Shimon AJISAKA
/
Lib_MPU9250_SPI
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Dependents: InvertedPendulum2017
Lib_MPU9250_SPI.h
- Committer:
- bluefish
- Date:
- 2017-09-15
- Revision:
- 0:551dbbd41a10
File content as of revision 0:551dbbd41a10:
#ifndef __LIBRARY_MPU9250_SPI_H__
#define __LIBRARY_MPU9250_SPI_H__
#include "mbed.h"
#define MPU9250_FREQ_DEFAULT (4000000) // default clock speed
#define AK8963_ADDR (0x0C) // magnetometer address
#define MPU9250A_2G ((float)0.000061035156f) // 0.000061035156 g/LSB
#define MPU9250A_4G ((float)0.000122070312f) // 0.000122070312 g/LSB
#define MPU9250A_8G ((float)0.000244140625f) // 0.000244140625 g/LSB
#define MPU9250A_16G ((float)0.000488281250f) // 0.000488281250 g/LSB
#define MPU9250G_250DPS ((float)0.007633587786f) // 0.007633587786 dps/LSB
#define MPU9250G_500DPS ((float)0.015267175572f) // 0.015267175572 dps/LSB
#define MPU9250G_1000DPS ((float)0.030487804878f) // 0.030487804878 dps/LSB
#define MPU9250G_2000DPS ((float)0.060975609756f) // 0.060975609756 dps/LSB
/*
#define MPU9250G_250DPS_RAD ((float)0.00013323124f) // 0.00013323124 rad/LSB
#define MPU9250G_500DPS_RAD ((float)0.00026646248f) // 0.00026646248 rad/LSB
#define MPU9250G_1000DPS_RAD ((float)0.00053211257f) // 0.00053211257 rad/LSB
#define MPU9250G_2000DPS_RAD ((float)0.00106422515f) // 0.00106422515 rad/LSB
*/
#define MPU9250M_4800uT ((float)0.6f) // 0.6 uT/LSB
#define MPU9250T_85degC ((float)0.002995177763f) // 0.002995177763 degC/LSB
#define MPU9250G_DEG2RAD ((float)0.01745329251f) // degree to radian
// enum
typedef enum _MPU9250REG{
// gyro and accel
SELF_TEST_X_GYRO = 0x00,
SELF_TEST_Y_GYRO = 0x01,
SELF_TEST_Z_GYRO = 0x02,
SELF_TEST_X_ACCEL = 0x0D,
SELF_TEST_Y_ACCEL = 0x0E,
SELF_TEST_Z_ACCEL = 0x0F,
XG_OFFSET_H = 0x13,
XG_OFFSET_L = 0x14,
YG_OFFSET_H = 0x15,
YG_OFFSET_L = 0x16,
ZG_OFFSET_H = 0x17,
ZG_OFFSET_L = 0x18,
SMPLRT_DIV = 0x19,
CONFIG = 0x1A,
GYRO_CONFIG = 0x1B,
ACCEL_CONFIG = 0x1C,
ACCEL_CONFIG2 = 0x1D,
LP_ACCEL_ODR = 0x1E,
WOM_THR = 0x1F,
FIFO_EN = 0x23,
I2C_MST_CTRL = 0x24,
I2C_SLV0_ADDR = 0x25,
I2C_SLV0_REG = 0x26,
I2C_SLV0_CTRL = 0x27,
I2C_SLV1_ADDR = 0x28,
I2C_SLV1_REG = 0x29,
I2C_SLV1_CTRL = 0x2A,
I2C_SLV2_ADDR = 0x2B,
I2C_SLV2_REG = 0x2C,
I2C_SLV2_CTRL = 0x2D,
I2C_SLV3_ADDR = 0x2E,
I2C_SLV3_REG = 0x2F,
I2C_SLV3_CTRL = 0x30,
I2C_SLV4_ADDR = 0x31,
I2C_SLV4_REG = 0x32,
I2C_SLV4_DO = 0x33,
I2C_SLV4_CTRL = 0x34,
I2C_SLV4_DI = 0x35,
I2C_MST_STATUS = 0x36,
INT_PIN_CFG = 0x37,
INT_ENABLE = 0x38,
INT_STATUS = 0x3A,
ACCEL_XOUT_H = 0x3B,
ACCEL_XOUT_L = 0x3C,
ACCEL_YOUT_H = 0x3D,
ACCEL_YOUT_L = 0x3E,
ACCEL_ZOUT_H = 0x3F,
ACCEL_ZOUT_L = 0x40,
TEMP_OUT_H = 0x41,
TEMP_OUT_L = 0x42,
GYRO_XOUT_H = 0x43,
GYRO_XOUT_L = 0x44,
GYRO_YOUT_H = 0x45,
GYRO_YOUT_L = 0x46,
GYRO_ZOUT_H = 0x47,
GYRO_ZOUT_L = 0x48,
EXT_SENS_DATA_00 = 0x49,
EXT_SENS_DATA_01 = 0x4A,
EXT_SENS_DATA_02 = 0x4B,
EXT_SENS_DATA_03 = 0x4C,
EXT_SENS_DATA_04 = 0x4D,
EXT_SENS_DATA_05 = 0x4E,
EXT_SENS_DATA_06 = 0x4F,
EXT_SENS_DATA_07 = 0x50,
EXT_SENS_DATA_08 = 0x51,
EXT_SENS_DATA_09 = 0x52,
EXT_SENS_DATA_10 = 0x53,
EXT_SENS_DATA_11 = 0x54,
EXT_SENS_DATA_12 = 0x55,
EXT_SENS_DATA_13 = 0x56,
EXT_SENS_DATA_14 = 0x57,
EXT_SENS_DATA_15 = 0x58,
EXT_SENS_DATA_16 = 0x59,
EXT_SENS_DATA_17 = 0x5A,
EXT_SENS_DATA_18 = 0x5B,
EXT_SENS_DATA_19 = 0x5C,
EXT_SENS_DATA_20 = 0x5D,
EXT_SENS_DATA_21 = 0x5E,
EXT_SENS_DATA_22 = 0x5F,
EXT_SENS_DATA_23 = 0x60,
I2C_SLV0_DO = 0x63,
I2C_SLV1_DO = 0x64,
I2C_SLV2_DO = 0x65,
I2C_SLV3_DO = 0x66,
I2C_MST_DELAY_CTRL = 0x67,
SIGNAL_PATH_RESET = 0x68,
MOT_DETECT_CTRL = 0x69,
USER_CTRL = 0x6A,
PWR_MGMT_1 = 0x6B,
PWR_MGMT_2 = 0x6C,
FIFO_COUNTH = 0x72,
FIFO_COUNTL = 0x73,
FIFO_R_W = 0x74,
WHO_AM_I = 0x75,
XA_OFFSET_H = 0x77,
XA_OFFSET_L = 0x78,
YA_OFFSET_H = 0x7A,
YA_OFFSET_L = 0x7B,
ZA_OFFSET_H = 0x7D,
ZA_OFFSET_L = 0x7E,
} MPU9250REG;
typedef enum _AK8963REG{
// magnetometer
WIA = 0x00,
INFO = 0x01,
ST1 = 0x02,
HXL = 0x03,
HXH = 0x04,
HYL = 0x05,
HYH = 0x06,
HZL = 0x07,
HZH = 0x08,
ST2 = 0x09,
CNTL1 = 0x0A,
CNTL2 = 0x0B,
ASTC = 0x0C,
TS1 = 0x0D,
TS2 = 0x0E,
I2CDIS = 0x0F,
ASAX = 0x10,
ASAY = 0x11,
ASAZ = 0x12,
} AK8963REG;
typedef enum _MPU9250BIT{
BIT_SLEEP = 0x40,
BIT_H_RESET = 0x80,
BITS_CLKSEL = 0x07,
MPU_CLK_SEL_PLLGYROX = 0x01,
MPU_CLK_SEL_PLLGYROZ = 0x03,
MPU_EXT_SYNC_GYROX = 0x02,
BITS_FS_250DPS = 0x00,
BITS_FS_500DPS = 0x08,
BITS_FS_1000DPS = 0x10,
BITS_FS_2000DPS = 0x18,
BITS_FS_2G = 0x00,
BITS_FS_4G = 0x08,
BITS_FS_8G = 0x10,
BITS_FS_16G = 0x18,
BITS_FS_MASK = 0x18,
BITS_DLPF_CFG_256HZ_NOLPF2 = 0x00,
BITS_DLPF_CFG_188HZ = 0x01,
BITS_DLPF_CFG_98HZ = 0x02,
BITS_DLPF_CFG_42HZ = 0x03,
BITS_DLPF_CFG_20HZ = 0x04,
BITS_DLPF_CFG_10HZ = 0x05,
BITS_DLPF_CFG_5HZ = 0x06,
BITS_DLPF_CFG_2100HZ_NOLPF = 0x07,
BITS_DLPF_CFG_MASK = 0x07,
BIT_INT_ANYRD_2CLEAR = 0x10,
BIT_RAW_RDY_EN = 0x01,
BIT_I2C_IF_DIS = 0x10
} MPU9250BIT;
class MPU9250{
public:
MPU9250( PinName cs, PinName mosi, PinName miso, PinName sck ); // constructor
~MPU9250(); // destructor
void begin( void );
void reset( void );
void setAccelRange( MPU9250BIT range );
void setGyroRange( MPU9250BIT range );
void setDLPF( MPU9250BIT range );
void read6AxisRaw(
int16_t* ax, int16_t* ay, int16_t* az,
int16_t* gx, int16_t* gy, int16_t* gz );
void read9AxisRaw(
int16_t* ax, int16_t* ay, int16_t* az,
int16_t* gx, int16_t* gy, int16_t* gz,
int16_t* mx, int16_t* my, int16_t* mz );
void readAccelRaw( int16_t* ax, int16_t* ay, int16_t* az );
void readGyroRaw( int16_t* gx, int16_t* gy, int16_t* gz );
void readMagRaw( int16_t* mx, int16_t* my, int16_t* mz );
int16_t readTempRaw( void );
void read6Axis(
float* ax, float* ay, float* az,
float* gx, float* gy, float* gz );
void read9Axis(
float* ax, float* ay, float* az,
float* gx, float* gy, float* gz,
float* mx, float* my, float* mz );
void readAccel( float* ax, float* ay, float* az );
void readGyro( float* gx, float* gy, float* gz );
void readMag( float* mx, float* my, float* mz );
float readTemp( void );
private:
DigitalOut _cs;
SPI _spi;
float _accscale;
float _gyroscale;
// float _gyroscalerad;
uint8_t _readRegister( MPU9250REG addr );
uint8_t _writeRegister( MPU9250REG addr, uint8_t data );
uint8_t _readBuffer( MPU9250REG addr, uint8_t len, uint8_t* buf );
uint8_t _writeBuffer( MPU9250REG addr, uint8_t len, uint8_t* buf );
};
#endif