IZU2020 / PQMPU9250

PLANET-Q MPU9250 Library

Dependents:   IZU2020_AVIONICS IZU2020_AVIONICS

PQMPU9250.h@6:a7d11c40a920, 2019-11-24 (annotated)

Committer:
tanahashi
Date:
Sun Nov 24 06:08:54 2019 +0000
Revision:
6:a7d11c40a920
Parent:
5:cf516bc2bdda
Child:
7:da63be95c693
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tanahashi 0:c5ccb9d0afba 1 #ifndef PQMPU9250_H
tanahashi 0:c5ccb9d0afba 2 #define PQMPU9250_H
tanahashi 0:c5ccb9d0afba 3
tanahashi 0:c5ccb9d0afba 4 #define MPU9250_ADDR_HIGH 0b1101001<<1
tanahashi 0:c5ccb9d0afba 5 #define MPU9250_ADDR_LOW 0b1101000<<1
tanahashi 0:c5ccb9d0afba 6 #define AK8963_ADDR 0b0001100<<1
tanahashi 0:c5ccb9d0afba 7 #define WIA 0x00
tanahashi 0:c5ccb9d0afba 8 #define ST1 0x02
tanahashi 0:c5ccb9d0afba 9 #define HXL 0x03
tanahashi 0:c5ccb9d0afba 10 #define CNTL1 0x0A
tanahashi 0:c5ccb9d0afba 11 #define GYRO_CONFIG 0x1B
tanahashi 0:c5ccb9d0afba 12 #define ACCEL_CONFIG 0x1C
tanahashi 0:c5ccb9d0afba 13 #define INT_PIN_CFG 0x37
tanahashi 0:c5ccb9d0afba 14 #define ACCEL_XOUT_H 0x3B
tanahashi 0:c5ccb9d0afba 15 #define GYRO_XOUT_H 0x43
tanahashi 0:c5ccb9d0afba 16 #define PWR_MGMT_1 0x6B
tanahashi 0:c5ccb9d0afba 17 #define WHO_AM_I 0x75
tanahashi 0:c5ccb9d0afba 18 #define ACCEL_LSB 0.0000610
tanahashi 0:c5ccb9d0afba 19 #define GYRO_LSB 0.00763
tanahashi 0:c5ccb9d0afba 20 #define MAG_LSB 0.150
tanahashi 0:c5ccb9d0afba 21
tanahashi 0:c5ccb9d0afba 22 typedef enum {
tanahashi 0:c5ccb9d0afba 23 AD0_HIGH = MPU9250_ADDR_HIGH,
tanahashi 0:c5ccb9d0afba 24 AD0_LOW = MPU9250_ADDR_LOW
tanahashi 0:c5ccb9d0afba 25 } AD0_t;
tanahashi 0:c5ccb9d0afba 26
tanahashi 0:c5ccb9d0afba 27 typedef enum {
tanahashi 0:c5ccb9d0afba 28 _2G = 0b00000000,
tanahashi 0:c5ccb9d0afba 29 _4G = 0b00001000,
tanahashi 0:c5ccb9d0afba 30 _8G = 0b00010000,
tanahashi 0:c5ccb9d0afba 31 _16G = 0b00011000
tanahashi 0:c5ccb9d0afba 32 } AccelConfig_t;
tanahashi 0:c5ccb9d0afba 33
tanahashi 0:c5ccb9d0afba 34 typedef enum {
tanahashi 0:c5ccb9d0afba 35 _250DPS = 0b00000000,
tanahashi 0:c5ccb9d0afba 36 _500DPS = 0b00001000,
tanahashi 0:c5ccb9d0afba 37 _1000DPS = 0b00010000,
tanahashi 0:c5ccb9d0afba 38 _2000DPS = 0b00011000
tanahashi 0:c5ccb9d0afba 39 } GyroConfig_t;
tanahashi 0:c5ccb9d0afba 40
tanahashi 0:c5ccb9d0afba 41 typedef enum {
tanahashi 0:c5ccb9d0afba 42 _16B_8HZ = 0b00010010,
tanahashi 0:c5ccb9d0afba 43 _16B_100HZ = 0b00010110,
tanahashi 0:c5ccb9d0afba 44 _14B_8HZ = 0b00000010,
tanahashi 0:c5ccb9d0afba 45 _14B_100HZ = 0b00000100
tanahashi 0:c5ccb9d0afba 46 } MagConfig_t;
tanahashi 0:c5ccb9d0afba 47
tanahashi 5:cf516bc2bdda 48 /**
tanahashi 3:9042b3662a14 49 * 9軸センサMPU9250のライブラリ
tanahashi 5:cf516bc2bdda 50 * @code
tanahashi 5:cf516bc2bdda 51 #include "mbed.h"
tanahashi 5:cf516bc2bdda 52 #include "PQMPU9250.h"
tanahashi 5:cf516bc2bdda 53
tanahashi 5:cf516bc2bdda 54 Serial pc(USBTX, USBRX, 115200);
tanahashi 5:cf516bc2bdda 55 I2C i2c(p9, p10);
tanahashi 5:cf516bc2bdda 56
tanahashi 5:cf516bc2bdda 57 MPU9250 mpu(i2c, AD0_HIGH);
tanahashi 5:cf516bc2bdda 58
tanahashi 5:cf516bc2bdda 59 float accel_offset[] = {0, 0, 0};
tanahashi 5:cf516bc2bdda 60 float gyro_offset[] = {0, 0, 0};
tanahashi 5:cf516bc2bdda 61 float mag_offset[] = {0, 0, 0};
tanahashi 5:cf516bc2bdda 62 float accel[3];
tanahashi 5:cf516bc2bdda 63 float gyro[3];
tanahashi 5:cf516bc2bdda 64 float mag[3];
tanahashi 5:cf516bc2bdda 65
tanahashi 5:cf516bc2bdda 66 int main() {
tanahashi 5:cf516bc2bdda 67 mpu.begin();
tanahashi 5:cf516bc2bdda 68 mpu.set(_2G, _250DPS, _16B_8HZ);
tanahashi 5:cf516bc2bdda 69 mpu.offset(accel_offset, gyro_offset, mag_offset);
tanahashi 5:cf516bc2bdda 70 if(!mpu.test()){
tanahashi 5:cf516bc2bdda 71 pc.printf("[ FAIL ] MPU9250 cannot be reached.\r\n");
tanahashi 5:cf516bc2bdda 72 return 0;
tanahashi 5:cf516bc2bdda 73 }
tanahashi 5:cf516bc2bdda 74 if(!mpu.test_AK8963()){
tanahashi 5:cf516bc2bdda 75 pc.printf("[ FAIL ] AK8963 cannot be reached.\r\n");
tanahashi 5:cf516bc2bdda 76 return 0;
tanahashi 5:cf516bc2bdda 77 }
tanahashi 5:cf516bc2bdda 78 while(1) {
tanahashi 5:cf516bc2bdda 79 mpu.read(accel, gyro, mag);
tanahashi 5:cf516bc2bdda 80 pc.printf("%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\r\n", accel[0], accel[1], accel[2], gyro[0], gyro[1], gyro[2], mag[0], mag[1], mag[2]);
tanahashi 5:cf516bc2bdda 81 }
tanahashi 5:cf516bc2bdda 82 }
tanahashi 6:a7d11c40a920 83 * @endcode
tanahashi 3:9042b3662a14 84 */
tanahashi 0:c5ccb9d0afba 85 class MPU9250
tanahashi 0:c5ccb9d0afba 86 {
tanahashi 0:c5ccb9d0afba 87 private:
tanahashi 5:cf516bc2bdda 88 I2C *_i2c;
tanahashi 5:cf516bc2bdda 89 int _addr;
tanahashi 0:c5ccb9d0afba 90 char cmd[2];
tanahashi 0:c5ccb9d0afba 91 char buff[8];
tanahashi 0:c5ccb9d0afba 92 float accel_LSB;
tanahashi 0:c5ccb9d0afba 93 float gyro_LSB;
tanahashi 0:c5ccb9d0afba 94 float mag_LSB;
tanahashi 0:c5ccb9d0afba 95 float accel_offset[3];
tanahashi 0:c5ccb9d0afba 96 float gyro_offset[3];
tanahashi 0:c5ccb9d0afba 97 float mag_offset[3];
tanahashi 0:c5ccb9d0afba 98 public:
tanahashi 5:cf516bc2bdda 99
tanahashi 0:c5ccb9d0afba 100 /**
tanahashi 0:c5ccb9d0afba 101 * @param i2c I2Cのインスタンスへの参照
tanahashi 0:c5ccb9d0afba 102 * @param AD0 AD0ピンのH/Lレベル
tanahashi 0:c5ccb9d0afba 103 */
tanahashi 0:c5ccb9d0afba 104 MPU9250(I2C &i2c, AD0_t AD0);
tanahashi 0:c5ccb9d0afba 105
tanahashi 0:c5ccb9d0afba 106 /**
tanahashi 0:c5ccb9d0afba 107 * センサ動作開始
tanahashi 0:c5ccb9d0afba 108 */
tanahashi 0:c5ccb9d0afba 109 void begin();
tanahashi 0:c5ccb9d0afba 110
tanahashi 0:c5ccb9d0afba 111 /**
tanahashi 0:c5ccb9d0afba 112 * センサ通信テスト
tanahashi 5:cf516bc2bdda 113 * @retval true 通信成功
tanahashi 5:cf516bc2bdda 114 * @retval false 通信失敗
tanahashi 0:c5ccb9d0afba 115 */
tanahashi 0:c5ccb9d0afba 116 bool test();
tanahashi 0:c5ccb9d0afba 117
tanahashi 4:13d220528a23 118 /**
tanahashi 5:cf516bc2bdda 119 * 磁気センサAK8963通信テスト
tanahashi 5:cf516bc2bdda 120 * @retval true 通信成功
tanahashi 5:cf516bc2bdda 121 * @retval false 通信失敗
tanahashi 4:13d220528a23 122 */
tanahashi 0:c5ccb9d0afba 123 bool test_AK8963();
tanahashi 0:c5ccb9d0afba 124
tanahashi 0:c5ccb9d0afba 125 /**
tanahashi 0:c5ccb9d0afba 126 * センサ設定
tanahashi 0:c5ccb9d0afba 127 * @param accel_config 加速度の測定レンジ
tanahashi 5:cf516bc2bdda 128 * @param gyro_config 角速度の測定レンジ
tanahashi 5:cf516bc2bdda 129 * @param mag_config 磁気センサの分解能/データレート
tanahashi 0:c5ccb9d0afba 130 */
tanahashi 0:c5ccb9d0afba 131 void set(AccelConfig_t accel_config, GyroConfig_t gyro_config, MagConfig_t mag_config);
tanahashi 0:c5ccb9d0afba 132
tanahashi 0:c5ccb9d0afba 133 /**
tanahashi 0:c5ccb9d0afba 134 * 加速度センサ設定
tanahashi 0:c5ccb9d0afba 135 * @param accel_config 角速度センサの測定レンジ
tanahashi 0:c5ccb9d0afba 136 */
tanahashi 0:c5ccb9d0afba 137 void set_accel(AccelConfig_t accel_config);
tanahashi 4:13d220528a23 138
tanahashi 4:13d220528a23 139 /**
tanahashi 5:cf516bc2bdda 140 * 角速度センサ設定
tanahashi 5:cf516bc2bdda 141 * @param gyro_config 角速度の測定レンジ
tanahashi 4:13d220528a23 142 */
tanahashi 0:c5ccb9d0afba 143 void set_gyro(GyroConfig_t gyro_config);
tanahashi 4:13d220528a23 144
tanahashi 4:13d220528a23 145 /**
tanahashi 5:cf516bc2bdda 146 * 磁気センサ設定
tanahashi 5:cf516bc2bdda 147 * @param mag_config 磁気センサの分解能/データレート
tanahashi 4:13d220528a23 148 */
tanahashi 0:c5ccb9d0afba 149 void set_mag(MagConfig_t mag_config);
tanahashi 4:13d220528a23 150
tanahashi 4:13d220528a23 151 /**
tanahashi 5:cf516bc2bdda 152 * ゼロ点補正
tanahashi 5:cf516bc2bdda 153 * @param accel 加速度のオフセット配列
tanahashi 5:cf516bc2bdda 154 * @param gyro 角速度のオフセット配列
tanahashi 5:cf516bc2bdda 155 * @param mag 磁気のオフセット配列
tanahashi 4:13d220528a23 156 */
tanahashi 0:c5ccb9d0afba 157 void offset(float *accel, float *gyro, float *mag);
tanahashi 4:13d220528a23 158
tanahashi 4:13d220528a23 159 /**
tanahashi 5:cf516bc2bdda 160 * 加速度のゼロ点補正
tanahashi 5:cf516bc2bdda 161 * @param accel 加速度のオフセット配列
tanahashi 4:13d220528a23 162 */
tanahashi 0:c5ccb9d0afba 163 void offset_accel(float *accel);
tanahashi 4:13d220528a23 164
tanahashi 4:13d220528a23 165 /**
tanahashi 5:cf516bc2bdda 166 * 角速度のゼロ点補正
tanahashi 5:cf516bc2bdda 167 * @param gyro 角速度のオフセット配列
tanahashi 4:13d220528a23 168 */
tanahashi 0:c5ccb9d0afba 169 void offset_gyro(float *gyro);
tanahashi 4:13d220528a23 170
tanahashi 4:13d220528a23 171 /**
tanahashi 5:cf516bc2bdda 172 * 磁気のゼロ点補正
tanahashi 5:cf516bc2bdda 173 * @param mag 磁気のオフセット配列
tanahashi 4:13d220528a23 174 */
tanahashi 0:c5ccb9d0afba 175 void offset_mag(float *mag);
tanahashi 4:13d220528a23 176
tanahashi 4:13d220528a23 177 /**
tanahashi 5:cf516bc2bdda 178 * 測定値の読み取り
tanahashi 5:cf516bc2bdda 179 * @param accel 加速度を格納する配列
tanahashi 5:cf516bc2bdda 180 * @param gyro 角速度を格納する配列
tanahashi 5:cf516bc2bdda 181 * @param mag 磁気を格納する配列
tanahashi 4:13d220528a23 182 */
tanahashi 0:c5ccb9d0afba 183 void read(float *accel, float *gyro, float *mag);
tanahashi 4:13d220528a23 184
tanahashi 4:13d220528a23 185 /**
tanahashi 5:cf516bc2bdda 186 * 加速度測定値の読み取り
tanahashi 5:cf516bc2bdda 187 * @param accel 加速度を格納する配列
tanahashi 4:13d220528a23 188 */
tanahashi 0:c5ccb9d0afba 189 void read_accel(float *accel);
tanahashi 4:13d220528a23 190
tanahashi 4:13d220528a23 191 /**
tanahashi 5:cf516bc2bdda 192 * 角速度測定値の読み取り
tanahashi 5:cf516bc2bdda 193 * @param gyro 角速度を格納する配列
tanahashi 4:13d220528a23 194 */
tanahashi 0:c5ccb9d0afba 195 void read_gyro(float *gyro);
tanahashi 4:13d220528a23 196
tanahashi 4:13d220528a23 197 /**
tanahashi 5:cf516bc2bdda 198 * 磁気測定値の読み取り
tanahashi 5:cf516bc2bdda 199 * @param mag 磁気を格納する配列
tanahashi 4:13d220528a23 200 */
tanahashi 0:c5ccb9d0afba 201 void read_mag(float *mag);
tanahashi 0:c5ccb9d0afba 202 };
tanahashi 0:c5ccb9d0afba 203
tanahashi 0:c5ccb9d0afba 204 #endif