Marco Mayer / Mbed OS Queue

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MPU9250.h@1:b36bbc1c6d27, 2020-04-11 (annotated)

Committer:
demayer
Date:
Sat Apr 11 08:15:48 2020 +0000
Revision:
1:b36bbc1c6d27
Parent:
0:6bf0743ece18
Child:
2:c7897a3f5f11
IMU-library in .h und .cpp file aufgeteilt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
demayer 0:6bf0743ece18 1 #ifndef MPU9250_H
demayer 0:6bf0743ece18 2 #define MPU9250_H
demayer 1:b36bbc1c6d27 3
demayer 0:6bf0743ece18 4 #include "mbed.h"
demayer 0:6bf0743ece18 5 #include "math.h"
demayer 1:b36bbc1c6d27 6
demayer 1:b36bbc1c6d27 7 // See also MPU-9250 Register Map and Descriptions, Revision 4.0, RM-MPU-9250A-00, Rev. 1.4, 9/9/2013 for registers not listed in
demayer 0:6bf0743ece18 8 // above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
demayer 0:6bf0743ece18 9 //
demayer 0:6bf0743ece18 10 //Magnetometer Registers
demayer 0:6bf0743ece18 11 #define AK8963_ADDRESS 0x0C<<1
demayer 0:6bf0743ece18 12 #define WHO_AM_I_AK8963 0x00 // should return 0x48
demayer 0:6bf0743ece18 13 #define INFO 0x01
demayer 0:6bf0743ece18 14 #define AK8963_ST1 0x02 // data ready status bit 0
demayer 0:6bf0743ece18 15 #define AK8963_XOUT_L 0x03 // data
demayer 0:6bf0743ece18 16 #define AK8963_XOUT_H 0x04
demayer 0:6bf0743ece18 17 #define AK8963_YOUT_L 0x05
demayer 0:6bf0743ece18 18 #define AK8963_YOUT_H 0x06
demayer 0:6bf0743ece18 19 #define AK8963_ZOUT_L 0x07
demayer 0:6bf0743ece18 20 #define AK8963_ZOUT_H 0x08
demayer 0:6bf0743ece18 21 #define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
demayer 0:6bf0743ece18 22 #define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
demayer 0:6bf0743ece18 23 #define AK8963_ASTC 0x0C // Self test control
demayer 0:6bf0743ece18 24 #define AK8963_I2CDIS 0x0F // I2C disable
demayer 0:6bf0743ece18 25 #define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
demayer 0:6bf0743ece18 26 #define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
demayer 0:6bf0743ece18 27 #define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
demayer 0:6bf0743ece18 28
demayer 1:b36bbc1c6d27 29 #define SELF_TEST_X_GYRO 0x00
demayer 1:b36bbc1c6d27 30 #define SELF_TEST_Y_GYRO 0x01
demayer 0:6bf0743ece18 31 #define SELF_TEST_Z_GYRO 0x02
demayer 1:b36bbc1c6d27 32 #define GRAVITATION 9.80665
demayer 0:6bf0743ece18 33
demayer 0:6bf0743ece18 34 #define SELF_TEST_X_ACCEL 0x0D
demayer 1:b36bbc1c6d27 35 #define SELF_TEST_Y_ACCEL 0x0E
demayer 0:6bf0743ece18 36 #define SELF_TEST_Z_ACCEL 0x0F
demayer 0:6bf0743ece18 37
demayer 0:6bf0743ece18 38 #define SELF_TEST_A 0x10
demayer 0:6bf0743ece18 39
demayer 0:6bf0743ece18 40 #define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
demayer 0:6bf0743ece18 41 #define XG_OFFSET_L 0x14
demayer 0:6bf0743ece18 42 #define YG_OFFSET_H 0x15
demayer 0:6bf0743ece18 43 #define YG_OFFSET_L 0x16
demayer 0:6bf0743ece18 44 #define ZG_OFFSET_H 0x17
demayer 0:6bf0743ece18 45 #define ZG_OFFSET_L 0x18
demayer 0:6bf0743ece18 46 #define SMPLRT_DIV 0x19
demayer 0:6bf0743ece18 47 #define CONFIG 0x1A
demayer 0:6bf0743ece18 48 #define GYRO_CONFIG 0x1B
demayer 0:6bf0743ece18 49 #define ACCEL_CONFIG 0x1C
demayer 0:6bf0743ece18 50 #define ACCEL_CONFIG2 0x1D
demayer 1:b36bbc1c6d27 51 #define LP_ACCEL_ODR 0x1E
demayer 1:b36bbc1c6d27 52 #define WOM_THR 0x1F
demayer 0:6bf0743ece18 53
demayer 0:6bf0743ece18 54 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
demayer 0:6bf0743ece18 55 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
demayer 0:6bf0743ece18 56 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
demayer 0:6bf0743ece18 57
demayer 0:6bf0743ece18 58 #define FIFO_EN 0x23
demayer 1:b36bbc1c6d27 59 #define I2C_MST_CTRL 0x24
demayer 0:6bf0743ece18 60 #define I2C_SLV0_ADDR 0x25
demayer 0:6bf0743ece18 61 #define I2C_SLV0_REG 0x26
demayer 0:6bf0743ece18 62 #define I2C_SLV0_CTRL 0x27
demayer 0:6bf0743ece18 63 #define I2C_SLV1_ADDR 0x28
demayer 0:6bf0743ece18 64 #define I2C_SLV1_REG 0x29
demayer 0:6bf0743ece18 65 #define I2C_SLV1_CTRL 0x2A
demayer 0:6bf0743ece18 66 #define I2C_SLV2_ADDR 0x2B
demayer 0:6bf0743ece18 67 #define I2C_SLV2_REG 0x2C
demayer 0:6bf0743ece18 68 #define I2C_SLV2_CTRL 0x2D
demayer 0:6bf0743ece18 69 #define I2C_SLV3_ADDR 0x2E
demayer 0:6bf0743ece18 70 #define I2C_SLV3_REG 0x2F
demayer 0:6bf0743ece18 71 #define I2C_SLV3_CTRL 0x30
demayer 0:6bf0743ece18 72 #define I2C_SLV4_ADDR 0x31
demayer 0:6bf0743ece18 73 #define I2C_SLV4_REG 0x32
demayer 0:6bf0743ece18 74 #define I2C_SLV4_DO 0x33
demayer 0:6bf0743ece18 75 #define I2C_SLV4_CTRL 0x34
demayer 0:6bf0743ece18 76 #define I2C_SLV4_DI 0x35
demayer 0:6bf0743ece18 77 #define I2C_MST_STATUS 0x36
demayer 0:6bf0743ece18 78 #define INT_PIN_CFG 0x37
demayer 0:6bf0743ece18 79 #define INT_ENABLE 0x38
demayer 0:6bf0743ece18 80 #define DMP_INT_STATUS 0x39 // Check DMP interrupt
demayer 0:6bf0743ece18 81 #define INT_STATUS 0x3A
demayer 0:6bf0743ece18 82 #define ACCEL_XOUT_H 0x3B
demayer 0:6bf0743ece18 83 #define ACCEL_XOUT_L 0x3C
demayer 0:6bf0743ece18 84 #define ACCEL_YOUT_H 0x3D
demayer 0:6bf0743ece18 85 #define ACCEL_YOUT_L 0x3E
demayer 0:6bf0743ece18 86 #define ACCEL_ZOUT_H 0x3F
demayer 0:6bf0743ece18 87 #define ACCEL_ZOUT_L 0x40
demayer 0:6bf0743ece18 88 #define TEMP_OUT_H 0x41
demayer 0:6bf0743ece18 89 #define TEMP_OUT_L 0x42
demayer 0:6bf0743ece18 90 #define GYRO_XOUT_H 0x43
demayer 0:6bf0743ece18 91 #define GYRO_XOUT_L 0x44
demayer 0:6bf0743ece18 92 #define GYRO_YOUT_H 0x45
demayer 0:6bf0743ece18 93 #define GYRO_YOUT_L 0x46
demayer 0:6bf0743ece18 94 #define GYRO_ZOUT_H 0x47
demayer 0:6bf0743ece18 95 #define GYRO_ZOUT_L 0x48
demayer 0:6bf0743ece18 96 #define EXT_SENS_DATA_00 0x49
demayer 0:6bf0743ece18 97 #define EXT_SENS_DATA_01 0x4A
demayer 0:6bf0743ece18 98 #define EXT_SENS_DATA_02 0x4B
demayer 0:6bf0743ece18 99 #define EXT_SENS_DATA_03 0x4C
demayer 0:6bf0743ece18 100 #define EXT_SENS_DATA_04 0x4D
demayer 0:6bf0743ece18 101 #define EXT_SENS_DATA_05 0x4E
demayer 0:6bf0743ece18 102 #define EXT_SENS_DATA_06 0x4F
demayer 0:6bf0743ece18 103 #define EXT_SENS_DATA_07 0x50
demayer 0:6bf0743ece18 104 #define EXT_SENS_DATA_08 0x51
demayer 0:6bf0743ece18 105 #define EXT_SENS_DATA_09 0x52
demayer 0:6bf0743ece18 106 #define EXT_SENS_DATA_10 0x53
demayer 0:6bf0743ece18 107 #define EXT_SENS_DATA_11 0x54
demayer 0:6bf0743ece18 108 #define EXT_SENS_DATA_12 0x55
demayer 0:6bf0743ece18 109 #define EXT_SENS_DATA_13 0x56
demayer 0:6bf0743ece18 110 #define EXT_SENS_DATA_14 0x57
demayer 0:6bf0743ece18 111 #define EXT_SENS_DATA_15 0x58
demayer 0:6bf0743ece18 112 #define EXT_SENS_DATA_16 0x59
demayer 0:6bf0743ece18 113 #define EXT_SENS_DATA_17 0x5A
demayer 0:6bf0743ece18 114 #define EXT_SENS_DATA_18 0x5B
demayer 0:6bf0743ece18 115 #define EXT_SENS_DATA_19 0x5C
demayer 0:6bf0743ece18 116 #define EXT_SENS_DATA_20 0x5D
demayer 0:6bf0743ece18 117 #define EXT_SENS_DATA_21 0x5E
demayer 0:6bf0743ece18 118 #define EXT_SENS_DATA_22 0x5F
demayer 0:6bf0743ece18 119 #define EXT_SENS_DATA_23 0x60
demayer 0:6bf0743ece18 120 #define MOT_DETECT_STATUS 0x61
demayer 0:6bf0743ece18 121 #define I2C_SLV0_DO 0x63
demayer 0:6bf0743ece18 122 #define I2C_SLV1_DO 0x64
demayer 0:6bf0743ece18 123 #define I2C_SLV2_DO 0x65
demayer 0:6bf0743ece18 124 #define I2C_SLV3_DO 0x66
demayer 0:6bf0743ece18 125 #define I2C_MST_DELAY_CTRL 0x67
demayer 0:6bf0743ece18 126 #define SIGNAL_PATH_RESET 0x68
demayer 0:6bf0743ece18 127 #define MOT_DETECT_CTRL 0x69
demayer 0:6bf0743ece18 128 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
demayer 0:6bf0743ece18 129 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
demayer 0:6bf0743ece18 130 #define PWR_MGMT_2 0x6C
demayer 0:6bf0743ece18 131 #define DMP_BANK 0x6D // Activates a specific bank in the DMP
demayer 0:6bf0743ece18 132 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
demayer 0:6bf0743ece18 133 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
demayer 0:6bf0743ece18 134 #define DMP_REG_1 0x70
demayer 1:b36bbc1c6d27 135 #define DMP_REG_2 0x71
demayer 0:6bf0743ece18 136 #define FIFO_COUNTH 0x72
demayer 0:6bf0743ece18 137 #define FIFO_COUNTL 0x73
demayer 0:6bf0743ece18 138 #define FIFO_R_W 0x74
demayer 0:6bf0743ece18 139 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71
demayer 0:6bf0743ece18 140 #define XA_OFFSET_H 0x77
demayer 0:6bf0743ece18 141 #define XA_OFFSET_L 0x78
demayer 0:6bf0743ece18 142 #define YA_OFFSET_H 0x7A
demayer 0:6bf0743ece18 143 #define YA_OFFSET_L 0x7B
demayer 0:6bf0743ece18 144 #define ZA_OFFSET_H 0x7D
demayer 0:6bf0743ece18 145 #define ZA_OFFSET_L 0x7E
demayer 0:6bf0743ece18 146
demayer 1:b36bbc1c6d27 147 // Using the MSENSR-9250 breakout board, ADO is set to 0
demayer 0:6bf0743ece18 148 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
demayer 0:6bf0743ece18 149 //mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
demayer 0:6bf0743ece18 150 #define ADO 0
demayer 0:6bf0743ece18 151 #if ADO
demayer 0:6bf0743ece18 152 #define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1
demayer 0:6bf0743ece18 153 #else
demayer 0:6bf0743ece18 154 #define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0
demayer 1:b36bbc1c6d27 155 #endif
demayer 1:b36bbc1c6d27 156
demayer 0:6bf0743ece18 157
demayer 0:6bf0743ece18 158 // Set initial input parameters
demayer 0:6bf0743ece18 159 enum Ascale {
demayer 1:b36bbc1c6d27 160 AFS_2G = 0,
demayer 1:b36bbc1c6d27 161 AFS_4G,
demayer 1:b36bbc1c6d27 162 AFS_8G,
demayer 1:b36bbc1c6d27 163 AFS_16G
demayer 0:6bf0743ece18 164 };
demayer 0:6bf0743ece18 165
demayer 0:6bf0743ece18 166 enum Gscale {
demayer 1:b36bbc1c6d27 167 GFS_250DPS = 0,
demayer 1:b36bbc1c6d27 168 GFS_500DPS,
demayer 1:b36bbc1c6d27 169 GFS_1000DPS,
demayer 1:b36bbc1c6d27 170 GFS_2000DPS
demayer 0:6bf0743ece18 171 };
demayer 0:6bf0743ece18 172
demayer 0:6bf0743ece18 173 enum Mscale {
demayer 1:b36bbc1c6d27 174 MFS_14BITS = 0, // 0.6 mG per LSB
demayer 1:b36bbc1c6d27 175 MFS_16BITS // 0.15 mG per LSB
demayer 0:6bf0743ece18 176 };
demayer 0:6bf0743ece18 177
demayer 1:b36bbc1c6d27 178 typedef struct {
demayer 1:b36bbc1c6d27 179 float ax;
demayer 1:b36bbc1c6d27 180 float ay;
demayer 1:b36bbc1c6d27 181 float az;
demayer 1:b36bbc1c6d27 182 }accData_t;
demayer 0:6bf0743ece18 183
demayer 0:6bf0743ece18 184
demayer 1:b36bbc1c6d27 185 class MPU9250 {
demayer 0:6bf0743ece18 186
demayer 0:6bf0743ece18 187
demayer 1:b36bbc1c6d27 188 public:
demayer 1:b36bbc1c6d27 189 //------------------------------------------------------------------------------
demayer 1:b36bbc1c6d27 190 // Function prototypes
demayer 0:6bf0743ece18 191
demayer 1:b36bbc1c6d27 192 void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
demayer 0:6bf0743ece18 193
demayer 1:b36bbc1c6d27 194 char readByte(uint8_t address, uint8_t subAddress);
demayer 0:6bf0743ece18 195
demayer 1:b36bbc1c6d27 196 void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest);
demayer 0:6bf0743ece18 197
demayer 1:b36bbc1c6d27 198 void getMres();
demayer 0:6bf0743ece18 199
demayer 1:b36bbc1c6d27 200 void getGres();
demayer 0:6bf0743ece18 201
demayer 1:b36bbc1c6d27 202 void getAres();
demayer 0:6bf0743ece18 203
demayer 1:b36bbc1c6d27 204 void readAccelData(int16_t * destination);
demayer 0:6bf0743ece18 205
demayer 1:b36bbc1c6d27 206 void readGyroData(int16_t * destination);
demayer 0:6bf0743ece18 207
demayer 1:b36bbc1c6d27 208 void readMagData(int16_t * destination);
demayer 0:6bf0743ece18 209
demayer 1:b36bbc1c6d27 210 int16_t readTempData();
demayer 0:6bf0743ece18 211
demayer 1:b36bbc1c6d27 212 void resetMPU9250();
demayer 0:6bf0743ece18 213
demayer 1:b36bbc1c6d27 214 void initAK8963(float * destination);
demayer 0:6bf0743ece18 215
demayer 1:b36bbc1c6d27 216 void initMPU9250();
demayer 0:6bf0743ece18 217
demayer 1:b36bbc1c6d27 218 void calibrateMPU9250(float * dest1, float * dest2);
demayer 0:6bf0743ece18 219
demayer 1:b36bbc1c6d27 220 void MPU9250SelfTest(float * destination);
demayer 0:6bf0743ece18 221
demayer 1:b36bbc1c6d27 222 void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
demayer 0:6bf0743ece18 223
demayer 1:b36bbc1c6d27 224 void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
demayer 0:6bf0743ece18 225
demayer 1:b36bbc1c6d27 226 void velocityUpdate(float ax, float ay, float az);
demayer 1:b36bbc1c6d27 227
demayer 1:b36bbc1c6d27 228 void readIMU();
demayer 1:b36bbc1c6d27 229
demayer 1:b36bbc1c6d27 230 void imuSetup();
demayer 1:b36bbc1c6d27 231
demayer 1:b36bbc1c6d27 232 accData_t getVelocityFromIMU();
demayer 1:b36bbc1c6d27 233 };
demayer 0:6bf0743ece18 234
demayer 0:6bf0743ece18 235 #endif