MPU9250.h

00001 #ifndef MPU9250_H
00002 #define MPU9250_H
00003 
00004 #include "mbed.h"
00005 #include "math.h"
00006 
00007 // 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
00008 // above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
00009 //
00010 //Magnetometer Registers
00011 #define AK8963_ADDRESS   0x0C<<1
00012 #define WHO_AM_I_AK8963  0x00 // should return 0x48
00013 #define INFO             0x01
00014 #define AK8963_ST1       0x02  // data ready status bit 0
00015 #define AK8963_XOUT_L    0x03  // data
00016 #define AK8963_XOUT_H    0x04
00017 #define AK8963_YOUT_L    0x05
00018 #define AK8963_YOUT_H    0x06
00019 #define AK8963_ZOUT_L    0x07
00020 #define AK8963_ZOUT_H    0x08
00021 #define AK8963_ST2       0x09  // Data overflow bit 3 and data read error status bit 2
00022 #define AK8963_CNTL      0x0A  // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
00023 #define AK8963_ASTC      0x0C  // Self test control
00024 #define AK8963_I2CDIS    0x0F  // I2C disable
00025 #define AK8963_ASAX      0x10  // Fuse ROM x-axis sensitivity adjustment value
00026 #define AK8963_ASAY      0x11  // Fuse ROM y-axis sensitivity adjustment value
00027 #define AK8963_ASAZ      0x12  // Fuse ROM z-axis sensitivity adjustment value
00028 
00029 #define SELF_TEST_X_GYRO 0x00
00030 #define SELF_TEST_Y_GYRO 0x01
00031 #define SELF_TEST_Z_GYRO 0x02
00032 #define GRAVITATION 9.80665
00033 
00034 #define SELF_TEST_X_ACCEL 0x0D
00035 #define SELF_TEST_Y_ACCEL 0x0E
00036 #define SELF_TEST_Z_ACCEL 0x0F
00037 
00038 #define SELF_TEST_A      0x10
00039 
00040 #define XG_OFFSET_H      0x13  // User-defined trim values for gyroscope
00041 #define XG_OFFSET_L      0x14
00042 #define YG_OFFSET_H      0x15
00043 #define YG_OFFSET_L      0x16
00044 #define ZG_OFFSET_H      0x17
00045 #define ZG_OFFSET_L      0x18
00046 #define SMPLRT_DIV       0x19
00047 #define CONFIG           0x1A
00048 #define GYRO_CONFIG      0x1B
00049 #define ACCEL_CONFIG     0x1C
00050 #define ACCEL_CONFIG2    0x1D
00051 #define LP_ACCEL_ODR     0x1E
00052 #define WOM_THR          0x1F
00053 
00054 #define MOT_DUR          0x20  // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
00055 #define ZMOT_THR         0x21  // Zero-motion detection threshold bits [7:0]
00056 #define ZRMOT_DUR        0x22  // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
00057 
00058 #define FIFO_EN          0x23
00059 #define I2C_MST_CTRL     0x24
00060 #define I2C_SLV0_ADDR    0x25
00061 #define I2C_SLV0_REG     0x26
00062 #define I2C_SLV0_CTRL    0x27
00063 #define I2C_SLV1_ADDR    0x28
00064 #define I2C_SLV1_REG     0x29
00065 #define I2C_SLV1_CTRL    0x2A
00066 #define I2C_SLV2_ADDR    0x2B
00067 #define I2C_SLV2_REG     0x2C
00068 #define I2C_SLV2_CTRL    0x2D
00069 #define I2C_SLV3_ADDR    0x2E
00070 #define I2C_SLV3_REG     0x2F
00071 #define I2C_SLV3_CTRL    0x30
00072 #define I2C_SLV4_ADDR    0x31
00073 #define I2C_SLV4_REG     0x32
00074 #define I2C_SLV4_DO      0x33
00075 #define I2C_SLV4_CTRL    0x34
00076 #define I2C_SLV4_DI      0x35
00077 #define I2C_MST_STATUS   0x36
00078 #define INT_PIN_CFG      0x37
00079 #define INT_ENABLE       0x38
00080 #define DMP_INT_STATUS   0x39  // Check DMP interrupt
00081 #define INT_STATUS       0x3A
00082 #define ACCEL_XOUT_H     0x3B
00083 #define ACCEL_XOUT_L     0x3C
00084 #define ACCEL_YOUT_H     0x3D
00085 #define ACCEL_YOUT_L     0x3E
00086 #define ACCEL_ZOUT_H     0x3F
00087 #define ACCEL_ZOUT_L     0x40
00088 #define TEMP_OUT_H       0x41
00089 #define TEMP_OUT_L       0x42
00090 #define GYRO_XOUT_H      0x43
00091 #define GYRO_XOUT_L      0x44
00092 #define GYRO_YOUT_H      0x45
00093 #define GYRO_YOUT_L      0x46
00094 #define GYRO_ZOUT_H      0x47
00095 #define GYRO_ZOUT_L      0x48
00096 #define EXT_SENS_DATA_00 0x49
00097 #define EXT_SENS_DATA_01 0x4A
00098 #define EXT_SENS_DATA_02 0x4B
00099 #define EXT_SENS_DATA_03 0x4C
00100 #define EXT_SENS_DATA_04 0x4D
00101 #define EXT_SENS_DATA_05 0x4E
00102 #define EXT_SENS_DATA_06 0x4F
00103 #define EXT_SENS_DATA_07 0x50
00104 #define EXT_SENS_DATA_08 0x51
00105 #define EXT_SENS_DATA_09 0x52
00106 #define EXT_SENS_DATA_10 0x53
00107 #define EXT_SENS_DATA_11 0x54
00108 #define EXT_SENS_DATA_12 0x55
00109 #define EXT_SENS_DATA_13 0x56
00110 #define EXT_SENS_DATA_14 0x57
00111 #define EXT_SENS_DATA_15 0x58
00112 #define EXT_SENS_DATA_16 0x59
00113 #define EXT_SENS_DATA_17 0x5A
00114 #define EXT_SENS_DATA_18 0x5B
00115 #define EXT_SENS_DATA_19 0x5C
00116 #define EXT_SENS_DATA_20 0x5D
00117 #define EXT_SENS_DATA_21 0x5E
00118 #define EXT_SENS_DATA_22 0x5F
00119 #define EXT_SENS_DATA_23 0x60
00120 #define MOT_DETECT_STATUS 0x61
00121 #define I2C_SLV0_DO      0x63
00122 #define I2C_SLV1_DO      0x64
00123 #define I2C_SLV2_DO      0x65
00124 #define I2C_SLV3_DO      0x66
00125 #define I2C_MST_DELAY_CTRL 0x67
00126 #define SIGNAL_PATH_RESET  0x68
00127 #define MOT_DETECT_CTRL  0x69
00128 #define USER_CTRL        0x6A  // Bit 7 enable DMP, bit 3 reset DMP
00129 #define PWR_MGMT_1       0x6B // Device defaults to the SLEEP mode
00130 #define PWR_MGMT_2       0x6C
00131 #define DMP_BANK         0x6D  // Activates a specific bank in the DMP
00132 #define DMP_RW_PNT       0x6E  // Set read/write pointer to a specific start address in specified DMP bank
00133 #define DMP_REG          0x6F  // Register in DMP from which to read or to which to write
00134 #define DMP_REG_1        0x70
00135 #define DMP_REG_2        0x71
00136 #define FIFO_COUNTH      0x72
00137 #define FIFO_COUNTL      0x73
00138 #define FIFO_R_W         0x74
00139 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71
00140 #define XA_OFFSET_H      0x77
00141 #define XA_OFFSET_L      0x78
00142 #define YA_OFFSET_H      0x7A
00143 #define YA_OFFSET_L      0x7B
00144 #define ZA_OFFSET_H      0x7D
00145 #define ZA_OFFSET_L      0x7E
00146 
00147 // Using the MSENSR-9250 breakout board, ADO is set to 0
00148 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
00149 //mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
00150 #define ADO 0
00151 #if ADO
00152 #define MPU9250_ADDRESS 0x69<<1  // Device address when ADO = 1
00153 #else
00154 #define MPU9250_ADDRESS 0x68<<1  // Device address when ADO = 0
00155 #endif
00156 
00157 
00158 // Set initial input parameters
00159 enum Ascale {
00160     AFS_2G = 0,
00161     AFS_4G,
00162     AFS_8G,
00163     AFS_16G
00164 };
00165 
00166 enum Gscale {
00167     GFS_250DPS = 0,
00168     GFS_500DPS,
00169     GFS_1000DPS,
00170     GFS_2000DPS
00171 };
00172 
00173 enum Mscale {
00174     MFS_14BITS = 0, // 0.6 mG per LSB
00175     MFS_16BITS      // 0.15 mG per LSB
00176 };
00177 
00178 typedef struct {
00179   float ax;
00180   float ay;
00181   float az;
00182 }accData_t;
00183 
00184 class MPU9250 {
00185     
00186 private:
00187     void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
00188 
00189     char readByte(uint8_t address, uint8_t subAddress);
00190 
00191     void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest);
00192 
00193     void getMres();
00194 
00195     void getGres();
00196 
00197     void getAres();
00198 
00199     void readAccelData(int16_t * destination);
00200 
00201     void readGyroData(int16_t * destination);
00202 
00203     void readMagData(int16_t * destination);
00204 
00205     int16_t readTempData();
00206 
00207     void resetMPU9250();
00208 
00209     void initAK8963(float * destination);
00210 
00211     void initMPU9250();
00212 
00213     void calibrateMPU9250(float * dest1, float * dest2);
00214 
00215     void MPU9250SelfTest(float * destination);
00216 
00217     void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
00218     
00219     void readIMU();
00220     
00221     void imuSetup();
00222 
00223     Serial* pc;
00224     
00225 public:
00226     //--------------------------------------------------------------------------
00227     // Constructor
00228     MPU9250(Serial* serialPtr);
00229     
00230     //--------------------------------------------------------------------------
00231     // Only functions that are needed to get values from IMU
00232     float getVBuffer();
00233     
00234     float getV();
00235     
00236     float vx_old;
00237 };
00238 
00239 #endif