oda itsuha / MPU9250

MPU9250 library

MPU9250.h@0:9b60815f8984, 2021-10-16 (annotated)

Committer:
odaa
Date:
Sat Oct 16 02:28:24 2021 +0000
Revision:
0:9b60815f8984
copy&paste

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odaa 0:9b60815f8984 1 #include "mbed.h"
odaa 0:9b60815f8984 2 #include "math.h"
odaa 0:9b60815f8984 3
odaa 0:9b60815f8984 4 // See also MPU-9250 Register Map and Descriptions, Revision 4.0, RM-MPU-9250A-00, Rev. 1.4, 9/9/2013 for registers not listed in
odaa 0:9b60815f8984 5 // above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
odaa 0:9b60815f8984 6 //
odaa 0:9b60815f8984 7 //Magnetometer Registers
odaa 0:9b60815f8984 8 #define AK8963_ADDRESS 0x0C<<1
odaa 0:9b60815f8984 9 #define WHO_AM_I_AK8963 0x00 // should return 0x48
odaa 0:9b60815f8984 10 #define INFO 0x01
odaa 0:9b60815f8984 11 #define AK8963_ST1 0x02 // data ready status bit 0
odaa 0:9b60815f8984 12 #define AK8963_XOUT_L 0x03 // data
odaa 0:9b60815f8984 13 #define AK8963_XOUT_H 0x04
odaa 0:9b60815f8984 14 #define AK8963_YOUT_L 0x05
odaa 0:9b60815f8984 15 #define AK8963_YOUT_H 0x06
odaa 0:9b60815f8984 16 #define AK8963_ZOUT_L 0x07
odaa 0:9b60815f8984 17 #define AK8963_ZOUT_H 0x08
odaa 0:9b60815f8984 18 #define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
odaa 0:9b60815f8984 19 #define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
odaa 0:9b60815f8984 20 #define AK8963_ASTC 0x0C // Self test control
odaa 0:9b60815f8984 21 #define AK8963_I2CDIS 0x0F // I2C disable
odaa 0:9b60815f8984 22 #define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
odaa 0:9b60815f8984 23 #define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
odaa 0:9b60815f8984 24 #define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
odaa 0:9b60815f8984 25
odaa 0:9b60815f8984 26 #define SELF_TEST_X_GYRO 0x00
odaa 0:9b60815f8984 27 #define SELF_TEST_Y_GYRO 0x01
odaa 0:9b60815f8984 28 #define SELF_TEST_Z_GYRO 0x02
odaa 0:9b60815f8984 29
odaa 0:9b60815f8984 30 /*#define X_FINE_GAIN 0x03 // [7:0] fine gain
odaa 0:9b60815f8984 31 #define Y_FINE_GAIN 0x04
odaa 0:9b60815f8984 32 #define Z_FINE_GAIN 0x05
odaa 0:9b60815f8984 33 #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
odaa 0:9b60815f8984 34 #define XA_OFFSET_L_TC 0x07
odaa 0:9b60815f8984 35 #define YA_OFFSET_H 0x08
odaa 0:9b60815f8984 36 #define YA_OFFSET_L_TC 0x09
odaa 0:9b60815f8984 37 #define ZA_OFFSET_H 0x0A
odaa 0:9b60815f8984 38 #define ZA_OFFSET_L_TC 0x0B */
odaa 0:9b60815f8984 39
odaa 0:9b60815f8984 40 #define SELF_TEST_X_ACCEL 0x0D
odaa 0:9b60815f8984 41 #define SELF_TEST_Y_ACCEL 0x0E
odaa 0:9b60815f8984 42 #define SELF_TEST_Z_ACCEL 0x0F
odaa 0:9b60815f8984 43
odaa 0:9b60815f8984 44 #define SELF_TEST_A 0x10
odaa 0:9b60815f8984 45
odaa 0:9b60815f8984 46 #define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
odaa 0:9b60815f8984 47 #define XG_OFFSET_L 0x14
odaa 0:9b60815f8984 48 #define YG_OFFSET_H 0x15
odaa 0:9b60815f8984 49 #define YG_OFFSET_L 0x16
odaa 0:9b60815f8984 50 #define ZG_OFFSET_H 0x17
odaa 0:9b60815f8984 51 #define ZG_OFFSET_L 0x18
odaa 0:9b60815f8984 52 #define SMPLRT_DIV 0x19
odaa 0:9b60815f8984 53 #define CONFIG 0x1A
odaa 0:9b60815f8984 54 #define GYRO_CONFIG 0x1B
odaa 0:9b60815f8984 55 #define ACCEL_CONFIG 0x1C
odaa 0:9b60815f8984 56 #define ACCEL_CONFIG2 0x1D
odaa 0:9b60815f8984 57 #define LP_ACCEL_ODR 0x1E
odaa 0:9b60815f8984 58 #define WOM_THR 0x1F
odaa 0:9b60815f8984 59
odaa 0:9b60815f8984 60 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
odaa 0:9b60815f8984 61 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
odaa 0:9b60815f8984 62 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
odaa 0:9b60815f8984 63
odaa 0:9b60815f8984 64 #define FIFO_EN 0x23
odaa 0:9b60815f8984 65 #define I2C_MST_CTRL 0x24
odaa 0:9b60815f8984 66 #define I2C_SLV0_ADDR 0x25
odaa 0:9b60815f8984 67 #define I2C_SLV0_REG 0x26
odaa 0:9b60815f8984 68 #define I2C_SLV0_CTRL 0x27
odaa 0:9b60815f8984 69 #define I2C_SLV1_ADDR 0x28
odaa 0:9b60815f8984 70 #define I2C_SLV1_REG 0x29
odaa 0:9b60815f8984 71 #define I2C_SLV1_CTRL 0x2A
odaa 0:9b60815f8984 72 #define I2C_SLV2_ADDR 0x2B
odaa 0:9b60815f8984 73 #define I2C_SLV2_REG 0x2C
odaa 0:9b60815f8984 74 #define I2C_SLV2_CTRL 0x2D
odaa 0:9b60815f8984 75 #define I2C_SLV3_ADDR 0x2E
odaa 0:9b60815f8984 76 #define I2C_SLV3_REG 0x2F
odaa 0:9b60815f8984 77 #define I2C_SLV3_CTRL 0x30
odaa 0:9b60815f8984 78 #define I2C_SLV4_ADDR 0x31
odaa 0:9b60815f8984 79 #define I2C_SLV4_REG 0x32
odaa 0:9b60815f8984 80 #define I2C_SLV4_DO 0x33
odaa 0:9b60815f8984 81 #define I2C_SLV4_CTRL 0x34
odaa 0:9b60815f8984 82 #define I2C_SLV4_DI 0x35
odaa 0:9b60815f8984 83 #define I2C_MST_STATUS 0x36
odaa 0:9b60815f8984 84 #define INT_PIN_CFG 0x37
odaa 0:9b60815f8984 85 #define INT_ENABLE 0x38
odaa 0:9b60815f8984 86 #define DMP_INT_STATUS 0x39 // Check DMP interrupt
odaa 0:9b60815f8984 87 #define INT_STATUS 0x3A
odaa 0:9b60815f8984 88 #define ACCEL_XOUT_H 0x3B
odaa 0:9b60815f8984 89 #define ACCEL_XOUT_L 0x3C
odaa 0:9b60815f8984 90 #define ACCEL_YOUT_H 0x3D
odaa 0:9b60815f8984 91 #define ACCEL_YOUT_L 0x3E
odaa 0:9b60815f8984 92 #define ACCEL_ZOUT_H 0x3F
odaa 0:9b60815f8984 93 #define ACCEL_ZOUT_L 0x40
odaa 0:9b60815f8984 94 #define TEMP_OUT_H 0x41
odaa 0:9b60815f8984 95 #define TEMP_OUT_L 0x42
odaa 0:9b60815f8984 96 #define GYRO_XOUT_H 0x43
odaa 0:9b60815f8984 97 #define GYRO_XOUT_L 0x44
odaa 0:9b60815f8984 98 #define GYRO_YOUT_H 0x45
odaa 0:9b60815f8984 99 #define GYRO_YOUT_L 0x46
odaa 0:9b60815f8984 100 #define GYRO_ZOUT_H 0x47
odaa 0:9b60815f8984 101 #define GYRO_ZOUT_L 0x48
odaa 0:9b60815f8984 102 #define EXT_SENS_DATA_00 0x49
odaa 0:9b60815f8984 103 #define EXT_SENS_DATA_01 0x4A
odaa 0:9b60815f8984 104 #define EXT_SENS_DATA_02 0x4B
odaa 0:9b60815f8984 105 #define EXT_SENS_DATA_03 0x4C
odaa 0:9b60815f8984 106 #define EXT_SENS_DATA_04 0x4D
odaa 0:9b60815f8984 107 #define EXT_SENS_DATA_05 0x4E
odaa 0:9b60815f8984 108 #define EXT_SENS_DATA_06 0x4F
odaa 0:9b60815f8984 109 #define EXT_SENS_DATA_07 0x50
odaa 0:9b60815f8984 110 #define EXT_SENS_DATA_08 0x51
odaa 0:9b60815f8984 111 #define EXT_SENS_DATA_09 0x52
odaa 0:9b60815f8984 112 #define EXT_SENS_DATA_10 0x53
odaa 0:9b60815f8984 113 #define EXT_SENS_DATA_11 0x54
odaa 0:9b60815f8984 114 #define EXT_SENS_DATA_12 0x55
odaa 0:9b60815f8984 115 #define EXT_SENS_DATA_13 0x56
odaa 0:9b60815f8984 116 #define EXT_SENS_DATA_14 0x57
odaa 0:9b60815f8984 117 #define EXT_SENS_DATA_15 0x58
odaa 0:9b60815f8984 118 #define EXT_SENS_DATA_16 0x59
odaa 0:9b60815f8984 119 #define EXT_SENS_DATA_17 0x5A
odaa 0:9b60815f8984 120 #define EXT_SENS_DATA_18 0x5B
odaa 0:9b60815f8984 121 #define EXT_SENS_DATA_19 0x5C
odaa 0:9b60815f8984 122 #define EXT_SENS_DATA_20 0x5D
odaa 0:9b60815f8984 123 #define EXT_SENS_DATA_21 0x5E
odaa 0:9b60815f8984 124 #define EXT_SENS_DATA_22 0x5F
odaa 0:9b60815f8984 125 #define EXT_SENS_DATA_23 0x60
odaa 0:9b60815f8984 126 #define MOT_DETECT_STATUS 0x61
odaa 0:9b60815f8984 127 #define I2C_SLV0_DO 0x63
odaa 0:9b60815f8984 128 #define I2C_SLV1_DO 0x64
odaa 0:9b60815f8984 129 #define I2C_SLV2_DO 0x65
odaa 0:9b60815f8984 130 #define I2C_SLV3_DO 0x66
odaa 0:9b60815f8984 131 #define I2C_MST_DELAY_CTRL 0x67
odaa 0:9b60815f8984 132 #define SIGNAL_PATH_RESET 0x68
odaa 0:9b60815f8984 133 #define MOT_DETECT_CTRL 0x69
odaa 0:9b60815f8984 134 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
odaa 0:9b60815f8984 135 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
odaa 0:9b60815f8984 136 #define PWR_MGMT_2 0x6C
odaa 0:9b60815f8984 137 #define DMP_BANK 0x6D // Activates a specific bank in the DMP
odaa 0:9b60815f8984 138 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
odaa 0:9b60815f8984 139 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
odaa 0:9b60815f8984 140 #define DMP_REG_1 0x70
odaa 0:9b60815f8984 141 #define DMP_REG_2 0x71
odaa 0:9b60815f8984 142 #define FIFO_COUNTH 0x72
odaa 0:9b60815f8984 143 #define FIFO_COUNTL 0x73
odaa 0:9b60815f8984 144 #define FIFO_R_W 0x74
odaa 0:9b60815f8984 145 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71
odaa 0:9b60815f8984 146 #define XA_OFFSET_H 0x77
odaa 0:9b60815f8984 147 #define XA_OFFSET_L 0x78
odaa 0:9b60815f8984 148 #define YA_OFFSET_H 0x7A
odaa 0:9b60815f8984 149 #define YA_OFFSET_L 0x7B
odaa 0:9b60815f8984 150 #define ZA_OFFSET_H 0x7D
odaa 0:9b60815f8984 151 #define ZA_OFFSET_L 0x7E
odaa 0:9b60815f8984 152
odaa 0:9b60815f8984 153 #define PI 3.14159265358979323846f
odaa 0:9b60815f8984 154 // Using the MSENSR-9250 breakout board, ADO is set to 0
odaa 0:9b60815f8984 155 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
odaa 0:9b60815f8984 156 //mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
odaa 0:9b60815f8984 157 #define ADO 0
odaa 0:9b60815f8984 158 #if ADO
odaa 0:9b60815f8984 159 #define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1
odaa 0:9b60815f8984 160 #else
odaa 0:9b60815f8984 161 #define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0
odaa 0:9b60815f8984 162 #endif
odaa 0:9b60815f8984 163
odaa 0:9b60815f8984 164 // Set initial input parameters
odaa 0:9b60815f8984 165 enum Ascale {
odaa 0:9b60815f8984 166 AFS_2G = 0,
odaa 0:9b60815f8984 167 AFS_4G,
odaa 0:9b60815f8984 168 AFS_8G,
odaa 0:9b60815f8984 169 AFS_16G
odaa 0:9b60815f8984 170 };
odaa 0:9b60815f8984 171
odaa 0:9b60815f8984 172 enum Gscale {
odaa 0:9b60815f8984 173 GFS_250DPS = 0,
odaa 0:9b60815f8984 174 GFS_500DPS,
odaa 0:9b60815f8984 175 GFS_1000DPS,
odaa 0:9b60815f8984 176 GFS_2000DPS
odaa 0:9b60815f8984 177 };
odaa 0:9b60815f8984 178
odaa 0:9b60815f8984 179 enum Mscale {
odaa 0:9b60815f8984 180 MFS_14BITS = 0, // 0.6 mG per LSB
odaa 0:9b60815f8984 181 MFS_16BITS // 0.15 mG per LSB
odaa 0:9b60815f8984 182 };
odaa 0:9b60815f8984 183
odaa 0:9b60815f8984 184 class MPU9250 {
odaa 0:9b60815f8984 185
odaa 0:9b60815f8984 186 protected:
odaa 0:9b60815f8984 187
odaa 0:9b60815f8984 188 public:
odaa 0:9b60815f8984 189
odaa 0:9b60815f8984 190 MPU9250(PinName sda, PinName scl);
odaa 0:9b60815f8984 191 MPU9250(I2C *i2c);
odaa 0:9b60815f8984 192 ~MPU9250();
odaa 0:9b60815f8984 193
odaa 0:9b60815f8984 194 void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
odaa 0:9b60815f8984 195 char readByte(uint8_t address, uint8_t subAddress);
odaa 0:9b60815f8984 196 void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest);
odaa 0:9b60815f8984 197 float getMres();
odaa 0:9b60815f8984 198 float getGres();
odaa 0:9b60815f8984 199 float getAres();
odaa 0:9b60815f8984 200 void readAccelData(int16_t * destination);
odaa 0:9b60815f8984 201 void readGyroData(int16_t * destination);
odaa 0:9b60815f8984 202 void readMagData(int16_t * destination);
odaa 0:9b60815f8984 203 int16_t readTempData();
odaa 0:9b60815f8984 204 void resetMPU9250();
odaa 0:9b60815f8984 205 void initAK8963(float * destination);
odaa 0:9b60815f8984 206 void initMPU9250();
odaa 0:9b60815f8984 207 void calibrateMPU9250(float * dest1, float * dest2);
odaa 0:9b60815f8984 208 void MPU9250SelfTest(float * destination);
odaa 0:9b60815f8984 209 void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
odaa 0:9b60815f8984 210 void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
odaa 0:9b60815f8984 211 void setWakeOnMotion();
odaa 0:9b60815f8984 212
odaa 0:9b60815f8984 213 float SelfTest[6];
odaa 0:9b60815f8984 214 float gyroBias[3],accelBias[3]; // Bias corrections for gyro and accelerometer
odaa 0:9b60815f8984 215 float magCalibration[3], magbias[3]; // Factory mag calibration and mag bias
odaa 0:9b60815f8984 216
odaa 0:9b60815f8984 217 uint8_t Ascale; // AFS_2G, AFS_4G, AFS_8G, AFS_16G
odaa 0:9b60815f8984 218 uint8_t Gscale; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
odaa 0:9b60815f8984 219 uint8_t Mscale; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
odaa 0:9b60815f8984 220 uint8_t Mmode; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR
odaa 0:9b60815f8984 221 float aRes, gRes, mRes; // scale resolutions per LSB for the sensors
odaa 0:9b60815f8984 222
odaa 0:9b60815f8984 223 int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output
odaa 0:9b60815f8984 224 int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
odaa 0:9b60815f8984 225 int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output
odaa 0:9b60815f8984 226 float q[4]; // vector to hold quaternion
odaa 0:9b60815f8984 227
odaa 0:9b60815f8984 228 float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values
odaa 0:9b60815f8984 229 float pitch, yaw, roll;
odaa 0:9b60815f8984 230 float deltat; // integration interval for both filter schemes
odaa 0:9b60815f8984 231 int lastUpdate, firstUpdate, Now; // used to calculate integration interval
odaa 0:9b60815f8984 232 int delt_t; // used to control display output rate
odaa 0:9b60815f8984 233 int count; // used to control display output rate
odaa 0:9b60815f8984 234 int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius
odaa 0:9b60815f8984 235 float temperature;
odaa 0:9b60815f8984 236 private:
odaa 0:9b60815f8984 237 I2C *i2c_;
odaa 0:9b60815f8984 238 };