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MPU9250.h
00001 /*CODED by Qiyong Mu on 21/06/2014 00002 kylongmu@msn.com 00003 */ 00004 00005 00006 #ifndef mpu9250_h 00007 #define mpu9250_h 00008 #include "mbed.h" 00009 00010 00011 class mpu9250_spi 00012 { 00013 SPI& spi; 00014 DigitalOut cs; 00015 00016 public: 00017 mpu9250_spi(SPI& _spi, PinName _cs); 00018 unsigned int WriteReg( uint8_t WriteAddr, uint8_t WriteData ); 00019 unsigned int ReadReg( uint8_t WriteAddr, uint8_t WriteData ); 00020 void ReadRegs( uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes ); 00021 00022 bool init(int sample_rate_div,int low_pass_filter); 00023 void read_temp(); 00024 void read_acc(); 00025 void read_rot(); 00026 unsigned int set_gyro_scale(int scale); 00027 unsigned int set_acc_scale(int scale); 00028 void calib_acc(); 00029 void AK8963_calib_Magnetometer(); 00030 void select(); 00031 void deselect(); 00032 unsigned int whoami(); 00033 uint8_t AK8963_whoami(); 00034 void AK8963_read_Magnetometer(); 00035 void read_all(); 00036 00037 00038 00039 float acc_divider; 00040 float gyro_divider; 00041 00042 int calib_data[3]; 00043 float Magnetometer_ASA[3]; 00044 00045 float accelerometer_data[3]; 00046 float Temperature; 00047 float gyroscope_data[3]; 00048 float Magnetometer[3]; 00049 00050 private: 00051 PinName _CS_pin; 00052 PinName _SO_pin; 00053 PinName _SCK_pin; 00054 float _error; 00055 }; 00056 00057 #endif 00058 00059 00060 00061 // mpu9250 registers 00062 #define MPUREG_XG_OFFS_TC 0x00 00063 #define MPUREG_YG_OFFS_TC 0x01 00064 #define MPUREG_ZG_OFFS_TC 0x02 00065 #define MPUREG_X_FINE_GAIN 0x03 00066 #define MPUREG_Y_FINE_GAIN 0x04 00067 #define MPUREG_Z_FINE_GAIN 0x05 00068 #define MPUREG_XA_OFFS_H 0x06 00069 #define MPUREG_XA_OFFS_L 0x07 00070 #define MPUREG_YA_OFFS_H 0x08 00071 #define MPUREG_YA_OFFS_L 0x09 00072 #define MPUREG_ZA_OFFS_H 0x0A 00073 #define MPUREG_ZA_OFFS_L 0x0B 00074 #define MPUREG_PRODUCT_ID 0x0C 00075 #define MPUREG_SELF_TEST_X 0x0D 00076 #define MPUREG_SELF_TEST_Y 0x0E 00077 #define MPUREG_SELF_TEST_Z 0x0F 00078 #define MPUREG_SELF_TEST_A 0x10 00079 #define MPUREG_XG_OFFS_USRH 0x13 00080 #define MPUREG_XG_OFFS_USRL 0x14 00081 #define MPUREG_YG_OFFS_USRH 0x15 00082 #define MPUREG_YG_OFFS_USRL 0x16 00083 #define MPUREG_ZG_OFFS_USRH 0x17 00084 #define MPUREG_ZG_OFFS_USRL 0x18 00085 #define MPUREG_SMPLRT_DIV 0x19 00086 #define MPUREG_CONFIG 0x1A 00087 #define MPUREG_GYRO_CONFIG 0x1B 00088 #define MPUREG_ACCEL_CONFIG 0x1C 00089 #define MPUREG_ACCEL_CONFIG_2 0x1D 00090 #define MPUREG_LP_ACCEL_ODR 0x1E 00091 #define MPUREG_MOT_THR 0x1F 00092 #define MPUREG_FIFO_EN 0x23 00093 #define MPUREG_I2C_MST_CTRL 0x24 00094 #define MPUREG_I2C_SLV0_ADDR 0x25 00095 #define MPUREG_I2C_SLV0_REG 0x26 00096 #define MPUREG_I2C_SLV0_CTRL 0x27 00097 #define MPUREG_I2C_SLV1_ADDR 0x28 00098 #define MPUREG_I2C_SLV1_REG 0x29 00099 #define MPUREG_I2C_SLV1_CTRL 0x2A 00100 #define MPUREG_I2C_SLV2_ADDR 0x2B 00101 #define MPUREG_I2C_SLV2_REG 0x2C 00102 #define MPUREG_I2C_SLV2_CTRL 0x2D 00103 #define MPUREG_I2C_SLV3_ADDR 0x2E 00104 #define MPUREG_I2C_SLV3_REG 0x2F 00105 #define MPUREG_I2C_SLV3_CTRL 0x30 00106 #define MPUREG_I2C_SLV4_ADDR 0x31 00107 #define MPUREG_I2C_SLV4_REG 0x32 00108 #define MPUREG_I2C_SLV4_DO 0x33 00109 #define MPUREG_I2C_SLV4_CTRL 0x34 00110 #define MPUREG_I2C_SLV4_DI 0x35 00111 #define MPUREG_I2C_MST_STATUS 0x36 00112 #define MPUREG_INT_PIN_CFG 0x37 00113 #define MPUREG_INT_ENABLE 0x38 00114 #define MPUREG_ACCEL_XOUT_H 0x3B 00115 #define MPUREG_ACCEL_XOUT_L 0x3C 00116 #define MPUREG_ACCEL_YOUT_H 0x3D 00117 #define MPUREG_ACCEL_YOUT_L 0x3E 00118 #define MPUREG_ACCEL_ZOUT_H 0x3F 00119 #define MPUREG_ACCEL_ZOUT_L 0x40 00120 #define MPUREG_TEMP_OUT_H 0x41 00121 #define MPUREG_TEMP_OUT_L 0x42 00122 #define MPUREG_GYRO_XOUT_H 0x43 00123 #define MPUREG_GYRO_XOUT_L 0x44 00124 #define MPUREG_GYRO_YOUT_H 0x45 00125 #define MPUREG_GYRO_YOUT_L 0x46 00126 #define MPUREG_GYRO_ZOUT_H 0x47 00127 #define MPUREG_GYRO_ZOUT_L 0x48 00128 #define MPUREG_EXT_SENS_DATA_00 0x49 00129 #define MPUREG_EXT_SENS_DATA_01 0x4A 00130 #define MPUREG_EXT_SENS_DATA_02 0x4B 00131 #define MPUREG_EXT_SENS_DATA_03 0x4C 00132 #define MPUREG_EXT_SENS_DATA_04 0x4D 00133 #define MPUREG_EXT_SENS_DATA_05 0x4E 00134 #define MPUREG_EXT_SENS_DATA_06 0x4F 00135 #define MPUREG_EXT_SENS_DATA_07 0x50 00136 #define MPUREG_EXT_SENS_DATA_08 0x51 00137 #define MPUREG_EXT_SENS_DATA_09 0x52 00138 #define MPUREG_EXT_SENS_DATA_10 0x53 00139 #define MPUREG_EXT_SENS_DATA_11 0x54 00140 #define MPUREG_EXT_SENS_DATA_12 0x55 00141 #define MPUREG_EXT_SENS_DATA_13 0x56 00142 #define MPUREG_EXT_SENS_DATA_14 0x57 00143 #define MPUREG_EXT_SENS_DATA_15 0x58 00144 #define MPUREG_EXT_SENS_DATA_16 0x59 00145 #define MPUREG_EXT_SENS_DATA_17 0x5A 00146 #define MPUREG_EXT_SENS_DATA_18 0x5B 00147 #define MPUREG_EXT_SENS_DATA_19 0x5C 00148 #define MPUREG_EXT_SENS_DATA_20 0x5D 00149 #define MPUREG_EXT_SENS_DATA_21 0x5E 00150 #define MPUREG_EXT_SENS_DATA_22 0x5F 00151 #define MPUREG_EXT_SENS_DATA_23 0x60 00152 #define MPUREG_I2C_SLV0_DO 0x63 00153 #define MPUREG_I2C_SLV1_DO 0x64 00154 #define MPUREG_I2C_SLV2_DO 0x65 00155 #define MPUREG_I2C_SLV3_DO 0x66 00156 #define MPUREG_I2C_MST_DELAY_CTRL 0x67 00157 #define MPUREG_SIGNAL_PATH_RESET 0x68 00158 #define MPUREG_MOT_DETECT_CTRL 0x69 00159 #define MPUREG_USER_CTRL 0x6A 00160 #define MPUREG_PWR_MGMT_1 0x6B 00161 #define MPUREG_PWR_MGMT_2 0x6C 00162 #define MPUREG_BANK_SEL 0x6D 00163 #define MPUREG_MEM_START_ADDR 0x6E 00164 #define MPUREG_MEM_R_W 0x6F 00165 #define MPUREG_DMP_CFG_1 0x70 00166 #define MPUREG_DMP_CFG_2 0x71 00167 #define MPUREG_FIFO_COUNTH 0x72 00168 #define MPUREG_FIFO_COUNTL 0x73 00169 #define MPUREG_FIFO_R_W 0x74 00170 #define MPUREG_WHOAMI 0x75 00171 #define MPUREG_XA_OFFSET_H 0x77 00172 #define MPUREG_XA_OFFSET_L 0x78 00173 #define MPUREG_YA_OFFSET_H 0x7A 00174 #define MPUREG_YA_OFFSET_L 0x7B 00175 #define MPUREG_ZA_OFFSET_H 0x7D 00176 #define MPUREG_ZA_OFFSET_L 0x7E 00177 /* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */ 00178 00179 #define AK8963_I2C_ADDR 0x0c//0x18 00180 #define AK8963_Device_ID 0x48 00181 00182 // Read-only Reg 00183 #define AK8963_WIA 0x00 00184 #define AK8963_INFO 0x01 00185 #define AK8963_ST1 0x02 00186 #define AK8963_HXL 0x03 00187 #define AK8963_HXH 0x04 00188 #define AK8963_HYL 0x05 00189 #define AK8963_HYH 0x06 00190 #define AK8963_HZL 0x07 00191 #define AK8963_HZH 0x08 00192 #define AK8963_ST2 0x09 00193 // Write/Read Reg 00194 #define AK8963_CNTL1 0x0A 00195 #define AK8963_CNTL2 0x0B 00196 #define AK8963_ASTC 0x0C 00197 #define AK8963_TS1 0x0D 00198 #define AK8963_TS2 0x0E 00199 #define AK8963_I2CDIS 0x0F 00200 // Read-only Reg ( ROM ) 00201 #define AK8963_ASAX 0x10 00202 #define AK8963_ASAY 0x11 00203 #define AK8963_ASAZ 0x12 00204 00205 // Configuration bits mpu9250 00206 #define BIT_SLEEP 0x40 00207 #define BIT_H_RESET 0x80 00208 #define BITS_CLKSEL 0x07 00209 #define MPU_CLK_SEL_PLLGYROX 0x01 00210 #define MPU_CLK_SEL_PLLGYROZ 0x03 00211 #define MPU_EXT_SYNC_GYROX 0x02 00212 #define BITS_FS_250DPS 0x00 00213 #define BITS_FS_500DPS 0x08 00214 #define BITS_FS_1000DPS 0x10 00215 #define BITS_FS_2000DPS 0x18 00216 #define BITS_FS_2G 0x00 00217 #define BITS_FS_4G 0x08 00218 #define BITS_FS_8G 0x10 00219 #define BITS_FS_16G 0x18 00220 #define BITS_FS_MASK 0x18 00221 #define BITS_DLPF_CFG_256HZ_NOLPF2 0x00 00222 #define BITS_DLPF_CFG_188HZ 0x01 00223 #define BITS_DLPF_CFG_98HZ 0x02 00224 #define BITS_DLPF_CFG_42HZ 0x03 00225 #define BITS_DLPF_CFG_20HZ 0x04 00226 #define BITS_DLPF_CFG_10HZ 0x05 00227 #define BITS_DLPF_CFG_5HZ 0x06 00228 #define BITS_DLPF_CFG_2100HZ_NOLPF 0x07 00229 #define BITS_DLPF_CFG_MASK 0x07 00230 #define BIT_INT_ANYRD_2CLEAR 0x10 00231 #define BIT_RAW_RDY_EN 0x01 00232 #define BIT_I2C_IF_DIS 0x10 00233 00234 #define READ_FLAG 0x80 00235 00236 /* ---- Sensitivity --------------------------------------------------------- */ 00237 00238 #define MPU9250A_2g ((float)0.000061035156f) // 0.000061035156 g/LSB 00239 #define MPU9250A_4g ((float)0.000122070312f) // 0.000122070312 g/LSB 00240 #define MPU9250A_8g ((float)0.000244140625f) // 0.000244140625 g/LSB 00241 #define MPU9250A_16g ((float)0.000488281250f) // 0.000488281250 g/LSB 00242 00243 #define MPU9250G_250dps ((float)0.007633587786f) // 0.007633587786 dps/LSB 00244 #define MPU9250G_500dps ((float)0.015267175572f) // 0.015267175572 dps/LSB 00245 #define MPU9250G_1000dps ((float)0.030487804878f) // 0.030487804878 dps/LSB 00246 #define MPU9250G_2000dps ((float)0.060975609756f) // 0.060975609756 dps/LSB 00247 00248 #define MPU9250M_4800uT ((float)0.6f) // 0.6 uT/LSB 00249 00250 #define MPU9250T_85degC ((float)0.002995177763f) // 0.002995177763 degC/LSB 00251 00252 #define Magnetometer_Sensitivity_Scale_Factor ((float)0.15f)
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