MPU9250 SPI Driver
MPU9250.h
- Committer:
- kylongmu
- Date:
- 2014-07-01
- Revision:
- 10:d27b3298e9e0
- Parent:
- 8:492028cb604e
- Child:
- 11:084e8ba240c1
File content as of revision 10:d27b3298e9e0:
/*CODED by Qiyong Mu on 21/06/2014 kylongmu@msn.com */ #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 ); unsigned int ReadReg( uint8_t WriteAddr, uint8_t WriteData ); void ReadRegs( uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes ); bool init(int sample_rate_div,int low_pass_filter); void read_temp(); void read_acc(); void read_rot(); unsigned int set_gyro_scale(int scale); unsigned int set_acc_scale(int scale); void calib_acc(); void select(); void deselect(); unsigned int whoami(); uint8_t AK8963_whoami(); void AK8963_read_Magnetometer(); void read_all(); float acc_divider; float gyro_divider; float Magnetometer_Sensitivity_Scale_Factor; int calib_data[3]; float accelerometer_data[3]; float Temperature; float gyroscope_data[3]; float Magnetometer[3]; 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 0x0c//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