MPU9250.h

00001 #include "mbed.h"
00002 #include "math.h"
00003  
00004 // 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 
00005 // above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
00006 //
00007 //Magnetometer Registers
00008 #define AK8963_ADDRESS   0x0C<<1
00009 #define WHO_AM_I_AK8963  0x00 // should return 0x48
00010 #define INFO             0x01
00011 #define AK8963_ST1       0x02  // data ready status bit 0
00012 #define AK8963_XOUT_L    0x03  // data
00013 #define AK8963_XOUT_H    0x04
00014 #define AK8963_YOUT_L    0x05
00015 #define AK8963_YOUT_H    0x06
00016 #define AK8963_ZOUT_L    0x07
00017 #define AK8963_ZOUT_H    0x08
00018 #define AK8963_ST2       0x09  // Data overflow bit 3 and data read error status bit 2
00019 #define AK8963_CNTL      0x0A  // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
00020 #define AK8963_ASTC      0x0C  // Self test control
00021 #define AK8963_I2CDIS    0x0F  // I2C disable
00022 #define AK8963_ASAX      0x10  // Fuse ROM x-axis sensitivity adjustment value
00023 #define AK8963_ASAY      0x11  // Fuse ROM y-axis sensitivity adjustment value
00024 #define AK8963_ASAZ      0x12  // Fuse ROM z-axis sensitivity adjustment value
00025 
00026 #define SELF_TEST_X_GYRO 0x00                  
00027 #define SELF_TEST_Y_GYRO 0x01                                                                          
00028 #define SELF_TEST_Z_GYRO 0x02
00029 
00030 /*#define X_FINE_GAIN      0x03 // [7:0] fine gain
00031 #define Y_FINE_GAIN      0x04
00032 #define Z_FINE_GAIN      0x05
00033 #define XA_OFFSET_H      0x06 // User-defined trim values for accelerometer
00034 #define XA_OFFSET_L_TC   0x07
00035 #define YA_OFFSET_H      0x08
00036 #define YA_OFFSET_L_TC   0x09
00037 #define ZA_OFFSET_H      0x0A
00038 #define ZA_OFFSET_L_TC   0x0B */
00039 
00040 #define SELF_TEST_X_ACCEL 0x0D
00041 #define SELF_TEST_Y_ACCEL 0x0E    
00042 #define SELF_TEST_Z_ACCEL 0x0F
00043 
00044 #define SELF_TEST_A      0x10
00045 
00046 #define XG_OFFSET_H      0x13  // User-defined trim values for gyroscope
00047 #define XG_OFFSET_L      0x14
00048 #define YG_OFFSET_H      0x15
00049 #define YG_OFFSET_L      0x16
00050 #define ZG_OFFSET_H      0x17
00051 #define ZG_OFFSET_L      0x18
00052 #define SMPLRT_DIV       0x19
00053 #define CONFIG           0x1A
00054 #define GYRO_CONFIG      0x1B
00055 #define ACCEL_CONFIG     0x1C
00056 #define ACCEL_CONFIG2    0x1D
00057 #define LP_ACCEL_ODR     0x1E   
00058 #define WOM_THR          0x1F   
00059 
00060 #define MOT_DUR          0x20  // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
00061 #define ZMOT_THR         0x21  // Zero-motion detection threshold bits [7:0]
00062 #define ZRMOT_DUR        0x22  // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
00063 
00064 #define FIFO_EN          0x23
00065 #define I2C_MST_CTRL     0x24   
00066 #define I2C_SLV0_ADDR    0x25
00067 #define I2C_SLV0_REG     0x26
00068 #define I2C_SLV0_CTRL    0x27
00069 #define I2C_SLV1_ADDR    0x28
00070 #define I2C_SLV1_REG     0x29
00071 #define I2C_SLV1_CTRL    0x2A
00072 #define I2C_SLV2_ADDR    0x2B
00073 #define I2C_SLV2_REG     0x2C
00074 #define I2C_SLV2_CTRL    0x2D
00075 #define I2C_SLV3_ADDR    0x2E
00076 #define I2C_SLV3_REG     0x2F
00077 #define I2C_SLV3_CTRL    0x30
00078 #define I2C_SLV4_ADDR    0x31
00079 #define I2C_SLV4_REG     0x32
00080 #define I2C_SLV4_DO      0x33
00081 #define I2C_SLV4_CTRL    0x34
00082 #define I2C_SLV4_DI      0x35
00083 #define I2C_MST_STATUS   0x36
00084 #define INT_PIN_CFG      0x37
00085 #define INT_ENABLE       0x38
00086 #define DMP_INT_STATUS   0x39  // Check DMP interrupt
00087 #define INT_STATUS       0x3A
00088 #define ACCEL_XOUT_H     0x3B
00089 #define ACCEL_XOUT_L     0x3C
00090 #define ACCEL_YOUT_H     0x3D
00091 #define ACCEL_YOUT_L     0x3E
00092 #define ACCEL_ZOUT_H     0x3F
00093 #define ACCEL_ZOUT_L     0x40
00094 #define TEMP_OUT_H       0x41
00095 #define TEMP_OUT_L       0x42
00096 #define GYRO_XOUT_H      0x43
00097 #define GYRO_XOUT_L      0x44
00098 #define GYRO_YOUT_H      0x45
00099 #define GYRO_YOUT_L      0x46
00100 #define GYRO_ZOUT_H      0x47
00101 #define GYRO_ZOUT_L      0x48
00102 #define EXT_SENS_DATA_00 0x49
00103 #define EXT_SENS_DATA_01 0x4A
00104 #define EXT_SENS_DATA_02 0x4B
00105 #define EXT_SENS_DATA_03 0x4C
00106 #define EXT_SENS_DATA_04 0x4D
00107 #define EXT_SENS_DATA_05 0x4E
00108 #define EXT_SENS_DATA_06 0x4F
00109 #define EXT_SENS_DATA_07 0x50
00110 #define EXT_SENS_DATA_08 0x51
00111 #define EXT_SENS_DATA_09 0x52
00112 #define EXT_SENS_DATA_10 0x53
00113 #define EXT_SENS_DATA_11 0x54
00114 #define EXT_SENS_DATA_12 0x55
00115 #define EXT_SENS_DATA_13 0x56
00116 #define EXT_SENS_DATA_14 0x57
00117 #define EXT_SENS_DATA_15 0x58
00118 #define EXT_SENS_DATA_16 0x59
00119 #define EXT_SENS_DATA_17 0x5A
00120 #define EXT_SENS_DATA_18 0x5B
00121 #define EXT_SENS_DATA_19 0x5C
00122 #define EXT_SENS_DATA_20 0x5D
00123 #define EXT_SENS_DATA_21 0x5E
00124 #define EXT_SENS_DATA_22 0x5F
00125 #define EXT_SENS_DATA_23 0x60
00126 #define MOT_DETECT_STATUS 0x61
00127 #define I2C_SLV0_DO      0x63
00128 #define I2C_SLV1_DO      0x64
00129 #define I2C_SLV2_DO      0x65
00130 #define I2C_SLV3_DO      0x66
00131 #define I2C_MST_DELAY_CTRL 0x67
00132 #define SIGNAL_PATH_RESET  0x68
00133 #define MOT_DETECT_CTRL  0x69
00134 #define USER_CTRL        0x6A  // Bit 7 enable DMP, bit 3 reset DMP
00135 #define PWR_MGMT_1       0x6B // Device defaults to the SLEEP mode
00136 #define PWR_MGMT_2       0x6C
00137 #define DMP_BANK         0x6D  // Activates a specific bank in the DMP
00138 #define DMP_RW_PNT       0x6E  // Set read/write pointer to a specific start address in specified DMP bank
00139 #define DMP_REG          0x6F  // Register in DMP from which to read or to which to write
00140 #define DMP_REG_1        0x70
00141 #define DMP_REG_2        0x71 
00142 #define FIFO_COUNTH      0x72
00143 #define FIFO_COUNTL      0x73
00144 #define FIFO_R_W         0x74
00145 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71
00146 #define XA_OFFSET_H      0x77
00147 #define XA_OFFSET_L      0x78
00148 #define YA_OFFSET_H      0x7A
00149 #define YA_OFFSET_L      0x7B
00150 #define ZA_OFFSET_H      0x7D
00151 #define ZA_OFFSET_L      0x7E
00152 
00153 #define PI 3.14159265358979323846f
00154 // Using the MSENSR-9250 breakout board, ADO is set to 0 
00155 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
00156 //mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
00157 #define ADO 0
00158 #if ADO
00159 #define MPU9250_ADDRESS 0x69<<1  // Device address when ADO = 1
00160 #else
00161 #define MPU9250_ADDRESS 0x68<<1  // Device address when ADO = 0
00162 #endif  
00163 
00164 // Set initial input parameters
00165 enum Ascale {
00166   AFS_2G = 0,
00167   AFS_4G,
00168   AFS_8G,
00169   AFS_16G
00170 };
00171 
00172 enum Gscale {
00173   GFS_250DPS = 0,
00174   GFS_500DPS,
00175   GFS_1000DPS,
00176   GFS_2000DPS
00177 };
00178 
00179 enum Mscale {
00180   MFS_14BITS = 0, // 0.6 mG per LSB
00181   MFS_16BITS      // 0.15 mG per LSB
00182 };
00183 
00184 class MPU9250 {
00185  
00186     protected:
00187  
00188     public:
00189        
00190          MPU9250(PinName sda, PinName scl);
00191          MPU9250(I2C *i2c);
00192          ~MPU9250();
00193          
00194          void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
00195          char readByte(uint8_t address, uint8_t subAddress);
00196          void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest);
00197          void getMres();
00198          void getGres();
00199          void getAres();
00200          void readAccelData(int16_t * destination);
00201          void readGyroData(int16_t * destination);
00202          void readMagData(int16_t * destination);
00203          int16_t readTempData();
00204          void resetMPU9250();
00205          void initAK8963(float * destination);
00206          void initMPU9250();
00207          void calibrateMPU9250(float * dest1, float * dest2);
00208          void MPU9250SelfTest(float * destination);
00209          void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
00210          void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
00211 
00212          float SelfTest[6];
00213          float gyroBias[3],accelBias[3]; // Bias corrections for gyro and accelerometer
00214          float magCalibration[3], magbias[3];  // Factory mag calibration and mag bias
00215          
00216          uint8_t Ascale;               // AFS_2G, AFS_4G, AFS_8G, AFS_16G
00217          uint8_t Gscale;               // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
00218          uint8_t Mscale;               // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
00219          uint8_t Mmode;                // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR  
00220          float aRes, gRes, mRes;       // scale resolutions per LSB for the sensors
00221          
00222          int16_t accelCount[3];  // Stores the 16-bit signed accelerometer sensor output
00223          int16_t gyroCount[3];   // Stores the 16-bit signed gyro sensor output
00224          int16_t magCount[3];    // Stores the 16-bit signed magnetometer sensor output
00225          float q[4];           // vector to hold quaternion
00226          
00227          float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values 
00228          float pitch, yaw, roll;
00229          float deltat;                             // integration interval for both filter schemes
00230          int lastUpdate, firstUpdate, Now;    // used to calculate integration interval                               
00231          int delt_t; // used to control display output rate
00232          int count;  // used to control display output rate
00233          int16_t tempCount;   // Stores the real internal chip temperature in degrees Celsius
00234          float temperature;
00235     private:
00236          I2C *i2c_; 
00237   };