Shimon AJISAKA / Lib_MPU9250_SPI

mbed library for MPU9250 (SPI interface)

Dependents:   InvertedPendulum2017

Lib_MPU9250.h@2:c142d5a352c5, 2018-05-02 (annotated)

Committer:
bluefish
Date:
Wed May 02 10:56:50 2018 +0000
Revision:
2:c142d5a352c5
Parent:
1:5334e111af53 
for Peshala project

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bluefish 1:5334e111af53 1 #ifndef __LIBRARY_MPU9250_SPI_H__
bluefish 1:5334e111af53 2 #define __LIBRARY_MPU9250_SPI_H__
bluefish 1:5334e111af53 3
bluefish 1:5334e111af53 4 #include "mbed.h"
bluefish 1:5334e111af53 5
bluefish 1:5334e111af53 6 #define MPU9250_FREQ_DEFAULT (4000000) // default clock speed
bluefish 1:5334e111af53 7 #define MPU9250_ADDR (0x68)
bluefish 1:5334e111af53 8 #define AK8963_ADDR (0x0C) // magnetometer address
bluefish 1:5334e111af53 9
bluefish 1:5334e111af53 10 #define I2C_WRITE_FLAG (0x00)
bluefish 1:5334e111af53 11 #define I2C_READ_FLAG (0x01)
bluefish 1:5334e111af53 12
bluefish 1:5334e111af53 13 #define MPU9250A_2G ((float)0.000061035156f) // 0.000061035156 g/LSB
bluefish 1:5334e111af53 14 #define MPU9250A_4G ((float)0.000122070312f) // 0.000122070312 g/LSB
bluefish 1:5334e111af53 15 #define MPU9250A_8G ((float)0.000244140625f) // 0.000244140625 g/LSB
bluefish 1:5334e111af53 16 #define MPU9250A_16G ((float)0.000488281250f) // 0.000488281250 g/LSB
bluefish 1:5334e111af53 17
bluefish 1:5334e111af53 18 #define MPU9250G_250DPS ((float)0.007633587786f) // 0.007633587786 dps/LSB
bluefish 1:5334e111af53 19 #define MPU9250G_500DPS ((float)0.015267175572f) // 0.015267175572 dps/LSB
bluefish 1:5334e111af53 20 #define MPU9250G_1000DPS ((float)0.030487804878f) // 0.030487804878 dps/LSB
bluefish 1:5334e111af53 21 #define MPU9250G_2000DPS ((float)0.060975609756f) // 0.060975609756 dps/LSB
bluefish 1:5334e111af53 22
bluefish 1:5334e111af53 23 /*
bluefish 1:5334e111af53 24 #define MPU9250G_250DPS_RAD ((float)0.00013323124f) // 0.00013323124 rad/LSB
bluefish 1:5334e111af53 25 #define MPU9250G_500DPS_RAD ((float)0.00026646248f) // 0.00026646248 rad/LSB
bluefish 1:5334e111af53 26 #define MPU9250G_1000DPS_RAD ((float)0.00053211257f) // 0.00053211257 rad/LSB
bluefish 1:5334e111af53 27 #define MPU9250G_2000DPS_RAD ((float)0.00106422515f) // 0.00106422515 rad/LSB
bluefish 1:5334e111af53 28 */
bluefish 1:5334e111af53 29
bluefish 1:5334e111af53 30 #define MPU9250M_4800uT ((float)0.6f) // 0.6 uT/LSB
bluefish 1:5334e111af53 31 #define MPU9250T_85degC ((float)0.002995177763f) // 0.002995177763 degC/LSB
bluefish 1:5334e111af53 32
bluefish 1:5334e111af53 33 #define MPU9250G_DEG2RAD ((float)0.01745329251f) // degree to radian
bluefish 1:5334e111af53 34
bluefish 1:5334e111af53 35 // enum
bluefish 1:5334e111af53 36 typedef enum _MPU9250REG{
bluefish 1:5334e111af53 37 // gyro and accel
bluefish 1:5334e111af53 38 SELF_TEST_X_GYRO = 0x00,
bluefish 1:5334e111af53 39 SELF_TEST_Y_GYRO = 0x01,
bluefish 1:5334e111af53 40 SELF_TEST_Z_GYRO = 0x02,
bluefish 1:5334e111af53 41
bluefish 1:5334e111af53 42 SELF_TEST_X_ACCEL = 0x0D,
bluefish 1:5334e111af53 43 SELF_TEST_Y_ACCEL = 0x0E,
bluefish 1:5334e111af53 44 SELF_TEST_Z_ACCEL = 0x0F,
bluefish 1:5334e111af53 45
bluefish 1:5334e111af53 46 XG_OFFSET_H = 0x13,
bluefish 1:5334e111af53 47 XG_OFFSET_L = 0x14,
bluefish 1:5334e111af53 48 YG_OFFSET_H = 0x15,
bluefish 1:5334e111af53 49 YG_OFFSET_L = 0x16,
bluefish 1:5334e111af53 50 ZG_OFFSET_H = 0x17,
bluefish 1:5334e111af53 51 ZG_OFFSET_L = 0x18,
bluefish 1:5334e111af53 52
bluefish 1:5334e111af53 53 SMPLRT_DIV = 0x19,
bluefish 1:5334e111af53 54 CONFIG = 0x1A,
bluefish 1:5334e111af53 55 GYRO_CONFIG = 0x1B,
bluefish 1:5334e111af53 56 ACCEL_CONFIG = 0x1C,
bluefish 1:5334e111af53 57 ACCEL_CONFIG2 = 0x1D,
bluefish 1:5334e111af53 58 LP_ACCEL_ODR = 0x1E,
bluefish 1:5334e111af53 59 WOM_THR = 0x1F,
bluefish 1:5334e111af53 60
bluefish 1:5334e111af53 61 FIFO_EN = 0x23,
bluefish 1:5334e111af53 62
bluefish 1:5334e111af53 63 I2C_MST_CTRL = 0x24,
bluefish 1:5334e111af53 64 I2C_SLV0_ADDR = 0x25,
bluefish 1:5334e111af53 65 I2C_SLV0_REG = 0x26,
bluefish 1:5334e111af53 66 I2C_SLV0_CTRL = 0x27,
bluefish 1:5334e111af53 67 I2C_SLV1_ADDR = 0x28,
bluefish 1:5334e111af53 68 I2C_SLV1_REG = 0x29,
bluefish 1:5334e111af53 69 I2C_SLV1_CTRL = 0x2A,
bluefish 1:5334e111af53 70 I2C_SLV2_ADDR = 0x2B,
bluefish 1:5334e111af53 71 I2C_SLV2_REG = 0x2C,
bluefish 1:5334e111af53 72 I2C_SLV2_CTRL = 0x2D,
bluefish 1:5334e111af53 73 I2C_SLV3_ADDR = 0x2E,
bluefish 1:5334e111af53 74 I2C_SLV3_REG = 0x2F,
bluefish 1:5334e111af53 75 I2C_SLV3_CTRL = 0x30,
bluefish 1:5334e111af53 76 I2C_SLV4_ADDR = 0x31,
bluefish 1:5334e111af53 77 I2C_SLV4_REG = 0x32,
bluefish 1:5334e111af53 78 I2C_SLV4_DO = 0x33,
bluefish 1:5334e111af53 79 I2C_SLV4_CTRL = 0x34,
bluefish 1:5334e111af53 80 I2C_SLV4_DI = 0x35,
bluefish 1:5334e111af53 81 I2C_MST_STATUS = 0x36,
bluefish 1:5334e111af53 82
bluefish 1:5334e111af53 83 INT_PIN_CFG = 0x37,
bluefish 1:5334e111af53 84 INT_ENABLE = 0x38,
bluefish 1:5334e111af53 85 INT_STATUS = 0x3A,
bluefish 1:5334e111af53 86
bluefish 1:5334e111af53 87 ACCEL_XOUT_H = 0x3B,
bluefish 1:5334e111af53 88 ACCEL_XOUT_L = 0x3C,
bluefish 1:5334e111af53 89 ACCEL_YOUT_H = 0x3D,
bluefish 1:5334e111af53 90 ACCEL_YOUT_L = 0x3E,
bluefish 1:5334e111af53 91 ACCEL_ZOUT_H = 0x3F,
bluefish 1:5334e111af53 92 ACCEL_ZOUT_L = 0x40,
bluefish 1:5334e111af53 93
bluefish 1:5334e111af53 94 TEMP_OUT_H = 0x41,
bluefish 1:5334e111af53 95 TEMP_OUT_L = 0x42,
bluefish 1:5334e111af53 96
bluefish 1:5334e111af53 97 GYRO_XOUT_H = 0x43,
bluefish 1:5334e111af53 98 GYRO_XOUT_L = 0x44,
bluefish 1:5334e111af53 99 GYRO_YOUT_H = 0x45,
bluefish 1:5334e111af53 100 GYRO_YOUT_L = 0x46,
bluefish 1:5334e111af53 101 GYRO_ZOUT_H = 0x47,
bluefish 1:5334e111af53 102 GYRO_ZOUT_L = 0x48,
bluefish 1:5334e111af53 103
bluefish 1:5334e111af53 104 EXT_SENS_DATA_00 = 0x49,
bluefish 1:5334e111af53 105 EXT_SENS_DATA_01 = 0x4A,
bluefish 1:5334e111af53 106 EXT_SENS_DATA_02 = 0x4B,
bluefish 1:5334e111af53 107 EXT_SENS_DATA_03 = 0x4C,
bluefish 1:5334e111af53 108 EXT_SENS_DATA_04 = 0x4D,
bluefish 1:5334e111af53 109 EXT_SENS_DATA_05 = 0x4E,
bluefish 1:5334e111af53 110 EXT_SENS_DATA_06 = 0x4F,
bluefish 1:5334e111af53 111 EXT_SENS_DATA_07 = 0x50,
bluefish 1:5334e111af53 112 EXT_SENS_DATA_08 = 0x51,
bluefish 1:5334e111af53 113 EXT_SENS_DATA_09 = 0x52,
bluefish 1:5334e111af53 114 EXT_SENS_DATA_10 = 0x53,
bluefish 1:5334e111af53 115 EXT_SENS_DATA_11 = 0x54,
bluefish 1:5334e111af53 116 EXT_SENS_DATA_12 = 0x55,
bluefish 1:5334e111af53 117 EXT_SENS_DATA_13 = 0x56,
bluefish 1:5334e111af53 118 EXT_SENS_DATA_14 = 0x57,
bluefish 1:5334e111af53 119 EXT_SENS_DATA_15 = 0x58,
bluefish 1:5334e111af53 120 EXT_SENS_DATA_16 = 0x59,
bluefish 1:5334e111af53 121 EXT_SENS_DATA_17 = 0x5A,
bluefish 1:5334e111af53 122 EXT_SENS_DATA_18 = 0x5B,
bluefish 1:5334e111af53 123 EXT_SENS_DATA_19 = 0x5C,
bluefish 1:5334e111af53 124 EXT_SENS_DATA_20 = 0x5D,
bluefish 1:5334e111af53 125 EXT_SENS_DATA_21 = 0x5E,
bluefish 1:5334e111af53 126 EXT_SENS_DATA_22 = 0x5F,
bluefish 1:5334e111af53 127 EXT_SENS_DATA_23 = 0x60,
bluefish 1:5334e111af53 128
bluefish 1:5334e111af53 129 I2C_SLV0_DO = 0x63,
bluefish 1:5334e111af53 130 I2C_SLV1_DO = 0x64,
bluefish 1:5334e111af53 131 I2C_SLV2_DO = 0x65,
bluefish 1:5334e111af53 132 I2C_SLV3_DO = 0x66,
bluefish 1:5334e111af53 133
bluefish 1:5334e111af53 134 I2C_MST_DELAY_CTRL = 0x67,
bluefish 1:5334e111af53 135 SIGNAL_PATH_RESET = 0x68,
bluefish 1:5334e111af53 136 MOT_DETECT_CTRL = 0x69,
bluefish 1:5334e111af53 137 USER_CTRL = 0x6A,
bluefish 1:5334e111af53 138 PWR_MGMT_1 = 0x6B,
bluefish 1:5334e111af53 139 PWR_MGMT_2 = 0x6C,
bluefish 1:5334e111af53 140
bluefish 1:5334e111af53 141 FIFO_COUNTH = 0x72,
bluefish 1:5334e111af53 142 FIFO_COUNTL = 0x73,
bluefish 1:5334e111af53 143 FIFO_R_W = 0x74,
bluefish 1:5334e111af53 144 WHO_AM_I = 0x75,
bluefish 1:5334e111af53 145
bluefish 1:5334e111af53 146 XA_OFFSET_H = 0x77,
bluefish 1:5334e111af53 147 XA_OFFSET_L = 0x78,
bluefish 1:5334e111af53 148 YA_OFFSET_H = 0x7A,
bluefish 1:5334e111af53 149 YA_OFFSET_L = 0x7B,
bluefish 1:5334e111af53 150 ZA_OFFSET_H = 0x7D,
bluefish 1:5334e111af53 151 ZA_OFFSET_L = 0x7E,
bluefish 1:5334e111af53 152 } MPU9250REG;
bluefish 1:5334e111af53 153
bluefish 1:5334e111af53 154 typedef enum _AK8963REG{
bluefish 1:5334e111af53 155 // magnetometer
bluefish 1:5334e111af53 156 WIA = 0x00,
bluefish 1:5334e111af53 157 INFO = 0x01,
bluefish 1:5334e111af53 158 ST1 = 0x02,
bluefish 1:5334e111af53 159
bluefish 1:5334e111af53 160 HXL = 0x03,
bluefish 1:5334e111af53 161 HXH = 0x04,
bluefish 1:5334e111af53 162 HYL = 0x05,
bluefish 1:5334e111af53 163 HYH = 0x06,
bluefish 1:5334e111af53 164 HZL = 0x07,
bluefish 1:5334e111af53 165 HZH = 0x08,
bluefish 1:5334e111af53 166
bluefish 1:5334e111af53 167 ST2 = 0x09,
bluefish 1:5334e111af53 168 CNTL1 = 0x0A,
bluefish 1:5334e111af53 169 CNTL2 = 0x0B,
bluefish 1:5334e111af53 170 ASTC = 0x0C,
bluefish 1:5334e111af53 171 TS1 = 0x0D,
bluefish 1:5334e111af53 172 TS2 = 0x0E,
bluefish 1:5334e111af53 173 I2CDIS = 0x0F,
bluefish 1:5334e111af53 174
bluefish 1:5334e111af53 175 ASAX = 0x10,
bluefish 1:5334e111af53 176 ASAY = 0x11,
bluefish 1:5334e111af53 177 ASAZ = 0x12,
bluefish 1:5334e111af53 178 } AK8963REG;
bluefish 1:5334e111af53 179
bluefish 1:5334e111af53 180 typedef enum _MPU9250BIT{
bluefish 1:5334e111af53 181 BIT_SLEEP = 0x40,
bluefish 1:5334e111af53 182 BIT_H_RESET = 0x80,
bluefish 1:5334e111af53 183 BITS_CLKSEL = 0x07,
bluefish 1:5334e111af53 184 MPU_CLK_SEL_PLLGYROX = 0x01,
bluefish 1:5334e111af53 185 MPU_CLK_SEL_PLLGYROZ = 0x03,
bluefish 1:5334e111af53 186 MPU_EXT_SYNC_GYROX = 0x02,
bluefish 1:5334e111af53 187 BITS_FS_250DPS = 0x00,
bluefish 1:5334e111af53 188 BITS_FS_500DPS = 0x08,
bluefish 1:5334e111af53 189 BITS_FS_1000DPS = 0x10,
bluefish 1:5334e111af53 190 BITS_FS_2000DPS = 0x18,
bluefish 1:5334e111af53 191 BITS_FS_2G = 0x00,
bluefish 1:5334e111af53 192 BITS_FS_4G = 0x08,
bluefish 1:5334e111af53 193 BITS_FS_8G = 0x10,
bluefish 1:5334e111af53 194 BITS_FS_16G = 0x18,
bluefish 1:5334e111af53 195 BITS_FS_MASK = 0x18,
bluefish 1:5334e111af53 196 BITS_DLPF_CFG_256HZ_NOLPF2 = 0x00,
bluefish 1:5334e111af53 197 BITS_DLPF_CFG_188HZ = 0x01,
bluefish 1:5334e111af53 198 BITS_DLPF_CFG_98HZ = 0x02,
bluefish 1:5334e111af53 199 BITS_DLPF_CFG_42HZ = 0x03,
bluefish 1:5334e111af53 200 BITS_DLPF_CFG_20HZ = 0x04,
bluefish 1:5334e111af53 201 BITS_DLPF_CFG_10HZ = 0x05,
bluefish 1:5334e111af53 202 BITS_DLPF_CFG_5HZ = 0x06,
bluefish 1:5334e111af53 203 BITS_DLPF_CFG_2100HZ_NOLPF = 0x07,
bluefish 1:5334e111af53 204 BITS_DLPF_CFG_MASK = 0x07,
bluefish 1:5334e111af53 205 BIT_INT_ANYRD_2CLEAR = 0x10,
bluefish 1:5334e111af53 206 BIT_RAW_RDY_EN = 0x01,
bluefish 1:5334e111af53 207 BIT_I2C_IF_DIS = 0x10
bluefish 1:5334e111af53 208 } MPU9250BIT;
bluefish 1:5334e111af53 209
bluefish 2:c142d5a352c5 210 typedef enum _MPU9250IF{
bluefish 2:c142d5a352c5 211 MPU9250_SPI = 0x00,
bluefish 2:c142d5a352c5 212 MPU9250_I2C = 0x10
bluefish 2:c142d5a352c5 213 } MPU9250IF;
bluefish 2:c142d5a352c5 214
bluefish 1:5334e111af53 215 class MPU9250{
bluefish 1:5334e111af53 216 public:
bluefish 1:5334e111af53 217 MPU9250( PinName cs, PinName mosi, PinName miso, PinName sck ); // constructor( SPI )
bluefish 1:5334e111af53 218 MPU9250( PinName sda, PinName scl, uint8_t addr = MPU9250_ADDR ); // constructor( I2C )
bluefish 1:5334e111af53 219 ~MPU9250(); // destructor
bluefish 1:5334e111af53 220
bluefish 1:5334e111af53 221 void begin( void );
bluefish 1:5334e111af53 222 void reset( void );
bluefish 1:5334e111af53 223
bluefish 2:c142d5a352c5 224 uint8_t getWhoAmI( void );
bluefish 2:c142d5a352c5 225
bluefish 1:5334e111af53 226 void setAccelRange( MPU9250BIT range );
bluefish 1:5334e111af53 227 void setGyroRange( MPU9250BIT range );
bluefish 1:5334e111af53 228 void setDLPF( MPU9250BIT range );
bluefish 1:5334e111af53 229
bluefish 1:5334e111af53 230 void read6AxisRaw(
bluefish 1:5334e111af53 231 int16_t* ax, int16_t* ay, int16_t* az,
bluefish 1:5334e111af53 232 int16_t* gx, int16_t* gy, int16_t* gz );
bluefish 1:5334e111af53 233 void read9AxisRaw(
bluefish 1:5334e111af53 234 int16_t* ax, int16_t* ay, int16_t* az,
bluefish 1:5334e111af53 235 int16_t* gx, int16_t* gy, int16_t* gz,
bluefish 1:5334e111af53 236 int16_t* mx, int16_t* my, int16_t* mz );
bluefish 1:5334e111af53 237 void readAccelRaw( int16_t* ax, int16_t* ay, int16_t* az );
bluefish 1:5334e111af53 238 void readGyroRaw( int16_t* gx, int16_t* gy, int16_t* gz );
bluefish 1:5334e111af53 239 void readMagRaw( int16_t* mx, int16_t* my, int16_t* mz );
bluefish 1:5334e111af53 240 int16_t readTempRaw( void );
bluefish 1:5334e111af53 241
bluefish 1:5334e111af53 242 void read6Axis(
bluefish 1:5334e111af53 243 float* ax, float* ay, float* az,
bluefish 1:5334e111af53 244 float* gx, float* gy, float* gz );
bluefish 1:5334e111af53 245 void read9Axis(
bluefish 1:5334e111af53 246 float* ax, float* ay, float* az,
bluefish 1:5334e111af53 247 float* gx, float* gy, float* gz,
bluefish 1:5334e111af53 248 float* mx, float* my, float* mz );
bluefish 1:5334e111af53 249 void readAccel( float* ax, float* ay, float* az );
bluefish 1:5334e111af53 250 void readGyro( float* gx, float* gy, float* gz );
bluefish 1:5334e111af53 251 void readMag( float* mx, float* my, float* mz );
bluefish 1:5334e111af53 252 float readTemp( void );
bluefish 1:5334e111af53 253
bluefish 1:5334e111af53 254 private:
bluefish 1:5334e111af53 255 DigitalOut* _cs;
bluefish 1:5334e111af53 256 SPI* _spi;
bluefish 1:5334e111af53 257 I2C* _i2c;
bluefish 1:5334e111af53 258 uint8_t _i2c_addr;
bluefish 2:c142d5a352c5 259 MPU9250IF _imu_if;
bluefish 1:5334e111af53 260
bluefish 1:5334e111af53 261 float _accscale;
bluefish 1:5334e111af53 262 float _gyroscale;
bluefish 1:5334e111af53 263 // float _gyroscalerad;
bluefish 1:5334e111af53 264
bluefish 1:5334e111af53 265 uint8_t _readRegister( MPU9250REG addr );
bluefish 1:5334e111af53 266 uint8_t _writeRegister( MPU9250REG addr, uint8_t data );
bluefish 1:5334e111af53 267 uint8_t _readBuffer( MPU9250REG addr, uint8_t len, uint8_t* buf );
bluefish 1:5334e111af53 268 uint8_t _writeBuffer( MPU9250REG addr, uint8_t len, uint8_t* buf );
bluefish 1:5334e111af53 269 };
bluefish 1:5334e111af53 270
bluefish 1:5334e111af53 271 #endif