Luis Silvio Cordova Rivadeneira
Ejemplo de uso del MPU9250 por puerto I2C
Diff: mpu9250Define.h
- Revision:
- 0:cecf4940adf1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mpu9250Define.h Sun Oct 25 15:28:55 2015 +0000
@@ -0,0 +1,241 @@
+#ifndef MPU9250DEFINE_H
+#define MPU9250DEFINE_H
+
+/*-bit-*/
+#define BIT_1 (1)
+#define BIT_2 (2)
+#define BIT_3 (3)
+#define BIT_4 (4)
+#define BIT_5 (5)
+#define BIT_6 (6)
+
+/*-send command-*/
+#define CLEAR_COMMAND (0x00)
+
+#define X_AXIS (1)
+#define Y_AXIS (2)
+#define Z_AXIS (5)
+#define ALL_AXIS (X_AXIS+Y_AXIS+Z_AXIS)
+
+/*-MPU-9150 address-*/
+#define MPU9250_ADDRESS (0x68<<1) // 0b1101000 AD0=L
+
+/*-MPU-9150 register-*/ //| Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0 |
+#define SELF_TEST_X_GYRO (0x00)
+#define SELF_TEST_Y_GYRO (0x01)
+#define SELF_TEST_Z_GYRO (0x02)
+#define SELF_TEST_X_ACCEL (0x0D) // R/W //| XA_TEST[4-2] | XG_TEST[4-0] |
+#define SELF_TEST_Y_ACCEL (0x0E) // R/W //| YA_TEST[4-2] | YG_TEST[4-0] |
+#define SELE_TEST_Z_ACCEL (0x0F) // R/W //| ZA_TEST[4-2] | ZA_TEST[4-0] |
+
+#define SELF_TEST_A (0x10) // R/W //| RESERVED | XA_TEST[1-0]| YA_TEST[1-0]| ZA_TEST[1-0]|
+#define XG_OFFSET_H (0x13) // User-defined trim values for gyroscope
+#define XG_OFFSET_L (0x14)
+#define YG_OFFSET_H (0x15)
+#define YG_OFFSET_L (0x16)
+#define ZG_OFFSET_H (0x17)
+#define ZG_OFFSET_L (0x18)
+#define SMPLRT_DIV (0x19) // R/W //| SMPLRT_DIV[7:0] |
+#define CONFIG (0x1A) // R/W //| - | - | EXT_SYNC_SET[2:0] | DLPE_CFG[2:0] |
+#define GYRO_CONFIG (0x1B) // R/W //| XG_ST| YG_ST| ZG_ST| FS_SEL[1:0] | - | - | - |
+#define ACCEL_CONFIG (0x1C) // R/W //| XA_ST| YA_ST| ZA_ST| AFS_SEL[1:0]| - |
+#define ACCEL_CONFIG2 (0x1D)
+#define LP_ACCEL_ODR (0x1E)
+#define WOM_THR (0x1F)
+
+#define MOT_DUR (0x20) // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
+#define ZMOT_THR (0x21) // Zero-motion detection threshold bits [7:0]
+#define ZRMOT_DUR (0x22) // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
+
+#define FIFO_EN (0x23) // R/W //| TEMP_FIFO_EN | XG_FIFO_EN | YG_FIFO_EN | ZG_FIFO_EN | ACCEL_FIFO_EN | SLV2_FIFO_EN | SLV1_FIFO_EN | SLV0_FIFO_EN |
+#define I2C_MST_CTRL (0x24) // R/W //| MULT_MST_EN | WAIT_FOR_ES | SLV_3_FIFO_EN | I2C_MST_P_NSR | I2C_MST_CLK[3:0] |
+#define I2C_SLV0_ADDR (0x25) // R/W //| I2C_SLV0_RW | I2C_SLV0_ADDR[6:0] |
+#define I2C_SLV0_REG (0x26) // R/W //| I2C_SLV0_REG[7:0] |
+#define I2C_SLV0_CTRL (0x27) // R/W //| I2C_SLV0_EN | I2C_SLV0_BYTE_SW | I2C_SLV0_REG_DIS | I2C_SLV0_GRP | I2C_SLV0_LEN[3:0] |
+#define I2C_SLV1_ADDR (0x28) // R/W
+#define I2C_SLV1_REG (0x29) // R/W
+#define I2C_SLV1_CTRL (0x2A) // R/W
+#define I2C_SLV2_ADDR (0x2B) // R/W
+#define I2C_SLV2_REG (0x2C) // R/W
+#define I2C_SLV2_CTRL (0x2D) // R/W
+#define I2C_SLV3_ADDR (0x2E) // R/W
+#define I2C_SLV3_REG (0x2F) // R/W
+#define I2C_SLV3_CTRL (0x30) // R/W
+#define I2C_SLV4_ADDR (0x31) // R/W
+#define I2C_SLV4_REG (0x32) // R/W
+#define I2C_SLV4_DO (0x33) // R/W
+#define I2C_SLV4_CTRL (0x34) // R/W
+#define I2C_SLV4_DI (0x35) // R
+
+#define I2C_MST_STATUS (0x36) // R
+#define INT_PIN_CFG (0x37) // R/W // This register configures the behavior of the interrupt signals at the INT pins.
+#define INT_ENBLE (0x38) // R/W
+#define DMP_INT_STATUS (0x39) // Check DMP interrupt
+#define INT_STATUS (0x3A) // R
+
+#define ACCEL_XOUT_H (0x3B) // R //ACCEL_XOUT[15:8]
+#define ACCEL_XOUT_L (0x3C) // R //ACCEL_XOUT[7:0]
+#define ACCEL_YOUT_H (0x3D) // R //ACCEL_YOUT[15:8]
+#define ACCEL_YOUT_L (0x3E) // R //ACCEL_YOUT[7:0]
+#define ACCEL_ZOUT_H (0x3F) // R //ACCEL_ZOUT[15:8]
+#define ACCEL_ZOUT_L (0x40) // R //ACCEL_ZOUT[7:0]
+
+#define TEMP_OUT_H (0x41) // R
+#define TEMP_OUT_L (0x42) // R
+
+#define GYRO_XOUT_H (0x43) // R //GYRO_XOUT[15:8]
+#define GYRO_XOUT_L (0x44) // R //GYRO_XOUT[7:0]
+#define GYRO_YOUT_H (0x45) // R //GYRO_YOUT[15:8]
+#define GYRO_YOUT_L (0x46) // R //GYRO_YOUT[7:0]
+#define GYRO_ZOUT_H (0x47) // R //GYRO_ZOUT[15:8]
+#define GYRO_ZOUT_L (0x48) // R //GYRO_ZOUT[7:0]
+
+#define EXT_SENS_DATA_00 (0x49) // R
+#define EXT_SENS_DATA_01 (0x4A) // R
+#define EXT_SENS_DATA_02 (0x4B) // R
+#define EXT_SENS_DATA_03 (0x4C) // R
+#define EXT_SENS_DATA_04 (0x4D) // R
+#define EXT_SENS_DATA_05 (0x4E) // R
+#define EXT_SENS_DATA_06 (0x4F) // R
+#define EXT_SENS_DATA_07 (0x50) // R
+#define EXT_SENS_DATA_08 (0x51) // R
+#define EXT_SENS_DATA_09 (0x52) // R
+#define EXT_SENS_DATA_10 (0x53) // R
+#define EXT_SENS_DATA_11 (0x54) // R
+#define EXT_SENS_DATA_12 (0x55) // R
+#define EXT_SENS_DATA_13 (0x56) // R
+#define EXT_SENS_DATA_14 (0x57) // R
+#define EXT_SENS_DATA_15 (0x58) // R
+#define EXT_SENS_DATA_16 (0x59) // R
+#define EXT_SENS_DATA_17 (0x5A) // R
+#define EXT_SENS_DATA_18 (0x5B) // R
+#define EXT_SENS_DATA_19 (0x5C) // R
+#define EXT_SENS_DATA_20 (0x5D) // R
+#define EXT_SENS_DATA_21 (0x5E) // R
+#define EXT_SENS_DATA_22 (0x5F) // R
+#define EXT_SENS_DATA_23 (0x60) // R
+
+#define I2C_SLV0_DO (0x63) // R/W
+#define I2C_SLV1_DO (0x64) // R/W
+#define I2C_SLV2_DO (0x65) // R/W
+#define I2C_SLV3_DO (0x66) // R/W
+#define I2C_MST_DELAY_CTRL (0x67) // R/W
+#define SIGNAL_PATH_RESET (0x68) // R/W
+#define USER_CTRL (0x6A) // R/W
+#define PWR_MGMT_1 (0x6B) // R/W
+#define PER_MGMT_2 (0x6C) // R/W
+
+#define FIFO_COUNTH (0x72) // R/W
+#define FIFO_COUNTL (0x73) // R/W
+#define FIFO_R_W (0x74) // R/W
+#define WHO_AM_I (0x75) // R
+
+#define XA_OFFSET_H (0x77)
+#define XA_OFFSET_L (0x78)
+#define YA_OFFSET_H (0x7A)
+#define YA_OFFSET_L (0x7B)
+#define ZA_OFFSET_H (0x7D)
+#define ZA_OFFSET_L (0x7E)
+
+/*-MPU-9150 setting command-*/
+#define ACCEL_CONFIG_AFS_SEL_2 (0x00 << 3) //16384 LSB/mg
+#define ACCEL_CONFIG_AFS_SEL_4 (0x01 << 3) //8192 LSB/mg
+#define ACCEL_CONFIG_AFS_SEL_8 (0x02 << 3) //4096 LSB/mg
+#define ACCEL_CONFIG_AFS_SEL_16 (0x03 << 3) //2048 LSB/mg
+
+#define GYRO_CONFIG_FS_SEL_250 (0x00 << 3) //131 LSB/deg/sce
+#define GYRO_CONFIG_FS_SEL_500 (0x01 << 3) //65.5 LSB/deg/sec
+#define GYRO_CONFIG_FS_SEL_1000 (0x02 << 3) //32.8 LSB/deg/sec
+#define GYRO_CONFIG_FS_SEL_2000 (0x03 << 3) //16.4 LSB/deg/sec
+
+/*-MPU-9150 clock source-*/
+#define PWR_MGMT_1_CLKSEL_0 (0x00) //Internal 8MHz oscillator
+#define PWR_MGMT_1_CLKSEL_1 (0x01) //PLL with X axis gyroscope reference
+#define PWR_MGMT_1_CLKSEL_2 (0x02) //PLL with Y axis gyroscope reference
+#define PWR_MGMT_1_CLKSEL_3 (0x03) //PLL with Z axis gyroscope reference
+#define PWR_MGMT_1_CLKSEL_4 (0x04) //PLL with external 32.768kHz reference
+#define PWR_MGMT_1_CLKSEL_5 (0x05) //PLL with external 19.2MHz reference
+#define PWR_MGMT_1_CLKSEL_6 (0x06) //Reserved
+#define PWR_MGMT_1_CLKSEL_7 (0x07) //Stops the clock and keeps the timing generator in reset
+
+#define INT_PIN_DFG_I2C_BYPASS_EN (0x02)
+
+enum AccelSensitivity {
+ AFS_SEL_2=0,
+ AFS_SEL_4,
+ AFS_SEL_8,
+ AFS_SEL_16,
+};
+
+char getAccelSensitivity(AccelSensitivity mode)
+{
+ switch(mode) {
+ case AFS_SEL_2:
+ return ACCEL_CONFIG_AFS_SEL_2;
+ case AFS_SEL_4:
+ return ACCEL_CONFIG_AFS_SEL_4;
+ case AFS_SEL_8:
+ return ACCEL_CONFIG_AFS_SEL_8;
+ case AFS_SEL_16:
+ return ACCEL_CONFIG_AFS_SEL_16;
+ default:
+ return ACCEL_CONFIG_AFS_SEL_2;
+ }
+};
+
+double getAccelLSB2MG(AccelSensitivity mode)
+{
+ switch(mode) {
+ case AFS_SEL_2:
+ return (2.0/32768.0);
+ case AFS_SEL_4:
+ return (4.0/32768.0);
+ case AFS_SEL_8:
+ return (8.0/32768.0);
+ case AFS_SEL_16:
+ return (16.0/32768.0);
+ default:
+ return (2.0/32768.0);
+ }
+};
+
+enum GyroSensitivity {
+ FS_SEL_250=0,
+ FS_SEL_500,
+ FS_SEL_1000,
+ FS_SEL_2000,
+};
+
+char getGyroSensitivity(GyroSensitivity mode)
+{
+ switch(mode) {
+ case FS_SEL_250:
+ return GYRO_CONFIG_FS_SEL_250;
+ case FS_SEL_500:
+ return GYRO_CONFIG_FS_SEL_500;
+ case FS_SEL_1000:
+ return GYRO_CONFIG_FS_SEL_1000;
+ case FS_SEL_2000:
+ return GYRO_CONFIG_FS_SEL_2000;
+ default:
+ return GYRO_CONFIG_FS_SEL_250;
+ }
+};
+
+double getGyroLSB2DegPerSec(GyroSensitivity mode)
+{
+ switch(mode) {
+ case FS_SEL_250:
+ return (250.0/32768.0);
+ case FS_SEL_500:
+ return (500.0/32768.0);
+ case FS_SEL_1000:
+ return (1000.0/32768.0);
+ case FS_SEL_2000:
+ return (2000.0/32768.0);
+ default:
+ return (250.0/32768.0);
+ }
+};
+
+#endif /* MPU9250DEFINE_H */
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