GETMPU9250.h

00001 #include "mbed.h"
00002 #include "MPU9250.h" 
00003 #include "math.h" 
00004 
00005 Serial aa(D1, D0);
00006 class ZMU9250
00007 {
00008     public:
00009         ZMU9250()
00010         {
00011               
00012               //Set up I2C
00013               i2c.frequency(400000);  // use fast (400 kHz) I2C  
00014               this->t.start();        
00015               
00016               // Read the WHO_AM_I register, this is a good test of communication
00017               uint8_t whoami = this->mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);  // Read WHO_AM_I register for MPU-9250
00018               if ((whoami == 0x71)||(whoami == 0x73)) // WHO_AM_I should always be 0x68
00019               {  
00020                 wait(1);
00021                 this->mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
00022                 this->mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
00023                 this->mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers  
00024                 wait(2);
00025                 this->mpu9250.initMPU9250(); 
00026                 this->mpu9250.initAK8963(magCalibration);
00027                 wait(1);
00028                }
00029                else
00030                {
00031                 while(1) ; // Loop forever if communication doesn't happen
00032                 }
00033                 this->mpu9250.getAres(); // Get accelerometer sensitivity
00034                 this->mpu9250.getGres(); // Get gyro sensitivity
00035                 this->mpu9250.getMres(); // Get magnetometer sensitivity
00036                 magbias[0] = +470;  // User environmental x-axis correction in milliGauss, should be automatically calculated
00037                 magbias[1] = +120;  // User environmental x-axis correction in milliGauss
00038                 magbias[2] = +125;  // User environmental x-axis correction in milliGauss
00039         }
00040         
00041         void Update()
00042         {
00043             if(this->mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) {  // On interrupt, check if data ready interrupt
00044                 this->mpu9250.readAccelData(accelCount);  // Read the x/y/z adc values   
00045                 // Now we'll calculate the accleration value into actual g's
00046                 ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
00047                 ay = (float)accelCount[1]*aRes - accelBias[1];   
00048                 az = (float)accelCount[2]*aRes - accelBias[2];  
00049                 this->mpu9250.readGyroData(gyroCount);  // Read the x/y/z adc values
00050                 // Calculate the gyro value into actual degrees per second
00051                 gx = (float)gyroCount[0]*gRes - gyroBias[0];  // get actual gyro value, this depends on scale being set
00052                 gy = (float)gyroCount[1]*gRes - gyroBias[1];  
00053                 gz = (float)gyroCount[2]*gRes - gyroBias[2];   
00054                 this->mpu9250.readMagData(magCount);  // Read the x/y/z adc values   
00055                 // Calculate the magnetometer values in milliGauss
00056                 // Include factory calibration per data sheet and user environmental corrections
00057                 mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]+360.0f;  // get actual magnetometer value, this depends on scale being set
00058                 my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1]-210.0f;  
00059                 mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
00060                 //aa.printf("mx %f\tmy %f\tmz %fgx %f\tgy %f\tgz %fax %f\tay %f\taz %f\n\n\n",mx,my,mz,gx,gy,gz,ax,ay,az);
00061                 //wait(0.5);
00062                 
00063                 
00064             } 
00065             Now = this->t.read_us();
00066             deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
00067             lastUpdate = Now;
00068             this->sum += deltat;
00069             sumCount++;
00070             this->mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx, gy, gz,  my,  mx, mz);
00071             delt_t = this->t.read_ms() - count;
00072             if (delt_t > 10) { // update LCD once per half-second independent of read rate
00073                 tempCount = this->mpu9250.readTempData();  // Read the adc values
00074                 temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
00075                 this->axis_gx =gx;
00076                 this->axis_gy =gy;
00077                 this->axis_gz =gz;
00078                 this->axis_ax =ax;
00079                 this->axis_ay =ay;
00080                 this->axis_az =az;
00081                 count = this->t.read_ms(); 
00082                 if(count > 1<<21) {
00083                     this->t.start(); // start the timer over again if ~30 minutes has passed
00084                     count = 0;
00085                     deltat= 0;
00086                     lastUpdate = this->t.read_us();
00087                 } 
00088                 this->sum = 0;
00089                 sumCount = 0; 
00090             } 
00091         }
00092         
00093         
00094         float g_ax()
00095         {
00096           return axis_ax;   
00097         }
00098         float g_ay()
00099         {
00100           return axis_ay;   
00101         }
00102         float g_az()
00103         {
00104           return axis_az;   
00105         }
00106          float g_gx()
00107         {
00108           return axis_gx;   
00109         }
00110         float g_gy()
00111         {
00112           return axis_gy;   
00113         }
00114         float g_gz()
00115         {
00116           return axis_gz;   
00117         }
00118         
00119         
00120         
00121     private:
00122         float sum;
00123         uint32_t sumCount;
00124         char buffer[14];
00125         MPU9250 mpu9250;
00126         Timer t;
00127         float axis_az,axis_ay,axis_ax,axis_gz,axis_gy,axis_gx;
00128         
00129            
00130 };
00131 
00132