Shimon AJISAKA / Lib_MPU9250_SPI

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependents:   InvertedPendulum2017

Lib_MPU9250_SPI.h@0:551dbbd41a10, 2017-09-15 (annotated)

Committer:
bluefish
Date:
Fri Sep 15 14:54:49 2017 +0000
Revision:
0:551dbbd41a10
???????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bluefish 0:551dbbd41a10 1 #ifndef __LIBRARY_MPU9250_SPI_H__
bluefish 0:551dbbd41a10 2 #define __LIBRARY_MPU9250_SPI_H__
bluefish 0:551dbbd41a10 3
bluefish 0:551dbbd41a10 4 #include "mbed.h"
bluefish 0:551dbbd41a10 5
bluefish 0:551dbbd41a10 6 #define MPU9250_FREQ_DEFAULT (4000000) // default clock speed
bluefish 0:551dbbd41a10 7 #define AK8963_ADDR (0x0C) // magnetometer address
bluefish 0:551dbbd41a10 8
bluefish 0:551dbbd41a10 9 #define MPU9250A_2G ((float)0.000061035156f) // 0.000061035156 g/LSB
bluefish 0:551dbbd41a10 10 #define MPU9250A_4G ((float)0.000122070312f) // 0.000122070312 g/LSB
bluefish 0:551dbbd41a10 11 #define MPU9250A_8G ((float)0.000244140625f) // 0.000244140625 g/LSB
bluefish 0:551dbbd41a10 12 #define MPU9250A_16G ((float)0.000488281250f) // 0.000488281250 g/LSB
bluefish 0:551dbbd41a10 13
bluefish 0:551dbbd41a10 14 #define MPU9250G_250DPS ((float)0.007633587786f) // 0.007633587786 dps/LSB
bluefish 0:551dbbd41a10 15 #define MPU9250G_500DPS ((float)0.015267175572f) // 0.015267175572 dps/LSB
bluefish 0:551dbbd41a10 16 #define MPU9250G_1000DPS ((float)0.030487804878f) // 0.030487804878 dps/LSB
bluefish 0:551dbbd41a10 17 #define MPU9250G_2000DPS ((float)0.060975609756f) // 0.060975609756 dps/LSB
bluefish 0:551dbbd41a10 18
bluefish 0:551dbbd41a10 19 /*
bluefish 0:551dbbd41a10 20 #define MPU9250G_250DPS_RAD ((float)0.00013323124f) // 0.00013323124 rad/LSB
bluefish 0:551dbbd41a10 21 #define MPU9250G_500DPS_RAD ((float)0.00026646248f) // 0.00026646248 rad/LSB
bluefish 0:551dbbd41a10 22 #define MPU9250G_1000DPS_RAD ((float)0.00053211257f) // 0.00053211257 rad/LSB
bluefish 0:551dbbd41a10 23 #define MPU9250G_2000DPS_RAD ((float)0.00106422515f) // 0.00106422515 rad/LSB
bluefish 0:551dbbd41a10 24 */
bluefish 0:551dbbd41a10 25
bluefish 0:551dbbd41a10 26 #define MPU9250M_4800uT ((float)0.6f) // 0.6 uT/LSB
bluefish 0:551dbbd41a10 27 #define MPU9250T_85degC ((float)0.002995177763f) // 0.002995177763 degC/LSB
bluefish 0:551dbbd41a10 28
bluefish 0:551dbbd41a10 29 #define MPU9250G_DEG2RAD ((float)0.01745329251f) // degree to radian
bluefish 0:551dbbd41a10 30
bluefish 0:551dbbd41a10 31 // enum
bluefish 0:551dbbd41a10 32 typedef enum _MPU9250REG{
bluefish 0:551dbbd41a10 33 // gyro and accel
bluefish 0:551dbbd41a10 34 SELF_TEST_X_GYRO = 0x00,
bluefish 0:551dbbd41a10 35 SELF_TEST_Y_GYRO = 0x01,
bluefish 0:551dbbd41a10 36 SELF_TEST_Z_GYRO = 0x02,
bluefish 0:551dbbd41a10 37
bluefish 0:551dbbd41a10 38 SELF_TEST_X_ACCEL = 0x0D,
bluefish 0:551dbbd41a10 39 SELF_TEST_Y_ACCEL = 0x0E,
bluefish 0:551dbbd41a10 40 SELF_TEST_Z_ACCEL = 0x0F,
bluefish 0:551dbbd41a10 41
bluefish 0:551dbbd41a10 42 XG_OFFSET_H = 0x13,
bluefish 0:551dbbd41a10 43 XG_OFFSET_L = 0x14,
bluefish 0:551dbbd41a10 44 YG_OFFSET_H = 0x15,
bluefish 0:551dbbd41a10 45 YG_OFFSET_L = 0x16,
bluefish 0:551dbbd41a10 46 ZG_OFFSET_H = 0x17,
bluefish 0:551dbbd41a10 47 ZG_OFFSET_L = 0x18,
bluefish 0:551dbbd41a10 48
bluefish 0:551dbbd41a10 49 SMPLRT_DIV = 0x19,
bluefish 0:551dbbd41a10 50 CONFIG = 0x1A,
bluefish 0:551dbbd41a10 51 GYRO_CONFIG = 0x1B,
bluefish 0:551dbbd41a10 52 ACCEL_CONFIG = 0x1C,
bluefish 0:551dbbd41a10 53 ACCEL_CONFIG2 = 0x1D,
bluefish 0:551dbbd41a10 54 LP_ACCEL_ODR = 0x1E,
bluefish 0:551dbbd41a10 55 WOM_THR = 0x1F,
bluefish 0:551dbbd41a10 56
bluefish 0:551dbbd41a10 57 FIFO_EN = 0x23,
bluefish 0:551dbbd41a10 58
bluefish 0:551dbbd41a10 59 I2C_MST_CTRL = 0x24,
bluefish 0:551dbbd41a10 60 I2C_SLV0_ADDR = 0x25,
bluefish 0:551dbbd41a10 61 I2C_SLV0_REG = 0x26,
bluefish 0:551dbbd41a10 62 I2C_SLV0_CTRL = 0x27,
bluefish 0:551dbbd41a10 63 I2C_SLV1_ADDR = 0x28,
bluefish 0:551dbbd41a10 64 I2C_SLV1_REG = 0x29,
bluefish 0:551dbbd41a10 65 I2C_SLV1_CTRL = 0x2A,
bluefish 0:551dbbd41a10 66 I2C_SLV2_ADDR = 0x2B,
bluefish 0:551dbbd41a10 67 I2C_SLV2_REG = 0x2C,
bluefish 0:551dbbd41a10 68 I2C_SLV2_CTRL = 0x2D,
bluefish 0:551dbbd41a10 69 I2C_SLV3_ADDR = 0x2E,
bluefish 0:551dbbd41a10 70 I2C_SLV3_REG = 0x2F,
bluefish 0:551dbbd41a10 71 I2C_SLV3_CTRL = 0x30,
bluefish 0:551dbbd41a10 72 I2C_SLV4_ADDR = 0x31,
bluefish 0:551dbbd41a10 73 I2C_SLV4_REG = 0x32,
bluefish 0:551dbbd41a10 74 I2C_SLV4_DO = 0x33,
bluefish 0:551dbbd41a10 75 I2C_SLV4_CTRL = 0x34,
bluefish 0:551dbbd41a10 76 I2C_SLV4_DI = 0x35,
bluefish 0:551dbbd41a10 77 I2C_MST_STATUS = 0x36,
bluefish 0:551dbbd41a10 78
bluefish 0:551dbbd41a10 79 INT_PIN_CFG = 0x37,
bluefish 0:551dbbd41a10 80 INT_ENABLE = 0x38,
bluefish 0:551dbbd41a10 81 INT_STATUS = 0x3A,
bluefish 0:551dbbd41a10 82
bluefish 0:551dbbd41a10 83 ACCEL_XOUT_H = 0x3B,
bluefish 0:551dbbd41a10 84 ACCEL_XOUT_L = 0x3C,
bluefish 0:551dbbd41a10 85 ACCEL_YOUT_H = 0x3D,
bluefish 0:551dbbd41a10 86 ACCEL_YOUT_L = 0x3E,
bluefish 0:551dbbd41a10 87 ACCEL_ZOUT_H = 0x3F,
bluefish 0:551dbbd41a10 88 ACCEL_ZOUT_L = 0x40,
bluefish 0:551dbbd41a10 89
bluefish 0:551dbbd41a10 90 TEMP_OUT_H = 0x41,
bluefish 0:551dbbd41a10 91 TEMP_OUT_L = 0x42,
bluefish 0:551dbbd41a10 92
bluefish 0:551dbbd41a10 93 GYRO_XOUT_H = 0x43,
bluefish 0:551dbbd41a10 94 GYRO_XOUT_L = 0x44,
bluefish 0:551dbbd41a10 95 GYRO_YOUT_H = 0x45,
bluefish 0:551dbbd41a10 96 GYRO_YOUT_L = 0x46,
bluefish 0:551dbbd41a10 97 GYRO_ZOUT_H = 0x47,
bluefish 0:551dbbd41a10 98 GYRO_ZOUT_L = 0x48,
bluefish 0:551dbbd41a10 99
bluefish 0:551dbbd41a10 100 EXT_SENS_DATA_00 = 0x49,
bluefish 0:551dbbd41a10 101 EXT_SENS_DATA_01 = 0x4A,
bluefish 0:551dbbd41a10 102 EXT_SENS_DATA_02 = 0x4B,
bluefish 0:551dbbd41a10 103 EXT_SENS_DATA_03 = 0x4C,
bluefish 0:551dbbd41a10 104 EXT_SENS_DATA_04 = 0x4D,
bluefish 0:551dbbd41a10 105 EXT_SENS_DATA_05 = 0x4E,
bluefish 0:551dbbd41a10 106 EXT_SENS_DATA_06 = 0x4F,
bluefish 0:551dbbd41a10 107 EXT_SENS_DATA_07 = 0x50,
bluefish 0:551dbbd41a10 108 EXT_SENS_DATA_08 = 0x51,
bluefish 0:551dbbd41a10 109 EXT_SENS_DATA_09 = 0x52,
bluefish 0:551dbbd41a10 110 EXT_SENS_DATA_10 = 0x53,
bluefish 0:551dbbd41a10 111 EXT_SENS_DATA_11 = 0x54,
bluefish 0:551dbbd41a10 112 EXT_SENS_DATA_12 = 0x55,
bluefish 0:551dbbd41a10 113 EXT_SENS_DATA_13 = 0x56,
bluefish 0:551dbbd41a10 114 EXT_SENS_DATA_14 = 0x57,
bluefish 0:551dbbd41a10 115 EXT_SENS_DATA_15 = 0x58,
bluefish 0:551dbbd41a10 116 EXT_SENS_DATA_16 = 0x59,
bluefish 0:551dbbd41a10 117 EXT_SENS_DATA_17 = 0x5A,
bluefish 0:551dbbd41a10 118 EXT_SENS_DATA_18 = 0x5B,
bluefish 0:551dbbd41a10 119 EXT_SENS_DATA_19 = 0x5C,
bluefish 0:551dbbd41a10 120 EXT_SENS_DATA_20 = 0x5D,
bluefish 0:551dbbd41a10 121 EXT_SENS_DATA_21 = 0x5E,
bluefish 0:551dbbd41a10 122 EXT_SENS_DATA_22 = 0x5F,
bluefish 0:551dbbd41a10 123 EXT_SENS_DATA_23 = 0x60,
bluefish 0:551dbbd41a10 124
bluefish 0:551dbbd41a10 125 I2C_SLV0_DO = 0x63,
bluefish 0:551dbbd41a10 126 I2C_SLV1_DO = 0x64,
bluefish 0:551dbbd41a10 127 I2C_SLV2_DO = 0x65,
bluefish 0:551dbbd41a10 128 I2C_SLV3_DO = 0x66,
bluefish 0:551dbbd41a10 129
bluefish 0:551dbbd41a10 130 I2C_MST_DELAY_CTRL = 0x67,
bluefish 0:551dbbd41a10 131 SIGNAL_PATH_RESET = 0x68,
bluefish 0:551dbbd41a10 132 MOT_DETECT_CTRL = 0x69,
bluefish 0:551dbbd41a10 133 USER_CTRL = 0x6A,
bluefish 0:551dbbd41a10 134 PWR_MGMT_1 = 0x6B,
bluefish 0:551dbbd41a10 135 PWR_MGMT_2 = 0x6C,
bluefish 0:551dbbd41a10 136
bluefish 0:551dbbd41a10 137 FIFO_COUNTH = 0x72,
bluefish 0:551dbbd41a10 138 FIFO_COUNTL = 0x73,
bluefish 0:551dbbd41a10 139 FIFO_R_W = 0x74,
bluefish 0:551dbbd41a10 140 WHO_AM_I = 0x75,
bluefish 0:551dbbd41a10 141
bluefish 0:551dbbd41a10 142 XA_OFFSET_H = 0x77,
bluefish 0:551dbbd41a10 143 XA_OFFSET_L = 0x78,
bluefish 0:551dbbd41a10 144 YA_OFFSET_H = 0x7A,
bluefish 0:551dbbd41a10 145 YA_OFFSET_L = 0x7B,
bluefish 0:551dbbd41a10 146 ZA_OFFSET_H = 0x7D,
bluefish 0:551dbbd41a10 147 ZA_OFFSET_L = 0x7E,
bluefish 0:551dbbd41a10 148 } MPU9250REG;
bluefish 0:551dbbd41a10 149
bluefish 0:551dbbd41a10 150 typedef enum _AK8963REG{
bluefish 0:551dbbd41a10 151 // magnetometer
bluefish 0:551dbbd41a10 152 WIA = 0x00,
bluefish 0:551dbbd41a10 153 INFO = 0x01,
bluefish 0:551dbbd41a10 154 ST1 = 0x02,
bluefish 0:551dbbd41a10 155
bluefish 0:551dbbd41a10 156 HXL = 0x03,
bluefish 0:551dbbd41a10 157 HXH = 0x04,
bluefish 0:551dbbd41a10 158 HYL = 0x05,
bluefish 0:551dbbd41a10 159 HYH = 0x06,
bluefish 0:551dbbd41a10 160 HZL = 0x07,
bluefish 0:551dbbd41a10 161 HZH = 0x08,
bluefish 0:551dbbd41a10 162
bluefish 0:551dbbd41a10 163 ST2 = 0x09,
bluefish 0:551dbbd41a10 164 CNTL1 = 0x0A,
bluefish 0:551dbbd41a10 165 CNTL2 = 0x0B,
bluefish 0:551dbbd41a10 166 ASTC = 0x0C,
bluefish 0:551dbbd41a10 167 TS1 = 0x0D,
bluefish 0:551dbbd41a10 168 TS2 = 0x0E,
bluefish 0:551dbbd41a10 169 I2CDIS = 0x0F,
bluefish 0:551dbbd41a10 170
bluefish 0:551dbbd41a10 171 ASAX = 0x10,
bluefish 0:551dbbd41a10 172 ASAY = 0x11,
bluefish 0:551dbbd41a10 173 ASAZ = 0x12,
bluefish 0:551dbbd41a10 174 } AK8963REG;
bluefish 0:551dbbd41a10 175
bluefish 0:551dbbd41a10 176 typedef enum _MPU9250BIT{
bluefish 0:551dbbd41a10 177 BIT_SLEEP = 0x40,
bluefish 0:551dbbd41a10 178 BIT_H_RESET = 0x80,
bluefish 0:551dbbd41a10 179 BITS_CLKSEL = 0x07,
bluefish 0:551dbbd41a10 180 MPU_CLK_SEL_PLLGYROX = 0x01,
bluefish 0:551dbbd41a10 181 MPU_CLK_SEL_PLLGYROZ = 0x03,
bluefish 0:551dbbd41a10 182 MPU_EXT_SYNC_GYROX = 0x02,
bluefish 0:551dbbd41a10 183 BITS_FS_250DPS = 0x00,
bluefish 0:551dbbd41a10 184 BITS_FS_500DPS = 0x08,
bluefish 0:551dbbd41a10 185 BITS_FS_1000DPS = 0x10,
bluefish 0:551dbbd41a10 186 BITS_FS_2000DPS = 0x18,
bluefish 0:551dbbd41a10 187 BITS_FS_2G = 0x00,
bluefish 0:551dbbd41a10 188 BITS_FS_4G = 0x08,
bluefish 0:551dbbd41a10 189 BITS_FS_8G = 0x10,
bluefish 0:551dbbd41a10 190 BITS_FS_16G = 0x18,
bluefish 0:551dbbd41a10 191 BITS_FS_MASK = 0x18,
bluefish 0:551dbbd41a10 192 BITS_DLPF_CFG_256HZ_NOLPF2 = 0x00,
bluefish 0:551dbbd41a10 193 BITS_DLPF_CFG_188HZ = 0x01,
bluefish 0:551dbbd41a10 194 BITS_DLPF_CFG_98HZ = 0x02,
bluefish 0:551dbbd41a10 195 BITS_DLPF_CFG_42HZ = 0x03,
bluefish 0:551dbbd41a10 196 BITS_DLPF_CFG_20HZ = 0x04,
bluefish 0:551dbbd41a10 197 BITS_DLPF_CFG_10HZ = 0x05,
bluefish 0:551dbbd41a10 198 BITS_DLPF_CFG_5HZ = 0x06,
bluefish 0:551dbbd41a10 199 BITS_DLPF_CFG_2100HZ_NOLPF = 0x07,
bluefish 0:551dbbd41a10 200 BITS_DLPF_CFG_MASK = 0x07,
bluefish 0:551dbbd41a10 201 BIT_INT_ANYRD_2CLEAR = 0x10,
bluefish 0:551dbbd41a10 202 BIT_RAW_RDY_EN = 0x01,
bluefish 0:551dbbd41a10 203 BIT_I2C_IF_DIS = 0x10
bluefish 0:551dbbd41a10 204 } MPU9250BIT;
bluefish 0:551dbbd41a10 205
bluefish 0:551dbbd41a10 206 class MPU9250{
bluefish 0:551dbbd41a10 207 public:
bluefish 0:551dbbd41a10 208 MPU9250( PinName cs, PinName mosi, PinName miso, PinName sck ); // constructor
bluefish 0:551dbbd41a10 209 ~MPU9250(); // destructor
bluefish 0:551dbbd41a10 210
bluefish 0:551dbbd41a10 211 void begin( void );
bluefish 0:551dbbd41a10 212 void reset( void );
bluefish 0:551dbbd41a10 213
bluefish 0:551dbbd41a10 214 void setAccelRange( MPU9250BIT range );
bluefish 0:551dbbd41a10 215 void setGyroRange( MPU9250BIT range );
bluefish 0:551dbbd41a10 216 void setDLPF( MPU9250BIT range );
bluefish 0:551dbbd41a10 217
bluefish 0:551dbbd41a10 218 void read6AxisRaw(
bluefish 0:551dbbd41a10 219 int16_t* ax, int16_t* ay, int16_t* az,
bluefish 0:551dbbd41a10 220 int16_t* gx, int16_t* gy, int16_t* gz );
bluefish 0:551dbbd41a10 221 void read9AxisRaw(
bluefish 0:551dbbd41a10 222 int16_t* ax, int16_t* ay, int16_t* az,
bluefish 0:551dbbd41a10 223 int16_t* gx, int16_t* gy, int16_t* gz,
bluefish 0:551dbbd41a10 224 int16_t* mx, int16_t* my, int16_t* mz );
bluefish 0:551dbbd41a10 225 void readAccelRaw( int16_t* ax, int16_t* ay, int16_t* az );
bluefish 0:551dbbd41a10 226 void readGyroRaw( int16_t* gx, int16_t* gy, int16_t* gz );
bluefish 0:551dbbd41a10 227 void readMagRaw( int16_t* mx, int16_t* my, int16_t* mz );
bluefish 0:551dbbd41a10 228 int16_t readTempRaw( void );
bluefish 0:551dbbd41a10 229
bluefish 0:551dbbd41a10 230 void read6Axis(
bluefish 0:551dbbd41a10 231 float* ax, float* ay, float* az,
bluefish 0:551dbbd41a10 232 float* gx, float* gy, float* gz );
bluefish 0:551dbbd41a10 233 void read9Axis(
bluefish 0:551dbbd41a10 234 float* ax, float* ay, float* az,
bluefish 0:551dbbd41a10 235 float* gx, float* gy, float* gz,
bluefish 0:551dbbd41a10 236 float* mx, float* my, float* mz );
bluefish 0:551dbbd41a10 237 void readAccel( float* ax, float* ay, float* az );
bluefish 0:551dbbd41a10 238 void readGyro( float* gx, float* gy, float* gz );
bluefish 0:551dbbd41a10 239 void readMag( float* mx, float* my, float* mz );
bluefish 0:551dbbd41a10 240 float readTemp( void );
bluefish 0:551dbbd41a10 241
bluefish 0:551dbbd41a10 242 private:
bluefish 0:551dbbd41a10 243 DigitalOut _cs;
bluefish 0:551dbbd41a10 244 SPI _spi;
bluefish 0:551dbbd41a10 245
bluefish 0:551dbbd41a10 246 float _accscale;
bluefish 0:551dbbd41a10 247 float _gyroscale;
bluefish 0:551dbbd41a10 248 // float _gyroscalerad;
bluefish 0:551dbbd41a10 249
bluefish 0:551dbbd41a10 250 uint8_t _readRegister( MPU9250REG addr );
bluefish 0:551dbbd41a10 251 uint8_t _writeRegister( MPU9250REG addr, uint8_t data );
bluefish 0:551dbbd41a10 252 uint8_t _readBuffer( MPU9250REG addr, uint8_t len, uint8_t* buf );
bluefish 0:551dbbd41a10 253 uint8_t _writeBuffer( MPU9250REG addr, uint8_t len, uint8_t* buf );
bluefish 0:551dbbd41a10 254 };
bluefish 0:551dbbd41a10 255
bluefish 0:551dbbd41a10 256 #endif