wenchang fei / mpu9250_i2c

first release fork of MPU9250AHRS from Kris Winer

Dependents:   mbed-os-i2c-test mbed-test-i2c-PCA-biquad-peakdet Mix-code-v2 mbed-os-step-counting ... more

MPU9250.h@3:4f6c69e52534, 2019-11-06 (annotated)

Committer:
castlefei
Date:
Wed Nov 06 12:36:33 2019 +0000
Revision:
3:4f6c69e52534
Parent:
1:c27bb1a0deca 
test changes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elessair 0:76dc2aad77bc 1 #ifndef MPU9250_H
elessair 0:76dc2aad77bc 2 #define MPU9250_H
elessair 0:76dc2aad77bc 3
elessair 0:76dc2aad77bc 4 #include "mbed.h"
elessair 0:76dc2aad77bc 5 #include "math.h"
elessair 0:76dc2aad77bc 6
elessair 0:76dc2aad77bc 7
elessair 0:76dc2aad77bc 8 class mpu9250
elessair 0:76dc2aad77bc 9 {
elessair 0:76dc2aad77bc 10 I2C i2c;
elessair 0:76dc2aad77bc 11 public:
elessair 1:c27bb1a0deca 12 mpu9250(PinName _sda, PinName _scl, uint8_t address);
elessair 0:76dc2aad77bc 13 void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
elessair 0:76dc2aad77bc 14 char readByte(uint8_t address, uint8_t subAddress);
elessair 0:76dc2aad77bc 15 void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest);
elessair 0:76dc2aad77bc 16 bool alive();
elessair 0:76dc2aad77bc 17 void getGres(uint8_t Gscale);
elessair 0:76dc2aad77bc 18 void getAres(uint8_t Ascale);
elessair 0:76dc2aad77bc 19 void readAccelData(int16_t * destination) ;
elessair 0:76dc2aad77bc 20 void readGyroData(int16_t * destination) ;
elessair 0:76dc2aad77bc 21 void readTempData(int16_t * destination);
elessair 0:76dc2aad77bc 22 void readAll(int16_t * destinationAcc, int16_t * destinationGyro, int16_t * destinationTemp);
elessair 0:76dc2aad77bc 23 void ReadConvertAll(float * destinationAcc, float * destinationGyro, float * destinationTemp);
elessair 0:76dc2aad77bc 24 void resetMPU9250() ;
elessair 0:76dc2aad77bc 25 void initMPU9250(uint8_t Ascale, uint8_t Gscale);
elessair 0:76dc2aad77bc 26 void calibrateMPU9250(float * dest1, float * dest2);
elessair 0:76dc2aad77bc 27
elessair 0:76dc2aad77bc 28 float aRes, gRes; // scale resolutions per LSB for the sensors
elessair 0:76dc2aad77bc 29 float gyroBias[3];
elessair 0:76dc2aad77bc 30 float accelBias[3]; // Bias corrections for gyro and accelerometer
elessair 1:c27bb1a0deca 31 uint8_t MPU9250_ADDRESS;
elessair 0:76dc2aad77bc 32
elessair 0:76dc2aad77bc 33
elessair 0:76dc2aad77bc 34 private:
elessair 0:76dc2aad77bc 35 PinName _SDA_pin;
elessair 0:76dc2aad77bc 36 PinName _SCL_pin;
elessair 0:76dc2aad77bc 37 float _error;
elessair 0:76dc2aad77bc 38 };
elessair 0:76dc2aad77bc 39
elessair 0:76dc2aad77bc 40 #endif
elessair 0:76dc2aad77bc 41
elessair 0:76dc2aad77bc 42
elessair 0:76dc2aad77bc 43 #define SELF_TEST_X_GYRO 0x00
elessair 0:76dc2aad77bc 44 #define SELF_TEST_Y_GYRO 0x01
elessair 0:76dc2aad77bc 45 #define SELF_TEST_Z_GYRO 0x02
elessair 0:76dc2aad77bc 46 #define SELF_TEST_X_ACCEL 0x0D
elessair 0:76dc2aad77bc 47 #define SELF_TEST_Y_ACCEL 0x0E
elessair 0:76dc2aad77bc 48 #define SELF_TEST_Z_ACCEL 0x0F
elessair 0:76dc2aad77bc 49
elessair 0:76dc2aad77bc 50 #define SELF_TEST_A 0x10
elessair 0:76dc2aad77bc 51
elessair 0:76dc2aad77bc 52 #define XG_OFFSET_H 0x13
elessair 0:76dc2aad77bc 53 #define XG_OFFSET_L 0x14
elessair 0:76dc2aad77bc 54 #define YG_OFFSET_H 0x15
elessair 0:76dc2aad77bc 55 #define YG_OFFSET_L 0x16
elessair 0:76dc2aad77bc 56 #define ZG_OFFSET_H 0x17
elessair 0:76dc2aad77bc 57 #define ZG_OFFSET_L 0x18
elessair 0:76dc2aad77bc 58 #define SMPLRT_DIV 0x19
elessair 0:76dc2aad77bc 59 #define CONFIG 0x1A
elessair 0:76dc2aad77bc 60 #define GYRO_CONFIG 0x1B
elessair 0:76dc2aad77bc 61 #define ACCEL_CONFIG 0x1C
elessair 0:76dc2aad77bc 62 #define ACCEL_CONFIG2 0x1D
elessair 0:76dc2aad77bc 63 #define LP_ACCEL_ODR 0x1E
elessair 0:76dc2aad77bc 64 #define WOM_THR 0x1F
elessair 0:76dc2aad77bc 65
elessair 0:76dc2aad77bc 66 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
elessair 0:76dc2aad77bc 67 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
elessair 0:76dc2aad77bc 68 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
elessair 0:76dc2aad77bc 69
elessair 0:76dc2aad77bc 70 #define FIFO_EN 0x23
elessair 0:76dc2aad77bc 71 #define I2C_MST_CTRL 0x24
elessair 0:76dc2aad77bc 72 #define I2C_SLV0_ADDR 0x25
elessair 0:76dc2aad77bc 73 #define I2C_SLV0_REG 0x26
elessair 0:76dc2aad77bc 74 #define I2C_SLV0_CTRL 0x27
elessair 0:76dc2aad77bc 75 #define I2C_SLV1_ADDR 0x28
elessair 0:76dc2aad77bc 76 #define I2C_SLV1_REG 0x29
elessair 0:76dc2aad77bc 77 #define I2C_SLV1_CTRL 0x2A
elessair 0:76dc2aad77bc 78 #define I2C_SLV2_ADDR 0x2B
elessair 0:76dc2aad77bc 79 #define I2C_SLV2_REG 0x2C
elessair 0:76dc2aad77bc 80 #define I2C_SLV2_CTRL 0x2D
elessair 0:76dc2aad77bc 81 #define I2C_SLV3_ADDR 0x2E
elessair 0:76dc2aad77bc 82 #define I2C_SLV3_REG 0x2F
elessair 0:76dc2aad77bc 83 #define I2C_SLV3_CTRL 0x30
elessair 0:76dc2aad77bc 84 #define I2C_SLV4_ADDR 0x31
elessair 0:76dc2aad77bc 85 #define I2C_SLV4_REG 0x32
elessair 0:76dc2aad77bc 86 #define I2C_SLV4_DO 0x33
elessair 0:76dc2aad77bc 87 #define I2C_SLV4_CTRL 0x34
elessair 0:76dc2aad77bc 88 #define I2C_SLV4_DI 0x35
elessair 0:76dc2aad77bc 89 #define I2C_MST_STATUS 0x36
elessair 0:76dc2aad77bc 90 #define INT_PIN_CFG 0x37
elessair 0:76dc2aad77bc 91 #define INT_ENABLE 0x38
elessair 0:76dc2aad77bc 92 #define DMP_INT_STATUS 0x39 // Check DMP interrupt
elessair 0:76dc2aad77bc 93 #define INT_STATUS 0x3A
elessair 0:76dc2aad77bc 94 #define ACCEL_XOUT_H 0x3B
elessair 0:76dc2aad77bc 95 #define ACCEL_XOUT_L 0x3C
elessair 0:76dc2aad77bc 96 #define ACCEL_YOUT_H 0x3D
elessair 0:76dc2aad77bc 97 #define ACCEL_YOUT_L 0x3E
elessair 0:76dc2aad77bc 98 #define ACCEL_ZOUT_H 0x3F
elessair 0:76dc2aad77bc 99 #define ACCEL_ZOUT_L 0x40
elessair 0:76dc2aad77bc 100 #define TEMP_OUT_H 0x41
elessair 0:76dc2aad77bc 101 #define TEMP_OUT_L 0x42
elessair 0:76dc2aad77bc 102 #define GYRO_XOUT_H 0x43
elessair 0:76dc2aad77bc 103 #define GYRO_XOUT_L 0x44
elessair 0:76dc2aad77bc 104 #define GYRO_YOUT_H 0x45
elessair 0:76dc2aad77bc 105 #define GYRO_YOUT_L 0x46
elessair 0:76dc2aad77bc 106 #define GYRO_ZOUT_H 0x47
elessair 0:76dc2aad77bc 107 #define GYRO_ZOUT_L 0x48
elessair 0:76dc2aad77bc 108 #define EXT_SENS_DATA_00 0x49
elessair 0:76dc2aad77bc 109 #define EXT_SENS_DATA_01 0x4A
elessair 0:76dc2aad77bc 110 #define EXT_SENS_DATA_02 0x4B
elessair 0:76dc2aad77bc 111 #define EXT_SENS_DATA_03 0x4C
elessair 0:76dc2aad77bc 112 #define EXT_SENS_DATA_04 0x4D
elessair 0:76dc2aad77bc 113 #define EXT_SENS_DATA_05 0x4E
elessair 0:76dc2aad77bc 114 #define EXT_SENS_DATA_06 0x4F
elessair 0:76dc2aad77bc 115 #define EXT_SENS_DATA_07 0x50
elessair 0:76dc2aad77bc 116 #define EXT_SENS_DATA_08 0x51
elessair 0:76dc2aad77bc 117 #define EXT_SENS_DATA_09 0x52
elessair 0:76dc2aad77bc 118 #define EXT_SENS_DATA_10 0x53
elessair 0:76dc2aad77bc 119 #define EXT_SENS_DATA_11 0x54
elessair 0:76dc2aad77bc 120 #define EXT_SENS_DATA_12 0x55
elessair 0:76dc2aad77bc 121 #define EXT_SENS_DATA_13 0x56
elessair 0:76dc2aad77bc 122 #define EXT_SENS_DATA_14 0x57
elessair 0:76dc2aad77bc 123 #define EXT_SENS_DATA_15 0x58
elessair 0:76dc2aad77bc 124 #define EXT_SENS_DATA_16 0x59
elessair 0:76dc2aad77bc 125 #define EXT_SENS_DATA_17 0x5A
elessair 0:76dc2aad77bc 126 #define EXT_SENS_DATA_18 0x5B
elessair 0:76dc2aad77bc 127 #define EXT_SENS_DATA_19 0x5C
elessair 0:76dc2aad77bc 128 #define EXT_SENS_DATA_20 0x5D
elessair 0:76dc2aad77bc 129 #define EXT_SENS_DATA_21 0x5E
elessair 0:76dc2aad77bc 130 #define EXT_SENS_DATA_22 0x5F
elessair 0:76dc2aad77bc 131 #define EXT_SENS_DATA_23 0x60
elessair 0:76dc2aad77bc 132 #define MOT_DETECT_STATUS 0x61
elessair 0:76dc2aad77bc 133 #define I2C_SLV0_DO 0x63
elessair 0:76dc2aad77bc 134 #define I2C_SLV1_DO 0x64
elessair 0:76dc2aad77bc 135 #define I2C_SLV2_DO 0x65
elessair 0:76dc2aad77bc 136 #define I2C_SLV3_DO 0x66
elessair 0:76dc2aad77bc 137 #define I2C_MST_DELAY_CTRL 0x67
elessair 0:76dc2aad77bc 138 #define SIGNAL_PATH_RESET 0x68
elessair 0:76dc2aad77bc 139 #define MOT_DETECT_CTRL 0x69
elessair 0:76dc2aad77bc 140 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
elessair 0:76dc2aad77bc 141 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
elessair 0:76dc2aad77bc 142 #define PWR_MGMT_2 0x6C
elessair 0:76dc2aad77bc 143 #define DMP_BANK 0x6D // Activates a specific bank in the DMP
elessair 0:76dc2aad77bc 144 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
elessair 0:76dc2aad77bc 145 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
elessair 0:76dc2aad77bc 146 #define DMP_REG_1 0x70
elessair 0:76dc2aad77bc 147 #define DMP_REG_2 0x71
elessair 0:76dc2aad77bc 148 #define FIFO_COUNTH 0x72
elessair 0:76dc2aad77bc 149 #define FIFO_COUNTL 0x73
elessair 0:76dc2aad77bc 150 #define FIFO_R_W 0x74
elessair 0:76dc2aad77bc 151 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71
elessair 0:76dc2aad77bc 152 #define XA_OFFSET_H 0x77
elessair 0:76dc2aad77bc 153 #define XA_OFFSET_L 0x78
elessair 0:76dc2aad77bc 154 #define YA_OFFSET_H 0x7A
elessair 0:76dc2aad77bc 155 #define YA_OFFSET_L 0x7B
elessair 0:76dc2aad77bc 156 #define ZA_OFFSET_H 0x7D
elessair 0:76dc2aad77bc 157 #define ZA_OFFSET_L 0x7E
elessair 0:76dc2aad77bc 158
elessair 0:76dc2aad77bc 159 #define GFS_250DPS 0x00
elessair 0:76dc2aad77bc 160 #define GFS_500DPS 0x08
elessair 0:76dc2aad77bc 161 #define GFS_1000DPS 0x10
elessair 0:76dc2aad77bc 162 #define GFS_2000DPS 0x18
elessair 0:76dc2aad77bc 163 #define AFS_2G 0x00
elessair 0:76dc2aad77bc 164 #define AFS_4G 0x08
elessair 0:76dc2aad77bc 165 #define AFS_8G 0x10
elessair 0:76dc2aad77bc 166 #define AFS_16G 0x18
elessair 0:76dc2aad77bc 167
elessair 0:76dc2aad77bc 168
elessair 0:76dc2aad77bc 169