Diff: MPU9250_SPI/MPU9250.h

Revision:

0:4656a133ed1a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250_SPI/MPU9250.h	Mon Feb 01 17:11:03 2021 +0000
@@ -0,0 +1,267 @@
+/*CODED by Qiyong Mu on 21/06/2014
+kylongmu@msn.com
+
+revised by Masahiro Furukawa
+m.furukawa@ist.osaka-u.ac.jp 10/05/2018
+*/
+
+
+#ifndef mpu9250_h
+#define mpu9250_h
+#include "mbed.h"
+
+
+class mpu9250_spi
+{
+    SPI& spi;
+    DigitalOut cs;
+
+public:
+    mpu9250_spi(SPI& _spi, PinName _cs);
+    unsigned int WriteReg( uint8_t WriteAddr, uint8_t WriteData );
+    unsigned int ReadReg( uint8_t WriteAddr, uint8_t WriteData );
+    void ReadRegs( uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes );
+
+    bool init(int sample_rate_div,int low_pass_filter);
+    void read_temp();
+    void read_acc();
+    void read_rot();
+    unsigned int set_gyro_scale(int scale);
+    unsigned int set_acc_scale(int scale);
+    void calib_acc();
+    void AK8963_calib_Magnetometer();
+    void select();
+    void deselect();
+    unsigned int whoami();
+    uint8_t  AK8963_whoami();
+    void AK8963_read_Magnetometer();
+    void read_all();
+
+
+
+    float acc_divider;
+    float gyro_divider;
+
+    int calib_data[3];
+    float Magnetometer_ASA[3];
+
+    uint8_t accelerometer_response[6]; //追加
+    uint8_t gyroscope_response[6]; //追加
+    
+    union {
+        float accelerometer_data[3];
+        unsigned long accelerometer_long[3]; // 4 bytes x 3ch
+    };
+    float Temperature;
+    union {
+        float gyroscope_data[3];
+        unsigned long gyroscope_long[3]; // 4 bytes x 3ch
+    };
+    union {
+        float Magnetometer[3];
+        unsigned long Magnetometer_long[3]; // 4 bytes x 3ch
+    };
+
+private:
+        PinName _CS_pin;
+        PinName _SO_pin;
+        PinName _SCK_pin;
+        float _error;
+    };
+
+#endif
+
+
+
+// mpu9250 registers
+#define MPUREG_XG_OFFS_TC 0x00
+#define MPUREG_YG_OFFS_TC 0x01
+#define MPUREG_ZG_OFFS_TC 0x02
+#define MPUREG_X_FINE_GAIN 0x03
+#define MPUREG_Y_FINE_GAIN 0x04
+#define MPUREG_Z_FINE_GAIN 0x05
+#define MPUREG_XA_OFFS_H 0x06
+#define MPUREG_XA_OFFS_L 0x07
+#define MPUREG_YA_OFFS_H 0x08
+#define MPUREG_YA_OFFS_L 0x09
+#define MPUREG_ZA_OFFS_H 0x0A
+#define MPUREG_ZA_OFFS_L 0x0B
+#define MPUREG_PRODUCT_ID 0x0C
+#define MPUREG_SELF_TEST_X 0x0D
+#define MPUREG_SELF_TEST_Y 0x0E
+#define MPUREG_SELF_TEST_Z 0x0F
+#define MPUREG_SELF_TEST_A 0x10
+#define MPUREG_XG_OFFS_USRH 0x13
+#define MPUREG_XG_OFFS_USRL 0x14
+#define MPUREG_YG_OFFS_USRH 0x15
+#define MPUREG_YG_OFFS_USRL 0x16
+#define MPUREG_ZG_OFFS_USRH 0x17
+#define MPUREG_ZG_OFFS_USRL 0x18
+#define MPUREG_SMPLRT_DIV 0x19
+#define MPUREG_CONFIG 0x1A
+#define MPUREG_GYRO_CONFIG 0x1B
+#define MPUREG_ACCEL_CONFIG 0x1C
+#define MPUREG_ACCEL_CONFIG_2      0x1D
+#define MPUREG_LP_ACCEL_ODR        0x1E
+#define MPUREG_MOT_THR             0x1F
+#define MPUREG_FIFO_EN             0x23
+#define MPUREG_I2C_MST_CTRL        0x24
+#define MPUREG_I2C_SLV0_ADDR       0x25
+#define MPUREG_I2C_SLV0_REG        0x26
+#define MPUREG_I2C_SLV0_CTRL       0x27
+#define MPUREG_I2C_SLV1_ADDR       0x28
+#define MPUREG_I2C_SLV1_REG        0x29
+#define MPUREG_I2C_SLV1_CTRL       0x2A
+#define MPUREG_I2C_SLV2_ADDR       0x2B
+#define MPUREG_I2C_SLV2_REG        0x2C
+#define MPUREG_I2C_SLV2_CTRL       0x2D
+#define MPUREG_I2C_SLV3_ADDR       0x2E
+#define MPUREG_I2C_SLV3_REG        0x2F
+#define MPUREG_I2C_SLV3_CTRL       0x30
+#define MPUREG_I2C_SLV4_ADDR       0x31
+#define MPUREG_I2C_SLV4_REG        0x32
+#define MPUREG_I2C_SLV4_DO         0x33
+#define MPUREG_I2C_SLV4_CTRL       0x34
+#define MPUREG_I2C_SLV4_DI         0x35
+#define MPUREG_I2C_MST_STATUS      0x36
+#define MPUREG_INT_PIN_CFG 0x37
+#define MPUREG_INT_ENABLE 0x38
+#define MPUREG_ACCEL_XOUT_H 0x3B
+#define MPUREG_ACCEL_XOUT_L 0x3C
+#define MPUREG_ACCEL_YOUT_H 0x3D
+#define MPUREG_ACCEL_YOUT_L 0x3E
+#define MPUREG_ACCEL_ZOUT_H 0x3F
+#define MPUREG_ACCEL_ZOUT_L 0x40
+#define MPUREG_TEMP_OUT_H 0x41
+#define MPUREG_TEMP_OUT_L 0x42
+#define MPUREG_GYRO_XOUT_H 0x43
+#define MPUREG_GYRO_XOUT_L 0x44
+#define MPUREG_GYRO_YOUT_H 0x45
+#define MPUREG_GYRO_YOUT_L 0x46
+#define MPUREG_GYRO_ZOUT_H 0x47
+#define MPUREG_GYRO_ZOUT_L 0x48
+#define MPUREG_EXT_SENS_DATA_00    0x49
+#define MPUREG_EXT_SENS_DATA_01    0x4A
+#define MPUREG_EXT_SENS_DATA_02    0x4B
+#define MPUREG_EXT_SENS_DATA_03    0x4C
+#define MPUREG_EXT_SENS_DATA_04    0x4D
+#define MPUREG_EXT_SENS_DATA_05    0x4E
+#define MPUREG_EXT_SENS_DATA_06    0x4F
+#define MPUREG_EXT_SENS_DATA_07    0x50
+#define MPUREG_EXT_SENS_DATA_08    0x51
+#define MPUREG_EXT_SENS_DATA_09    0x52
+#define MPUREG_EXT_SENS_DATA_10    0x53
+#define MPUREG_EXT_SENS_DATA_11    0x54
+#define MPUREG_EXT_SENS_DATA_12    0x55
+#define MPUREG_EXT_SENS_DATA_13    0x56
+#define MPUREG_EXT_SENS_DATA_14    0x57
+#define MPUREG_EXT_SENS_DATA_15    0x58
+#define MPUREG_EXT_SENS_DATA_16    0x59
+#define MPUREG_EXT_SENS_DATA_17    0x5A
+#define MPUREG_EXT_SENS_DATA_18    0x5B
+#define MPUREG_EXT_SENS_DATA_19    0x5C
+#define MPUREG_EXT_SENS_DATA_20    0x5D
+#define MPUREG_EXT_SENS_DATA_21    0x5E
+#define MPUREG_EXT_SENS_DATA_22    0x5F
+#define MPUREG_EXT_SENS_DATA_23    0x60
+#define MPUREG_I2C_SLV0_DO         0x63
+#define MPUREG_I2C_SLV1_DO         0x64
+#define MPUREG_I2C_SLV2_DO         0x65
+#define MPUREG_I2C_SLV3_DO         0x66
+#define MPUREG_I2C_MST_DELAY_CTRL  0x67
+#define MPUREG_SIGNAL_PATH_RESET   0x68
+#define MPUREG_MOT_DETECT_CTRL     0x69
+#define MPUREG_USER_CTRL 0x6A
+#define MPUREG_PWR_MGMT_1 0x6B
+#define MPUREG_PWR_MGMT_2 0x6C
+#define MPUREG_BANK_SEL 0x6D
+#define MPUREG_MEM_START_ADDR 0x6E
+#define MPUREG_MEM_R_W 0x6F
+#define MPUREG_DMP_CFG_1 0x70
+#define MPUREG_DMP_CFG_2 0x71
+#define MPUREG_FIFO_COUNTH 0x72
+#define MPUREG_FIFO_COUNTL 0x73
+#define MPUREG_FIFO_R_W 0x74
+#define MPUREG_WHOAMI 0x75
+#define MPUREG_XA_OFFSET_H         0x77
+#define MPUREG_XA_OFFSET_L         0x78
+#define MPUREG_YA_OFFSET_H         0x7A
+#define MPUREG_YA_OFFSET_L         0x7B
+#define MPUREG_ZA_OFFSET_H         0x7D
+#define MPUREG_ZA_OFFSET_L         0x7E
+    /* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */
+
+#define AK8963_I2C_ADDR             0x0c//0x18
+#define AK8963_Device_ID            0x48
+
+// Read-only Reg
+#define AK8963_WIA                  0x00
+#define AK8963_INFO                 0x01
+#define AK8963_ST1                  0x02
+#define AK8963_HXL                  0x03
+#define AK8963_HXH                  0x04
+#define AK8963_HYL                  0x05
+#define AK8963_HYH                  0x06
+#define AK8963_HZL                  0x07
+#define AK8963_HZH                  0x08
+#define AK8963_ST2                  0x09
+// Write/Read Reg
+#define AK8963_CNTL1                0x0A
+#define AK8963_CNTL2                0x0B
+#define AK8963_ASTC                 0x0C
+#define AK8963_TS1                  0x0D
+#define AK8963_TS2                  0x0E
+#define AK8963_I2CDIS               0x0F
+// Read-only Reg ( ROM )
+#define AK8963_ASAX                 0x10
+#define AK8963_ASAY                 0x11
+#define AK8963_ASAZ                 0x12
+
+// Configuration bits mpu9250
+#define BIT_SLEEP 0x40
+#define BIT_H_RESET 0x80
+#define BITS_CLKSEL 0x07
+#define MPU_CLK_SEL_PLLGYROX 0x01
+#define MPU_CLK_SEL_PLLGYROZ 0x03
+#define MPU_EXT_SYNC_GYROX 0x02
+#define BITS_FS_250DPS              0x00
+#define BITS_FS_500DPS              0x08
+#define BITS_FS_1000DPS             0x10
+#define BITS_FS_2000DPS             0x18
+#define BITS_FS_2G                  0x00
+#define BITS_FS_4G                  0x08
+#define BITS_FS_8G                  0x10
+#define BITS_FS_16G                 0x18
+#define BITS_FS_MASK                0x18
+#define BITS_DLPF_CFG_256HZ_NOLPF2  0x00
+#define BITS_DLPF_CFG_188HZ         0x01
+#define BITS_DLPF_CFG_98HZ          0x02
+#define BITS_DLPF_CFG_42HZ          0x03
+#define BITS_DLPF_CFG_20HZ          0x04
+#define BITS_DLPF_CFG_10HZ          0x05
+#define BITS_DLPF_CFG_5HZ           0x06
+#define BITS_DLPF_CFG_2100HZ_NOLPF  0x07
+#define BITS_DLPF_CFG_MASK          0x07
+#define BIT_INT_ANYRD_2CLEAR        0x10
+#define BIT_RAW_RDY_EN              0x01
+#define BIT_I2C_IF_DIS              0x10
+
+#define READ_FLAG   0x80
+
+/* ---- Sensitivity --------------------------------------------------------- */
+
+#define MPU9250A_2g       ((float)0.000061035156f) // 0.000061035156 g/LSB
+#define MPU9250A_4g       ((float)0.000122070312f) // 0.000122070312 g/LSB
+#define MPU9250A_8g       ((float)0.000244140625f) // 0.000244140625 g/LSB
+#define MPU9250A_16g      ((float)0.000488281250f) // 0.000488281250 g/LSB
+
+#define MPU9250G_250dps   ((float)0.007633587786f) // 0.007633587786 dps/LSB
+#define MPU9250G_500dps   ((float)0.015267175572f) // 0.015267175572 dps/LSB
+#define MPU9250G_1000dps  ((float)0.030487804878f) // 0.030487804878 dps/LSB
+#define MPU9250G_2000dps  ((float)0.060975609756f) // 0.060975609756 dps/LSB
+
+#define MPU9250M_4800uT   ((float)0.6f)            // 0.6 uT/LSB
+
+#define MPU9250T_85degC   ((float)0.002995177763f) // 0.002995177763 degC/LSB
+
+#define     Magnetometer_Sensitivity_Scale_Factor ((float)0.15f)