Sanghyun Park
MPU9250 SPI Driver
MPU9250.h
- Committer:
- kylongmu
- Date:
- 2014-06-21
- Revision:
- 0:768d2e151834
- Child:
- 2:f274ea3bced9
File content as of revision 0:768d2e151834:
/*CODED by Qiyong Mu on 21/06/2014
CODED changed from Bruno Alfano on 07/03/2014
www.xene.it
USAGE (example program):
#include "mbed.h"
#include "mpu9250.h" //Include library
SPI spi(p11, p12, p13); //define the SPI (mosi, miso, sclk)
mpu9250_spi imu(spi,p22); //define the mpu9250 object
int main(){
if(imu.init(1,BITS_DLPF_CFG_5HZ)){ //INIT the mpu9250
printf("\nCouldn't initialize mpu9250 via SPI!");
}
wait(0.1);
printf("\n\nWHOAMI=%u\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
wait(0.1);
printf("\nGyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS)); //Set full scale range for gyros
wait(1);
printf("\nAcc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G)); //Set full scale range for accs
wait(0.1);
while(1) {
myled = 1;
wait(0.3);
myled = 0;
wait(0.3);
printf("\nT=%.3f",imu.read_temp());
printf(" X=%.3f",imu.read_acc(0));
printf(" Y=%.3f",imu.read_acc(1));
printf(" Z=%.3f",imu.read_acc(2));
printf(" rX=%.3f",imu.read_rot(0));
printf(" rY=%.3f",imu.read_rot(1));
printf(" rZ=%.3f",imu.read_rot(2));
}
}
*/
#ifndef mpu9250_h
#define mpu9250_h
#include "mbed.h"
class mpu9250_spi
{
SPI& spi;
DigitalOut cs;
public:
mpu9250_spi(SPI& _spi, PinName _cs);
unsigned int WriteReg( uint8_t WriteAddr, uint8_t WriteData );
void ReadRegs( unsigned int ReadAddr, unsigned int *ReadBuf, unsigned int Bytes );
bool init(int sample_rate_div,int low_pass_filter);
float read_acc(int axis);
float read_rot(int axis);
unsigned int set_gyro_scale(int scale);
unsigned int set_acc_scale(int scale);
int calib_acc(int axis);
float read_temp();
void select();
void deselect();
unsigned int whoami();
float acc_divider;
float gyro_divider;
private:
PinName _CS_pin;
PinName _SO_pin;
PinName _SCK_pin;
float _error;
};
#endif
// mpu9250 registers
#define MPUREG_XG_OFFS_TC 0x00
#define MPUREG_YG_OFFS_TC 0x01
#define MPUREG_ZG_OFFS_TC 0x02
#define MPUREG_X_FINE_GAIN 0x03
#define MPUREG_Y_FINE_GAIN 0x04
#define MPUREG_Z_FINE_GAIN 0x05
#define MPUREG_XA_OFFS_H 0x06
#define MPUREG_XA_OFFS_L 0x07
#define MPUREG_YA_OFFS_H 0x08
#define MPUREG_YA_OFFS_L 0x09
#define MPUREG_ZA_OFFS_H 0x0A
#define MPUREG_ZA_OFFS_L 0x0B
#define MPUREG_PRODUCT_ID 0x0C
#define MPUREG_SELF_TEST_X 0x0D
#define MPUREG_SELF_TEST_Y 0x0E
#define MPUREG_SELF_TEST_Z 0x0F
#define MPUREG_SELF_TEST_A 0x10
#define MPUREG_XG_OFFS_USRH 0x13
#define MPUREG_XG_OFFS_USRL 0x14
#define MPUREG_YG_OFFS_USRH 0x15
#define MPUREG_YG_OFFS_USRL 0x16
#define MPUREG_ZG_OFFS_USRH 0x17
#define MPUREG_ZG_OFFS_USRL 0x18
#define MPUREG_SMPLRT_DIV 0x19
#define MPUREG_CONFIG 0x1A
#define MPUREG_GYRO_CONFIG 0x1B
#define MPUREG_ACCEL_CONFIG 0x1C
#define MPUREG_ACCEL_CONFIG_2 0x1D
#define MPUREG_LP_ACCEL_ODR 0x1E
#define MPUREG_MOT_THR 0x1F
#define MPUREG_FIFO_EN 0x23
#define MPUREG_I2C_MST_CTRL 0x24
#define MPUREG_I2C_SLV0_ADDR 0x25
#define MPUREG_I2C_SLV0_REG 0x26
#define MPUREG_I2C_SLV0_CTRL 0x27
#define MPUREG_I2C_SLV1_ADDR 0x28
#define MPUREG_I2C_SLV1_REG 0x29
#define MPUREG_I2C_SLV1_CTRL 0x2A
#define MPUREG_I2C_SLV2_ADDR 0x2B
#define MPUREG_I2C_SLV2_REG 0x2C
#define MPUREG_I2C_SLV2_CTRL 0x2D
#define MPUREG_I2C_SLV3_ADDR 0x2E
#define MPUREG_I2C_SLV3_REG 0x2F
#define MPUREG_I2C_SLV3_CTRL 0x30
#define MPUREG_I2C_SLV4_ADDR 0x31
#define MPUREG_I2C_SLV4_REG 0x32
#define MPUREG_I2C_SLV4_DO 0x33
#define MPUREG_I2C_SLV4_CTRL 0x34
#define MPUREG_I2C_SLV4_DI 0x35
#define MPUREG_I2C_MST_STATUS 0x36
#define MPUREG_INT_PIN_CFG 0x37
#define MPUREG_INT_ENABLE 0x38
#define MPUREG_ACCEL_XOUT_H 0x3B
#define MPUREG_ACCEL_XOUT_L 0x3C
#define MPUREG_ACCEL_YOUT_H 0x3D
#define MPUREG_ACCEL_YOUT_L 0x3E
#define MPUREG_ACCEL_ZOUT_H 0x3F
#define MPUREG_ACCEL_ZOUT_L 0x40
#define MPUREG_TEMP_OUT_H 0x41
#define MPUREG_TEMP_OUT_L 0x42
#define MPUREG_GYRO_XOUT_H 0x43
#define MPUREG_GYRO_XOUT_L 0x44
#define MPUREG_GYRO_YOUT_H 0x45
#define MPUREG_GYRO_YOUT_L 0x46
#define MPUREG_GYRO_ZOUT_H 0x47
#define MPUREG_GYRO_ZOUT_L 0x48
#define MPUREG_EXT_SENS_DATA_00 0x49
#define MPUREG_EXT_SENS_DATA_01 0x4A
#define MPUREG_EXT_SENS_DATA_02 0x4B
#define MPUREG_EXT_SENS_DATA_03 0x4C
#define MPUREG_EXT_SENS_DATA_04 0x4D
#define MPUREG_EXT_SENS_DATA_05 0x4E
#define MPUREG_EXT_SENS_DATA_06 0x4F
#define MPUREG_EXT_SENS_DATA_07 0x50
#define MPUREG_EXT_SENS_DATA_08 0x51
#define MPUREG_EXT_SENS_DATA_09 0x52
#define MPUREG_EXT_SENS_DATA_10 0x53
#define MPUREG_EXT_SENS_DATA_11 0x54
#define MPUREG_EXT_SENS_DATA_12 0x55
#define MPUREG_EXT_SENS_DATA_13 0x56
#define MPUREG_EXT_SENS_DATA_14 0x57
#define MPUREG_EXT_SENS_DATA_15 0x58
#define MPUREG_EXT_SENS_DATA_16 0x59
#define MPUREG_EXT_SENS_DATA_17 0x5A
#define MPUREG_EXT_SENS_DATA_18 0x5B
#define MPUREG_EXT_SENS_DATA_19 0x5C
#define MPUREG_EXT_SENS_DATA_20 0x5D
#define MPUREG_EXT_SENS_DATA_21 0x5E
#define MPUREG_EXT_SENS_DATA_22 0x5F
#define MPUREG_EXT_SENS_DATA_23 0x60
#define MPUREG_I2C_SLV0_DO 0x63
#define MPUREG_I2C_SLV1_DO 0x64
#define MPUREG_I2C_SLV2_DO 0x65
#define MPUREG_I2C_SLV3_DO 0x66
#define MPUREG_I2C_MST_DELAY_CTRL 0x67
#define MPUREG_SIGNAL_PATH_RESET 0x68
#define MPUREG_MOT_DETECT_CTRL 0x69
#define MPUREG_USER_CTRL 0x6A
#define MPUREG_PWR_MGMT_1 0x6B
#define MPUREG_PWR_MGMT_2 0x6C
#define MPUREG_BANK_SEL 0x6D
#define MPUREG_MEM_START_ADDR 0x6E
#define MPUREG_MEM_R_W 0x6F
#define MPUREG_DMP_CFG_1 0x70
#define MPUREG_DMP_CFG_2 0x71
#define MPUREG_FIFO_COUNTH 0x72
#define MPUREG_FIFO_COUNTL 0x73
#define MPUREG_FIFO_R_W 0x74
#define MPUREG_WHOAMI 0x75
#define MPUREG_XA_OFFSET_H 0x77
#define MPUREG_XA_OFFSET_L 0x78
#define MPUREG_YA_OFFSET_H 0x7A
#define MPUREG_YA_OFFSET_L 0x7B
#define MPUREG_ZA_OFFSET_H 0x7D
#define MPUREG_ZA_OFFSET_L 0x7E
/* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */
#define AK8963_I2C_ADDR 0x18
#define AK8963_Device_ID 0x48
// Read-only Reg
#define AK8963_WIA 0x00
#define AK8963_INFO 0x01
#define AK8963_ST1 0x02
#define AK8963_HXL 0x03
#define AK8963_HXH 0x04
#define AK8963_HYL 0x05
#define AK8963_HYH 0x06
#define AK8963_HZL 0x07
#define AK8963_HZH 0x08
#define AK8963_ST2 0x09
// Write/Read Reg
#define AK8963_CNTL1 0x0A
#define AK8963_CNTL2 0x0B
#define AK8963_ASTC 0x0C
#define AK8963_TS1 0x0D
#define AK8963_TS2 0x0E
#define AK8963_I2CDIS 0x0F
// Read-only Reg ( ROM )
#define AK8963_ASAX 0x10
#define AK8963_ASAY 0x11
#define AK8963_ASAZ 0x12
// Configuration bits mpu9250
#define BIT_SLEEP 0x40
#define BIT_H_RESET 0x80
#define BITS_CLKSEL 0x07
#define MPU_CLK_SEL_PLLGYROX 0x01
#define MPU_CLK_SEL_PLLGYROZ 0x03
#define MPU_EXT_SYNC_GYROX 0x02
#define BITS_FS_250DPS 0x00
#define BITS_FS_500DPS 0x08
#define BITS_FS_1000DPS 0x10
#define BITS_FS_2000DPS 0x18
#define BITS_FS_2G 0x00
#define BITS_FS_4G 0x08
#define BITS_FS_8G 0x10
#define BITS_FS_16G 0x18
#define BITS_FS_MASK 0x18
#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
#define BITS_DLPF_CFG_188HZ 0x01
#define BITS_DLPF_CFG_98HZ 0x02
#define BITS_DLPF_CFG_42HZ 0x03
#define BITS_DLPF_CFG_20HZ 0x04
#define BITS_DLPF_CFG_10HZ 0x05
#define BITS_DLPF_CFG_5HZ 0x06
#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
#define BITS_DLPF_CFG_MASK 0x07
#define BIT_INT_ANYRD_2CLEAR 0x10
#define BIT_RAW_RDY_EN 0x01
#define BIT_I2C_IF_DIS 0x10
#define READ_FLAG 0x80
/* ---- Sensitivity --------------------------------------------------------- */
#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 MPU9250M_4800uT ((float)0.6f) // 0.6 uT/LSB
#define MPU9250T_85degC ((float)0.002995177763f) // 0.002995177763 degC/LSB