Users » mitea1 » Code » mDot_LoRa_Sensornode

Adrian Mitevski / Mbed 2 deprecated mDot_LoRa_Sensornode

A multifunctional and modular Firmware for Multitech's mDot based on ARM mBed provides a widerange of functionality for several Sensors such as MAX44009, BME280, MPU9250, SI1143 and uBlox. It allows you to quickly build a Sensornode that measures specific data with its sensors and sends it via LoRaWAN.

Dependencies: mDot_LoRa_Sensornode_Flowmeter_impl mbed-rtos mbed

LoRa-Sensornode Firmware for Multitech mDot

A multifunctional and modular Firmware for Multitech's mDot which provides a widerange of functionality for several Sensors. It allows you to quickly build a Sensornode that measures specific data with its sensors and sends it via LoRaWAN.

/media/uploads/mitea1/mt_mdot_family_642px.png

Supported Sensors

MAX44009 (Lux Measurment) http://www.ebay.ie/itm/MAX44009-Ambient-Light-Sensor-Module-for-Arduino-with-4P-Pin-Header-/381676089124?hash=item58ddaaef24:g:-ecAAOSwzJ5XZm5E
BME280 (Temperature, Pressure and Humdity Measurment) At the moment there are some known problem using this. https://www.adafruit.com/product/2652 https://www.amazon.com/Diymall-Pressure-Temperature-Sensor-Arduino/dp/B0118XCKTG
MPU9250 (Acceleration, Gyroscope and Magnetometer) http://www.watterott.com/de/9-DOF-IMU-Module-With-MPU-9250
Si1143 (Proximity up to 50cm) https://moderndevice.com/product/si1143-proximity-sensors/
uBlox M8Q (GPS Position) http://www.dx.com/de/p/gygpsv3-m8n-u-blox-neo-m8n-001-flight-controller-gps-module-blue-394557#.V4lFW-uLRhE

Idea

The Firmware has some predefined Application Modes running different Tasks(Measurements). Each mode can be used in a different Scenario. Application_Modes define which sensors are used, how often they aquire data and how often the data has to be sent via LoRa. Lets say you just want to measure the Light then you choose an Application_Mode (or define one) that only runs TaskLight for light measurement. As a standard all measurements are taken every second and sent via LoRa but you can change that interval depending on your usage Scenario

app/MPU9250.h@10:4051c38bf73f, 2018-11-02 (annotated)

Committer:: mitea1
Date:: Fri Nov 02 17:01:02 2018 +0000
Revision:: 10:4051c38bf73f
Parent:: 0:f2815503561f

wtf

Who changed what in which revision?

User	Revision	Line number	New contents of line
mitea1	0:f2815503561f	1	/**
mitea1	0:f2815503561f	2	* @file MPU9250.h
mitea1	0:f2815503561f	3	*
mitea1	0:f2815503561f	4	* @author Adrian
mitea1	0:f2815503561f	5	* @date 19.05.2016
mitea1	0:f2815503561f	6	*
mitea1	0:f2815503561f	7	*/
mitea1	0:f2815503561f	8	#include "I2C_RT.h"
mitea1	0:f2815503561f	9	#include "MPU9250Config.h"
mitea1	0:f2815503561f	10
mitea1	0:f2815503561f	11	#ifndef APP_MPU9250_H_
mitea1	0:f2815503561f	12	#define APP_MPU9250_H_
mitea1	0:f2815503561f	13
mitea1	0:f2815503561f	14	#define MPU9250_DEFAULT_ADDRESS 0xD1
mitea1	0:f2815503561f	15	#define MPU9250_ALT_DEFAULT_ADDRESS 0xD2
mitea1	0:f2815503561f	16
mitea1	0:f2815503561f	17	#define MPU9250_SELF_TEST_X_GYRO 0x00
mitea1	0:f2815503561f	18	#define MPU9250_SELF_TEST_Y_GYRO 0x01
mitea1	0:f2815503561f	19	#define MPU9250_SELF_TEST_Z_GYRO 0x02
mitea1	0:f2815503561f	20
mitea1	0:f2815503561f	21	#define MPU9250_SELF_TEST_X_ACCEL 0x0D
mitea1	0:f2815503561f	22	#define MPU9250_SELF_TEST_Y_ACCEL 0x0E
mitea1	0:f2815503561f	23	#define MPU9250_SELF_TEST_Z_ACCEL 0x0F
mitea1	0:f2815503561f	24
mitea1	0:f2815503561f	25	#define MPU9250_XG_OFFSET_H 0x13
mitea1	0:f2815503561f	26	#define MPU9250_XG_OFFSET_L 0x14
mitea1	0:f2815503561f	27	#define MPU9250_YG_OFFSET_H 0x15
mitea1	0:f2815503561f	28	#define MPU9250_YG_OFFSET_L 0x16
mitea1	0:f2815503561f	29	#define MPU9250_ZG_OFFSET_H 0x17
mitea1	0:f2815503561f	30	#define MPU9250_ZG_OFFSET_L 0x18
mitea1	0:f2815503561f	31	#define MPU9250_SMPLRT_DIV 0x19
mitea1	0:f2815503561f	32	#define MPU9250_CONFIG 0x1A
mitea1	0:f2815503561f	33	#define MPU9250_GYRO_CONFIG 0x1B
mitea1	0:f2815503561f	34	#define MPU9250_ACCEL_CONFIG 0x1C
mitea1	0:f2815503561f	35	#define MPU9250_ACCEL_CONFIG2 0x1D
mitea1	0:f2815503561f	36	#define MPU9250_LP_ACCEL_ODR 0x1E
mitea1	0:f2815503561f	37	#define MPU9250_WOM_THR 0x1F
mitea1	0:f2815503561f	38
mitea1	0:f2815503561f	39	#define MPU9250_FIFO_EN 0x23
mitea1	0:f2815503561f	40	#define MPU9250_I2C_MST_CTRL 0x24
mitea1	0:f2815503561f	41	#define MPU9250_I2C_SLV0_ADDR 0x25
mitea1	0:f2815503561f	42	#define MPU9250_I2C_SLV0_REG 0x26
mitea1	0:f2815503561f	43	#define MPU9250_I2C_SLV0_CTRL 0x27
mitea1	0:f2815503561f	44	#define MPU9250_I2C_SLV1_ADDR 0x28
mitea1	0:f2815503561f	45	#define MPU9250_I2C_SLV1_REG 0x29
mitea1	0:f2815503561f	46	#define MPU9250_I2C_SLV1_CTRL 0x2A
mitea1	0:f2815503561f	47	#define MPU9250_I2C_SLV2_ADDR 0x2B
mitea1	0:f2815503561f	48	#define MPU9250_I2C_SLV2_REG 0x2C
mitea1	0:f2815503561f	49	#define MPU9250_I2C_SLV2_CTRL 0x2D
mitea1	0:f2815503561f	50	#define MPU9250_I2C_SLV3_ADDR 0x2E
mitea1	0:f2815503561f	51	#define MPU9250_I2C_SLV3_REG 0x2F
mitea1	0:f2815503561f	52	#define MPU9250_I2C_SLV3_CTRL 0x30
mitea1	0:f2815503561f	53	#define MPU9250_I2C_SLV4_ADDR 0x31
mitea1	0:f2815503561f	54	#define MPU9250_I2C_SLV4_REG 0x32
mitea1	0:f2815503561f	55	#define MPU9250_I2C_SLV4_DO 0x33
mitea1	0:f2815503561f	56	#define MPU9250_I2C_SLV4_CTRL 0x34
mitea1	0:f2815503561f	57	#define MPU9250_I2C_SLV4_DI 0x35
mitea1	0:f2815503561f	58	#define MPU9250_I2C_MST_STATUS 0x36
mitea1	0:f2815503561f	59	#define MPU9250_INT_PIN_CFG 0x37
mitea1	0:f2815503561f	60	#define MPU9250_INT_ENABLE 0x38
mitea1	0:f2815503561f	61
mitea1	0:f2815503561f	62	#define MPU9250_INT_STATUS 0x3A
mitea1	0:f2815503561f	63	#define MPU9250_ACCEL_XOUT_H 0x3B
mitea1	0:f2815503561f	64	#define MPU9250_ACCEL_XOUT_L 0x3C
mitea1	0:f2815503561f	65	#define MPU9250_ACCEL_YOUT_H 0x3D
mitea1	0:f2815503561f	66	#define MPU9250_ACCEL_YOUT_L 0x3E
mitea1	0:f2815503561f	67	#define MPU9250_ACCEL_ZOUT_H 0x3F
mitea1	0:f2815503561f	68	#define MPU9250_ACCEL_ZOUT_L 0x40
mitea1	0:f2815503561f	69	#define MPU9250_TEMP_OUT_H 0x41
mitea1	0:f2815503561f	70	#define MPU9250_TEMP_OUT_L 0x42
mitea1	0:f2815503561f	71	#define MPU9250_GYRO_XOUT_H 0x43
mitea1	0:f2815503561f	72	#define MPU9250_GYRO_XOUT_L 0x44
mitea1	0:f2815503561f	73	#define MPU9250_GYRO_YOUT_H 0x45
mitea1	0:f2815503561f	74	#define MPU9250_GYRO_YOUT_L 0x46
mitea1	0:f2815503561f	75	#define MPU9250_GYRO_ZOUT_H 0x47
mitea1	0:f2815503561f	76	#define MPU9250_GYRO_ZOUT_L 0x48
mitea1	0:f2815503561f	77	#define MPU9250_EXT_SENS_DATA_00 0x49
mitea1	0:f2815503561f	78	#define MPU9250_EXT_SENS_DATA_01 0x4A
mitea1	0:f2815503561f	79	#define MPU9250_EXT_SENS_DATA_02 0x4B
mitea1	0:f2815503561f	80	#define MPU9250_EXT_SENS_DATA_03 0x4C
mitea1	0:f2815503561f	81	#define MPU9250_EXT_SENS_DATA_04 0x4D
mitea1	0:f2815503561f	82	#define MPU9250_EXT_SENS_DATA_05 0x4E
mitea1	0:f2815503561f	83	#define MPU9250_EXT_SENS_DATA_06 0x4F
mitea1	0:f2815503561f	84	#define MPU9250_EXT_SENS_DATA_07 0x50
mitea1	0:f2815503561f	85	#define MPU9250_EXT_SENS_DATA_08 0x51
mitea1	0:f2815503561f	86	#define MPU9250_EXT_SENS_DATA_09 0x52
mitea1	0:f2815503561f	87	#define MPU9250_EXT_SENS_DATA_10 0x53
mitea1	0:f2815503561f	88	#define MPU9250_EXT_SENS_DATA_11 0x54
mitea1	0:f2815503561f	89	#define MPU9250_EXT_SENS_DATA_12 0x55
mitea1	0:f2815503561f	90	#define MPU9250_EXT_SENS_DATA_13 0x56
mitea1	0:f2815503561f	91	#define MPU9250_EXT_SENS_DATA_14 0x57
mitea1	0:f2815503561f	92	#define MPU9250_EXT_SENS_DATA_15 0x58
mitea1	0:f2815503561f	93	#define MPU9250_EXT_SENS_DATA_16 0x59
mitea1	0:f2815503561f	94	#define MPU9250_EXT_SENS_DATA_17 0x5A
mitea1	0:f2815503561f	95	#define MPU9250_EXT_SENS_DATA_18 0x5B
mitea1	0:f2815503561f	96	#define MPU9250_EXT_SENS_DATA_19 0x5C
mitea1	0:f2815503561f	97	#define MPU9250_EXT_SENS_DATA_20 0x5D
mitea1	0:f2815503561f	98	#define MPU9250_EXT_SENS_DATA_21 0x5E
mitea1	0:f2815503561f	99	#define MPU9250_EXT_SENS_DATA_22 0x5F
mitea1	0:f2815503561f	100	#define MPU9250_EXT_SENS_DATA_23 0x60
mitea1	0:f2815503561f	101
mitea1	0:f2815503561f	102	#define MPU9250_I2C_SLV0_DO 0x63
mitea1	0:f2815503561f	103	#define MPU9250_I2C_SLV1_DO 0x64
mitea1	0:f2815503561f	104	#define MPU9250_I2C_SLV2_DO 0x65
mitea1	0:f2815503561f	105	#define MPU9250_I2C_SLV3_DO 0x66
mitea1	0:f2815503561f	106	#define MPU9250_I2C_MST_DELAY_CTRL 0x67
mitea1	0:f2815503561f	107	#define MPU9250_SIGNAL_PATH_RESET 0x68
mitea1	0:f2815503561f	108	#define MPU9250_MOT_DETECT_CTRL 0x69
mitea1	0:f2815503561f	109	#define MPU9250_USER_CTRL 0x6A
mitea1	0:f2815503561f	110	#define MPU9250_PWR_MGMT_1 0x6B
mitea1	0:f2815503561f	111	#define MPU9250_PWR_MGMT_2 0x6C
mitea1	0:f2815503561f	112
mitea1	0:f2815503561f	113	#define MPU9250_FIFO_COUNTH 0x72
mitea1	0:f2815503561f	114	#define MPU9250_FIFO_COUNTL 0x73
mitea1	0:f2815503561f	115	#define MPU9250_FIFO_R_W 0x74
mitea1	0:f2815503561f	116	#define MPU9250_WHO_AM_I 0x75
mitea1	0:f2815503561f	117	#define MPU9250_XA_OFFSET_H 0x77
mitea1	0:f2815503561f	118	#define MPU9250_XA_OFFSET_L 0x78
mitea1	0:f2815503561f	119
mitea1	0:f2815503561f	120	#define MPU9250_YA_OFFSET_H 0x7A
mitea1	0:f2815503561f	121	#define MPU9250_YA_OFFSET_L 0x7B
mitea1	0:f2815503561f	122
mitea1	0:f2815503561f	123	#define MPU9250_ZA_OFFSET_H 0x7D
mitea1	0:f2815503561f	124	#define MPU9250_ZA_OFFSET_L 0x7E
mitea1	0:f2815503561f	125
mitea1	0:f2815503561f	126	//reset values
mitea1	0:f2815503561f	127	#define WHOAMI_RESET_VAL 0x71
mitea1	0:f2815503561f	128	#define POWER_MANAGMENT_1_RESET_VAL 0x01
mitea1	0:f2815503561f	129	#define DEFAULT_RESET_VALUE 0x00
mitea1	0:f2815503561f	130
mitea1	0:f2815503561f	131	#define WHOAMI_DEFAULT_VAL 0x68
mitea1	0:f2815503561f	132
mitea1	0:f2815503561f	133	//CONFIG register masks
mitea1	0:f2815503561f	134	#define MPU9250_FIFO_MODE_MASK 0x40
mitea1	0:f2815503561f	135	#define MPU9250_EXT_SYNC_SET_MASK 0x38
mitea1	0:f2815503561f	136	#define MPU9250_DLPF_CFG_MASK 0x07
mitea1	0:f2815503561f	137
mitea1	0:f2815503561f	138	//GYRO_CONFIG register masks
mitea1	0:f2815503561f	139	#define MPU9250_XGYRO_CTEN_MASK 0x80
mitea1	0:f2815503561f	140	#define MPU9250_YGYRO_CTEN_MASK 0x40
mitea1	0:f2815503561f	141	#define MPU9250_ZGYRO_CTEN_MASK 0x20
mitea1	0:f2815503561f	142	#define MPU9250_GYRO_FS_SEL_MASK 0x18
mitea1	0:f2815503561f	143	#define MPU9250_FCHOICE_B_MASK 0x03
mitea1	0:f2815503561f	144
mitea1	0:f2815503561f	145	//ACCEL_CONFIG register masks
mitea1	0:f2815503561f	146	#define MPU9250_AX_ST_EN_MASK 0x80
mitea1	0:f2815503561f	147	#define MPU9250_AY_ST_EN_MASK 0x40
mitea1	0:f2815503561f	148	#define MPU9250_AZ_ST_EN_MASK 0x20
mitea1	0:f2815503561f	149	#define MPU9250_ACCEL_FS_SEL_MASK 0x18
mitea1	0:f2815503561f	150
mitea1	0:f2815503561f	151	//ACCEL_CONFIG_2 register masks
mitea1	0:f2815503561f	152	#define MPU9250_ACCEL_FCHOICE_B_MASK 0xC0
mitea1	0:f2815503561f	153	#define MPU9250_A_DLPF_CFG_MASK 0x03
mitea1	0:f2815503561f	154
mitea1	0:f2815503561f	155	//LP_ACCEL_ODR register masks
mitea1	0:f2815503561f	156	#define MPU9250_LPOSC_CLKSEL_MASK 0x0F
mitea1	0:f2815503561f	157
mitea1	0:f2815503561f	158	//FIFO_EN register masks
mitea1	0:f2815503561f	159	#define MPU9250_TEMP_FIFO_EN_MASK 0x80
mitea1	0:f2815503561f	160	#define MPU9250_GYRO_XOUT_MASK 0x40
mitea1	0:f2815503561f	161	#define MPU9250_GYRO_YOUT_MASK 0x20
mitea1	0:f2815503561f	162	#define MPU9250_GYRO_ZOUT_MASK 0x10
mitea1	0:f2815503561f	163	#define MPU9250_ACCEL_MASK 0x08
mitea1	0:f2815503561f	164	#define MPU9250_SLV2_MASK 0x04
mitea1	0:f2815503561f	165	#define MPU9250_SLV1_MASK 0x02
mitea1	0:f2815503561f	166	#define MPU9250_SLV0_MASK 0x01
mitea1	0:f2815503561f	167
mitea1	0:f2815503561f	168	//I2C_MST_CTRL register masks
mitea1	0:f2815503561f	169	#define MPU9250_MULT_MST_EN_MASK 0x80
mitea1	0:f2815503561f	170	#define MPU9250_WAIT_FOR_ES_MASK 0x40
mitea1	0:f2815503561f	171	#define MPU9250_SLV_3_FIFO_EN_MASK 0x20
mitea1	0:f2815503561f	172	#define MPU9250_I2C_MST_P_NSR_MASK 0x10
mitea1	0:f2815503561f	173	#define MPU9250_I2C_MST_CLK_MASK 0x0F
mitea1	0:f2815503561f	174
mitea1	0:f2815503561f	175	//I2C_SLV0_ADDR register masks
mitea1	0:f2815503561f	176	#define MPU9250_I2C_SLV0_RNW_MASK 0x80
mitea1	0:f2815503561f	177	#define MPU9250_I2C_ID_0_MASK 0x7F
mitea1	0:f2815503561f	178
mitea1	0:f2815503561f	179	//I2C_SLV0_CTRL register masks
mitea1	0:f2815503561f	180	#define MPU9250_I2C_SLV0_EN_MASK 0x80
mitea1	0:f2815503561f	181	#define MPU9250_I2C_SLV0_BYTE_SW_MASK 0x40
mitea1	0:f2815503561f	182	#define MPU9250_I2C_SLV0_REG_DIS_MASK 0x20
mitea1	0:f2815503561f	183	#define MPU9250_I2C_SLV0_GRP_MASK 0x10
mitea1	0:f2815503561f	184	#define MPU9250_I2C_SLV0_LENG_MASK 0x0F
mitea1	0:f2815503561f	185
mitea1	0:f2815503561f	186	//I2C_SLV1_ADDR register masks
mitea1	0:f2815503561f	187	#define MPU9250_I2C_SLV1_RNW_MASK 0x80
mitea1	0:f2815503561f	188	#define MPU9250_I2C_ID_1_MASK 0x7F
mitea1	0:f2815503561f	189
mitea1	0:f2815503561f	190	//I2C_SLV1_CTRL register masks
mitea1	0:f2815503561f	191	#define MPU9250_I2C_SLV1_EN_MASK 0x80
mitea1	0:f2815503561f	192	#define MPU9250_I2C_SLV1_BYTE_SW_MASK 0x40
mitea1	0:f2815503561f	193	#define MPU9250_I2C_SLV1_REG_DIS_MASK 0x20
mitea1	0:f2815503561f	194	#define MPU9250_I2C_SLV1_GRP_MASK 0x10
mitea1	0:f2815503561f	195	#define MPU9250_I2C_SLV1_LENG_MASK 0x0F
mitea1	0:f2815503561f	196
mitea1	0:f2815503561f	197	//I2C_SLV2_ADDR register masks
mitea1	0:f2815503561f	198	#define MPU9250_I2C_SLV2_RNW_MASK 0x80
mitea1	0:f2815503561f	199	#define MPU9250_I2C_ID_2_MASK 0x7F
mitea1	0:f2815503561f	200
mitea1	0:f2815503561f	201	//I2C_SLV2_CTRL register masks
mitea1	0:f2815503561f	202	#define MPU9250_I2C_SLV2_EN_MASK 0x80
mitea1	0:f2815503561f	203	#define MPU9250_I2C_SLV2_BYTE_SW_MASK 0x40
mitea1	0:f2815503561f	204	#define MPU9250_I2C_SLV2_REG_DIS_MASK 0x20
mitea1	0:f2815503561f	205	#define MPU9250_I2C_SLV2_GRP_MASK 0x10
mitea1	0:f2815503561f	206	#define MPU9250_I2C_SLV2_LENG_MASK 0x0F
mitea1	0:f2815503561f	207
mitea1	0:f2815503561f	208	//I2C_SLV3_ADDR register masks
mitea1	0:f2815503561f	209	#define MPU9250_I2C_SLV3_RNW_MASK 0x80
mitea1	0:f2815503561f	210	#define MPU9250_I2C_ID_3_MASK 0x7F
mitea1	0:f2815503561f	211
mitea1	0:f2815503561f	212	//I2C_SLV3_CTRL register masks
mitea1	0:f2815503561f	213	#define MPU9250_I2C_SLV3_EN_MASK 0x80
mitea1	0:f2815503561f	214	#define MPU9250_I2C_SLV3_BYTE_SW_MASK 0x40
mitea1	0:f2815503561f	215	#define MPU9250_I2C_SLV3_REG_DIS_MASK 0x20
mitea1	0:f2815503561f	216	#define MPU9250_I2C_SLV3_GRP_MASK 0x10
mitea1	0:f2815503561f	217	#define MPU9250_I2C_SLV3_LENG_MASK 0x0F
mitea1	0:f2815503561f	218
mitea1	0:f2815503561f	219	//I2C_SLV4_ADDR register masks
mitea1	0:f2815503561f	220	#define MPU9250_I2C_SLV4_RNW_MASK 0x80
mitea1	0:f2815503561f	221	#define MPU9250_I2C_ID_4_MASK 0x7F
mitea1	0:f2815503561f	222
mitea1	0:f2815503561f	223	//I2C_SLV4_CTRL register masks
mitea1	0:f2815503561f	224	#define MPU9250_I2C_SLV4_EN_MASK 0x80
mitea1	0:f2815503561f	225	#define MPU9250_SLV4_DONE_INT_EN_MASK 0x40
mitea1	0:f2815503561f	226	#define MPU9250_I2C_SLV4_REG_DIS_MASK 0x20
mitea1	0:f2815503561f	227	#define MPU9250_I2C_MST_DLY_MASK 0x1F
mitea1	0:f2815503561f	228
mitea1	0:f2815503561f	229	//I2C_MST_STATUS register masks
mitea1	0:f2815503561f	230	#define MPU9250_PASS_THROUGH_MASK 0x80
mitea1	0:f2815503561f	231	#define MPU9250_I2C_SLV4_DONE_MASK 0x40
mitea1	0:f2815503561f	232	#define MPU9250_I2C_LOST_ARB_MASK 0x20
mitea1	0:f2815503561f	233	#define MPU9250_I2C_SLV4_NACK_MASK 0x10
mitea1	0:f2815503561f	234	#define MPU9250_I2C_SLV3_NACK_MASK 0x08
mitea1	0:f2815503561f	235	#define MPU9250_I2C_SLV2_NACK_MASK 0x04
mitea1	0:f2815503561f	236	#define MPU9250_I2C_SLV1_NACK_MASK 0x02
mitea1	0:f2815503561f	237	#define MPU9250_I2C_SLV0_NACK_MASK 0x01
mitea1	0:f2815503561f	238
mitea1	0:f2815503561f	239	//INT_STATUS register masks
mitea1	0:f2815503561f	240	#define MPU9250_WOM_INT_MASK 0x40
mitea1	0:f2815503561f	241	#define MPU9250_FIFO_OFLOW_INT_MASK 0x10
mitea1	0:f2815503561f	242	#define MPU9250_FSYNC_INT_MASK 0x08
mitea1	0:f2815503561f	243	#define MPU9250_RAW_DATA_RDY_INT_MASK 0x01
mitea1	0:f2815503561f	244
mitea1	0:f2815503561f	245	//I2C_MST_DELAY_CTRL register masks
mitea1	0:f2815503561f	246	#define MPU9250_DELAY_ES_SHADOW_MASK 0x80
mitea1	0:f2815503561f	247	#define MPU9250_I2C_SLV4_DLY_EN_MASK 0x10
mitea1	0:f2815503561f	248	#define MPU9250_I2C_SLV3_DLY_EN_MASK 0x08
mitea1	0:f2815503561f	249	#define MPU9250_I2C_SLV2_DLY_EN_MASK 0x04
mitea1	0:f2815503561f	250	#define MPU9250_I2C_SLV1_DLY_EN_MASK 0x02
mitea1	0:f2815503561f	251	#define MPU9250_I2C_SLV0_DLY_EN_MASK 0x01
mitea1	0:f2815503561f	252
mitea1	0:f2815503561f	253	//SIGNAL_PATH_RESET register masks
mitea1	0:f2815503561f	254	#define MPU9250_GYRO_RST_MASK 0x04
mitea1	0:f2815503561f	255	#define MPU9250_ACCEL_RST_MASK 0x02
mitea1	0:f2815503561f	256	#define MPU9250_TEMP_RST_MASK 0x01
mitea1	0:f2815503561f	257
mitea1	0:f2815503561f	258	//MOT_DETECT_CTRL register masks
mitea1	0:f2815503561f	259	#define MPU9250_ACCEL_INTEL_EN_MASK 0x80
mitea1	0:f2815503561f	260	#define MPU9250_ACCEL_INTEL_MODE_MASK 0x40
mitea1	0:f2815503561f	261
mitea1	0:f2815503561f	262	//USER_CTRL register masks
mitea1	0:f2815503561f	263	#define MPU9250_FIFO_EN_MASK 0x40
mitea1	0:f2815503561f	264	#define MPU9250_I2C_MST_EN_MASK 0x20
mitea1	0:f2815503561f	265	#define MPU9250_I2C_IF_DIS_MASK 0x10
mitea1	0:f2815503561f	266	#define MPU9250_FIFO_RST_MASK 0x04
mitea1	0:f2815503561f	267	#define MPU9250_I2C_MST_RST_MASK 0x02
mitea1	0:f2815503561f	268	#define MPU9250_SIG_COND_RST_MASK 0x01
mitea1	0:f2815503561f	269
mitea1	0:f2815503561f	270	//PWR_MGMT_1 register masks
mitea1	0:f2815503561f	271	#define MPU9250_H_RESET_MASK 0x80
mitea1	0:f2815503561f	272	#define MPU9250_SLEEP_MASK 0x40
mitea1	0:f2815503561f	273	#define MPU9250_CYCLE_MASK 0x20
mitea1	0:f2815503561f	274	#define MPU9250_GYRO_STANDBY_CYCLE_MASK 0x10
mitea1	0:f2815503561f	275	#define MPU9250_PD_PTAT_MASK 0x08
mitea1	0:f2815503561f	276	#define MPU9250_CLKSEL_MASK 0x07
mitea1	0:f2815503561f	277
mitea1	0:f2815503561f	278	//PWR_MGMT_2 register masks
mitea1	0:f2815503561f	279	#define MPU9250_DISABLE_XA_MASK 0x20
mitea1	0:f2815503561f	280	#define MPU9250_DISABLE_YA_MASK 0x10
mitea1	0:f2815503561f	281	#define MPU9250_DISABLE_ZA_MASK 0x08
mitea1	0:f2815503561f	282	#define MPU9250_DISABLE_XG_MASK 0x04
mitea1	0:f2815503561f	283	#define MPU9250_DISABLE_YG_MASK 0x02
mitea1	0:f2815503561f	284	#define MPU9250_DISABLE_ZG_MASK 0x01
mitea1	0:f2815503561f	285
mitea1	0:f2815503561f	286	#define MPU9250_DISABLE_XYZA_MASK 0x38
mitea1	0:f2815503561f	287	#define MPU9250_DISABLE_XYZG_MASK 0x07
mitea1	0:f2815503561f	288
mitea1	0:f2815503561f	289	//Magnetometer register maps
mitea1	0:f2815503561f	290	#define MPU9250_MAG_ADDRESS 0x0C<<1//Shift by 1 needed for access via I2C
mitea1	0:f2815503561f	291
mitea1	0:f2815503561f	292	#define MPU9250_MAG_WIA 0x00
mitea1	0:f2815503561f	293	#define MPU9250_MAG_INFO 0x01
mitea1	0:f2815503561f	294	#define MPU9250_MAG_ST1 0x02
mitea1	0:f2815503561f	295	#define MPU9250_MAG_XOUT_L 0x03
mitea1	0:f2815503561f	296	#define MPU9250_MAG_XOUT_H 0x04
mitea1	0:f2815503561f	297	#define MPU9250_MAG_YOUT_L 0x05
mitea1	0:f2815503561f	298	#define MPU9250_MAG_YOUT_H 0x06
mitea1	0:f2815503561f	299	#define MPU9250_MAG_ZOUT_L 0x07
mitea1	0:f2815503561f	300	#define MPU9250_MAG_ZOUT_H 0x08
mitea1	0:f2815503561f	301	#define MPU9250_MAG_ST2 0x09
mitea1	0:f2815503561f	302	#define MPU9250_MAG_CNTL1 0x0A
mitea1	0:f2815503561f	303	#define MPU9250_MAG_CNTL2 0x0B //reserved mystery meat
mitea1	0:f2815503561f	304	#define MPU9250_MAG_ASTC 0x0C
mitea1	0:f2815503561f	305	#define MPU9250_MAG_TS1 0x0D
mitea1	0:f2815503561f	306	#define MPU9250_MAG_TS2 0x0E
mitea1	0:f2815503561f	307	#define MPU9250_MAG_I2CDIS 0x0F
mitea1	0:f2815503561f	308	#define MPU9250_MAG_ASAX 0x10
mitea1	0:f2815503561f	309	#define MPU9250_MAG_ASAY 0x11
mitea1	0:f2815503561f	310	#define MPU9250_MAG_ASAZ 0x12
mitea1	0:f2815503561f	311
mitea1	0:f2815503561f	312	//Magnetometer register masks
mitea1	0:f2815503561f	313	#define MPU9250_WIA_MASK 0x48
mitea1	0:f2815503561f	314
mitea1	0:f2815503561f	315	/**
mitea1	0:f2815503561f	316	* @class MPU9250
mitea1	0:f2815503561f	317	* @brief Provides Functionality to control the MPU9250 Sensor on the Sensbert
mitea1	0:f2815503561f	318	*/
mitea1	0:f2815503561f	319	class MPU9250 {
mitea1	0:f2815503561f	320	public:
mitea1	0:f2815503561f	321	MPU9250(I2C_RT* i2c);
mitea1	0:f2815503561f	322	virtual ~MPU9250();
mitea1	0:f2815503561f	323
mitea1	0:f2815503561f	324	/**
mitea1	0:f2815503561f	325	* @brief Initializes the MPU9250 according to the desired MPU9250_MODE
mitea1	0:f2815503561f	326	* @param desiredMode the desired Mode depending on which the MPU9250 has to be
mitea1	0:f2815503561f	327	* configured
mitea1	0:f2815503561f	328	*/
mitea1	0:f2815503561f	329	void init(MPU9250_MODE desiredMode);
mitea1	0:f2815503561f	330
mitea1	0:f2815503561f	331
mitea1	0:f2815503561f	332	/**
mitea1	0:f2815503561f	333	* @brief Gets the measured x-axis acceleration.
mitea1	0:f2815503561f	334	* Important: Acceleration measurement first needs to be enable by
mitea1	0:f2815503561f	335	* enableAccelerationMeasurement()
mitea1	0:f2815503561f	336	* @return
mitea1	0:f2815503561f	337	*/
mitea1	0:f2815503561f	338	float getXAxisAcceleration();
mitea1	0:f2815503561f	339
mitea1	0:f2815503561f	340	/**
mitea1	0:f2815503561f	341	* @brief Gets the measured y-axis acceleration.
mitea1	0:f2815503561f	342	* Important: Acceleration measurement first needs to be enable by
mitea1	0:f2815503561f	343	* enableAccelerationMeasurement()
mitea1	0:f2815503561f	344	* @return
mitea1	0:f2815503561f	345	*/
mitea1	0:f2815503561f	346	float getYAxisAcceleration();
mitea1	0:f2815503561f	347
mitea1	0:f2815503561f	348	/**
mitea1	0:f2815503561f	349	* @brief Gets the measured z-axis acceleration.
mitea1	0:f2815503561f	350	* Important: Acceleration measurement first needs to be enable by
mitea1	0:f2815503561f	351	* enableAccelerationMeasurement()
mitea1	0:f2815503561f	352	* @return
mitea1	0:f2815503561f	353	*/
mitea1	0:f2815503561f	354	float getZAxisAcceleration();
mitea1	0:f2815503561f	355
mitea1	0:f2815503561f	356	/**
mitea1	0:f2815503561f	357	* @brief Gets the measured x-axis gyroscope value.
mitea1	0:f2815503561f	358	* Important: Acceleration measurement first needs to be enable by
mitea1	0:f2815503561f	359	* enableAccelerationMeasurement()
mitea1	0:f2815503561f	360	* @return
mitea1	0:f2815503561f	361	*/
mitea1	0:f2815503561f	362	float getXAxisGyro();
mitea1	0:f2815503561f	363
mitea1	0:f2815503561f	364	/**
mitea1	0:f2815503561f	365	* @brief Gets the measured y-axis gyroscope value
mitea1	0:f2815503561f	366	* Important: Gyroscope measurement first needs to be enable by
mitea1	0:f2815503561f	367	* enableGyroscopeMeasurement()
mitea1	0:f2815503561f	368	* @return
mitea1	0:f2815503561f	369	*/
mitea1	0:f2815503561f	370	float getYAxisGyro();
mitea1	0:f2815503561f	371
mitea1	0:f2815503561f	372	/**
mitea1	0:f2815503561f	373	* @brief Gets the measured z-axis gyroscope value.
mitea1	0:f2815503561f	374	* Important: Gyroscope measurement first needs to be enable by
mitea1	0:f2815503561f	375	* enableGyroscopeMeasurement()
mitea1	0:f2815503561f	376	* @return
mitea1	0:f2815503561f	377	*/
mitea1	0:f2815503561f	378	float getZAxisGyro();
mitea1	0:f2815503561f	379
mitea1	0:f2815503561f	380	/**
mitea1	0:f2815503561f	381	* @brief Gets the measured x-axis tesla value.
mitea1	0:f2815503561f	382	* Important: Gyroscope measurement first needs to be enable by
mitea1	0:f2815503561f	383	* enableGyroscopeMeasurement()
mitea1	0:f2815503561f	384	* @return
mitea1	0:f2815503561f	385	*/
mitea1	0:f2815503561f	386	float getXAxisTesla();
mitea1	0:f2815503561f	387
mitea1	0:f2815503561f	388	/**
mitea1	0:f2815503561f	389	* @brief Gets the measured y-axis tesla value.
mitea1	0:f2815503561f	390	* Important: Tesla measurement first needs to be enable by
mitea1	0:f2815503561f	391	* enableTeslaMeasurement()
mitea1	0:f2815503561f	392	* @return
mitea1	0:f2815503561f	393	*/
mitea1	0:f2815503561f	394	float getYAxisTesla();
mitea1	0:f2815503561f	395
mitea1	0:f2815503561f	396	/**
mitea1	0:f2815503561f	397	* @brief Gets the measured z-axis tesla value.
mitea1	0:f2815503561f	398	* Important: Tesla measurement first needs to be enable by
mitea1	0:f2815503561f	399	* enableTeslaMeasurement()
mitea1	0:f2815503561f	400	* @return
mitea1	0:f2815503561f	401	*/
mitea1	0:f2815503561f	402	float getZAxisTesla();
mitea1	0:f2815503561f	403	private:
mitea1	0:f2815503561f	404	I2C_RT* i2c;
mitea1	0:f2815503561f	405	MPU9250Config* config;
mitea1	0:f2815503561f	406
mitea1	0:f2815503561f	407	/**
mitea1	0:f2815503561f	408	* @brief Set the i2c that is used to control the MPU9250
mitea1	0:f2815503561f	409	* @param i2c the i2c that is used to control the MPU9250
mitea1	0:f2815503561f	410	*/
mitea1	0:f2815503561f	411	void setI2c(I2C_RT* i2c);
mitea1	0:f2815503561f	412
mitea1	0:f2815503561f	413	/**
mitea1	0:f2815503561f	414	* @brief enables the acceleration measurement for all axis
mitea1	0:f2815503561f	415	* according to the MPU9250Config.
mitea1	0:f2815503561f	416	*/
mitea1	0:f2815503561f	417	void enableAxisAccelerationMeasurement();
mitea1	0:f2815503561f	418
mitea1	0:f2815503561f	419	/**
mitea1	0:f2815503561f	420	* @brief enables the gyroscope measurement for all axis
mitea1	0:f2815503561f	421	* according to the MPU9250Config.
mitea1	0:f2815503561f	422	*/
mitea1	0:f2815503561f	423	void enableAxisGyroscopeMeasurement();
mitea1	0:f2815503561f	424
mitea1	0:f2815503561f	425	/**
mitea1	0:f2815503561f	426	* @brief enables the tesla measurement for all axis
mitea1	0:f2815503561f	427	* according to the MPU9250Config.
mitea1	0:f2815503561f	428	*/
mitea1	0:f2815503561f	429	void enableAxisTeslaMeasurement();
mitea1	0:f2815503561f	430
mitea1	0:f2815503561f	431
mitea1	0:f2815503561f	432	/**
mitea1	0:f2815503561f	433	* @brief Configures and enables interrupts according to the MPU9250Config
mitea1	0:f2815503561f	434	*/
mitea1	0:f2815503561f	435	void configureInterrupts();
mitea1	0:f2815503561f	436
mitea1	0:f2815503561f	437	/**
mitea1	0:f2815503561f	438	* @brief Sets the motion threshold in g when an interupt is triggered
mitea1	0:f2815503561f	439	* according to the MPU9250Config
mitea1	0:f2815503561f	440	*/
mitea1	0:f2815503561f	441	void setWakeOnReceiveThreshold();
mitea1	0:f2815503561f	442	};
mitea1	0:f2815503561f	443
mitea1	0:f2815503561f	444	#endif /* APP_MPU9250_H_ */

Repository toolbox

Export to desktop IDE

Build repository

Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	06 Jul 2016
Imports:	228
Forks:	2
Commits:	11
Dependents:	0
Dependencies:	3
Followers:	11