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.
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@0:f2815503561f, 2016-07-06 (annotated)
- Committer:
- mitea1
- Date:
- Wed Jul 06 20:40:36 2016 +0000
- Revision:
- 0:f2815503561f
initial commit;
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_ */ |