Luis Silvio Cordova Rivadeneira / Mbed 2 deprecated mpu9250

Ejemplo de uso del MPU9250 por puerto I2C

Dependencies:   mbed

myMPU9250.h@1:ad5417f813f4, 2020-02-06 (annotated)

Committer:
lscordovar
Date:
Thu Feb 06 03:39:19 2020 +0000
Revision:
1:ad5417f813f4
Parent:
0:cecf4940adf1 
Ejemplo con MPU9250 por I2C

Who changed what in which revision?

UserRevisionLine numberNew contents of line
a0074639 0:cecf4940adf1 1 #ifndef MYMPU9250_H
a0074639 0:cecf4940adf1 2 #define MYMPU9250_H
a0074639 0:cecf4940adf1 3
a0074639 0:cecf4940adf1 4 #include "mpu9250Define.h"
a0074639 0:cecf4940adf1 5
a0074639 0:cecf4940adf1 6 class MyMPU9250
a0074639 0:cecf4940adf1 7 {
a0074639 0:cecf4940adf1 8 public:
a0074639 0:cecf4940adf1 9 MyMPU9250()
lscordovar 1:ad5417f813f4 10 : pc_(USBTX, USBRX), i2c_(PB_9, PB_8)/*(p28, p27)*/ {
a0074639 0:cecf4940adf1 11 accelLSB2MG_ = 10.0;
a0074639 0:cecf4940adf1 12 gyroLSB2DegPerSec_ = 0.0;
a0074639 0:cecf4940adf1 13 };
a0074639 0:cecf4940adf1 14
a0074639 0:cecf4940adf1 15 bool initialize() {
a0074639 0:cecf4940adf1 16 i2c_.frequency(400000);
a0074639 0:cecf4940adf1 17 i2c_.start();
a0074639 0:cecf4940adf1 18
a0074639 0:cecf4940adf1 19 wait(0.5);
a0074639 0:cecf4940adf1 20
a0074639 0:cecf4940adf1 21 char cmd[2] = { 0x00 };
a0074639 0:cecf4940adf1 22 cmd[0] = PWR_MGMT_1; // 0x6B
a0074639 0:cecf4940adf1 23 cmd[1] = (PWR_MGMT_1_CLKSEL_0); // 0x00
a0074639 0:cecf4940adf1 24 this->write(cmd, BIT_2);
a0074639 0:cecf4940adf1 25
a0074639 0:cecf4940adf1 26 wait(0.5);
a0074639 0:cecf4940adf1 27
a0074639 0:cecf4940adf1 28 char i_am[1] = { 0x00 };
a0074639 0:cecf4940adf1 29 if(! this->read(WHO_AM_I, i_am, BIT_1)) {
a0074639 0:cecf4940adf1 30 pc_.printf("Fail to read! I am %x\n", i_am[0]);
a0074639 0:cecf4940adf1 31 return false;
a0074639 0:cecf4940adf1 32 } else if(!(i_am[0] == 0x71)) {
a0074639 0:cecf4940adf1 33 pc_.printf("Fail to identify! I am %x\n", i_am[0]);
a0074639 0:cecf4940adf1 34 return false;
a0074639 0:cecf4940adf1 35 }
a0074639 0:cecf4940adf1 36 return true;
a0074639 0:cecf4940adf1 37 };
a0074639 0:cecf4940adf1 38
a0074639 0:cecf4940adf1 39 void setup(AccelSensitivity accel_mode=AFS_SEL_2,
a0074639 0:cecf4940adf1 40 GyroSensitivity gyro_mode=FS_SEL_250) {
a0074639 0:cecf4940adf1 41 char cmd[2] = { 0x00 };
a0074639 0:cecf4940adf1 42
a0074639 0:cecf4940adf1 43 cmd[0] = ACCEL_CONFIG;
a0074639 0:cecf4940adf1 44 cmd[1] = ACCEL_CONFIG_AFS_SEL_2;//(0x18);
a0074639 0:cecf4940adf1 45 this->write(cmd, BIT_2);
a0074639 0:cecf4940adf1 46 accelLSB2MG_ = getAccelLSB2MG(accel_mode);
a0074639 0:cecf4940adf1 47 pc_.printf("accelLSB2MG: %f, %x", accelLSB2MG_, cmd[1]);
a0074639 0:cecf4940adf1 48
a0074639 0:cecf4940adf1 49 cmd[0] = GYRO_CONFIG;
a0074639 0:cecf4940adf1 50 cmd[1] = getGyroSensitivity(gyro_mode);//(0x18);
a0074639 0:cecf4940adf1 51 this->write(cmd, BIT_2);
a0074639 0:cecf4940adf1 52 gyroLSB2DegPerSec_ = getGyroLSB2DegPerSec(gyro_mode);
a0074639 0:cecf4940adf1 53
a0074639 0:cecf4940adf1 54 cmd[0] = INT_PIN_CFG; // 0x37
a0074639 0:cecf4940adf1 55 cmd[1] = (INT_PIN_DFG_I2C_BYPASS_EN); // 0x02
a0074639 0:cecf4940adf1 56 this->write(cmd, BIT_2);
a0074639 0:cecf4940adf1 57 };
a0074639 0:cecf4940adf1 58
a0074639 0:cecf4940adf1 59 bool updateAccelAllAxes() {
a0074639 0:cecf4940adf1 60 return this->read(ACCEL_XOUT_H, accel_all_, BIT_6);
a0074639 0:cecf4940adf1 61 };
a0074639 0:cecf4940adf1 62
a0074639 0:cecf4940adf1 63 int accelXRaw() {
a0074639 0:cecf4940adf1 64 return (int16_t)(accel_all_[0]*0x100 + accel_all_[1]) ;
a0074639 0:cecf4940adf1 65 };
a0074639 0:cecf4940adf1 66
a0074639 0:cecf4940adf1 67 double accelX() {
a0074639 0:cecf4940adf1 68 return accelLSB2MG_ * accelXRaw() ;
a0074639 0:cecf4940adf1 69 };
a0074639 0:cecf4940adf1 70
a0074639 0:cecf4940adf1 71 int accelYRaw() {
a0074639 0:cecf4940adf1 72 return (int16_t)(accel_all_[2]*0x100 + accel_all_[3]) ;
a0074639 0:cecf4940adf1 73 };
a0074639 0:cecf4940adf1 74
a0074639 0:cecf4940adf1 75 double accelY() {
a0074639 0:cecf4940adf1 76 return accelLSB2MG_ * accelYRaw() ;
a0074639 0:cecf4940adf1 77 };
a0074639 0:cecf4940adf1 78
a0074639 0:cecf4940adf1 79 int accelZRaw() {
a0074639 0:cecf4940adf1 80 return (int16_t)(accel_all_[4]*0x100 + accel_all_[5]) ;
a0074639 0:cecf4940adf1 81 };
a0074639 0:cecf4940adf1 82
a0074639 0:cecf4940adf1 83 double accelZ() {
a0074639 0:cecf4940adf1 84 return accelLSB2MG_ * accelZRaw() ;
a0074639 0:cecf4940adf1 85 };
a0074639 0:cecf4940adf1 86
a0074639 0:cecf4940adf1 87
a0074639 0:cecf4940adf1 88 bool updateGyroAllAxes() {
a0074639 0:cecf4940adf1 89 return this->read(GYRO_XOUT_H, gyro_all_, BIT_6);
a0074639 0:cecf4940adf1 90 };
a0074639 0:cecf4940adf1 91
a0074639 0:cecf4940adf1 92 int gyroXRaw() {
a0074639 0:cecf4940adf1 93 return (int16_t)(gyro_all_[0]*0x100 + gyro_all_[1]) ;
a0074639 0:cecf4940adf1 94 };
a0074639 0:cecf4940adf1 95
a0074639 0:cecf4940adf1 96 double gyroX() {
a0074639 0:cecf4940adf1 97 return accelLSB2MG_ * gyroXRaw() ;
a0074639 0:cecf4940adf1 98 };
a0074639 0:cecf4940adf1 99
a0074639 0:cecf4940adf1 100 int gyroYRaw() {
a0074639 0:cecf4940adf1 101 return (int16_t)(gyro_all_[2]*0x100 + gyro_all_[3]) ;
a0074639 0:cecf4940adf1 102 };
a0074639 0:cecf4940adf1 103
a0074639 0:cecf4940adf1 104 double gyroY() {
a0074639 0:cecf4940adf1 105 return accelLSB2MG_ * gyroYRaw() ;
a0074639 0:cecf4940adf1 106 };
a0074639 0:cecf4940adf1 107
a0074639 0:cecf4940adf1 108 int gyroZRaw() {
a0074639 0:cecf4940adf1 109 return (int16_t)(gyro_all_[4]*0x100 + gyro_all_[5]) ;
a0074639 0:cecf4940adf1 110 };
a0074639 0:cecf4940adf1 111
a0074639 0:cecf4940adf1 112 double gyroZ() {
a0074639 0:cecf4940adf1 113 return accelLSB2MG_ * gyroZRaw() ;
a0074639 0:cecf4940adf1 114 };
a0074639 0:cecf4940adf1 115
a0074639 0:cecf4940adf1 116
a0074639 0:cecf4940adf1 117 private:
a0074639 0:cecf4940adf1 118 Serial pc_;
a0074639 0:cecf4940adf1 119 I2C i2c_;
a0074639 0:cecf4940adf1 120 float accelLSB2MG_;
a0074639 0:cecf4940adf1 121 float gyroLSB2DegPerSec_;
a0074639 0:cecf4940adf1 122 char accel_all_[6];
a0074639 0:cecf4940adf1 123 char gyro_all_[6];
a0074639 0:cecf4940adf1 124
a0074639 0:cecf4940adf1 125 bool write(char* _cmd, int _length) {
a0074639 0:cecf4940adf1 126 int w_status = i2c_.write(MPU9250_ADDRESS, _cmd, _length, false);
a0074639 0:cecf4940adf1 127 if(w_status == 0) {
a0074639 0:cecf4940adf1 128 return true;
a0074639 0:cecf4940adf1 129 } else {
a0074639 0:cecf4940adf1 130 pc_.printf("write register: %x \n", _cmd[0]);
a0074639 0:cecf4940adf1 131 pc_.printf(" write: %d \n", w_status);
a0074639 0:cecf4940adf1 132 return false;
a0074639 0:cecf4940adf1 133 }
a0074639 0:cecf4940adf1 134 }
a0074639 0:cecf4940adf1 135
a0074639 0:cecf4940adf1 136 bool read(char _register, char* _data, int _length) {
a0074639 0:cecf4940adf1 137 char cmd[1] = { _register };
a0074639 0:cecf4940adf1 138 int w_status = i2c_.write(MPU9250_ADDRESS, cmd, BIT_1, false);
a0074639 0:cecf4940adf1 139 int r_status = i2c_.read(MPU9250_ADDRESS, _data, _length, false);
a0074639 0:cecf4940adf1 140 if(w_status + r_status == 0) {
a0074639 0:cecf4940adf1 141 return true;
a0074639 0:cecf4940adf1 142 } else {
a0074639 0:cecf4940adf1 143 pc_.printf("write register: %x \n", cmd[0]);
a0074639 0:cecf4940adf1 144 pc_.printf("read register: %x \n", _register);
a0074639 0:cecf4940adf1 145 pc_.printf(" write: %d | read: %d \n", w_status, r_status);
a0074639 0:cecf4940adf1 146 return false;
a0074639 0:cecf4940adf1 147 }
a0074639 0:cecf4940adf1 148 };
a0074639 0:cecf4940adf1 149 };
a0074639 0:cecf4940adf1 150
a0074639 0:cecf4940adf1 151 #endif /* MYMPU9250_H */