File content as of revision 14:cb369746225d:

#ifndef MBED_MPU9250_SENSOR_H
#define MBED_MPU9250_SENSOR_H
 
#include "mbed.h"

#include "BaseSensor.h"

// mpu9250 registers
#define MPU9250_SELF_TEST_X_GYRO 0x00
#define MPU9250_SELF_TEST_Y_GYRO 0x01
#define MPU9250_SELF_TEST_Z_GYRO 0x02

#define MPU9250_SELF_TEST_X_ACCEL 0x0D
#define MPU9250_SELF_TEST_Y_ACCEL 0x0E
#define MPU9250_SELF_TEST_Z_ACCEL 0x0F


#define MPU9250_XG_OFFSET_H 0x13
#define MPU9250_XG_OFFSET_L 0x14
#define MPU9250_YG_OFFSET_H 0x15
#define MPU9250_YG_OFFSET_L 0x16
#define MPU9250_ZG_OFFSET_H 0x17
#define MPU9250_ZG_OFFSET_L 0x18
#define MPU9250_SMPLRT_DIV 0x19
#define MPU9250_CONFIG 0x1A
#define MPU9250_GYRO_CONFIG 0x1B
#define MPU9250_ACCEL_CONFIG 0x1C
#define MPU9250_ACCEL_CONFIG_2      0x1D
#define MPU9250_LP_ACCEL_ODR        0x1E
#define MPU9250_MOT_THR             0x1F
#define MPU9250_FIFO_EN             0x23
#define MPU9250_I2C_MST_CTRL        0x24
#define MPU9250_I2C_SLV0_ADDR       0x25
#define MPU9250_I2C_SLV0_REG        0x26
#define MPU9250_I2C_SLV0_CTRL       0x27
#define MPU9250_I2C_SLV1_ADDR       0x28
#define MPU9250_I2C_SLV1_REG        0x29
#define MPU9250_I2C_SLV1_CTRL       0x2A
#define MPU9250_I2C_SLV2_ADDR       0x2B
#define MPU9250_I2C_SLV2_REG        0x2C
#define MPU9250_I2C_SLV2_CTRL       0x2D
#define MPU9250_I2C_SLV3_ADDR       0x2E
#define MPU9250_I2C_SLV3_REG        0x2F
#define MPU9250_I2C_SLV3_CTRL       0x30
#define MPU9250_I2C_SLV4_ADDR       0x31
#define MPU9250_I2C_SLV4_REG        0x32
#define MPU9250_I2C_SLV4_DO         0x33
#define MPU9250_I2C_SLV4_CTRL       0x34
#define MPU9250_I2C_SLV4_DI         0x35
#define MPU9250_I2C_MST_STATUS      0x36
#define MPU9250_INT_PIN_CFG 0x37
#define MPU9250_INT_ENABLE 0x38
#define MPU9250_ACCEL_XOUT_H 0x3B
#define MPU9250_ACCEL_XOUT_L 0x3C
#define MPU9250_ACCEL_YOUT_H 0x3D
#define MPU9250_ACCEL_YOUT_L 0x3E
#define MPU9250_ACCEL_ZOUT_H 0x3F
#define MPU9250_ACCEL_ZOUT_L 0x40
#define MPU9250_TEMP_OUT_H 0x41
#define MPU9250_TEMP_OUT_L 0x42
#define MPU9250_GYRO_XOUT_H 0x43
#define MPU9250_GYRO_XOUT_L 0x44
#define MPU9250_GYRO_YOUT_H 0x45
#define MPU9250_GYRO_YOUT_L 0x46
#define MPU9250_GYRO_ZOUT_H 0x47
#define MPU9250_GYRO_ZOUT_L 0x48
#define MPU9250_EXT_SENS_DATA_00    0x49
#define MPU9250_EXT_SENS_DATA_01    0x4A
#define MPU9250_EXT_SENS_DATA_02    0x4B
#define MPU9250_EXT_SENS_DATA_03    0x4C
#define MPU9250_EXT_SENS_DATA_04    0x4D
#define MPU9250_EXT_SENS_DATA_05    0x4E
#define MPU9250_EXT_SENS_DATA_06    0x4F
#define MPU9250_EXT_SENS_DATA_07    0x50
#define MPU9250_EXT_SENS_DATA_08    0x51
#define MPU9250_EXT_SENS_DATA_09    0x52
#define MPU9250_EXT_SENS_DATA_10    0x53
#define MPU9250_EXT_SENS_DATA_11    0x54
#define MPU9250_EXT_SENS_DATA_12    0x55
#define MPU9250_EXT_SENS_DATA_13    0x56
#define MPU9250_EXT_SENS_DATA_14    0x57
#define MPU9250_EXT_SENS_DATA_15    0x58
#define MPU9250_EXT_SENS_DATA_16    0x59
#define MPU9250_EXT_SENS_DATA_17    0x5A
#define MPU9250_EXT_SENS_DATA_18    0x5B
#define MPU9250_EXT_SENS_DATA_19    0x5C
#define MPU9250_EXT_SENS_DATA_20    0x5D
#define MPU9250_EXT_SENS_DATA_21    0x5E
#define MPU9250_EXT_SENS_DATA_22    0x5F
#define MPU9250_EXT_SENS_DATA_23    0x60
#define MPU9250_I2C_SLV0_DO         0x63
#define MPU9250_I2C_SLV1_DO         0x64
#define MPU9250_I2C_SLV2_DO         0x65
#define MPU9250_I2C_SLV3_DO         0x66
#define MPU9250_I2C_MST_DELAY_CTRL  0x67
#define MPU9250_SIGNAL_PATH_RESET   0x68
#define MPU9250_MOT_DETECT_CTRL     0x69
#define MPU9250_USER_CTRL 0x6A
#define MPU9250_PWR_MGMT_1 0x6B
#define MPU9250_PWR_MGMT_2 0x6C
#define MPU9250_BANK_SEL 0x6D
#define MPU9250_MEM_START_ADDR 0x6E
#define MPU9250_MEM_R_W 0x6F
#define MPU9250_DMP_CFG_1 0x70
#define MPU9250_DMP_CFG_2 0x71
#define MPU9250_FIFO_COUNTH 0x72
#define MPU9250_FIFO_COUNTL 0x73
#define MPU9250_FIFO_R_W 0x74
#define MPU9250_WHOAMI 0x75
#define MPU9250_XA_OFFSET_H         0x77
#define MPU9250_XA_OFFSET_L         0x78
#define MPU9250_YA_OFFSET_H         0x7A
#define MPU9250_YA_OFFSET_L         0x7B
#define MPU9250_ZA_OFFSET_H         0x7D
#define MPU9250_ZA_OFFSET_L         0x7E
/* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */
#define AK8963_I2C_ADDR             0x0c//0x18
#define AK8963_Device_ID            0x48
 
// Read-only Reg
#define AK8963_WIA                  0x00
#define AK8963_INFO                 0x01
#define AK8963_ST1                  0x02
#define AK8963_HXL                  0x03
#define AK8963_HXH                  0x04
#define AK8963_HYL                  0x05
#define AK8963_HYH                  0x06
#define AK8963_HZL                  0x07
#define AK8963_HZH                  0x08
#define AK8963_ST2                  0x09
// Write/Read Reg
#define AK8963_CNTL                 0x0A
#define AK8963_RSV                  0x0B
#define AK8963_ASTC                 0x0C
#define AK8963_TS1                  0x0D
#define AK8963_TS2                  0x0E
#define AK8963_I2CDIS               0x0F
// Read-only Reg ( ROM )
#define AK8963_ASAX                 0x10
#define AK8963_ASAY                 0x11
#define AK8963_ASAZ                 0x12

#define MPU9250_READ_FLAG 0x80

#define MPU9250_AFS_2G 0
#define MPU9250_AFS_4G 1
#define MPU9250_AFS_8G 2
#define MPU9250_AFS_16G 3
 
#define MPU9250_GFS_250DPS 0
#define MPU9250_GFS_500DPS 1
#define MPU9250_GFS_1000DPS 2
#define MPU9250_GFS_2000DPS 3


#define MPU9250_AFS_2G_MULTIPLIER 2.0/32768.0
#define MPU9250_AFS_4G_MULTIPLIER 4.0/32768.0
#define MPU9250_AFS_8G_MULTIPLIER 8.0/32768.0
#define MPU9250_AFS_16G_MULTIPLIER 16.0/32768.0
 

#define MPU9250_GFS_250DPS_MULTIPLIER 250.0/32768.0
#define MPU9250_GFS_500DPS_MULTIPLIER 500.0/32768.0
#define MPU9250_GFS_1000DPS_MULTIPLIER 1000.0/32768.0
#define MPU9250_GFS_2000DPS_MULTIPLIER 2000.0/32768.0


/* ---- Sensitivity --------------------------------------------------------- */
 
#define MPU9250A_2g       ((float)0.000061035156f) // 0.000061035156 g/LSB
#define MPU9250A_4g       ((float)0.000122070312f) // 0.000122070312 g/LSB
#define MPU9250A_8g       ((float)0.000244140625f) // 0.000244140625 g/LSB
#define MPU9250A_16g      ((float)0.000488281250f) // 0.000488281250 g/LSB
 
#define MPU9250G_250dps   ((float)0.007633587786f) // 0.007633587786 dps/LSB
#define MPU9250G_500dps   ((float)0.015267175572f) // 0.015267175572 dps/LSB
#define MPU9250G_1000dps  ((float)0.030487804878f) // 0.030487804878 dps/LSB
#define MPU9250G_2000dps  ((float)0.060975609756f) // 0.060975609756 dps/LSB
 
#define MPU9250M_4800uT   ((float)0.15f)            // 0.15 uT/LSB
 
#define MPU9250T_85degC   ((float)0.002995177763f) // 0.002995177763 degC/LSB

 
class MPU9250Sensor : public BaseSensor {
public:
    //SPI at 1MHz
    MPU9250Sensor(SPI&,DigitalOut&, void (*debug_)(const char* format, ...)=0);
    //get sensor details from actual implementation
    virtual char* getSimpleName();
    virtual void getSensorDetails(sensor_t*);
    //verify basic integrity of underlining hardware
    virtual uint32_t verifyIntegrity(uint32_t*);
private:  
    SPI& spi; 
    DigitalOut& cs;
    
    float magnetometerCalibration[3];
    void initMagnetometr();
    uint32_t selfTest(uint32_t* errorResult);
    uint32_t gyroscopeSelfTest(uint32_t* errorResult);
    uint32_t accelerometerSelfTest(uint32_t* errorResult);
    uint32_t magnetometerSelfTest(uint32_t* errorResult);
    void readGyroOffset(uint8_t reg, float* data);
    void averageData(uint8_t reg,int16_t* data);
    uint8_t readRegister( uint8_t reg);
    uint8_t readRegisterI2C( uint8_t reg);
    void readRegisters(uint8_t reg, uint8_t count, uint8_t * dest);
    void readRegistersI2C(uint8_t reg, uint8_t count, uint8_t * dest);
    void writeRegister( uint8_t reg,  uint8_t data, uint8_t mask = 0xff,uint8_t pos = 0);
    void writeRegisterI2C( uint8_t reg,  uint8_t data, uint8_t mask = 0xff,uint8_t pos = 0);
};
 
#endif