IZU2020 / PQMPU9250

PLANET-Q MPU9250 Library

Dependents:   IZU2020_AVIONICS IZU2020_AVIONICS

PQMPU9250.h@7:da63be95c693, 2019-12-17 (annotated)

Committer:
tanahashi
Date:
Tue Dec 17 14:08:27 2019 +0000
Revision:
7:da63be95c693
Parent:
6:a7d11c40a920 
fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tanahashi 0:c5ccb9d0afba 1 #ifndef PQMPU9250_H
tanahashi 7:da63be95c693 2 #define MPU9250_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 7:da63be95c693 6 #define MPU9250_AK8963_ADDR 0b0001100<<1
tanahashi 7:da63be95c693 7 #define MPU9250_WIA 0x00
tanahashi 7:da63be95c693 8 #define MPU9250_ST1 0x02
tanahashi 7:da63be95c693 9 #define MPU9250_HXL 0x03
tanahashi 7:da63be95c693 10 #define MPU9250_CNTL1 0x0A
tanahashi 7:da63be95c693 11 #define MPU9250_GYRO_CONFIG 0x1B
tanahashi 7:da63be95c693 12 #define MPU9250_ACCEL_CONFIG 0x1C
tanahashi 7:da63be95c693 13 #define MPU9250_INT_PIN_CFG 0x37
tanahashi 7:da63be95c693 14 #define MPU9250_ACCEL_XOUT_H 0x3B
tanahashi 7:da63be95c693 15 #define MPU9250_GYRO_XOUT_H 0x43
tanahashi 7:da63be95c693 16 #define MPU9250_PWR_MGMT_1 0x6B
tanahashi 7:da63be95c693 17 #define MPU9250_WHO_AM_I 0x75
tanahashi 7:da63be95c693 18 #define MPU9250_ACCEL_LSB 0.0000610
tanahashi 7:da63be95c693 19 #define MPU9250_GYRO_LSB 0.00763
tanahashi 7:da63be95c693 20 #define MPU9250_MAG_LSB 0.150
tanahashi 0:c5ccb9d0afba 21
tanahashi 5:cf516bc2bdda 22 /**
tanahashi 3:9042b3662a14 23 * 9軸センサMPU9250のライブラリ
tanahashi 5:cf516bc2bdda 24 * @code
tanahashi 5:cf516bc2bdda 25 #include "mbed.h"
tanahashi 5:cf516bc2bdda 26 #include "PQMPU9250.h"
tanahashi 5:cf516bc2bdda 27
tanahashi 5:cf516bc2bdda 28 Serial pc(USBTX, USBRX, 115200);
tanahashi 5:cf516bc2bdda 29 I2C i2c(p9, p10);
tanahashi 5:cf516bc2bdda 30
tanahashi 7:da63be95c693 31 MPU9250 mpu(i2c, MPU9250::AD0_HIGH);
tanahashi 5:cf516bc2bdda 32
tanahashi 5:cf516bc2bdda 33 float accel_offset[] = {0, 0, 0};
tanahashi 5:cf516bc2bdda 34 float gyro_offset[] = {0, 0, 0};
tanahashi 5:cf516bc2bdda 35 float mag_offset[] = {0, 0, 0};
tanahashi 5:cf516bc2bdda 36 float accel[3];
tanahashi 5:cf516bc2bdda 37 float gyro[3];
tanahashi 5:cf516bc2bdda 38 float mag[3];
tanahashi 5:cf516bc2bdda 39
tanahashi 5:cf516bc2bdda 40 int main() {
tanahashi 5:cf516bc2bdda 41 mpu.begin();
tanahashi 5:cf516bc2bdda 42 mpu.set(_2G, _250DPS, _16B_8HZ);
tanahashi 5:cf516bc2bdda 43 mpu.offset(accel_offset, gyro_offset, mag_offset);
tanahashi 5:cf516bc2bdda 44 if(!mpu.test()){
tanahashi 5:cf516bc2bdda 45 pc.printf("[ FAIL ] MPU9250 cannot be reached.\r\n");
tanahashi 5:cf516bc2bdda 46 }
tanahashi 5:cf516bc2bdda 47 if(!mpu.test_AK8963()){
tanahashi 5:cf516bc2bdda 48 pc.printf("[ FAIL ] AK8963 cannot be reached.\r\n");
tanahashi 7:da63be95c693 49 }
tanahashi 5:cf516bc2bdda 50 while(1) {
tanahashi 5:cf516bc2bdda 51 mpu.read(accel, gyro, mag);
tanahashi 5:cf516bc2bdda 52 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 53 }
tanahashi 5:cf516bc2bdda 54 }
tanahashi 6:a7d11c40a920 55 * @endcode
tanahashi 3:9042b3662a14 56 */
tanahashi 0:c5ccb9d0afba 57 class MPU9250
tanahashi 0:c5ccb9d0afba 58 {
tanahashi 7:da63be95c693 59 public:
tanahashi 7:da63be95c693 60 typedef enum {
tanahashi 7:da63be95c693 61 AD0_HIGH = MPU9250_ADDR_HIGH,
tanahashi 7:da63be95c693 62 AD0_LOW = MPU9250_ADDR_LOW
tanahashi 7:da63be95c693 63 } AD0_t;
tanahashi 7:da63be95c693 64
tanahashi 7:da63be95c693 65 typedef enum {
tanahashi 7:da63be95c693 66 _2G = 0b00000000,
tanahashi 7:da63be95c693 67 _4G = 0b00001000,
tanahashi 7:da63be95c693 68 _8G = 0b00010000,
tanahashi 7:da63be95c693 69 _16G = 0b00011000
tanahashi 7:da63be95c693 70 } AccelConfig_t;
tanahashi 7:da63be95c693 71
tanahashi 7:da63be95c693 72 typedef enum {
tanahashi 7:da63be95c693 73 _250DPS = 0b00000000,
tanahashi 7:da63be95c693 74 _500DPS = 0b00001000,
tanahashi 7:da63be95c693 75 _1000DPS = 0b00010000,
tanahashi 7:da63be95c693 76 _2000DPS = 0b00011000
tanahashi 7:da63be95c693 77 } GyroConfig_t;
tanahashi 7:da63be95c693 78
tanahashi 7:da63be95c693 79 typedef enum {
tanahashi 7:da63be95c693 80 _16B_8HZ = 0b00010010,
tanahashi 7:da63be95c693 81 _16B_100HZ = 0b00010110,
tanahashi 7:da63be95c693 82 _14B_8HZ = 0b00000010,
tanahashi 7:da63be95c693 83 _14B_100HZ = 0b00000100
tanahashi 7:da63be95c693 84 } MagConfig_t;
tanahashi 7:da63be95c693 85
tanahashi 7:da63be95c693 86 private:
tanahashi 5:cf516bc2bdda 87 I2C *_i2c;
tanahashi 5:cf516bc2bdda 88 int _addr;
tanahashi 0:c5ccb9d0afba 89 char cmd[2];
tanahashi 0:c5ccb9d0afba 90 char buff[8];
tanahashi 0:c5ccb9d0afba 91 float accel_LSB;
tanahashi 0:c5ccb9d0afba 92 float gyro_LSB;
tanahashi 0:c5ccb9d0afba 93 float mag_LSB;
tanahashi 0:c5ccb9d0afba 94 float accel_offset[3];
tanahashi 0:c5ccb9d0afba 95 float gyro_offset[3];
tanahashi 0:c5ccb9d0afba 96 float mag_offset[3];
tanahashi 0:c5ccb9d0afba 97 public:
tanahashi 5:cf516bc2bdda 98
tanahashi 0:c5ccb9d0afba 99 /**
tanahashi 0:c5ccb9d0afba 100 * @param i2c I2Cのインスタンスへの参照
tanahashi 0:c5ccb9d0afba 101 * @param AD0 AD0ピンのH/Lレベル
tanahashi 0:c5ccb9d0afba 102 */
tanahashi 0:c5ccb9d0afba 103 MPU9250(I2C &i2c, AD0_t AD0);
tanahashi 7:da63be95c693 104
tanahashi 0:c5ccb9d0afba 105 /**
tanahashi 0:c5ccb9d0afba 106 * センサ動作開始
tanahashi 0:c5ccb9d0afba 107 */
tanahashi 0:c5ccb9d0afba 108 void begin();
tanahashi 7:da63be95c693 109
tanahashi 0:c5ccb9d0afba 110 /**
tanahashi 0:c5ccb9d0afba 111 * センサ通信テスト
tanahashi 5:cf516bc2bdda 112 * @retval true 通信成功
tanahashi 5:cf516bc2bdda 113 * @retval false 通信失敗
tanahashi 0:c5ccb9d0afba 114 */
tanahashi 0:c5ccb9d0afba 115 bool test();
tanahashi 7:da63be95c693 116
tanahashi 4:13d220528a23 117 /**
tanahashi 5:cf516bc2bdda 118 * 磁気センサAK8963通信テスト
tanahashi 5:cf516bc2bdda 119 * @retval true 通信成功
tanahashi 5:cf516bc2bdda 120 * @retval false 通信失敗
tanahashi 4:13d220528a23 121 */
tanahashi 0:c5ccb9d0afba 122 bool test_AK8963();
tanahashi 7:da63be95c693 123
tanahashi 0:c5ccb9d0afba 124 /**
tanahashi 0:c5ccb9d0afba 125 * センサ設定
tanahashi 0:c5ccb9d0afba 126 * @param accel_config 加速度の測定レンジ
tanahashi 5:cf516bc2bdda 127 * @param gyro_config 角速度の測定レンジ
tanahashi 5:cf516bc2bdda 128 * @param mag_config 磁気センサの分解能/データレート
tanahashi 0:c5ccb9d0afba 129 */
tanahashi 0:c5ccb9d0afba 130 void set(AccelConfig_t accel_config, GyroConfig_t gyro_config, MagConfig_t mag_config);
tanahashi 7:da63be95c693 131
tanahashi 0:c5ccb9d0afba 132 /**
tanahashi 0:c5ccb9d0afba 133 * 加速度センサ設定
tanahashi 0:c5ccb9d0afba 134 * @param accel_config 角速度センサの測定レンジ
tanahashi 0:c5ccb9d0afba 135 */
tanahashi 0:c5ccb9d0afba 136 void set_accel(AccelConfig_t accel_config);
tanahashi 7:da63be95c693 137
tanahashi 4:13d220528a23 138 /**
tanahashi 5:cf516bc2bdda 139 * 角速度センサ設定
tanahashi 5:cf516bc2bdda 140 * @param gyro_config 角速度の測定レンジ
tanahashi 4:13d220528a23 141 */
tanahashi 0:c5ccb9d0afba 142 void set_gyro(GyroConfig_t gyro_config);
tanahashi 7:da63be95c693 143
tanahashi 4:13d220528a23 144 /**
tanahashi 5:cf516bc2bdda 145 * 磁気センサ設定
tanahashi 5:cf516bc2bdda 146 * @param mag_config 磁気センサの分解能/データレート
tanahashi 4:13d220528a23 147 */
tanahashi 0:c5ccb9d0afba 148 void set_mag(MagConfig_t mag_config);
tanahashi 7:da63be95c693 149
tanahashi 4:13d220528a23 150 /**
tanahashi 5:cf516bc2bdda 151 * ゼロ点補正
tanahashi 5:cf516bc2bdda 152 * @param accel 加速度のオフセット配列
tanahashi 5:cf516bc2bdda 153 * @param gyro 角速度のオフセット配列
tanahashi 5:cf516bc2bdda 154 * @param mag 磁気のオフセット配列
tanahashi 4:13d220528a23 155 */
tanahashi 0:c5ccb9d0afba 156 void offset(float *accel, float *gyro, float *mag);
tanahashi 7:da63be95c693 157
tanahashi 4:13d220528a23 158 /**
tanahashi 5:cf516bc2bdda 159 * 加速度のゼロ点補正
tanahashi 5:cf516bc2bdda 160 * @param accel 加速度のオフセット配列
tanahashi 4:13d220528a23 161 */
tanahashi 0:c5ccb9d0afba 162 void offset_accel(float *accel);
tanahashi 7:da63be95c693 163
tanahashi 4:13d220528a23 164 /**
tanahashi 5:cf516bc2bdda 165 * 角速度のゼロ点補正
tanahashi 5:cf516bc2bdda 166 * @param gyro 角速度のオフセット配列
tanahashi 4:13d220528a23 167 */
tanahashi 0:c5ccb9d0afba 168 void offset_gyro(float *gyro);
tanahashi 7:da63be95c693 169
tanahashi 4:13d220528a23 170 /**
tanahashi 5:cf516bc2bdda 171 * 磁気のゼロ点補正
tanahashi 5:cf516bc2bdda 172 * @param mag 磁気のオフセット配列
tanahashi 7:da63be95c693 173 */
tanahashi 0:c5ccb9d0afba 174 void offset_mag(float *mag);
tanahashi 7:da63be95c693 175
tanahashi 4:13d220528a23 176 /**
tanahashi 5:cf516bc2bdda 177 * 測定値の読み取り
tanahashi 5:cf516bc2bdda 178 * @param accel 加速度を格納する配列
tanahashi 5:cf516bc2bdda 179 * @param gyro 角速度を格納する配列
tanahashi 5:cf516bc2bdda 180 * @param mag 磁気を格納する配列
tanahashi 4:13d220528a23 181 */
tanahashi 0:c5ccb9d0afba 182 void read(float *accel, float *gyro, float *mag);
tanahashi 7:da63be95c693 183
tanahashi 4:13d220528a23 184 /**
tanahashi 5:cf516bc2bdda 185 * 加速度測定値の読み取り
tanahashi 5:cf516bc2bdda 186 * @param accel 加速度を格納する配列
tanahashi 4:13d220528a23 187 */
tanahashi 0:c5ccb9d0afba 188 void read_accel(float *accel);
tanahashi 7:da63be95c693 189
tanahashi 4:13d220528a23 190 /**
tanahashi 5:cf516bc2bdda 191 * 角速度測定値の読み取り
tanahashi 5:cf516bc2bdda 192 * @param gyro 角速度を格納する配列
tanahashi 4:13d220528a23 193 */
tanahashi 0:c5ccb9d0afba 194 void read_gyro(float *gyro);
tanahashi 7:da63be95c693 195
tanahashi 4:13d220528a23 196 /**
tanahashi 5:cf516bc2bdda 197 * 磁気測定値の読み取り
tanahashi 5:cf516bc2bdda 198 * @param mag 磁気を格納する配列
tanahashi 4:13d220528a23 199 */
tanahashi 0:c5ccb9d0afba 200 void read_mag(float *mag);
tanahashi 0:c5ccb9d0afba 201 };
tanahashi 0:c5ccb9d0afba 202
tanahashi 0:c5ccb9d0afba 203 #endif