It is the library published by sparkfun, edited accordingly to make it work under mbed platform.
Dependents: MPU9250-dmp-bluepill MPU9250-dmp
SparkFunMPU9250-DMP.h
- Committer:
- mbedoguz
- Date:
- 2017-08-15
- Revision:
- 4:2c4e849b8ecf
- Parent:
- 2:c35f8379f2cb
File content as of revision 4:2c4e849b8ecf:
/****************************************************************************** SparkFunMPU9250-DMP.h - MPU-9250 Digital Motion Processor Arduino Library Jim Lindblom @ SparkFun Electronics original creation date: November 23, 2016 https://github.com/sparkfun/SparkFun_MPU9250_DMP_Arduino_Library This library implements motion processing functions of Invensense's MPU-9250. It is based on their Emedded MotionDriver 6.12 library. https://www.invensense.com/developers/software-downloads/ ******************************************************************************/ #ifndef _SPARKFUN_MPU9250_DMP_H_ #define _SPARKFUN_MPU9250_DMP_H_ #include <mdcompat.h> #include <mbed.h> // Optimally, these defines would be passed as compiler options, but Arduino // doesn't give us a great way to do that. #ifndef MPU9250 #define MPU9250 #endif #define AK8963_SECONDARY #define COMPASS_ENABLED // Include the Invensense MPU9250 driver and DMP keys: extern "C" { #include "inv_mpu.h" #include "inv_mpu_dmp_motion_driver.h" } typedef int inv_error_t; #define INV_SUCCESS 0 #define INV_ERROR 0x20 enum t_axisOrder { X_AXIS, // 0 Y_AXIS, // 1 Z_AXIS // 2 }; // Define's passed to update(), to request a specific sensor (or multiple): #define UPDATE_ACCEL (1<<1) #define UPDATE_GYRO (1<<2) #define UPDATE_COMPASS (1<<3) #define UPDATE_TEMP (1<<4) #define INT_ACTIVE_HIGH 0 #define INT_ACTIVE_LOW 1 #define INT_LATCHED 1 #define INT_50US_PULSE 0 #define MAX_DMP_SAMPLE_RATE 200 // Maximum sample rate for the DMP FIFO (200Hz) #define FIFO_BUFFER_SIZE 512 // Max FIFO buffer size const signed char defaultOrientation[9] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 }; #define ORIENT_PORTRAIT 0 #define ORIENT_LANDSCAPE 1 #define ORIENT_REVERSE_PORTRAIT 2 #define ORIENT_REVERSE_LANDSCAPE 3 class MPU9250_DMP { public: int ax, ay, az; int gx, gy, gz; int mx, my, mz; long qw, qx, qy, qz; long temperature; unsigned long time; float pitch, roll, yaw; float heading; MPU9250_DMP(); // begin(void) -- Verifies communication with the MPU-9250 and the AK8963, // and initializes them to the default state: // All sensors enabled // Gyro FSR: +/- 2000 dps // Accel FSR: +/- 2g // LPF: 42 Hz // FIFO: 50 Hz, disabled // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t begin(void); // setSensors(unsigned char) -- Turn on or off MPU-9250 sensors. Any of the // following defines can be combined: INV_XYZ_GYRO, INV_XYZ_ACCEL, // INV_XYZ_COMPASS, INV_X_GYRO, INV_Y_GYRO, or INV_Z_GYRO // Input: Combination of enabled sensors. Unless specified a sensor will be // disabled. // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t setSensors(unsigned char sensors); // setGyroFSR(unsigned short) -- Sets the full-scale range of the gyroscope // Input: Gyro DPS - 250, 500, 1000, or 2000 // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t setGyroFSR(unsigned short fsr); // getGyroFSR -- Returns the current gyroscope FSR // Output: Current Gyro DPS - 250, 500, 1000, or 2000 unsigned short getGyroFSR(void); // getGyroSens -- Returns current gyroscope sensitivity. The FSR divided by // the resolution of the sensor (signed 16-bit). // Output: Currently set gyroscope sensitivity (e.g. 131, 65.5, 32.8, 16.4) float getGyroSens(void); // setAccelFSR(unsigned short) -- Sets the FSR of the accelerometer // // Input: Accel g range - 2, 4, 8, or 16 // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t setAccelFSR(unsigned char fsr); // getAccelFSR -- Returns the current accelerometer FSR // Output: Current Accel g - 2, 4, 8, or 16 unsigned char getAccelFSR(void); // getAccelSens -- Returns current accelerometer sensitivity. The FSR // divided by the resolution of the sensor (signed 16-bit). // Output: Currently set accel sensitivity (e.g. 16384, 8192, 4096, 2048) unsigned short getAccelSens(void); // getMagFSR -- Returns the current magnetometer FSR // Output: Current mag uT range - +/-1450 uT unsigned short getMagFSR(void); // getMagSens -- Returns current magnetometer sensitivity. The FSR // divided by the resolution of the sensor (signed 16-bit). // Output: Currently set mag sensitivity (e.g. 0.15) float getMagSens(void); // setLPF -- Sets the digital low-pass filter of the accel and gyro. // Can be any of the following: 188, 98, 42, 20, 10, 5 (value in Hz) // Input: 188, 98, 42, 20, 10, or 5 (defaults to 5 if incorrectly set) // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t setLPF(unsigned short lpf); // getLPF -- Returns the set value of the LPF. // // Output: 5, 10, 20, 42, 98, or 188 if set. 0 if the LPF is disabled. unsigned short getLPF(void); // setSampleRate -- Set the gyroscope and accelerometer sample rate to a // value between 4Hz and 1000Hz (1kHz). // The library will make an attempt to get as close as possible to the // requested sample rate. // Input: Value between 4 and 1000, indicating the desired sample rate // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t setSampleRate(unsigned short rate); // getSampleRate -- Get the currently set sample rate. // May differ slightly from what was set in setSampleRate. // Output: set sample rate of the accel/gyro. A value between 4-1000. unsigned short getSampleRate(void); // setCompassSampleRate -- Set the magnetometer sample rate to a value // between 1Hz and 100 Hz. // The library will make an attempt to get as close as possible to the // requested sample rate. // Input: Value between 1 and 100, indicating the desired sample rate // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t setCompassSampleRate(unsigned short rate); // getCompassSampleRate -- Get the currently set magnetometer sample rate. // May differ slightly from what was set in setCompassSampleRate. // // Output: set sample rate of the magnetometer. A value between 1-100 unsigned short getCompassSampleRate(void); // dataReady -- checks to see if new accel/gyro data is available. // (New magnetometer data cannot be checked, as the library runs that sensor // in single-conversion mode.) // Output: true if new accel/gyro data is available bool dataReady(); // update -- Reads latest data from the MPU-9250's data registers. // Sensors to be updated can be set using the [sensors] parameter. // [sensors] can be any combination of UPDATE_ACCEL, UPDATE_GYRO, // UPDATE_COMPASS, and UPDATE_TEMP. // Output: INV_SUCCESS (0) on success, otherwise error // Note: after a successful update the public sensor variables // (e.g. ax, ay, az, gx, gy, gz) will be updated with new data inv_error_t update(unsigned char sensors = UPDATE_ACCEL | UPDATE_GYRO | UPDATE_COMPASS); // updateAccel, updateGyro, updateCompass, and updateTemperature are // called by the update() public method. They read from their respective // sensor and update the class variable (e.g. ax, ay, az) // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t updateAccel(void); inv_error_t updateGyro(void); inv_error_t updateCompass(void); inv_error_t updateTemperature(void); // configureFifo(unsigned char) -- Initialize the FIFO, set it to read from // a select set of sensors. // Any of the following defines can be combined for the [sensors] parameter: // INV_XYZ_GYRO, INV_XYZ_ACCEL, INV_X_GYRO, INV_Y_GYRO, or INV_Z_GYRO // Input: Combination of sensors to be read into FIFO // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t configureFifo(unsigned char sensors); // getFifoConfig -- Returns the sensors configured to be read into the FIFO // Output: combination of INV_XYZ_GYRO, INV_XYZ_ACCEL, INV_Y_GYRO, // INV_X_GYRO, or INV_Z_GYRO unsigned char getFifoConfig(void); // fifoAvailable -- Returns the number of bytes currently filled in the FIFO // Outputs: Number of bytes filled in the FIFO (up to 512) unsigned short fifoAvailable(void); // updateFifo -- Reads from the top of the FIFO, and stores the new data // in ax, ay, az, gx, gy, or gz (depending on how the FIFO is configured). // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t updateFifo(void); // resetFifo -- Resets the FIFO's read/write pointers // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t resetFifo(void); // enableInterrupt -- Configure the MPU-9250's interrupt output to indicate // when new data is ready. // Input: 0 to disable, >=1 to enable // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t enableInterrupt(unsigned char enable = 1); // setIntLevel -- Configure the MPU-9250's interrupt to be either active- // high or active-low. // Input: 0 for active-high, 1 for active-low // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t setIntLevel(unsigned char active_low); // setIntLatched -- Configure the MPU-9250's interrupt to latch or operate // as a 50us pulse. // Input: 0 for // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t setIntLatched(unsigned char enable); // getIntStatus -- Reads the MPU-9250's INT_STATUS register, which can // indicate what (if anything) caused an interrupt (e.g. FIFO overflow or // or data read). // Output: contents of the INT_STATUS register short getIntStatus(void); // dmpBegin -- Initialize the DMP, enable one or more features, and set the FIFO's sample rate // features can be any one of // DMP_FEATURE_TAP -- Tap detection // DMP_FEATURE_ANDROID_ORIENT -- Orientation (portrait/landscape) detection // DMP_FEATURE_LP_QUAT -- Accelerometer, low-power quaternion calculation // DMP_FEATURE_PEDOMETER -- Pedometer (always enabled) // DMP_FEATURE_6X_LP_QUAT -- 6-axis (accel/gyro) quaternion calculation // DMP_FEATURE_GYRO_CAL -- Gyroscope calibration (0's out after 8 seconds of no motion) // DMP_FEATURE_SEND_RAW_ACCEL -- Send raw accelerometer values to FIFO // DMP_FEATURE_SEND_RAW_GYRO -- Send raw gyroscope values to FIFO // DMP_FEATURE_SEND_CAL_GYRO -- Send calibrated gyroscop values to FIFO // fifoRate can be anywhere between 4 and 200Hz. // Input: OR'd list of features and requested FIFO sampling rate // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpBegin(unsigned short features = 0, unsigned short fifoRate = MAX_DMP_SAMPLE_RATE); // dmpLoad -- Loads the DMP with 3062-byte image memory. Must be called to begin DMP. // This function is called by the dmpBegin function. // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpLoad(void); // dmpGetFifoRate -- Returns the sample rate of the FIFO // Output: Set sample rate, in Hz, of the FIFO unsigned short dmpGetFifoRate(void); // dmpSetFiFoRate -- Sets the rate of the FIFO. // Input: Requested sample rate in Hz (range: 4-200) // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpSetFifoRate(unsigned short rate); // dmpUpdateFifo -- Reads from the top of the FIFO and fills accelerometer, gyroscope, // quaternion, and time public variables (depending on how the DMP is configured). // Should be called whenever an MPU interrupt is detected // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpUpdateFifo(void); // dmpEnableFeatures -- Enable one, or multiple DMP features. // Input: An OR'd list of features (see dmpBegin) // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpEnableFeatures(unsigned short mask); // dmpGetEnabledFeatures -- Returns the OR'd list of enabled DMP features // // Output: OR'd list of DMP feature's (see dmpBegin for list) unsigned short dmpGetEnabledFeatures(void); // dmpSetTap -- Enable tap detection and configure threshold, tap time, and minimum tap count. // Inputs: x/y/zThresh - accelerometer threshold on each axis. Range: 0 to 1600. 0 disables tap // detection on that axis. Units are mg/ms. // taps - minimum number of taps to create a tap event (Range: 1-4) // tapTime - Minimum number of milliseconds between separate taps // tapMulti - Maximum number of milliseconds combined taps // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpSetTap(unsigned short xThresh = 250, unsigned short yThresh = 250, unsigned short zThresh = 250, unsigned char taps = 1, unsigned short tapTime = 100, unsigned short tapMulti = 500); // tapAvailable -- Returns true if a new tap is available // Output: True if new tap data is available. Cleared on getTapDir or getTapCount. bool tapAvailable(void); // getTapDir -- Returns the tap direction. // Output: One of the following: TAP_X_UP, TAP_X_DOWN, TAP_Y_UP, TAP_Y_DOWN, TAP_Z_UP, // or TAP_Z_DOWN unsigned char getTapDir(void); // getTapCount -- Returns the number of taps in the sensed direction // Output: Value between 1-8 indicating successive number of taps sensed. unsigned char getTapCount(void); // dmpSetOrientation -- Set orientation matrix, used for orientation sensing. // Use defaultOrientation matrix as an example input. // Input: Gyro and accel orientation in body frame (9-byte array) // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpSetOrientation(const signed char * orientationMatrix = defaultOrientation); // dmpGetOrientation -- Get the orientation, if any. // Output: If an orientation is detected, one of ORIENT_LANDSCAPE, ORIENT_PORTRAIT, // ORIENT_REVERSE_LANDSCAPE, or ORIENT_REVERSE_PORTRAIT. unsigned char dmpGetOrientation(void); // dmpEnable3Quat -- Enable 3-axis quaternion calculation // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpEnable3Quat(void); // dmpEnable6Quat -- Enable 6-axis quaternion calculation // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpEnable6Quat(void); // dmpGetPedometerSteps -- Get number of steps in pedometer register // Output: Number of steps sensed unsigned long dmpGetPedometerSteps(void); // dmpSetPedometerSteps -- Set number of steps to a value // Input: Desired number of steps to begin incrementing from // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpSetPedometerSteps(unsigned long steps); // dmpGetPedometerTime -- Get number of milliseconds ellapsed over stepping // Output: Number of milliseconds where steps were detected unsigned long dmpGetPedometerTime(void); // dmpSetPedometerTime -- Set number time to begin incrementing step time counter from // Input: Desired number of milliseconds // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpSetPedometerTime(unsigned long time); // dmpSetInterruptMode -- // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpSetInterruptMode(unsigned char mode); // dmpSetGyroBias -- // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpSetGyroBias(long * bias); // dmpSetAccelBias -- // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t dmpSetAccelBias(long * bias); // lowPowerAccel -- // Output: INV_SUCCESS (0) on success, otherwise error inv_error_t lowPowerAccel(unsigned short rate); // calcAccel -- Convert 16-bit signed acceleration value to g's float calcAccel(int axis); // calcGyro -- Convert 16-bit signed gyroscope value to degree's per second float calcGyro(int axis); // calcMag -- Convert 16-bit signed magnetometer value to microtesla (uT) float calcMag(int axis); // calcQuat -- Convert Q30-format quaternion to a vector between +/- 1 float calcQuat(long axis); // computeEulerAngles -- Compute euler angles based on most recently read qw, qx, qy, and qz // Input: boolean indicating whether angle results are presented in degrees or radians // Output: class variables roll, pitch, and yaw will be updated on exit. void computeEulerAngles(bool degrees = true); // computeCompassHeading -- Compute heading based on most recently read mx, my, and mz values // Output: class variable heading will be updated on exit float computeCompassHeading(void); // selfTest -- Run gyro and accel self-test. // Output: Returns bit mask, 1 indicates success. A 0x7 is success on all sensors. // Bit pos 0: gyro // Bit pos 1: accel // Bit pos 2: mag int selfTest(unsigned char debug = 0); private: unsigned short _aSense; float _gSense, _mSense; // Convert a QN-format number to a float float qToFloat(long number, unsigned char q); unsigned short orientation_row_2_scale(const signed char *row); }; #endif // _SPARKFUN_MPU9250_DMP_H_