Diff: MPU9250/MPU9250.h

Revision:

2:3d5f4b1c7bdb

Child:

3:2f2b8e863991

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250/MPU9250.h	Tue Apr 17 23:35:21 2018 +0000
@@ -0,0 +1,146 @@
+#ifndef MPU9250_h
+#define MPU9250_h
+
+#include "mbed.h"
+
+// Physical constants
+#define GRAVITY 9.80665
+#define PI 3.14159
+
+// MPU9250 I2C address
+#define MPU9250_ADDRESS 0b1101001 << 1
+
+// Accelerometer configuration registers addresses
+#define ACCEL_CONFIG_1 0x1C
+#define ACCEL_CONFIG_2 0x1D
+// Accelerometer output register addresses
+#define ACCEL_XOUT_H 0x3B
+#define ACCEL_XOUT_L 0x3C
+#define ACCEL_YOUT_H 0x3D
+#define ACCEL_YOUT_L 0x3E
+#define ACCEL_ZOUT_H 0x3F
+#define ACCEL_ZOUT_L 0x40
+
+// Gyroscope configuration registers addresses
+#define GYRO_CONFIG 0x1B
+// Accelerometer output register addresses
+#define GYRO_XOUT_H 0x43
+#define GYRO_XOUT_L 0x44
+#define GYRO_YOUT_H 0x45
+#define GYRO_YOUT_L 0x46
+#define GYRO_ZOUT_H 0x47
+#define GYRO_ZOUT_L 0x48
+
+// Custom structure for storing multiple axis values
+struct vector
+{
+    // Raw data provided by IMU (bits)
+    int16_t x_raw;
+    int16_t y_raw;
+    int16_t z_raw;
+    // SI data (accel: m/s^2 | mag: rad/s | mag: T) 
+    float x;
+    float y;
+    float z;
+    // Resolution (accel: (m/s^2)/bit | mag: (rad/s)/bit | mag: T/bit)
+    float res;
+};
+
+
+/** MPU9250 class
+ *
+ * Example code (print accelerometer and gyroscope readings every 1 second):
+ * @code
+ * #include "mbed.h"
+ * #include "USBSerial.h"
+ * #include "MPU9250.h"
+ *
+ * USBSerial pc;
+ * MPU9250 imu(PC_9,PA_8);
+ * 
+ * int main() 
+ * {
+ *     imu.setup();
+ *     while(1)
+ *     {
+ *          imu.read();
+ *          pc.printf("Accel  [m/s^2]: %6.2f %6.2f %6.2f \n", imu.a.x, imu.a.y, imu.a.z);
+ *          pc.printf("Gyro   [rad/s]: %6.2f %6.2f %6.2f \n\n", imu.g.x, imu.g.y, imu.g.z);
+ *          wait(1);
+ *     }
+ * }
+ * @endcode
+ */
+class MPU9250
+{
+    public:
+        //! Accelerometer scales
+        enum accel_scale
+        {
+            ACCEL_SCALE_2G = 0b00,      // +/- 2g 
+            ACCEL_SCALE_4G = 0b01,      // +/- 4g 
+            ACCEL_SCALE_8G = 0b10,      // +/- 8g
+            ACCEL_SCALE_16G = 0b11      // +/- 16g 
+        };
+        //! Gyroscope scales
+        enum gyro_scale
+        {
+            GYRO_SCALE_250DPS = 0b00,   // +/- 250dps
+            GYRO_SCALE_500DPS = 0b01,   // +/- 500dps
+            GYRO_SCALE_1000DPS = 0b10,  // +/- 1000dps
+            GYRO_SCALE_2000DPS = 0b11   // +/- 2000dps
+        };
+        /** MPU9250 class constructor
+         *  Used for printing "Hello World" on USB serial.
+         *
+         * Example:
+         * @code
+         * #include "mbed.h"
+         * #include "USBSerial.h"
+         * #include "MPU9250.h"
+         *
+         * USBSerial pc;
+         * MPU9250 imu(PC_9,PA_8);
+         * 
+         * int main() 
+         * {
+         *     imu.setup();
+         *          while(1)
+         *          {
+         *          imu.read();
+         *          pc.printf("Accel  [m/s^2]: %6.2f %6.2f %6.2f \n", imu.a.x, imu.a.y, imu.a.z);
+         *          pc.printf("Gyro   [rad/s]: %6.2f %6.2f %6.2f \n\n", imu.g.x, imu.g.y, imu.g.z);
+         *          wait(1);
+         *          }
+         * }
+         * @endcode
+         */
+        MPU9250(PinName sda, PinName scl);
+        //! Setup accelerometer, gyroscope and magnetometer
+        void setup(accel_scale a_scale = ACCEL_SCALE_16G, gyro_scale g_scale = GYRO_SCALE_500DPS);
+        //! Setup accelerometer
+        void setup_accel(accel_scale a_scale = ACCEL_SCALE_16G);
+        //! Setup gyroscope
+        void setup_gyro(gyro_scale g_scale = GYRO_SCALE_500DPS);
+        //! Setup magnetometer
+        void setup_mag();
+        //! Read accelerometer, gyroscope and magnetometer output data
+        void read();
+        //! Read accelerometer output data
+        void read_accel();
+        //! Read accelerometer output data
+        void read_gyro();
+        //! Read accelerometer output data
+        void read_mag();
+        //! Accelerometer vector data
+        vector a;
+        //! Gyroscope vector data
+        vector g;
+        //! Magnetometer vector data
+        vector m;
+    private:
+        //! I2C bus
+        I2C i2c;
+};
+
+#endif
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