Fabio Bobrow / CrazyflieSensors

Library containing Crazyflie 2.0 sensors drivers: - LPS25H (barometer) - MPU9250 (IMU) - PMW3901 (optical flow) - VL53L0X (range)

Dependents:   Drones-Controlador controladoatitude_cteste Drone_Controlador_Atitude optical_test

MPU9250/MPU9250.h@15:e07de535b86f, 2018-10-17 (annotated)

Committer:
fbob
Date:
Wed Oct 17 13:26:29 2018 +0000
Revision:
15:e07de535b86f
Parent:
12:2bbe233d25fb 
Changed range and optical flow parameters names

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fbob 8:930aa9d0f5ae 1 #ifndef MPU9250_h
fbob 8:930aa9d0f5ae 2 #define MPU9250_h
fbob 8:930aa9d0f5ae 3
fbob 8:930aa9d0f5ae 4 #include "mbed.h"
fbob 8:930aa9d0f5ae 5
fbob 8:930aa9d0f5ae 6 // Physical constants
fbob 8:930aa9d0f5ae 7 #define GRAVITY 9.80665f
fbob 8:930aa9d0f5ae 8 #define PI 3.14159f
fbob 8:930aa9d0f5ae 9
fbob 8:930aa9d0f5ae 10 // MPU9250 I2C bus address
fbob 8:930aa9d0f5ae 11 #define MPU9250_ADDRESS 0b1101001 << 1 // Shift 1 bit left because mbed utilizes 8-bit addresses and not 7-bit
fbob 8:930aa9d0f5ae 12
fbob 8:930aa9d0f5ae 13 // Device identity
fbob 8:930aa9d0f5ae 14 #define WHO_AM_I 0x75
fbob 8:930aa9d0f5ae 15
fbob 8:930aa9d0f5ae 16 // Accelerometer configuration registers addresses
fbob 8:930aa9d0f5ae 17 #define ACCEL_CONFIG_1 0x1C
fbob 8:930aa9d0f5ae 18 #define ACCEL_CONFIG_2 0x1D
fbob 8:930aa9d0f5ae 19 // Accelerometer output register addresses
fbob 8:930aa9d0f5ae 20 #define ACCEL_XOUT_H 0x3B
fbob 8:930aa9d0f5ae 21 #define ACCEL_XOUT_L 0x3C
fbob 8:930aa9d0f5ae 22 #define ACCEL_YOUT_H 0x3D
fbob 8:930aa9d0f5ae 23 #define ACCEL_YOUT_L 0x3E
fbob 8:930aa9d0f5ae 24 #define ACCEL_ZOUT_H 0x3F
fbob 8:930aa9d0f5ae 25 #define ACCEL_ZOUT_L 0x40
fbob 8:930aa9d0f5ae 26
fbob 8:930aa9d0f5ae 27 // Gyroscope configuration registers addresses
fbob 8:930aa9d0f5ae 28 #define GYRO_CONFIG 0x1B
fbob 8:930aa9d0f5ae 29 // Accelerometer output register addresses
fbob 8:930aa9d0f5ae 30 #define GYRO_XOUT_H 0x43
fbob 8:930aa9d0f5ae 31 #define GYRO_XOUT_L 0x44
fbob 8:930aa9d0f5ae 32 #define GYRO_YOUT_H 0x45
fbob 8:930aa9d0f5ae 33 #define GYRO_YOUT_L 0x46
fbob 8:930aa9d0f5ae 34 #define GYRO_ZOUT_H 0x47
fbob 8:930aa9d0f5ae 35 #define GYRO_ZOUT_L 0x48
fbob 8:930aa9d0f5ae 36
fbob 8:930aa9d0f5ae 37 // Auxiliary I2C configuration registers addresses
fbob 8:930aa9d0f5ae 38 #define INT_PIN_CFG 0x37
fbob 8:930aa9d0f5ae 39
fbob 8:930aa9d0f5ae 40 // Accelerometer full-scale ranges
fbob 8:930aa9d0f5ae 41 enum accel_scale
fbob 8:930aa9d0f5ae 42 {
fbob 8:930aa9d0f5ae 43 ACCEL_SCALE_2G = 0b00,
fbob 8:930aa9d0f5ae 44 ACCEL_SCALE_4G = 0b01,
fbob 8:930aa9d0f5ae 45 ACCEL_SCALE_8G = 0b10,
fbob 8:930aa9d0f5ae 46 ACCEL_SCALE_16G = 0b11
fbob 8:930aa9d0f5ae 47 };
fbob 8:930aa9d0f5ae 48
fbob 8:930aa9d0f5ae 49 // Gyroscope full-scale ranges
fbob 8:930aa9d0f5ae 50 enum gyro_scale
fbob 8:930aa9d0f5ae 51 {
fbob 8:930aa9d0f5ae 52 GYRO_SCALE_250DPS = 0b00,
fbob 8:930aa9d0f5ae 53 GYRO_SCALE_500DPS = 0b01,
fbob 8:930aa9d0f5ae 54 GYRO_SCALE_1000DPS = 0b10,
fbob 8:930aa9d0f5ae 55 GYRO_SCALE_2000DPS = 0b11
fbob 8:930aa9d0f5ae 56 };
fbob 8:930aa9d0f5ae 57
fbob 8:930aa9d0f5ae 58 /** MPU9250 (IMU sensor) class
fbob 8:930aa9d0f5ae 59 *
fbob 8:930aa9d0f5ae 60 * Example code (print accelerometer and gyroscope data on serial port every 0.2 seconds):
fbob 8:930aa9d0f5ae 61 * @code
fbob 8:930aa9d0f5ae 62 * #include "mbed.h"
fbob 8:930aa9d0f5ae 63 * #include "USBSerial.h"
fbob 8:930aa9d0f5ae 64 * #include "MPU9250.h"
fbob 8:930aa9d0f5ae 65 *
fbob 8:930aa9d0f5ae 66 * USBSerial pc;
fbob 8:930aa9d0f5ae 67 * MPU9250 imu(PC_9,PA_8);
fbob 8:930aa9d0f5ae 68 *
fbob 8:930aa9d0f5ae 69 * int main()
fbob 8:930aa9d0f5ae 70 * {
fbob 12:2bbe233d25fb 71 * imu.init();
fbob 8:930aa9d0f5ae 72 * while(1)
fbob 8:930aa9d0f5ae 73 * {
fbob 8:930aa9d0f5ae 74 * imu.read();
fbob 8:930aa9d0f5ae 75 * pc.printf("Accel [m/s^2]: %6.2f %6.2f %6.2f \n", imu.ax, imu.ay, imu.az);
fbob 8:930aa9d0f5ae 76 * pc.printf("Gyro [rad/s]: %6.2f %6.2f %6.2f \n\n", imu.gx, imu.gy, imu.gz);
fbob 8:930aa9d0f5ae 77 * wait(0.2);
fbob 8:930aa9d0f5ae 78 * }
fbob 8:930aa9d0f5ae 79 * }
fbob 8:930aa9d0f5ae 80 * @endcode
fbob 8:930aa9d0f5ae 81 * (Need to target to NUCLEO-F401RE board platform)
fbob 8:930aa9d0f5ae 82 */
fbob 8:930aa9d0f5ae 83 class MPU9250
fbob 8:930aa9d0f5ae 84 {
fbob 8:930aa9d0f5ae 85 public:
fbob 8:930aa9d0f5ae 86 /** Class constructor */
fbob 8:930aa9d0f5ae 87 MPU9250(PinName sda, PinName scl);
fbob 8:930aa9d0f5ae 88
fbob 8:930aa9d0f5ae 89 /** Initialize sensor */
fbob 8:930aa9d0f5ae 90 bool init();
fbob 8:930aa9d0f5ae 91 /** Read sensor data */
fbob 8:930aa9d0f5ae 92 void read();
fbob 8:930aa9d0f5ae 93
fbob 8:930aa9d0f5ae 94 uint8_t bob();
fbob 8:930aa9d0f5ae 95
fbob 8:930aa9d0f5ae 96 /** Accelerometer data in x-axis [m/s^2]*/
fbob 8:930aa9d0f5ae 97 float ax;
fbob 8:930aa9d0f5ae 98 /** Accelerometer data in y-axis [m/s^2]*/
fbob 8:930aa9d0f5ae 99 float ay;
fbob 8:930aa9d0f5ae 100 /** Accelerometer data in z-axis [m/s^2]*/
fbob 8:930aa9d0f5ae 101 float az;
fbob 8:930aa9d0f5ae 102 /** Gyroscope data in x-axis [rad/s]*/
fbob 8:930aa9d0f5ae 103 float gx;
fbob 8:930aa9d0f5ae 104 /** Gyroscope data in y-axis [rad/s]*/
fbob 8:930aa9d0f5ae 105 float gy;
fbob 8:930aa9d0f5ae 106 /** Gyroscope data in z-axis [rad/s]*/
fbob 8:930aa9d0f5ae 107 float gz;
fbob 8:930aa9d0f5ae 108 private:
fbob 8:930aa9d0f5ae 109 /** I2C bus */
fbob 8:930aa9d0f5ae 110 I2C i2c;
fbob 8:930aa9d0f5ae 111
fbob 8:930aa9d0f5ae 112 /** Setup I2C bus */
fbob 8:930aa9d0f5ae 113 void setup_i2c();
fbob 8:930aa9d0f5ae 114 /** Test I2C bus */
fbob 8:930aa9d0f5ae 115 bool test_i2c();
fbob 8:930aa9d0f5ae 116
fbob 8:930aa9d0f5ae 117 /** Setup auxiliary I2C bus pins */
fbob 8:930aa9d0f5ae 118 void setup_aux_i2c();
fbob 8:930aa9d0f5ae 119
fbob 8:930aa9d0f5ae 120 /** Setup accelerometer configurations (full-scale range) */
fbob 8:930aa9d0f5ae 121 void setup_accel(accel_scale a_scale = ACCEL_SCALE_16G);
fbob 8:930aa9d0f5ae 122 /** Setup gyroscope configurations (full-scale range) */
fbob 8:930aa9d0f5ae 123 void setup_gyro(gyro_scale g_scale = GYRO_SCALE_500DPS);
fbob 8:930aa9d0f5ae 124 /** Read accelerometer data */
fbob 8:930aa9d0f5ae 125 void read_accel();
fbob 8:930aa9d0f5ae 126 /** Read gyroscope data */
fbob 8:930aa9d0f5ae 127 void read_gyro();
fbob 8:930aa9d0f5ae 128
fbob 8:930aa9d0f5ae 129 /** Write data into register on MPU9250 I2C bus address */
fbob 8:930aa9d0f5ae 130 void write_reg(uint8_t reg, uint8_t data);
fbob 8:930aa9d0f5ae 131 /** Read data from register on MPU9250 I2C bus address */
fbob 8:930aa9d0f5ae 132 char read_reg(uint8_t reg);
fbob 8:930aa9d0f5ae 133
fbob 8:930aa9d0f5ae 134 /** Accelerometer resolution [m/s^2 / bit]*/
fbob 8:930aa9d0f5ae 135 float a_res;
fbob 8:930aa9d0f5ae 136 /** Gyroscope resolution [rad/s / bit]*/
fbob 8:930aa9d0f5ae 137 float g_res;
fbob 8:930aa9d0f5ae 138
fbob 8:930aa9d0f5ae 139 };
fbob 8:930aa9d0f5ae 140
fbob 8:930aa9d0f5ae 141 #endif