Diff: mpu9250_i2c.cpp

Revision:

0:d36bfb8300a2

Child:

1:6a4c2f84180b

diff -r 000000000000 -r d36bfb8300a2 mpu9250_i2c.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mpu9250_i2c.cpp	Mon Jan 09 06:28:04 2017 +0000
@@ -0,0 +1,185 @@
+#include "mbed.h"
+#include "mpu9250_i2c.h"
+
+char mpu9250::_addr = SLAVE_ADDR_HIGH;
+double mpu9250::acc_coef = ACC_LSB;
+double mpu9250::gyro_coef = GYRO_LSB;
+double mpu9250::mag_coef = MAG_LSB;
+double mpu9250::acc_offset[3] = {0,0,0};
+double mpu9250::gyro_offset[3] = {0,0,0};
+double mpu9250::mag_offset[3] = {0,0,0};
+
+mpu9250::mpu9250(I2C &_i2c, AD0 celect){
+    
+    _nine = &_i2c;
+    if(celect == AD0_HIGH) _addr = SLAVE_ADDR_HIGH;   
+    else _addr = SLAVE_ADDR_LOW;   
+    
+    _nine->frequency(400000);//400kHz
+    init();
+}
+void mpu9250::frequency(int Hz){
+    _nine->frequency(Hz);   
+}
+bool mpu9250::senserTest(){
+    if(readReg(_addr, WHO_AM_I) == 0x71){
+        return true;   
+    }   
+    else return false;
+}
+
+bool mpu9250::mag_senserTest(){
+     if(readReg(MAG_ADDR, WIA) == 0x48){
+        return true;   
+    }   
+    else return false;
+}
+
+void mpu9250::setOffset(double gx, double gy, double gz, double ax, double ay, double az, double mx, double my, double mz){
+    gyro_offset[0] = gx;
+    gyro_offset[1] = gy;
+    gyro_offset[2] = gz;
+    acc_offset[0] = ax;
+    acc_offset[1] = ay;
+    acc_offset[2] = az;
+    mag_offset[0] = mx;
+    mag_offset[1] = my;
+    mag_offset[2] = mz;
+}
+
+void mpu9250::setGyro(GYRO_RANGE g_range){
+    char fchoice = readReg(_addr, GYRO_CONFIG) & 0x03;
+    char send;
+    if(g_range == _250DPS){
+        send = 0x00 | fchoice;
+        gyro_coef = GYRO_LSB;
+    } 
+    else if(g_range == _500DPS){
+        send = 0x08 | fchoice;
+        gyro_coef = GYRO_LSB * 2.0; 
+    }
+    else if(g_range == _1000DPS){
+        send = 0x10 | fchoice;   
+        gyro_coef = GYRO_LSB * 4.0;
+    }
+    else if(g_range == _2000DPS){
+        send = 0x18 | fchoice;
+        gyro_coef = GYRO_LSB * 8.0;   
+    }
+    writeReg(_addr, GYRO_CONFIG, send);
+}
+void mpu9250::setAcc(ACC_RANGE a_range){
+    char send;
+    if(a_range == _2G){
+        send = 0x00;
+        acc_coef = ACC_LSB;
+    }
+    else if(a_range == _4G){
+        send = 0x08;
+        acc_coef = ACC_LSB * 2.0;   
+    }
+    else if(a_range == _8G){
+        send = 0x10;
+        acc_coef = ACC_LSB * 4.0;   
+    }
+    else if(a_range == _16G){
+        send = 0x18;
+        acc_coef = ACC_LSB * 8.0;   
+    }
+    writeReg(_addr, ACCEL_CONFIG, send);
+}
+
+void mpu9250::init(){
+    
+    acc_coef = ACC_LSB;
+    gyro_coef = GYRO_LSB;
+    mag_coef = MAG_LSB;
+    
+    writeReg(MAG_ADDR, 0x6B, 0x00);
+    wait_us(70);
+    writeReg(_addr, 0x37, 0x02);
+    wait_us(70);
+    writeReg(MAG_ADDR, CNTL1, 0x16); 
+    wait_us(70);
+    setAcc(_4G);
+    wait_us(70);
+    setGyro(_500DPS);      
+}
+
+void mpu9250::getAcc(double *acc){
+    char data[6];  
+    short sign;
+    readReg(_addr, ACCEL_XOUT_H, data, 6);
+    sign = ((short)data[0] << 8) | (short)data[1];
+    acc[0] = (double)sign * acc_coef - acc_offset[0];
+    sign = ((short)data[2] << 8) | (short)data[3];
+    acc[1] = (double)sign * acc_coef - acc_offset[1];
+    sign = ((short)data[4] << 8) | (short)data[5];
+    acc[2] = (double)sign * acc_coef - acc_offset[2];
+}
+void mpu9250::getAcc(double *ax, double *ay, double *az){
+    double acc[3];
+    getAcc(acc);
+    *ax = acc[0];
+    *ay = acc[1];
+    *az = acc[2];   
+}
+void mpu9250::getGyro(double *gyro){
+    char data[6];  
+    short sign;
+    readReg(_addr, GYRO_XOUT_H, data, 6);
+    sign = ((short)data[0] << 8) | (short)data[1];
+    gyro[0] = (double)sign * gyro_coef - gyro_offset[0];
+    sign = ((short)data[2] << 8) | (short)data[3];
+    gyro[1] = (double)sign * gyro_coef - gyro_offset[1];
+    sign = ((short)data[4] << 8) | (short)data[5];
+    gyro[2] = (double)sign * gyro_coef - gyro_offset[2];
+}
+void mpu9250::getGyro(double *gx, double *gy, double *gz){
+    double gyro[3];
+    getGyro(gyro);
+    *gx = gyro[0];
+    *gy = gyro[1];
+    *gz = gyro[2];   
+}
+void mpu9250::getMag(double *mag){
+    char data[8];   
+    short sign;
+    readReg(MAG_ADDR, ST1, data, 8);
+    sign = ((short)data[2] << 8) | (short)data[1];
+    mag[1] = (double)sign * mag_coef - mag_offset[1];
+    sign = ((short)data[4] << 8) | (short)data[3];
+    mag[0] = (double)sign * mag_coef - mag_offset[0];
+    sign = ((short)data[6] << 8) | (short)data[5];
+    mag[2] = (double)sign * -mag_coef - mag_offset[2];
+}
+void mpu9250::getMag(double *mx, double *my, double *mz){
+    double mag[3];
+    getMag(mag);
+    *mx = mag[0];
+    *my = mag[1];
+    *mz = mag[2];   
+}
+void mpu9250::getGyroAcc(double *imu){
+    char data[14];  
+    short sign;
+    readReg(_addr, ACCEL_XOUT_H, data, 14);
+    sign = ((short)data[0] << 8) | (short)data[1];
+    imu[3] = (double)sign * acc_coef - acc_offset[0];
+    sign = ((short)data[2] << 8) | (short)data[3];
+    imu[4] = (double)sign * acc_coef - acc_offset[1];
+    sign = ((short)data[4] << 8) | (short)data[5];
+    imu[5] = (double)sign * acc_coef - acc_offset[2]; 
+    
+    sign = ((short)data[8] << 8) | (short)data[9];
+    imu[0] = (double)sign * gyro_coef - gyro_offset[0];
+    sign = ((short)data[10] << 8) | (short)data[11];
+    imu[1] = (double)sign * gyro_coef - gyro_offset[1];
+    sign = ((short)data[12] << 8) | (short)data[13];
+    imu[2] = (double)sign * gyro_coef - gyro_offset[2];   
+}
+
+void mpu9250::setAccLPF(A_BAND_WIDTH band){
+    writeReg(_addr, ACCEL_CONFIG2, band);
+    wait_us(70);  
+}
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