Diff: MPU9250.h

Revision:

2:8f53e653f9b1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250.h	Mon Dec 18 10:18:59 2017 +0000
@@ -0,0 +1,124 @@
+#ifndef SENSORS_MPU9250_H
+#define SENSORS_MPU9250_H
+#include "mbed.h"
+
+//InvenSense MPU-9250
+//Driver for the nrf51822 mcu
+
+#define SHORT_SWAP_BYTE(s) (((s & 0xff) << 8) | ((s & 0xff00) >> 8))
+
+
+#define MPU9250_ID 0x71
+#define MPU9250_REG_ID 0x75 //Should read out MPU9250_ID
+
+
+#define MPU9250_REG_GYRO_X_H 0x43
+#define MPU9250_REG_GYRO_X_L 0x44
+#define MPU9250_REG_GYRO_Y_H 0x45
+#define MPU9250_REG_GYRO_Y_L 0x46
+#define MPU9250_REG_GYRO_Z_H 0x47
+#define MPU9250_REG_GYRO_Z_L 0x48
+#define MPU9250_REG_ACCEL_X_H 0x3B
+#define MPU9250_REG_ACCEL_X_L 0x3C
+#define MPU9250_REG_ACCEL_Y_H 0x3D
+#define MPU9250_REG_ACCEL_Y_L 0x3E
+#define MPU9250_REG_ACCEL_Z_H 0x3F
+#define MPU9250_REG_ACCEL_Z_L 0x40
+#define MPU9250_REG_TEMP_H 0x41
+#define MPU9250_REG_TEMP_L 0x42
+
+#define MPU9250_REG_CFG 0x1A
+#define MPU9250_REG_GYROCFG 0x1B
+#define MPU9250_REG_ACCELCFG 0x1C
+#define MPU9250_REG ACCELCFG2 0x1D
+#define MPU9250_REG_MOTDETSTAT 0x61
+#define MPU9250_REG_MOTDETCTRL 0x69
+#define MPU9250_REG_USRCTRL 0x6A
+#define MPU9250_REG_PWR1 0x6B
+#define MPU9250_REG_PWR2 0x6C
+#define MPU9250_REG_INTCFG 0x37
+#define MPU9250_REG_INTEN 0x38
+#define MPU9250_REG_WOMT 0x1F
+
+#define MPU9250_REG_DMP_INTSTAT 0x39
+#define MPU9250_REG_DMP_BANK 0x6D
+#define MPU9250_REG_DMP_RW_PNT 0x6E
+#define MPU9250_REG_DMP_REG 0x6F
+#define MPU9250_REG_DMP_REG1 0x70
+#define MPU9250_REG_DMP_REG2 0x71
+
+#define MPU9250_MAG_ADDRESS 0x0C
+#define MPU9250_MAG_REG_STATUS 0x02
+#define MPU9250_MAG_REG_X_L 0x03
+#define MPU9250_MAG_REG_X_H 0x04
+#define MPU9250_MAG_REG_Y_L 0x05
+#define MPU9250_MAG_REG_Y_H 0x06
+#define MPU9250_MAG_REG_Z_L 0x07
+#define MPU9250_MAG_REG_Z_H 0x08
+#define MPU9250_MAG_REG_CNTL 0x0A //0b0 power down, 0b1 single measurement, 0b1000 self-test, 0b1111 fuse-rom access
+#define MPU9250_MAG_REG_FUSE_XADJ 0x10
+#define MPU9250_MAG_REG_FUSE_YADJ 0x11
+#define MPU9250_MAG_REG_FUSE_ZADJ 0x12
+#define MPU9250_MAG_REG_I2CDIS 0x0F
+
+#define MPU9250_GYROSCALE_250 0x00
+#define MPU9250_GYROSCALE_500 0x08
+#define MPU9250_GYROSCALE_1000 0x10
+#define MPU9250_GYROSCALE_2000 0x18
+#define MPU9250_ACCSCALE_2 0x00
+#define MPU9250_ACCSCALE_4 0x08
+#define MPU9250_ACCSCALE_8 0x10
+#define MPU9250_ACCSCALE_16 0x18
+
+
+struct __attribute__((__packed__)) MPU9250_MAG_DATA {
+    uint16_t x;
+    uint16_t y;
+    uint16_t z;
+    uint8_t isValid;    
+};
+
+struct __attribute__((__packed__)) MPU9250_ACCEL_DATA {
+    uint16_t x;
+    uint16_t y;
+    uint16_t z;
+    uint8_t isValid;    
+};
+
+struct __attribute__((__packed__)) MPU9250_GYRO_DATA {
+    uint16_t x;
+    uint16_t y;
+    uint16_t z;
+    uint8_t isValid;    
+};
+
+struct __attribute__((__packed__)) MPU9250_TEMP_DATA {
+    uint16_t temperature;
+    uint8_t isValid;    
+};
+
+class MPU9250 {
+    public: 
+        MPU9250(int SCLPin, int SDAPin, int addr);
+        MPU9250_GYRO_DATA readGyro();
+        MPU9250_MAG_DATA readMag();
+        MPU9250_ACCEL_DATA readAccel();
+        MPU9250_ACCEL_DATA readAccelNew();
+        MPU9250_TEMP_DATA readTemp();
+        
+        bool init();
+        bool wakeup();
+        bool standby();
+        bool sleep();
+        
+    private:
+        MPU9250();
+        I2C i2c;
+        int deviceAddress;
+        bool readRegister(int addr, uint8_t* data, int length);
+        bool writeRegister(int addr, uint8_t data);
+        bool readMagRegister(int addr, uint8_t* data, int length);
+        bool writeMagRegister(int addr, uint8_t data);
+};
+
+#endif
\ No newline at end of file