and accelerometer
brdarji 0:98a0cccbc509 214 float magCalibration[3], magbias[3]; // Factory mag calibration and mag bias
brdarji 0:98a0cccbc509 215
brdarji 0:98a0cccbc509 216 uint8_t Ascale; // AFS_2G, AFS_4G, AFS_8G, AFS_16G
brdarji 0:98a0cccbc509 217 uint8_t Gscale; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
brdarji 0:98a0cccbc509 218 uint8_t Mscale; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
brdarji 0:98a0cccbc509 219 uint8_t Mmode; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR
brdarji 0:98a0cccbc509 220 float aRes, gRes, mRes; // scale resolutions per LSB for the sensors
brdarji 0:98a0cccbc509 221
brdarji 0:98a0cccbc509 222 int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output
brdarji 0:98a0cccbc509 223 int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
brdarji 0:98a0cccbc509 224 int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output
brdarji 0:98a0cccbc509 225 float q[4]; // vector to hold quaternion
brdarji 0:98a0cccbc509 226
brdarji 0:98a0cccbc509 227 float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values
brdarji 0:98a0cccbc509 228 float pitch, yaw, roll;
brdarji 0:98a0cccbc509 229 float deltat; // integration interval for both filter schemes
brdarji 0:98a0cccbc509 230 int lastUpdate, firstUpdate, Now; // used to calculate integration interval
brdarji 0:98a0cccbc509 231 int delt_t; // used to control display output rate
brdarji 0:98a0cccbc509 232 int count; // used to control display output rate
brdarji 0:98a0cccbc509 233 int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius
brdarji 0:98a0cccbc509 234 float temperature;
brdarji 0:98a0cccbc509 235 private:
brdarji 0:98a0cccbc509 236 I2C *i2c_;
brdarji 0:98a0cccbc509 237 };