Kiko Ishimoto / MPU92502

MPU9250

Dependents:   OneCircleRobot

Fork of MPU9250 by Kiko Ishimoto

MPU9250.h@13:02291aace2cf, 2016-08-07 (annotated)

Committer:
kikoaac
Date:
Sun Aug 07 12:47:17 2016 +0000
Revision:
13:02291aace2cf
Parent:
12:a70c193d8195 
MPU;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kylongmu 0:768d2e151834 1 /*CODED by Qiyong Mu on 21/06/2014
kylongmu 7:1bcd61cdbf18 2 kylongmu@msn.com
kylongmu 0:768d2e151834 3 */
kylongmu 0:768d2e151834 4
kylongmu 0:768d2e151834 5
kylongmu 0:768d2e151834 6 #ifndef mpu9250_h
kylongmu 0:768d2e151834 7 #define mpu9250_h
kylongmu 0:768d2e151834 8 #include "mbed.h"
kylongmu 0:768d2e151834 9
kylongmu 0:768d2e151834 10
kylongmu 0:768d2e151834 11 class mpu9250_spi
kylongmu 0:768d2e151834 12 {
kylongmu 0:768d2e151834 13 SPI& spi;
kylongmu 0:768d2e151834 14 DigitalOut cs;
kylongmu 0:768d2e151834 15
kylongmu 0:768d2e151834 16 public:
kylongmu 0:768d2e151834 17 mpu9250_spi(SPI& _spi, PinName _cs);
kylongmu 0:768d2e151834 18 unsigned int WriteReg( uint8_t WriteAddr, uint8_t WriteData );
kylongmu 2:f274ea3bced9 19 unsigned int ReadReg( uint8_t WriteAddr, uint8_t WriteData );
kylongmu 2:f274ea3bced9 20 void ReadRegs( uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes );
kikoaac 12:a70c193d8195 21 void get_speedrate();
kylongmu 0:768d2e151834 22 bool init(int sample_rate_div,int low_pass_filter);
kylongmu 3:f4fa24cc247d 23 void read_temp();
kylongmu 2:f274ea3bced9 24 void read_acc();
kylongmu 2:f274ea3bced9 25 void read_rot();
kylongmu 0:768d2e151834 26 unsigned int set_gyro_scale(int scale);
kylongmu 0:768d2e151834 27 unsigned int set_acc_scale(int scale);
kylongmu 2:f274ea3bced9 28 void calib_acc();
kylongmu 11:084e8ba240c1 29 void AK8963_calib_Magnetometer();
kylongmu 0:768d2e151834 30 void select();
kylongmu 0:768d2e151834 31 void deselect();
kylongmu 0:768d2e151834 32 unsigned int whoami();
kylongmu 6:c82c48348f8c 33 uint8_t AK8963_whoami();
kylongmu 4:79185409730f 34 void AK8963_read_Magnetometer();
kikoaac 12:a70c193d8195 35 void AK8963_setoffset(int x,double offset);
kikoaac 12:a70c193d8195 36 double *AK8936_read_Orientation(double *getdata);
kikoaac 12:a70c193d8195 37
kylongmu 8:492028cb604e 38 void read_all();
kylongmu 4:79185409730f 39
kylongmu 4:79185409730f 40
kylongmu 0:768d2e151834 41
kylongmu 0:768d2e151834 42 float acc_divider;
kylongmu 0:768d2e151834 43 float gyro_divider;
kylongmu 0:768d2e151834 44
kylongmu 2:f274ea3bced9 45 int calib_data[3];
kylongmu 11:084e8ba240c1 46 float Magnetometer_ASA[3];
kylongmu 11:084e8ba240c1 47
kikoaac 12:a70c193d8195 48 double accelerometer_data[3];
kikoaac 12:a70c193d8195 49 double accelerometer_data_prev[3];
kylongmu 3:f4fa24cc247d 50 float Temperature;
kylongmu 2:f274ea3bced9 51 float gyroscope_data[3];
kylongmu 4:79185409730f 52 float Magnetometer[3];
kikoaac 12:a70c193d8195 53 float Magnetometer_offset[3];
kikoaac 12:a70c193d8195 54 double speed[3];
kikoaac 12:a70c193d8195 55 double meter[3];
kikoaac 12:a70c193d8195 56 float angle_acc[3];
kikoaac 12:a70c193d8195 57 short offset_gyro[3];
kikoaac 12:a70c193d8195 58 short rate[3];
kikoaac 12:a70c193d8195 59
kikoaac 12:a70c193d8195 60 void set(float time=0.0001 , float time2=0.001){sampleTimeSpeed=time;sampleTimeMeter=time2;}
kikoaac 12:a70c193d8195 61 double freefallSpeedSet(); double freefallSpeedGet();
kikoaac 12:a70c193d8195 62 double freefallMeterSet(); double freefallMeterGet();
kikoaac 12:a70c193d8195 63
kikoaac 12:a70c193d8195 64 void SpeedSet();
kikoaac 12:a70c193d8195 65 void MeterSet();
kikoaac 12:a70c193d8195 66
kikoaac 12:a70c193d8195 67 void Filter();
kikoaac 12:a70c193d8195 68 double VectolGet();double VectolSet();
kikoaac 12:a70c193d8195 69
kikoaac 12:a70c193d8195 70 void MPU_setup();
kikoaac 12:a70c193d8195 71 void MPU_setnum(int Num=500,float time=0.0001,double rate=0.00390635);//set data member
kikoaac 12:a70c193d8195 72
kikoaac 12:a70c193d8195 73 void get_angle_acc();
kikoaac 12:a70c193d8195 74 void get_rate();
kikoaac 12:a70c193d8195 75 void set_angle();//set always [time]
kikoaac 12:a70c193d8195 76 void newset_angle(double ANG_x,double ANG_y,double ANG_z);
kikoaac 12:a70c193d8195 77 void get_angle(double *x,double *y,double *z);
kikoaac 12:a70c193d8195 78
kikoaac 12:a70c193d8195 79 void set_noise();
kikoaac 12:a70c193d8195 80 void set_offset();
kikoaac 12:a70c193d8195 81 void set_angleoffset();
kikoaac 12:a70c193d8195 82 short ratespeed[3];
kikoaac 12:a70c193d8195 83 short ratemeter[3];
kikoaac 12:a70c193d8195 84 double Synthesis_speed[3],kalman_speed[3],comp_speed[3];
kikoaac 12:a70c193d8195 85 double Synthesis_meter[3],kalman_meter[3],comp_meter[3];
kikoaac 12:a70c193d8195 86 double angle[3],Synthesis_angle[3],kalman_angle[3],comp_angle[3];
kylongmu 0:768d2e151834 87 private:
kylongmu 0:768d2e151834 88 PinName _CS_pin;
kylongmu 0:768d2e151834 89 PinName _SO_pin;
kylongmu 0:768d2e151834 90 PinName _SCK_pin;
kylongmu 0:768d2e151834 91 float _error;
kikoaac 12:a70c193d8195 92 Timer angleT;
kikoaac 12:a70c193d8195 93 Timer speedT;
kikoaac 12:a70c193d8195 94 Timer meterT;
kikoaac 12:a70c193d8195 95
kikoaac 12:a70c193d8195 96 //ACC ADXL345
kikoaac 12:a70c193d8195 97 int x_acc,y_acc,z_acc,sampleNum;
kikoaac 12:a70c193d8195 98 double x_offset,y_offset,z_offset;
kikoaac 12:a70c193d8195 99 float gx,gy,gz,xnoise,ynoise,znoise;
kikoaac 12:a70c193d8195 100 //GYALO L3GD20
kikoaac 12:a70c193d8195 101 double Rate;
kikoaac 12:a70c193d8195 102 double sampleTime;
kikoaac 12:a70c193d8195 103 float noise[3];
kikoaac 12:a70c193d8195 104 short offset[3];short prev_rate[3];
kikoaac 12:a70c193d8195 105
kikoaac 12:a70c193d8195 106 double t[3];
kikoaac 12:a70c193d8195 107 short tempDATA_ACC[3],tempDATA_ANGLE[3];
kikoaac 12:a70c193d8195 108 double offset_angle[3];
kikoaac 12:a70c193d8195 109
kikoaac 12:a70c193d8195 110 short prev_ratespeed[3],prev_speed[3];
kikoaac 12:a70c193d8195 111 short prev_ratemeter[3],prev_meter[3];
kikoaac 12:a70c193d8195 112 double real_acc[3];
kikoaac 12:a70c193d8195 113 short acc[3];
kikoaac 12:a70c193d8195 114 double filter_acc[3];
kikoaac 12:a70c193d8195 115
kikoaac 12:a70c193d8195 116 int sampleTimeSpeed,sampleTimeMeter;
kikoaac 12:a70c193d8195 117
kikoaac 12:a70c193d8195 118 class kalman
kikoaac 12:a70c193d8195 119 {
kikoaac 12:a70c193d8195 120 public:
kikoaac 12:a70c193d8195 121 kalman(void);
kikoaac 12:a70c193d8195 122 double getAngle(double newAngle, double newRate, double dt);
kikoaac 12:a70c193d8195 123
kikoaac 12:a70c193d8195 124 void setAngle(double newAngle);
kikoaac 12:a70c193d8195 125 void setQangle(double newQ_angle);
kikoaac 12:a70c193d8195 126 void setQgyroBias(double newQ_gyroBias);
kikoaac 12:a70c193d8195 127 void setRangle(double newR_angle);
kikoaac 12:a70c193d8195 128
kikoaac 12:a70c193d8195 129 double getRate(void);
kikoaac 12:a70c193d8195 130 double getQangle(void);
kikoaac 12:a70c193d8195 131 double getQbias(void);
kikoaac 12:a70c193d8195 132 double getRangle(void);
kikoaac 12:a70c193d8195 133
kikoaac 12:a70c193d8195 134
kikoaac 12:a70c193d8195 135 private:
kikoaac 12:a70c193d8195 136 double P[2][2]; //error covariance matrix
kikoaac 12:a70c193d8195 137 double K[2]; //kalman gain
kikoaac 12:a70c193d8195 138 double y; //angle difference
kikoaac 12:a70c193d8195 139 double S; //estimation error
kikoaac 12:a70c193d8195 140
kikoaac 12:a70c193d8195 141 double rate; //rate in deg/s
kikoaac 12:a70c193d8195 142 double angle; //kalman angle
kikoaac 12:a70c193d8195 143 double bias; //kalman gyro bias
kikoaac 12:a70c193d8195 144
kikoaac 12:a70c193d8195 145 double Q_angle; //process noise variance for the angle of the accelerometer
kikoaac 12:a70c193d8195 146 double Q_gyroBias; //process noise variance for the gyroscope bias
kikoaac 12:a70c193d8195 147 double R_angle; //measurement noise variance
kikoaac 12:a70c193d8195 148 };
kikoaac 12:a70c193d8195 149 kalman kalmaspeed[3];
kikoaac 12:a70c193d8195 150 kalman kalmameter[3];
kikoaac 12:a70c193d8195 151 //KALMAN
kikoaac 12:a70c193d8195 152 kalman kalma[3];
kylongmu 0:768d2e151834 153 };
kylongmu 0:768d2e151834 154
kylongmu 0:768d2e151834 155 #endif
kylongmu 0:768d2e151834 156
kylongmu 0:768d2e151834 157
kylongmu 0:768d2e151834 158
kylongmu 0:768d2e151834 159 // mpu9250 registers
kylongmu 0:768d2e151834 160 #define MPUREG_XG_OFFS_TC 0x00
kylongmu 0:768d2e151834 161 #define MPUREG_YG_OFFS_TC 0x01
kylongmu 0:768d2e151834 162 #define MPUREG_ZG_OFFS_TC 0x02
kylongmu 0:768d2e151834 163 #define MPUREG_X_FINE_GAIN 0x03
kylongmu 0:768d2e151834 164 #define MPUREG_Y_FINE_GAIN 0x04
kylongmu 0:768d2e151834 165 #define MPUREG_Z_FINE_GAIN 0x05
kylongmu 0:768d2e151834 166 #define MPUREG_XA_OFFS_H 0x06
kylongmu 0:768d2e151834 167 #define MPUREG_XA_OFFS_L 0x07
kylongmu 0:768d2e151834 168 #define MPUREG_YA_OFFS_H 0x08
kylongmu 0:768d2e151834 169 #define MPUREG_YA_OFFS_L 0x09
kylongmu 0:768d2e151834 170 #define MPUREG_ZA_OFFS_H 0x0A
kylongmu 0:768d2e151834 171 #define MPUREG_ZA_OFFS_L 0x0B
kylongmu 0:768d2e151834 172 #define MPUREG_PRODUCT_ID 0x0C
kylongmu 0:768d2e151834 173 #define MPUREG_SELF_TEST_X 0x0D
kylongmu 0:768d2e151834 174 #define MPUREG_SELF_TEST_Y 0x0E
kylongmu 0:768d2e151834 175 #define MPUREG_SELF_TEST_Z 0x0F
kylongmu 0:768d2e151834 176 #define MPUREG_SELF_TEST_A 0x10
kylongmu 0:768d2e151834 177 #define MPUREG_XG_OFFS_USRH 0x13
kylongmu 0:768d2e151834 178 #define MPUREG_XG_OFFS_USRL 0x14
kylongmu 0:768d2e151834 179 #define MPUREG_YG_OFFS_USRH 0x15
kylongmu 0:768d2e151834 180 #define MPUREG_YG_OFFS_USRL 0x16
kylongmu 0:768d2e151834 181 #define MPUREG_ZG_OFFS_USRH 0x17
kylongmu 0:768d2e151834 182 #define MPUREG_ZG_OFFS_USRL 0x18
kylongmu 0:768d2e151834 183 #define MPUREG_SMPLRT_DIV 0x19
kylongmu 0:768d2e151834 184 #define MPUREG_CONFIG 0x1A
kylongmu 0:768d2e151834 185 #define MPUREG_GYRO_CONFIG 0x1B
kylongmu 0:768d2e151834 186 #define MPUREG_ACCEL_CONFIG 0x1C
kylongmu 0:768d2e151834 187 #define MPUREG_ACCEL_CONFIG_2 0x1D
kylongmu 0:768d2e151834 188 #define MPUREG_LP_ACCEL_ODR 0x1E
kylongmu 0:768d2e151834 189 #define MPUREG_MOT_THR 0x1F
kylongmu 0:768d2e151834 190 #define MPUREG_FIFO_EN 0x23
kylongmu 0:768d2e151834 191 #define MPUREG_I2C_MST_CTRL 0x24
kylongmu 0:768d2e151834 192 #define MPUREG_I2C_SLV0_ADDR 0x25
kylongmu 0:768d2e151834 193 #define MPUREG_I2C_SLV0_REG 0x26
kylongmu 0:768d2e151834 194 #define MPUREG_I2C_SLV0_CTRL 0x27
kylongmu 0:768d2e151834 195 #define MPUREG_I2C_SLV1_ADDR 0x28
kylongmu 0:768d2e151834 196 #define MPUREG_I2C_SLV1_REG 0x29
kylongmu 0:768d2e151834 197 #define MPUREG_I2C_SLV1_CTRL 0x2A
kylongmu 0:768d2e151834 198 #define MPUREG_I2C_SLV2_ADDR 0x2B
kylongmu 0:768d2e151834 199 #define MPUREG_I2C_SLV2_REG 0x2C
kylongmu 0:768d2e151834 200 #define MPUREG_I2C_SLV2_CTRL 0x2D
kylongmu 0:768d2e151834 201 #define MPUREG_I2C_SLV3_ADDR 0x2E
kylongmu 0:768d2e151834 202 #define MPUREG_I2C_SLV3_REG 0x2F
kylongmu 0:768d2e151834 203 #define MPUREG_I2C_SLV3_CTRL 0x30
kylongmu 0:768d2e151834 204 #define MPUREG_I2C_SLV4_ADDR 0x31
kylongmu 0:768d2e151834 205 #define MPUREG_I2C_SLV4_REG 0x32
kylongmu 0:768d2e151834 206 #define MPUREG_I2C_SLV4_DO 0x33
kylongmu 0:768d2e151834 207 #define MPUREG_I2C_SLV4_CTRL 0x34
kylongmu 0:768d2e151834 208 #define MPUREG_I2C_SLV4_DI 0x35
kylongmu 0:768d2e151834 209 #define MPUREG_I2C_MST_STATUS 0x36
kylongmu 0:768d2e151834 210 #define MPUREG_INT_PIN_CFG 0x37
kylongmu 0:768d2e151834 211 #define MPUREG_INT_ENABLE 0x38
kylongmu 0:768d2e151834 212 #define MPUREG_ACCEL_XOUT_H 0x3B
kylongmu 0:768d2e151834 213 #define MPUREG_ACCEL_XOUT_L 0x3C
kylongmu 0:768d2e151834 214 #define MPUREG_ACCEL_YOUT_H 0x3D
kylongmu 0:768d2e151834 215 #define MPUREG_ACCEL_YOUT_L 0x3E
kylongmu 0:768d2e151834 216 #define MPUREG_ACCEL_ZOUT_H 0x3F
kylongmu 0:768d2e151834 217 #define MPUREG_ACCEL_ZOUT_L 0x40
kylongmu 0:768d2e151834 218 #define MPUREG_TEMP_OUT_H 0x41
kylongmu 0:768d2e151834 219 #define MPUREG_TEMP_OUT_L 0x42
kylongmu 0:768d2e151834 220 #define MPUREG_GYRO_XOUT_H 0x43
kylongmu 0:768d2e151834 221 #define MPUREG_GYRO_XOUT_L 0x44
kylongmu 0:768d2e151834 222 #define MPUREG_GYRO_YOUT_H 0x45
kylongmu 0:768d2e151834 223 #define MPUREG_GYRO_YOUT_L 0x46
kylongmu 0:768d2e151834 224 #define MPUREG_GYRO_ZOUT_H 0x47
kylongmu 0:768d2e151834 225 #define MPUREG_GYRO_ZOUT_L 0x48
kylongmu 0:768d2e151834 226 #define MPUREG_EXT_SENS_DATA_00 0x49
kylongmu 0:768d2e151834 227 #define MPUREG_EXT_SENS_DATA_01 0x4A
kylongmu 0:768d2e151834 228 #define MPUREG_EXT_SENS_DATA_02 0x4B
kylongmu 0:768d2e151834 229 #define MPUREG_EXT_SENS_DATA_03 0x4C
kylongmu 0:768d2e151834 230 #define MPUREG_EXT_SENS_DATA_04 0x4D
kylongmu 0:768d2e151834 231 #define MPUREG_EXT_SENS_DATA_05 0x4E
kylongmu 0:768d2e151834 232 #define MPUREG_EXT_SENS_DATA_06 0x4F
kylongmu 0:768d2e151834 233 #define MPUREG_EXT_SENS_DATA_07 0x50
kylongmu 0:768d2e151834 234 #define MPUREG_EXT_SENS_DATA_08 0x51
kylongmu 0:768d2e151834 235 #define MPUREG_EXT_SENS_DATA_09 0x52
kylongmu 0:768d2e151834 236 #define MPUREG_EXT_SENS_DATA_10 0x53
kylongmu 0:768d2e151834 237 #define MPUREG_EXT_SENS_DATA_11 0x54
kylongmu 0:768d2e151834 238 #define MPUREG_EXT_SENS_DATA_12 0x55
kylongmu 0:768d2e151834 239 #define MPUREG_EXT_SENS_DATA_13 0x56
kylongmu 0:768d2e151834 240 #define MPUREG_EXT_SENS_DATA_14 0x57
kylongmu 0:768d2e151834 241 #define MPUREG_EXT_SENS_DATA_15 0x58
kylongmu 0:768d2e151834 242 #define MPUREG_EXT_SENS_DATA_16 0x59
kylongmu 0:768d2e151834 243 #define MPUREG_EXT_SENS_DATA_17 0x5A
kylongmu 0:768d2e151834 244 #define MPUREG_EXT_SENS_DATA_18 0x5B
kylongmu 0:768d2e151834 245 #define MPUREG_EXT_SENS_DATA_19 0x5C
kylongmu 0:768d2e151834 246 #define MPUREG_EXT_SENS_DATA_20 0x5D
kylongmu 0:768d2e151834 247 #define MPUREG_EXT_SENS_DATA_21 0x5E
kylongmu 0:768d2e151834 248 #define MPUREG_EXT_SENS_DATA_22 0x5F
kylongmu 0:768d2e151834 249 #define MPUREG_EXT_SENS_DATA_23 0x60
kylongmu 0:768d2e151834 250 #define MPUREG_I2C_SLV0_DO 0x63
kylongmu 0:768d2e151834 251 #define MPUREG_I2C_SLV1_DO 0x64
kylongmu 0:768d2e151834 252 #define MPUREG_I2C_SLV2_DO 0x65
kylongmu 0:768d2e151834 253 #define MPUREG_I2C_SLV3_DO 0x66
kylongmu 0:768d2e151834 254 #define MPUREG_I2C_MST_DELAY_CTRL 0x67
kylongmu 0:768d2e151834 255 #define MPUREG_SIGNAL_PATH_RESET 0x68
kylongmu 0:768d2e151834 256 #define MPUREG_MOT_DETECT_CTRL 0x69
kylongmu 0:768d2e151834 257 #define MPUREG_USER_CTRL 0x6A
kylongmu 0:768d2e151834 258 #define MPUREG_PWR_MGMT_1 0x6B
kylongmu 0:768d2e151834 259 #define MPUREG_PWR_MGMT_2 0x6C
kylongmu 0:768d2e151834 260 #define MPUREG_BANK_SEL 0x6D
kylongmu 0:768d2e151834 261 #define MPUREG_MEM_START_ADDR 0x6E
kylongmu 0:768d2e151834 262 #define MPUREG_MEM_R_W 0x6F
kylongmu 0:768d2e151834 263 #define MPUREG_DMP_CFG_1 0x70
kylongmu 0:768d2e151834 264 #define MPUREG_DMP_CFG_2 0x71
kylongmu 0:768d2e151834 265 #define MPUREG_FIFO_COUNTH 0x72
kylongmu 0:768d2e151834 266 #define MPUREG_FIFO_COUNTL 0x73
kylongmu 0:768d2e151834 267 #define MPUREG_FIFO_R_W 0x74
kylongmu 0:768d2e151834 268 #define MPUREG_WHOAMI 0x75
kylongmu 0:768d2e151834 269 #define MPUREG_XA_OFFSET_H 0x77
kylongmu 0:768d2e151834 270 #define MPUREG_XA_OFFSET_L 0x78
kylongmu 0:768d2e151834 271 #define MPUREG_YA_OFFSET_H 0x7A
kylongmu 0:768d2e151834 272 #define MPUREG_YA_OFFSET_L 0x7B
kylongmu 0:768d2e151834 273 #define MPUREG_ZA_OFFSET_H 0x7D
kylongmu 0:768d2e151834 274 #define MPUREG_ZA_OFFSET_L 0x7E
kylongmu 0:768d2e151834 275 /* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */
kylongmu 0:768d2e151834 276
kylongmu 5:f15d1d9d1561 277 #define AK8963_I2C_ADDR 0x0c//0x18
kylongmu 0:768d2e151834 278 #define AK8963_Device_ID 0x48
kylongmu 0:768d2e151834 279
kylongmu 0:768d2e151834 280 // Read-only Reg
kylongmu 0:768d2e151834 281 #define AK8963_WIA 0x00
kylongmu 0:768d2e151834 282 #define AK8963_INFO 0x01
kylongmu 0:768d2e151834 283 #define AK8963_ST1 0x02
kylongmu 0:768d2e151834 284 #define AK8963_HXL 0x03
kylongmu 0:768d2e151834 285 #define AK8963_HXH 0x04
kylongmu 0:768d2e151834 286 #define AK8963_HYL 0x05
kylongmu 0:768d2e151834 287 #define AK8963_HYH 0x06
kylongmu 0:768d2e151834 288 #define AK8963_HZL 0x07
kylongmu 0:768d2e151834 289 #define AK8963_HZH 0x08
kylongmu 0:768d2e151834 290 #define AK8963_ST2 0x09
kylongmu 0:768d2e151834 291 // Write/Read Reg
kylongmu 0:768d2e151834 292 #define AK8963_CNTL1 0x0A
kylongmu 0:768d2e151834 293 #define AK8963_CNTL2 0x0B
kylongmu 0:768d2e151834 294 #define AK8963_ASTC 0x0C
kylongmu 0:768d2e151834 295 #define AK8963_TS1 0x0D
kylongmu 0:768d2e151834 296 #define AK8963_TS2 0x0E
kylongmu 0:768d2e151834 297 #define AK8963_I2CDIS 0x0F
kylongmu 0:768d2e151834 298 // Read-only Reg ( ROM )
kylongmu 0:768d2e151834 299 #define AK8963_ASAX 0x10
kylongmu 0:768d2e151834 300 #define AK8963_ASAY 0x11
kylongmu 0:768d2e151834 301 #define AK8963_ASAZ 0x12
kylongmu 0:768d2e151834 302
kylongmu 0:768d2e151834 303 // Configuration bits mpu9250
kylongmu 0:768d2e151834 304 #define BIT_SLEEP 0x40
kylongmu 0:768d2e151834 305 #define BIT_H_RESET 0x80
kylongmu 0:768d2e151834 306 #define BITS_CLKSEL 0x07
kylongmu 0:768d2e151834 307 #define MPU_CLK_SEL_PLLGYROX 0x01
kylongmu 0:768d2e151834 308 #define MPU_CLK_SEL_PLLGYROZ 0x03
kylongmu 0:768d2e151834 309 #define MPU_EXT_SYNC_GYROX 0x02
kylongmu 0:768d2e151834 310 #define BITS_FS_250DPS 0x00
kylongmu 0:768d2e151834 311 #define BITS_FS_500DPS 0x08
kylongmu 0:768d2e151834 312 #define BITS_FS_1000DPS 0x10
kylongmu 0:768d2e151834 313 #define BITS_FS_2000DPS 0x18
kylongmu 0:768d2e151834 314 #define BITS_FS_2G 0x00
kylongmu 0:768d2e151834 315 #define BITS_FS_4G 0x08
kylongmu 0:768d2e151834 316 #define BITS_FS_8G 0x10
kylongmu 0:768d2e151834 317 #define BITS_FS_16G 0x18
kylongmu 0:768d2e151834 318 #define BITS_FS_MASK 0x18
kylongmu 0:768d2e151834 319 #define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
kylongmu 0:768d2e151834 320 #define BITS_DLPF_CFG_188HZ 0x01
kylongmu 0:768d2e151834 321 #define BITS_DLPF_CFG_98HZ 0x02
kylongmu 0:768d2e151834 322 #define BITS_DLPF_CFG_42HZ 0x03
kylongmu 0:768d2e151834 323 #define BITS_DLPF_CFG_20HZ 0x04
kylongmu 0:768d2e151834 324 #define BITS_DLPF_CFG_10HZ 0x05
kylongmu 0:768d2e151834 325 #define BITS_DLPF_CFG_5HZ 0x06
kylongmu 0:768d2e151834 326 #define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
kylongmu 0:768d2e151834 327 #define BITS_DLPF_CFG_MASK 0x07
kylongmu 0:768d2e151834 328 #define BIT_INT_ANYRD_2CLEAR 0x10
kylongmu 0:768d2e151834 329 #define BIT_RAW_RDY_EN 0x01
kylongmu 0:768d2e151834 330 #define BIT_I2C_IF_DIS 0x10
kylongmu 0:768d2e151834 331
kylongmu 0:768d2e151834 332 #define READ_FLAG 0x80
kylongmu 0:768d2e151834 333
kylongmu 0:768d2e151834 334 /* ---- Sensitivity --------------------------------------------------------- */
kylongmu 0:768d2e151834 335
kylongmu 0:768d2e151834 336 #define MPU9250A_2g ((float)0.000061035156f) // 0.000061035156 g/LSB
kylongmu 0:768d2e151834 337 #define MPU9250A_4g ((float)0.000122070312f) // 0.000122070312 g/LSB
kylongmu 0:768d2e151834 338 #define MPU9250A_8g ((float)0.000244140625f) // 0.000244140625 g/LSB
kylongmu 0:768d2e151834 339 #define MPU9250A_16g ((float)0.000488281250f) // 0.000488281250 g/LSB
kylongmu 0:768d2e151834 340
kylongmu 0:768d2e151834 341 #define MPU9250G_250dps ((float)0.007633587786f) // 0.007633587786 dps/LSB
kylongmu 0:768d2e151834 342 #define MPU9250G_500dps ((float)0.015267175572f) // 0.015267175572 dps/LSB
kylongmu 0:768d2e151834 343 #define MPU9250G_1000dps ((float)0.030487804878f) // 0.030487804878 dps/LSB
kylongmu 0:768d2e151834 344 #define MPU9250G_2000dps ((float)0.060975609756f) // 0.060975609756 dps/LSB
kylongmu 0:768d2e151834 345
kylongmu 0:768d2e151834 346 #define MPU9250M_4800uT ((float)0.6f) // 0.6 uT/LSB
kylongmu 0:768d2e151834 347
kylongmu 0:768d2e151834 348 #define MPU9250T_85degC ((float)0.002995177763f) // 0.002995177763 degC/LSB
kylongmu 0:768d2e151834 349
kylongmu 11:084e8ba240c1 350 #define Magnetometer_Sensitivity_Scale_Factor ((float)0.15f)