It is the library published by sparkfun, edited accordingly to make it work under mbed platform.
Dependents: MPU9250-dmp-bluepill MPU9250-dmp
SparkFunMPU9250-DMP.cpp@0:d1f0ae13f4a7, 2017-08-07 (annotated)
- Committer:
- mbedoguz
- Date:
- Mon Aug 07 13:50:23 2017 +0000
- Revision:
- 0:d1f0ae13f4a7
- Child:
- 1:80a269cb9d4d
It is modified so that it works with mbed platform
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbedoguz | 0:d1f0ae13f4a7 | 1 | /****************************************************************************** |
mbedoguz | 0:d1f0ae13f4a7 | 2 | SparkFunMPU9250-DMP.cpp - MPU-9250 Digital Motion Processor Arduino Library |
mbedoguz | 0:d1f0ae13f4a7 | 3 | Jim Lindblom @ SparkFun Electronics |
mbedoguz | 0:d1f0ae13f4a7 | 4 | original creation date: November 23, 2016 |
mbedoguz | 0:d1f0ae13f4a7 | 5 | https://github.com/sparkfun/SparkFun_MPU9250_DMP_Arduino_Library |
mbedoguz | 0:d1f0ae13f4a7 | 6 | |
mbedoguz | 0:d1f0ae13f4a7 | 7 | This library implements motion processing functions of Invensense's MPU-9250. |
mbedoguz | 0:d1f0ae13f4a7 | 8 | It is based on their Emedded MotionDriver 6.12 library. |
mbedoguz | 0:d1f0ae13f4a7 | 9 | https://www.invensense.com/developers/software-downloads/ |
mbedoguz | 0:d1f0ae13f4a7 | 10 | |
mbedoguz | 0:d1f0ae13f4a7 | 11 | Development environment specifics: |
mbedoguz | 0:d1f0ae13f4a7 | 12 | Arduino IDE 1.6.12 |
mbedoguz | 0:d1f0ae13f4a7 | 13 | SparkFun 9DoF Razor IMU M0 |
mbedoguz | 0:d1f0ae13f4a7 | 14 | |
mbedoguz | 0:d1f0ae13f4a7 | 15 | Supported Platforms: |
mbedoguz | 0:d1f0ae13f4a7 | 16 | - ATSAMD21 (Arduino Zero, SparkFun SAMD21 Breakouts) |
mbedoguz | 0:d1f0ae13f4a7 | 17 | ******************************************************************************/ |
mbedoguz | 0:d1f0ae13f4a7 | 18 | #include "SparkFunMPU9250-DMP.h" |
mbedoguz | 0:d1f0ae13f4a7 | 19 | #include "MPU9250_RegisterMap.h" |
mbedoguz | 0:d1f0ae13f4a7 | 20 | #include "mdcompat.h" |
mbedoguz | 0:d1f0ae13f4a7 | 21 | extern "C" { |
mbedoguz | 0:d1f0ae13f4a7 | 22 | #include "inv_mpu.h" |
mbedoguz | 0:d1f0ae13f4a7 | 23 | } |
mbedoguz | 0:d1f0ae13f4a7 | 24 | static unsigned char mpu9250_orientation; |
mbedoguz | 0:d1f0ae13f4a7 | 25 | static unsigned char tap_count; |
mbedoguz | 0:d1f0ae13f4a7 | 26 | static unsigned char tap_direction; |
mbedoguz | 0:d1f0ae13f4a7 | 27 | static bool _tap_available; |
mbedoguz | 0:d1f0ae13f4a7 | 28 | static void orient_cb(unsigned char orient); |
mbedoguz | 0:d1f0ae13f4a7 | 29 | static void tap_cb(unsigned char direction, unsigned char count); |
mbedoguz | 0:d1f0ae13f4a7 | 30 | |
mbedoguz | 0:d1f0ae13f4a7 | 31 | MPU9250_DMP::MPU9250_DMP() |
mbedoguz | 0:d1f0ae13f4a7 | 32 | { |
mbedoguz | 0:d1f0ae13f4a7 | 33 | _mSense = 6.665f; // Constant - 4915 / 32760 |
mbedoguz | 0:d1f0ae13f4a7 | 34 | _aSense = 0.0f; // Updated after accel FSR is set |
mbedoguz | 0:d1f0ae13f4a7 | 35 | _gSense = 0.0f; // Updated after gyro FSR is set |
mbedoguz | 0:d1f0ae13f4a7 | 36 | } |
mbedoguz | 0:d1f0ae13f4a7 | 37 | |
mbedoguz | 0:d1f0ae13f4a7 | 38 | inv_error_t MPU9250_DMP::begin(void) |
mbedoguz | 0:d1f0ae13f4a7 | 39 | { |
mbedoguz | 0:d1f0ae13f4a7 | 40 | inv_error_t result; |
mbedoguz | 0:d1f0ae13f4a7 | 41 | struct int_param_s int_param; |
mbedoguz | 0:d1f0ae13f4a7 | 42 | imu_init(); |
mbedoguz | 0:d1f0ae13f4a7 | 43 | result = mpu_init(&int_param); |
mbedoguz | 0:d1f0ae13f4a7 | 44 | if (result) |
mbedoguz | 0:d1f0ae13f4a7 | 45 | return result; |
mbedoguz | 0:d1f0ae13f4a7 | 46 | |
mbedoguz | 0:d1f0ae13f4a7 | 47 | mpu_set_bypass(1); // Place all slaves (including compass) on primary bus |
mbedoguz | 0:d1f0ae13f4a7 | 48 | |
mbedoguz | 0:d1f0ae13f4a7 | 49 | setSensors(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS); |
mbedoguz | 0:d1f0ae13f4a7 | 50 | |
mbedoguz | 0:d1f0ae13f4a7 | 51 | _gSense = getGyroSens(); |
mbedoguz | 0:d1f0ae13f4a7 | 52 | _aSense = getAccelSens(); |
mbedoguz | 0:d1f0ae13f4a7 | 53 | |
mbedoguz | 0:d1f0ae13f4a7 | 54 | return result; |
mbedoguz | 0:d1f0ae13f4a7 | 55 | } |
mbedoguz | 0:d1f0ae13f4a7 | 56 | |
mbedoguz | 0:d1f0ae13f4a7 | 57 | inv_error_t MPU9250_DMP::enableInterrupt(unsigned char enable) |
mbedoguz | 0:d1f0ae13f4a7 | 58 | { |
mbedoguz | 0:d1f0ae13f4a7 | 59 | return set_int_enable(enable); |
mbedoguz | 0:d1f0ae13f4a7 | 60 | } |
mbedoguz | 0:d1f0ae13f4a7 | 61 | |
mbedoguz | 0:d1f0ae13f4a7 | 62 | inv_error_t MPU9250_DMP::setIntLevel(unsigned char active_low) |
mbedoguz | 0:d1f0ae13f4a7 | 63 | { |
mbedoguz | 0:d1f0ae13f4a7 | 64 | return mpu_set_int_level(active_low); |
mbedoguz | 0:d1f0ae13f4a7 | 65 | } |
mbedoguz | 0:d1f0ae13f4a7 | 66 | |
mbedoguz | 0:d1f0ae13f4a7 | 67 | inv_error_t MPU9250_DMP::setIntLatched(unsigned char enable) |
mbedoguz | 0:d1f0ae13f4a7 | 68 | { |
mbedoguz | 0:d1f0ae13f4a7 | 69 | return mpu_set_int_latched(enable); |
mbedoguz | 0:d1f0ae13f4a7 | 70 | } |
mbedoguz | 0:d1f0ae13f4a7 | 71 | |
mbedoguz | 0:d1f0ae13f4a7 | 72 | short MPU9250_DMP::getIntStatus(void) |
mbedoguz | 0:d1f0ae13f4a7 | 73 | { |
mbedoguz | 0:d1f0ae13f4a7 | 74 | short status; |
mbedoguz | 0:d1f0ae13f4a7 | 75 | if (mpu_get_int_status(&status) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 76 | { |
mbedoguz | 0:d1f0ae13f4a7 | 77 | return status; |
mbedoguz | 0:d1f0ae13f4a7 | 78 | } |
mbedoguz | 0:d1f0ae13f4a7 | 79 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 80 | } |
mbedoguz | 0:d1f0ae13f4a7 | 81 | |
mbedoguz | 0:d1f0ae13f4a7 | 82 | // Accelerometer Low-Power Mode. Rate options: |
mbedoguz | 0:d1f0ae13f4a7 | 83 | // 1.25 (1), 2.5 (2), 5, 10, 20, 40, |
mbedoguz | 0:d1f0ae13f4a7 | 84 | // 80, 160, 320, or 640 Hz |
mbedoguz | 0:d1f0ae13f4a7 | 85 | // Disables compass and gyro |
mbedoguz | 0:d1f0ae13f4a7 | 86 | inv_error_t MPU9250_DMP::lowPowerAccel(unsigned short rate) |
mbedoguz | 0:d1f0ae13f4a7 | 87 | { |
mbedoguz | 0:d1f0ae13f4a7 | 88 | return mpu_lp_accel_mode(rate); |
mbedoguz | 0:d1f0ae13f4a7 | 89 | } |
mbedoguz | 0:d1f0ae13f4a7 | 90 | |
mbedoguz | 0:d1f0ae13f4a7 | 91 | inv_error_t MPU9250_DMP::setGyroFSR(unsigned short fsr) |
mbedoguz | 0:d1f0ae13f4a7 | 92 | { |
mbedoguz | 0:d1f0ae13f4a7 | 93 | inv_error_t err; |
mbedoguz | 0:d1f0ae13f4a7 | 94 | err = mpu_set_gyro_fsr(fsr); |
mbedoguz | 0:d1f0ae13f4a7 | 95 | if (err == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 96 | { |
mbedoguz | 0:d1f0ae13f4a7 | 97 | _gSense = getGyroSens(); |
mbedoguz | 0:d1f0ae13f4a7 | 98 | } |
mbedoguz | 0:d1f0ae13f4a7 | 99 | return err; |
mbedoguz | 0:d1f0ae13f4a7 | 100 | } |
mbedoguz | 0:d1f0ae13f4a7 | 101 | |
mbedoguz | 0:d1f0ae13f4a7 | 102 | inv_error_t MPU9250_DMP::setAccelFSR(unsigned char fsr) |
mbedoguz | 0:d1f0ae13f4a7 | 103 | { |
mbedoguz | 0:d1f0ae13f4a7 | 104 | inv_error_t err; |
mbedoguz | 0:d1f0ae13f4a7 | 105 | err = mpu_set_accel_fsr(fsr); |
mbedoguz | 0:d1f0ae13f4a7 | 106 | if (err == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 107 | { |
mbedoguz | 0:d1f0ae13f4a7 | 108 | _aSense = getAccelSens(); |
mbedoguz | 0:d1f0ae13f4a7 | 109 | } |
mbedoguz | 0:d1f0ae13f4a7 | 110 | return err; |
mbedoguz | 0:d1f0ae13f4a7 | 111 | } |
mbedoguz | 0:d1f0ae13f4a7 | 112 | |
mbedoguz | 0:d1f0ae13f4a7 | 113 | unsigned short MPU9250_DMP::getGyroFSR(void) |
mbedoguz | 0:d1f0ae13f4a7 | 114 | { |
mbedoguz | 0:d1f0ae13f4a7 | 115 | unsigned short tmp; |
mbedoguz | 0:d1f0ae13f4a7 | 116 | if (mpu_get_gyro_fsr(&tmp) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 117 | { |
mbedoguz | 0:d1f0ae13f4a7 | 118 | return tmp; |
mbedoguz | 0:d1f0ae13f4a7 | 119 | } |
mbedoguz | 0:d1f0ae13f4a7 | 120 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 121 | } |
mbedoguz | 0:d1f0ae13f4a7 | 122 | |
mbedoguz | 0:d1f0ae13f4a7 | 123 | unsigned char MPU9250_DMP::getAccelFSR(void) |
mbedoguz | 0:d1f0ae13f4a7 | 124 | { |
mbedoguz | 0:d1f0ae13f4a7 | 125 | unsigned char tmp; |
mbedoguz | 0:d1f0ae13f4a7 | 126 | if (mpu_get_accel_fsr(&tmp) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 127 | { |
mbedoguz | 0:d1f0ae13f4a7 | 128 | return tmp; |
mbedoguz | 0:d1f0ae13f4a7 | 129 | } |
mbedoguz | 0:d1f0ae13f4a7 | 130 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 131 | } |
mbedoguz | 0:d1f0ae13f4a7 | 132 | |
mbedoguz | 0:d1f0ae13f4a7 | 133 | unsigned short MPU9250_DMP::getMagFSR(void) |
mbedoguz | 0:d1f0ae13f4a7 | 134 | { |
mbedoguz | 0:d1f0ae13f4a7 | 135 | unsigned short tmp; |
mbedoguz | 0:d1f0ae13f4a7 | 136 | if (mpu_get_compass_fsr(&tmp) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 137 | { |
mbedoguz | 0:d1f0ae13f4a7 | 138 | return tmp; |
mbedoguz | 0:d1f0ae13f4a7 | 139 | } |
mbedoguz | 0:d1f0ae13f4a7 | 140 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 141 | } |
mbedoguz | 0:d1f0ae13f4a7 | 142 | |
mbedoguz | 0:d1f0ae13f4a7 | 143 | inv_error_t MPU9250_DMP::setLPF(unsigned short lpf) |
mbedoguz | 0:d1f0ae13f4a7 | 144 | { |
mbedoguz | 0:d1f0ae13f4a7 | 145 | return mpu_set_lpf(lpf); |
mbedoguz | 0:d1f0ae13f4a7 | 146 | } |
mbedoguz | 0:d1f0ae13f4a7 | 147 | |
mbedoguz | 0:d1f0ae13f4a7 | 148 | unsigned short MPU9250_DMP::getLPF(void) |
mbedoguz | 0:d1f0ae13f4a7 | 149 | { |
mbedoguz | 0:d1f0ae13f4a7 | 150 | unsigned short tmp; |
mbedoguz | 0:d1f0ae13f4a7 | 151 | if (mpu_get_lpf(&tmp) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 152 | { |
mbedoguz | 0:d1f0ae13f4a7 | 153 | return tmp; |
mbedoguz | 0:d1f0ae13f4a7 | 154 | } |
mbedoguz | 0:d1f0ae13f4a7 | 155 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 156 | } |
mbedoguz | 0:d1f0ae13f4a7 | 157 | |
mbedoguz | 0:d1f0ae13f4a7 | 158 | inv_error_t MPU9250_DMP::setSampleRate(unsigned short rate) |
mbedoguz | 0:d1f0ae13f4a7 | 159 | { |
mbedoguz | 0:d1f0ae13f4a7 | 160 | return mpu_set_sample_rate(rate); |
mbedoguz | 0:d1f0ae13f4a7 | 161 | } |
mbedoguz | 0:d1f0ae13f4a7 | 162 | |
mbedoguz | 0:d1f0ae13f4a7 | 163 | unsigned short MPU9250_DMP::getSampleRate(void) |
mbedoguz | 0:d1f0ae13f4a7 | 164 | { |
mbedoguz | 0:d1f0ae13f4a7 | 165 | unsigned short tmp; |
mbedoguz | 0:d1f0ae13f4a7 | 166 | if (mpu_get_sample_rate(&tmp) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 167 | { |
mbedoguz | 0:d1f0ae13f4a7 | 168 | return tmp; |
mbedoguz | 0:d1f0ae13f4a7 | 169 | } |
mbedoguz | 0:d1f0ae13f4a7 | 170 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 171 | } |
mbedoguz | 0:d1f0ae13f4a7 | 172 | |
mbedoguz | 0:d1f0ae13f4a7 | 173 | inv_error_t MPU9250_DMP::setCompassSampleRate(unsigned short rate) |
mbedoguz | 0:d1f0ae13f4a7 | 174 | { |
mbedoguz | 0:d1f0ae13f4a7 | 175 | return mpu_set_compass_sample_rate(rate); |
mbedoguz | 0:d1f0ae13f4a7 | 176 | } |
mbedoguz | 0:d1f0ae13f4a7 | 177 | |
mbedoguz | 0:d1f0ae13f4a7 | 178 | unsigned short MPU9250_DMP::getCompassSampleRate(void) |
mbedoguz | 0:d1f0ae13f4a7 | 179 | { |
mbedoguz | 0:d1f0ae13f4a7 | 180 | unsigned short tmp; |
mbedoguz | 0:d1f0ae13f4a7 | 181 | if (mpu_get_compass_sample_rate(&tmp) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 182 | { |
mbedoguz | 0:d1f0ae13f4a7 | 183 | return tmp; |
mbedoguz | 0:d1f0ae13f4a7 | 184 | } |
mbedoguz | 0:d1f0ae13f4a7 | 185 | |
mbedoguz | 0:d1f0ae13f4a7 | 186 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 187 | } |
mbedoguz | 0:d1f0ae13f4a7 | 188 | |
mbedoguz | 0:d1f0ae13f4a7 | 189 | float MPU9250_DMP::getGyroSens(void) |
mbedoguz | 0:d1f0ae13f4a7 | 190 | { |
mbedoguz | 0:d1f0ae13f4a7 | 191 | float sens; |
mbedoguz | 0:d1f0ae13f4a7 | 192 | if (mpu_get_gyro_sens(&sens) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 193 | { |
mbedoguz | 0:d1f0ae13f4a7 | 194 | return sens; |
mbedoguz | 0:d1f0ae13f4a7 | 195 | } |
mbedoguz | 0:d1f0ae13f4a7 | 196 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 197 | } |
mbedoguz | 0:d1f0ae13f4a7 | 198 | |
mbedoguz | 0:d1f0ae13f4a7 | 199 | unsigned short MPU9250_DMP::getAccelSens(void) |
mbedoguz | 0:d1f0ae13f4a7 | 200 | { |
mbedoguz | 0:d1f0ae13f4a7 | 201 | unsigned short sens; |
mbedoguz | 0:d1f0ae13f4a7 | 202 | if (mpu_get_accel_sens(&sens) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 203 | { |
mbedoguz | 0:d1f0ae13f4a7 | 204 | return sens; |
mbedoguz | 0:d1f0ae13f4a7 | 205 | } |
mbedoguz | 0:d1f0ae13f4a7 | 206 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 207 | } |
mbedoguz | 0:d1f0ae13f4a7 | 208 | |
mbedoguz | 0:d1f0ae13f4a7 | 209 | float MPU9250_DMP::getMagSens(void) |
mbedoguz | 0:d1f0ae13f4a7 | 210 | { |
mbedoguz | 0:d1f0ae13f4a7 | 211 | return 0.15; // Static, 4915/32760 |
mbedoguz | 0:d1f0ae13f4a7 | 212 | } |
mbedoguz | 0:d1f0ae13f4a7 | 213 | |
mbedoguz | 0:d1f0ae13f4a7 | 214 | unsigned char MPU9250_DMP::getFifoConfig(void) |
mbedoguz | 0:d1f0ae13f4a7 | 215 | { |
mbedoguz | 0:d1f0ae13f4a7 | 216 | unsigned char sensors; |
mbedoguz | 0:d1f0ae13f4a7 | 217 | if (mpu_get_fifo_config(&sensors) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 218 | { |
mbedoguz | 0:d1f0ae13f4a7 | 219 | return sensors; |
mbedoguz | 0:d1f0ae13f4a7 | 220 | } |
mbedoguz | 0:d1f0ae13f4a7 | 221 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 222 | } |
mbedoguz | 0:d1f0ae13f4a7 | 223 | |
mbedoguz | 0:d1f0ae13f4a7 | 224 | inv_error_t MPU9250_DMP::configureFifo(unsigned char sensors) |
mbedoguz | 0:d1f0ae13f4a7 | 225 | { |
mbedoguz | 0:d1f0ae13f4a7 | 226 | return mpu_configure_fifo(sensors); |
mbedoguz | 0:d1f0ae13f4a7 | 227 | } |
mbedoguz | 0:d1f0ae13f4a7 | 228 | |
mbedoguz | 0:d1f0ae13f4a7 | 229 | inv_error_t MPU9250_DMP::resetFifo(void) |
mbedoguz | 0:d1f0ae13f4a7 | 230 | { |
mbedoguz | 0:d1f0ae13f4a7 | 231 | return mpu_reset_fifo(); |
mbedoguz | 0:d1f0ae13f4a7 | 232 | } |
mbedoguz | 0:d1f0ae13f4a7 | 233 | |
mbedoguz | 0:d1f0ae13f4a7 | 234 | unsigned short MPU9250_DMP::fifoAvailable(void) |
mbedoguz | 0:d1f0ae13f4a7 | 235 | { |
mbedoguz | 0:d1f0ae13f4a7 | 236 | unsigned char fifoH, fifoL; |
mbedoguz | 0:d1f0ae13f4a7 | 237 | |
mbedoguz | 0:d1f0ae13f4a7 | 238 | if (mpu_read_reg(MPU9250_FIFO_COUNTH, &fifoH) != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 239 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 240 | if (mpu_read_reg(MPU9250_FIFO_COUNTL, &fifoL) != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 241 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 242 | |
mbedoguz | 0:d1f0ae13f4a7 | 243 | return (fifoH << 8 ) | fifoL; |
mbedoguz | 0:d1f0ae13f4a7 | 244 | } |
mbedoguz | 0:d1f0ae13f4a7 | 245 | |
mbedoguz | 0:d1f0ae13f4a7 | 246 | inv_error_t MPU9250_DMP::updateFifo(void) |
mbedoguz | 0:d1f0ae13f4a7 | 247 | { |
mbedoguz | 0:d1f0ae13f4a7 | 248 | short gyro[3], accel[3]; |
mbedoguz | 0:d1f0ae13f4a7 | 249 | unsigned long timestamp; |
mbedoguz | 0:d1f0ae13f4a7 | 250 | unsigned char sensors, more; |
mbedoguz | 0:d1f0ae13f4a7 | 251 | |
mbedoguz | 0:d1f0ae13f4a7 | 252 | if (mpu_read_fifo(gyro, accel, ×tamp, &sensors, &more) != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 253 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 254 | |
mbedoguz | 0:d1f0ae13f4a7 | 255 | if (sensors & INV_XYZ_ACCEL) |
mbedoguz | 0:d1f0ae13f4a7 | 256 | { |
mbedoguz | 0:d1f0ae13f4a7 | 257 | ax = accel[X_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 258 | ay = accel[Y_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 259 | az = accel[Z_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 260 | } |
mbedoguz | 0:d1f0ae13f4a7 | 261 | if (sensors & INV_X_GYRO) |
mbedoguz | 0:d1f0ae13f4a7 | 262 | gx = gyro[X_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 263 | if (sensors & INV_Y_GYRO) |
mbedoguz | 0:d1f0ae13f4a7 | 264 | gy = gyro[Y_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 265 | if (sensors & INV_Z_GYRO) |
mbedoguz | 0:d1f0ae13f4a7 | 266 | gz = gyro[Z_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 267 | |
mbedoguz | 0:d1f0ae13f4a7 | 268 | time = timestamp; |
mbedoguz | 0:d1f0ae13f4a7 | 269 | |
mbedoguz | 0:d1f0ae13f4a7 | 270 | return INV_SUCCESS; |
mbedoguz | 0:d1f0ae13f4a7 | 271 | } |
mbedoguz | 0:d1f0ae13f4a7 | 272 | |
mbedoguz | 0:d1f0ae13f4a7 | 273 | inv_error_t MPU9250_DMP::setSensors(unsigned char sensors) |
mbedoguz | 0:d1f0ae13f4a7 | 274 | { |
mbedoguz | 0:d1f0ae13f4a7 | 275 | return mpu_set_sensors(sensors); |
mbedoguz | 0:d1f0ae13f4a7 | 276 | } |
mbedoguz | 0:d1f0ae13f4a7 | 277 | |
mbedoguz | 0:d1f0ae13f4a7 | 278 | bool MPU9250_DMP::dataReady() |
mbedoguz | 0:d1f0ae13f4a7 | 279 | { |
mbedoguz | 0:d1f0ae13f4a7 | 280 | unsigned char intStatusReg; |
mbedoguz | 0:d1f0ae13f4a7 | 281 | |
mbedoguz | 0:d1f0ae13f4a7 | 282 | if (mpu_read_reg(MPU9250_INT_STATUS, &intStatusReg) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 283 | { |
mbedoguz | 0:d1f0ae13f4a7 | 284 | return (intStatusReg & (1<<INT_STATUS_RAW_DATA_RDY_INT)); |
mbedoguz | 0:d1f0ae13f4a7 | 285 | } |
mbedoguz | 0:d1f0ae13f4a7 | 286 | return false; |
mbedoguz | 0:d1f0ae13f4a7 | 287 | } |
mbedoguz | 0:d1f0ae13f4a7 | 288 | |
mbedoguz | 0:d1f0ae13f4a7 | 289 | inv_error_t MPU9250_DMP::update(unsigned char sensors) |
mbedoguz | 0:d1f0ae13f4a7 | 290 | { |
mbedoguz | 0:d1f0ae13f4a7 | 291 | inv_error_t aErr = INV_SUCCESS; |
mbedoguz | 0:d1f0ae13f4a7 | 292 | inv_error_t gErr = INV_SUCCESS; |
mbedoguz | 0:d1f0ae13f4a7 | 293 | inv_error_t mErr = INV_SUCCESS; |
mbedoguz | 0:d1f0ae13f4a7 | 294 | inv_error_t tErr = INV_SUCCESS; |
mbedoguz | 0:d1f0ae13f4a7 | 295 | |
mbedoguz | 0:d1f0ae13f4a7 | 296 | if (sensors & UPDATE_ACCEL) |
mbedoguz | 0:d1f0ae13f4a7 | 297 | aErr = updateAccel(); |
mbedoguz | 0:d1f0ae13f4a7 | 298 | if (sensors & UPDATE_GYRO) |
mbedoguz | 0:d1f0ae13f4a7 | 299 | gErr = updateGyro(); |
mbedoguz | 0:d1f0ae13f4a7 | 300 | if (sensors & UPDATE_COMPASS) |
mbedoguz | 0:d1f0ae13f4a7 | 301 | mErr = updateCompass(); |
mbedoguz | 0:d1f0ae13f4a7 | 302 | if (sensors & UPDATE_TEMP) |
mbedoguz | 0:d1f0ae13f4a7 | 303 | tErr = updateTemperature(); |
mbedoguz | 0:d1f0ae13f4a7 | 304 | |
mbedoguz | 0:d1f0ae13f4a7 | 305 | return aErr | gErr | mErr | tErr; |
mbedoguz | 0:d1f0ae13f4a7 | 306 | } |
mbedoguz | 0:d1f0ae13f4a7 | 307 | |
mbedoguz | 0:d1f0ae13f4a7 | 308 | int MPU9250_DMP::updateAccel(void) |
mbedoguz | 0:d1f0ae13f4a7 | 309 | { |
mbedoguz | 0:d1f0ae13f4a7 | 310 | short data[3]; |
mbedoguz | 0:d1f0ae13f4a7 | 311 | |
mbedoguz | 0:d1f0ae13f4a7 | 312 | if (mpu_get_accel_reg(data, &time)) |
mbedoguz | 0:d1f0ae13f4a7 | 313 | { |
mbedoguz | 0:d1f0ae13f4a7 | 314 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 315 | } |
mbedoguz | 0:d1f0ae13f4a7 | 316 | ax = data[X_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 317 | ay = data[Y_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 318 | az = data[Z_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 319 | return INV_SUCCESS; |
mbedoguz | 0:d1f0ae13f4a7 | 320 | } |
mbedoguz | 0:d1f0ae13f4a7 | 321 | |
mbedoguz | 0:d1f0ae13f4a7 | 322 | int MPU9250_DMP::updateGyro(void) |
mbedoguz | 0:d1f0ae13f4a7 | 323 | { |
mbedoguz | 0:d1f0ae13f4a7 | 324 | short data[3]; |
mbedoguz | 0:d1f0ae13f4a7 | 325 | |
mbedoguz | 0:d1f0ae13f4a7 | 326 | if (mpu_get_gyro_reg(data, &time)) |
mbedoguz | 0:d1f0ae13f4a7 | 327 | { |
mbedoguz | 0:d1f0ae13f4a7 | 328 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 329 | } |
mbedoguz | 0:d1f0ae13f4a7 | 330 | gx = data[X_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 331 | gy = data[Y_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 332 | gz = data[Z_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 333 | return INV_SUCCESS; |
mbedoguz | 0:d1f0ae13f4a7 | 334 | } |
mbedoguz | 0:d1f0ae13f4a7 | 335 | |
mbedoguz | 0:d1f0ae13f4a7 | 336 | int MPU9250_DMP::updateCompass(void) |
mbedoguz | 0:d1f0ae13f4a7 | 337 | { |
mbedoguz | 0:d1f0ae13f4a7 | 338 | short data[3]; |
mbedoguz | 0:d1f0ae13f4a7 | 339 | |
mbedoguz | 0:d1f0ae13f4a7 | 340 | if (mpu_get_compass_reg(data, &time)) |
mbedoguz | 0:d1f0ae13f4a7 | 341 | { |
mbedoguz | 0:d1f0ae13f4a7 | 342 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 343 | } |
mbedoguz | 0:d1f0ae13f4a7 | 344 | mx = data[X_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 345 | my = data[Y_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 346 | mz = data[Z_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 347 | return INV_SUCCESS; |
mbedoguz | 0:d1f0ae13f4a7 | 348 | } |
mbedoguz | 0:d1f0ae13f4a7 | 349 | |
mbedoguz | 0:d1f0ae13f4a7 | 350 | inv_error_t MPU9250_DMP::updateTemperature(void) |
mbedoguz | 0:d1f0ae13f4a7 | 351 | { |
mbedoguz | 0:d1f0ae13f4a7 | 352 | return mpu_get_temperature(&temperature, &time); |
mbedoguz | 0:d1f0ae13f4a7 | 353 | } |
mbedoguz | 0:d1f0ae13f4a7 | 354 | |
mbedoguz | 0:d1f0ae13f4a7 | 355 | int MPU9250_DMP::selfTest(unsigned char debug) |
mbedoguz | 0:d1f0ae13f4a7 | 356 | { |
mbedoguz | 0:d1f0ae13f4a7 | 357 | long gyro[3], accel[3]; |
mbedoguz | 0:d1f0ae13f4a7 | 358 | return mpu_run_self_test(gyro, accel); |
mbedoguz | 0:d1f0ae13f4a7 | 359 | } |
mbedoguz | 0:d1f0ae13f4a7 | 360 | |
mbedoguz | 0:d1f0ae13f4a7 | 361 | inv_error_t MPU9250_DMP::dmpBegin(unsigned short features, unsigned short fifoRate) |
mbedoguz | 0:d1f0ae13f4a7 | 362 | { |
mbedoguz | 0:d1f0ae13f4a7 | 363 | unsigned short feat = features; |
mbedoguz | 0:d1f0ae13f4a7 | 364 | unsigned short rate = fifoRate; |
mbedoguz | 0:d1f0ae13f4a7 | 365 | |
mbedoguz | 0:d1f0ae13f4a7 | 366 | if (dmpLoad() != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 367 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 368 | |
mbedoguz | 0:d1f0ae13f4a7 | 369 | // 3-axis and 6-axis LP quat are mutually exclusive. |
mbedoguz | 0:d1f0ae13f4a7 | 370 | // If both are selected, default to 3-axis |
mbedoguz | 0:d1f0ae13f4a7 | 371 | if (feat & DMP_FEATURE_LP_QUAT) |
mbedoguz | 0:d1f0ae13f4a7 | 372 | { |
mbedoguz | 0:d1f0ae13f4a7 | 373 | feat &= ~(DMP_FEATURE_6X_LP_QUAT); |
mbedoguz | 0:d1f0ae13f4a7 | 374 | dmp_enable_lp_quat(1); |
mbedoguz | 0:d1f0ae13f4a7 | 375 | } |
mbedoguz | 0:d1f0ae13f4a7 | 376 | else if (feat & DMP_FEATURE_6X_LP_QUAT) |
mbedoguz | 0:d1f0ae13f4a7 | 377 | dmp_enable_6x_lp_quat(1); |
mbedoguz | 0:d1f0ae13f4a7 | 378 | |
mbedoguz | 0:d1f0ae13f4a7 | 379 | if (feat & DMP_FEATURE_GYRO_CAL) |
mbedoguz | 0:d1f0ae13f4a7 | 380 | dmp_enable_gyro_cal(1); |
mbedoguz | 0:d1f0ae13f4a7 | 381 | |
mbedoguz | 0:d1f0ae13f4a7 | 382 | if (dmpEnableFeatures(feat) != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 383 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 384 | |
mbedoguz | 0:d1f0ae13f4a7 | 385 | rate = constrain(rate, 1, 200); |
mbedoguz | 0:d1f0ae13f4a7 | 386 | if (dmpSetFifoRate(rate) != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 387 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 388 | |
mbedoguz | 0:d1f0ae13f4a7 | 389 | return mpu_set_dmp_state(1); |
mbedoguz | 0:d1f0ae13f4a7 | 390 | } |
mbedoguz | 0:d1f0ae13f4a7 | 391 | |
mbedoguz | 0:d1f0ae13f4a7 | 392 | inv_error_t MPU9250_DMP::dmpLoad(void) |
mbedoguz | 0:d1f0ae13f4a7 | 393 | { |
mbedoguz | 0:d1f0ae13f4a7 | 394 | return dmp_load_motion_driver_firmware(); |
mbedoguz | 0:d1f0ae13f4a7 | 395 | } |
mbedoguz | 0:d1f0ae13f4a7 | 396 | |
mbedoguz | 0:d1f0ae13f4a7 | 397 | unsigned short MPU9250_DMP::dmpGetFifoRate(void) |
mbedoguz | 0:d1f0ae13f4a7 | 398 | { |
mbedoguz | 0:d1f0ae13f4a7 | 399 | unsigned short rate; |
mbedoguz | 0:d1f0ae13f4a7 | 400 | if (dmp_get_fifo_rate(&rate) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 401 | return rate; |
mbedoguz | 0:d1f0ae13f4a7 | 402 | |
mbedoguz | 0:d1f0ae13f4a7 | 403 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 404 | } |
mbedoguz | 0:d1f0ae13f4a7 | 405 | |
mbedoguz | 0:d1f0ae13f4a7 | 406 | inv_error_t MPU9250_DMP::dmpSetFifoRate(unsigned short rate) |
mbedoguz | 0:d1f0ae13f4a7 | 407 | { |
mbedoguz | 0:d1f0ae13f4a7 | 408 | if (rate > MAX_DMP_SAMPLE_RATE) rate = MAX_DMP_SAMPLE_RATE; |
mbedoguz | 0:d1f0ae13f4a7 | 409 | return dmp_set_fifo_rate(rate); |
mbedoguz | 0:d1f0ae13f4a7 | 410 | } |
mbedoguz | 0:d1f0ae13f4a7 | 411 | |
mbedoguz | 0:d1f0ae13f4a7 | 412 | inv_error_t MPU9250_DMP::dmpUpdateFifo(long DEBUG[4]) |
mbedoguz | 0:d1f0ae13f4a7 | 413 | { |
mbedoguz | 0:d1f0ae13f4a7 | 414 | short gyro[3]; |
mbedoguz | 0:d1f0ae13f4a7 | 415 | short accel[3]; |
mbedoguz | 0:d1f0ae13f4a7 | 416 | long quat[4]; |
mbedoguz | 0:d1f0ae13f4a7 | 417 | unsigned long timestamp; |
mbedoguz | 0:d1f0ae13f4a7 | 418 | short sensors; |
mbedoguz | 0:d1f0ae13f4a7 | 419 | unsigned char more; |
mbedoguz | 0:d1f0ae13f4a7 | 420 | |
mbedoguz | 0:d1f0ae13f4a7 | 421 | if (dmp_read_fifo(gyro, accel, quat, ×tamp, &sensors, &more) |
mbedoguz | 0:d1f0ae13f4a7 | 422 | != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 423 | { |
mbedoguz | 0:d1f0ae13f4a7 | 424 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 425 | } |
mbedoguz | 0:d1f0ae13f4a7 | 426 | |
mbedoguz | 0:d1f0ae13f4a7 | 427 | if (sensors & INV_XYZ_ACCEL) |
mbedoguz | 0:d1f0ae13f4a7 | 428 | { |
mbedoguz | 0:d1f0ae13f4a7 | 429 | ax = accel[X_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 430 | ay = accel[Y_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 431 | az = accel[Z_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 432 | } |
mbedoguz | 0:d1f0ae13f4a7 | 433 | if (sensors & INV_X_GYRO) |
mbedoguz | 0:d1f0ae13f4a7 | 434 | gx = gyro[X_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 435 | if (sensors & INV_Y_GYRO) |
mbedoguz | 0:d1f0ae13f4a7 | 436 | gy = gyro[Y_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 437 | if (sensors & INV_Z_GYRO) |
mbedoguz | 0:d1f0ae13f4a7 | 438 | gz = gyro[Z_AXIS]; |
mbedoguz | 0:d1f0ae13f4a7 | 439 | if (sensors & INV_WXYZ_QUAT) |
mbedoguz | 0:d1f0ae13f4a7 | 440 | { |
mbedoguz | 0:d1f0ae13f4a7 | 441 | qw = quat[0]; |
mbedoguz | 0:d1f0ae13f4a7 | 442 | qx = quat[1]; |
mbedoguz | 0:d1f0ae13f4a7 | 443 | qy = quat[2]; |
mbedoguz | 0:d1f0ae13f4a7 | 444 | qz = quat[3]; |
mbedoguz | 0:d1f0ae13f4a7 | 445 | } |
mbedoguz | 0:d1f0ae13f4a7 | 446 | DEBUG[0]=quat[0]; |
mbedoguz | 0:d1f0ae13f4a7 | 447 | DEBUG[1]=quat[1]; |
mbedoguz | 0:d1f0ae13f4a7 | 448 | DEBUG[2]=quat[2]; |
mbedoguz | 0:d1f0ae13f4a7 | 449 | DEBUG[3]=quat[3]; |
mbedoguz | 0:d1f0ae13f4a7 | 450 | |
mbedoguz | 0:d1f0ae13f4a7 | 451 | time = timestamp; |
mbedoguz | 0:d1f0ae13f4a7 | 452 | |
mbedoguz | 0:d1f0ae13f4a7 | 453 | return INV_SUCCESS; |
mbedoguz | 0:d1f0ae13f4a7 | 454 | } |
mbedoguz | 0:d1f0ae13f4a7 | 455 | |
mbedoguz | 0:d1f0ae13f4a7 | 456 | inv_error_t MPU9250_DMP::dmpEnableFeatures(unsigned short mask) |
mbedoguz | 0:d1f0ae13f4a7 | 457 | { |
mbedoguz | 0:d1f0ae13f4a7 | 458 | unsigned short enMask = 0; |
mbedoguz | 0:d1f0ae13f4a7 | 459 | enMask |= mask; |
mbedoguz | 0:d1f0ae13f4a7 | 460 | // Combat known issue where fifo sample rate is incorrect |
mbedoguz | 0:d1f0ae13f4a7 | 461 | // unless tap is enabled in the DMP. |
mbedoguz | 0:d1f0ae13f4a7 | 462 | enMask |= DMP_FEATURE_TAP; |
mbedoguz | 0:d1f0ae13f4a7 | 463 | return dmp_enable_feature(enMask); |
mbedoguz | 0:d1f0ae13f4a7 | 464 | } |
mbedoguz | 0:d1f0ae13f4a7 | 465 | |
mbedoguz | 0:d1f0ae13f4a7 | 466 | unsigned short MPU9250_DMP::dmpGetEnabledFeatures(void) |
mbedoguz | 0:d1f0ae13f4a7 | 467 | { |
mbedoguz | 0:d1f0ae13f4a7 | 468 | unsigned short mask; |
mbedoguz | 0:d1f0ae13f4a7 | 469 | if (dmp_get_enabled_features(&mask) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 470 | return mask; |
mbedoguz | 0:d1f0ae13f4a7 | 471 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 472 | } |
mbedoguz | 0:d1f0ae13f4a7 | 473 | |
mbedoguz | 0:d1f0ae13f4a7 | 474 | inv_error_t MPU9250_DMP::dmpSetTap( |
mbedoguz | 0:d1f0ae13f4a7 | 475 | unsigned short xThresh, unsigned short yThresh, unsigned short zThresh, |
mbedoguz | 0:d1f0ae13f4a7 | 476 | unsigned char taps, unsigned short tapTime, unsigned short tapMulti) |
mbedoguz | 0:d1f0ae13f4a7 | 477 | { |
mbedoguz | 0:d1f0ae13f4a7 | 478 | unsigned char axes = 0; |
mbedoguz | 0:d1f0ae13f4a7 | 479 | if (xThresh > 0) |
mbedoguz | 0:d1f0ae13f4a7 | 480 | { |
mbedoguz | 0:d1f0ae13f4a7 | 481 | axes |= TAP_X; |
mbedoguz | 0:d1f0ae13f4a7 | 482 | xThresh = constrain(xThresh, 1, 1600); |
mbedoguz | 0:d1f0ae13f4a7 | 483 | if (dmp_set_tap_thresh(1<<X_AXIS, xThresh) != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 484 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 485 | } |
mbedoguz | 0:d1f0ae13f4a7 | 486 | if (yThresh > 0) |
mbedoguz | 0:d1f0ae13f4a7 | 487 | { |
mbedoguz | 0:d1f0ae13f4a7 | 488 | axes |= TAP_Y; |
mbedoguz | 0:d1f0ae13f4a7 | 489 | yThresh = constrain(yThresh, 1, 1600); |
mbedoguz | 0:d1f0ae13f4a7 | 490 | if (dmp_set_tap_thresh(1<<Y_AXIS, yThresh) != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 491 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 492 | } |
mbedoguz | 0:d1f0ae13f4a7 | 493 | if (zThresh > 0) |
mbedoguz | 0:d1f0ae13f4a7 | 494 | { |
mbedoguz | 0:d1f0ae13f4a7 | 495 | axes |= TAP_Z; |
mbedoguz | 0:d1f0ae13f4a7 | 496 | zThresh = constrain(zThresh, 1, 1600); |
mbedoguz | 0:d1f0ae13f4a7 | 497 | if (dmp_set_tap_thresh(1<<Z_AXIS, zThresh) != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 498 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 499 | } |
mbedoguz | 0:d1f0ae13f4a7 | 500 | if (dmp_set_tap_axes(axes) != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 501 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 502 | if (dmp_set_tap_count(taps) != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 503 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 504 | if (dmp_set_tap_time(tapTime) != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 505 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 506 | if (dmp_set_tap_time_multi(tapMulti) != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 507 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 508 | |
mbedoguz | 0:d1f0ae13f4a7 | 509 | dmp_register_tap_cb(tap_cb); |
mbedoguz | 0:d1f0ae13f4a7 | 510 | |
mbedoguz | 0:d1f0ae13f4a7 | 511 | return INV_SUCCESS; |
mbedoguz | 0:d1f0ae13f4a7 | 512 | } |
mbedoguz | 0:d1f0ae13f4a7 | 513 | |
mbedoguz | 0:d1f0ae13f4a7 | 514 | unsigned char MPU9250_DMP::getTapDir(void) |
mbedoguz | 0:d1f0ae13f4a7 | 515 | { |
mbedoguz | 0:d1f0ae13f4a7 | 516 | _tap_available = false; |
mbedoguz | 0:d1f0ae13f4a7 | 517 | return tap_direction; |
mbedoguz | 0:d1f0ae13f4a7 | 518 | } |
mbedoguz | 0:d1f0ae13f4a7 | 519 | |
mbedoguz | 0:d1f0ae13f4a7 | 520 | unsigned char MPU9250_DMP::getTapCount(void) |
mbedoguz | 0:d1f0ae13f4a7 | 521 | { |
mbedoguz | 0:d1f0ae13f4a7 | 522 | _tap_available = false; |
mbedoguz | 0:d1f0ae13f4a7 | 523 | return tap_count; |
mbedoguz | 0:d1f0ae13f4a7 | 524 | } |
mbedoguz | 0:d1f0ae13f4a7 | 525 | |
mbedoguz | 0:d1f0ae13f4a7 | 526 | bool MPU9250_DMP::tapAvailable(void) |
mbedoguz | 0:d1f0ae13f4a7 | 527 | { |
mbedoguz | 0:d1f0ae13f4a7 | 528 | return _tap_available; |
mbedoguz | 0:d1f0ae13f4a7 | 529 | } |
mbedoguz | 0:d1f0ae13f4a7 | 530 | |
mbedoguz | 0:d1f0ae13f4a7 | 531 | inv_error_t MPU9250_DMP::dmpSetOrientation(const signed char * orientationMatrix) |
mbedoguz | 0:d1f0ae13f4a7 | 532 | { |
mbedoguz | 0:d1f0ae13f4a7 | 533 | unsigned short scalar; |
mbedoguz | 0:d1f0ae13f4a7 | 534 | scalar = orientation_row_2_scale(orientationMatrix); |
mbedoguz | 0:d1f0ae13f4a7 | 535 | scalar |= orientation_row_2_scale(orientationMatrix + 3) << 3; |
mbedoguz | 0:d1f0ae13f4a7 | 536 | scalar |= orientation_row_2_scale(orientationMatrix + 6) << 6; |
mbedoguz | 0:d1f0ae13f4a7 | 537 | |
mbedoguz | 0:d1f0ae13f4a7 | 538 | dmp_register_android_orient_cb(orient_cb); |
mbedoguz | 0:d1f0ae13f4a7 | 539 | |
mbedoguz | 0:d1f0ae13f4a7 | 540 | return dmp_set_orientation(scalar); |
mbedoguz | 0:d1f0ae13f4a7 | 541 | } |
mbedoguz | 0:d1f0ae13f4a7 | 542 | |
mbedoguz | 0:d1f0ae13f4a7 | 543 | unsigned char MPU9250_DMP::dmpGetOrientation(void) |
mbedoguz | 0:d1f0ae13f4a7 | 544 | { |
mbedoguz | 0:d1f0ae13f4a7 | 545 | return mpu9250_orientation; |
mbedoguz | 0:d1f0ae13f4a7 | 546 | } |
mbedoguz | 0:d1f0ae13f4a7 | 547 | |
mbedoguz | 0:d1f0ae13f4a7 | 548 | inv_error_t MPU9250_DMP::dmpEnable3Quat(void) |
mbedoguz | 0:d1f0ae13f4a7 | 549 | { |
mbedoguz | 0:d1f0ae13f4a7 | 550 | unsigned short dmpFeatures; |
mbedoguz | 0:d1f0ae13f4a7 | 551 | |
mbedoguz | 0:d1f0ae13f4a7 | 552 | // 3-axis and 6-axis quat are mutually exclusive |
mbedoguz | 0:d1f0ae13f4a7 | 553 | dmpFeatures = dmpGetEnabledFeatures(); |
mbedoguz | 0:d1f0ae13f4a7 | 554 | dmpFeatures &= ~(DMP_FEATURE_6X_LP_QUAT); |
mbedoguz | 0:d1f0ae13f4a7 | 555 | dmpFeatures |= DMP_FEATURE_LP_QUAT; |
mbedoguz | 0:d1f0ae13f4a7 | 556 | |
mbedoguz | 0:d1f0ae13f4a7 | 557 | if (dmpEnableFeatures(dmpFeatures) != INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 558 | return INV_ERROR; |
mbedoguz | 0:d1f0ae13f4a7 | 559 | |
mbedoguz | 0:d1f0ae13f4a7 | 560 | return dmp_enable_lp_quat(1); |
mbedoguz | 0:d1f0ae13f4a7 | 561 | } |
mbedoguz | 0:d1f0ae13f4a7 | 562 | |
mbedoguz | 0:d1f0ae13f4a7 | 563 | unsigned long MPU9250_DMP::dmpGetPedometerSteps(void) |
mbedoguz | 0:d1f0ae13f4a7 | 564 | { |
mbedoguz | 0:d1f0ae13f4a7 | 565 | unsigned long steps; |
mbedoguz | 0:d1f0ae13f4a7 | 566 | if (dmp_get_pedometer_step_count(&steps) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 567 | { |
mbedoguz | 0:d1f0ae13f4a7 | 568 | return steps; |
mbedoguz | 0:d1f0ae13f4a7 | 569 | } |
mbedoguz | 0:d1f0ae13f4a7 | 570 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 571 | } |
mbedoguz | 0:d1f0ae13f4a7 | 572 | |
mbedoguz | 0:d1f0ae13f4a7 | 573 | inv_error_t MPU9250_DMP::dmpSetPedometerSteps(unsigned long steps) |
mbedoguz | 0:d1f0ae13f4a7 | 574 | { |
mbedoguz | 0:d1f0ae13f4a7 | 575 | return dmp_set_pedometer_step_count(steps); |
mbedoguz | 0:d1f0ae13f4a7 | 576 | } |
mbedoguz | 0:d1f0ae13f4a7 | 577 | |
mbedoguz | 0:d1f0ae13f4a7 | 578 | unsigned long MPU9250_DMP::dmpGetPedometerTime(void) |
mbedoguz | 0:d1f0ae13f4a7 | 579 | { |
mbedoguz | 0:d1f0ae13f4a7 | 580 | unsigned long walkTime; |
mbedoguz | 0:d1f0ae13f4a7 | 581 | if (dmp_get_pedometer_walk_time(&walkTime) == INV_SUCCESS) |
mbedoguz | 0:d1f0ae13f4a7 | 582 | { |
mbedoguz | 0:d1f0ae13f4a7 | 583 | return walkTime; |
mbedoguz | 0:d1f0ae13f4a7 | 584 | } |
mbedoguz | 0:d1f0ae13f4a7 | 585 | return 0; |
mbedoguz | 0:d1f0ae13f4a7 | 586 | } |
mbedoguz | 0:d1f0ae13f4a7 | 587 | |
mbedoguz | 0:d1f0ae13f4a7 | 588 | inv_error_t MPU9250_DMP::dmpSetPedometerTime(unsigned long time) |
mbedoguz | 0:d1f0ae13f4a7 | 589 | { |
mbedoguz | 0:d1f0ae13f4a7 | 590 | return dmp_set_pedometer_walk_time(time); |
mbedoguz | 0:d1f0ae13f4a7 | 591 | } |
mbedoguz | 0:d1f0ae13f4a7 | 592 | |
mbedoguz | 0:d1f0ae13f4a7 | 593 | float MPU9250_DMP::calcAccel(int axis) |
mbedoguz | 0:d1f0ae13f4a7 | 594 | { |
mbedoguz | 0:d1f0ae13f4a7 | 595 | return (float) axis / (float) _aSense; |
mbedoguz | 0:d1f0ae13f4a7 | 596 | } |
mbedoguz | 0:d1f0ae13f4a7 | 597 | |
mbedoguz | 0:d1f0ae13f4a7 | 598 | float MPU9250_DMP::calcGyro(int axis) |
mbedoguz | 0:d1f0ae13f4a7 | 599 | { |
mbedoguz | 0:d1f0ae13f4a7 | 600 | return (float) axis / (float) _gSense; |
mbedoguz | 0:d1f0ae13f4a7 | 601 | } |
mbedoguz | 0:d1f0ae13f4a7 | 602 | |
mbedoguz | 0:d1f0ae13f4a7 | 603 | float MPU9250_DMP::calcMag(int axis) |
mbedoguz | 0:d1f0ae13f4a7 | 604 | { |
mbedoguz | 0:d1f0ae13f4a7 | 605 | return (float) axis / (float) _mSense; |
mbedoguz | 0:d1f0ae13f4a7 | 606 | } |
mbedoguz | 0:d1f0ae13f4a7 | 607 | |
mbedoguz | 0:d1f0ae13f4a7 | 608 | float MPU9250_DMP::calcQuat(long axis) |
mbedoguz | 0:d1f0ae13f4a7 | 609 | { |
mbedoguz | 0:d1f0ae13f4a7 | 610 | return qToFloat(axis, 30); |
mbedoguz | 0:d1f0ae13f4a7 | 611 | } |
mbedoguz | 0:d1f0ae13f4a7 | 612 | |
mbedoguz | 0:d1f0ae13f4a7 | 613 | float MPU9250_DMP::qToFloat(long number, unsigned char q) |
mbedoguz | 0:d1f0ae13f4a7 | 614 | { |
mbedoguz | 0:d1f0ae13f4a7 | 615 | unsigned long mask; |
mbedoguz | 0:d1f0ae13f4a7 | 616 | for (int i=0; i<q; i++) |
mbedoguz | 0:d1f0ae13f4a7 | 617 | { |
mbedoguz | 0:d1f0ae13f4a7 | 618 | mask |= (1<<i); |
mbedoguz | 0:d1f0ae13f4a7 | 619 | } |
mbedoguz | 0:d1f0ae13f4a7 | 620 | return (number >> q) + ((number & mask) / (float) (2<<(q-1))); |
mbedoguz | 0:d1f0ae13f4a7 | 621 | } |
mbedoguz | 0:d1f0ae13f4a7 | 622 | |
mbedoguz | 0:d1f0ae13f4a7 | 623 | void MPU9250_DMP::computeEulerAngles(bool degrees) |
mbedoguz | 0:d1f0ae13f4a7 | 624 | { |
mbedoguz | 0:d1f0ae13f4a7 | 625 | double dqw = qToFloat(qw, 30); |
mbedoguz | 0:d1f0ae13f4a7 | 626 | double dqx = qToFloat(qx, 30); |
mbedoguz | 0:d1f0ae13f4a7 | 627 | double dqy = qToFloat(qy, 30); |
mbedoguz | 0:d1f0ae13f4a7 | 628 | double dqz = qToFloat(qz, 30); |
mbedoguz | 0:d1f0ae13f4a7 | 629 | |
mbedoguz | 0:d1f0ae13f4a7 | 630 | double ysqr = dqy * dqy; |
mbedoguz | 0:d1f0ae13f4a7 | 631 | double t0 = -2.0f * (ysqr + dqz * dqz) + 1.0f; |
mbedoguz | 0:d1f0ae13f4a7 | 632 | double t1 = +2.0f * (dqx * dqy - dqw * dqz); |
mbedoguz | 0:d1f0ae13f4a7 | 633 | double t2 = -2.0f * (dqx * dqz + dqw * dqy); |
mbedoguz | 0:d1f0ae13f4a7 | 634 | double t3 = +2.0f * (dqy * dqz - dqw * dqx); |
mbedoguz | 0:d1f0ae13f4a7 | 635 | double t4 = -2.0f * (dqx * dqx + ysqr) + 1.0f; |
mbedoguz | 0:d1f0ae13f4a7 | 636 | |
mbedoguz | 0:d1f0ae13f4a7 | 637 | // Keep t2 within range of asin (-1, 1) |
mbedoguz | 0:d1f0ae13f4a7 | 638 | t2 = t2 > 1.0f ? 1.0f : t2; |
mbedoguz | 0:d1f0ae13f4a7 | 639 | t2 = t2 < -1.0f ? -1.0f : t2; |
mbedoguz | 0:d1f0ae13f4a7 | 640 | |
mbedoguz | 0:d1f0ae13f4a7 | 641 | pitch = asin(t2) * 2; |
mbedoguz | 0:d1f0ae13f4a7 | 642 | roll = atan2(t3, t4); |
mbedoguz | 0:d1f0ae13f4a7 | 643 | yaw = atan2(t1, t0); |
mbedoguz | 0:d1f0ae13f4a7 | 644 | |
mbedoguz | 0:d1f0ae13f4a7 | 645 | if (degrees) |
mbedoguz | 0:d1f0ae13f4a7 | 646 | { |
mbedoguz | 0:d1f0ae13f4a7 | 647 | pitch *= (180.0 / PI); |
mbedoguz | 0:d1f0ae13f4a7 | 648 | roll *= (180.0 / PI); |
mbedoguz | 0:d1f0ae13f4a7 | 649 | yaw *= (180.0 / PI); |
mbedoguz | 0:d1f0ae13f4a7 | 650 | if (pitch < 0) pitch = 360.0 + pitch; |
mbedoguz | 0:d1f0ae13f4a7 | 651 | if (roll < 0) roll = 360.0 + roll; |
mbedoguz | 0:d1f0ae13f4a7 | 652 | if (yaw < 0) yaw = 360.0 + yaw; |
mbedoguz | 0:d1f0ae13f4a7 | 653 | } |
mbedoguz | 0:d1f0ae13f4a7 | 654 | } |
mbedoguz | 0:d1f0ae13f4a7 | 655 | |
mbedoguz | 0:d1f0ae13f4a7 | 656 | float MPU9250_DMP::computeCompassHeading(void) |
mbedoguz | 0:d1f0ae13f4a7 | 657 | { |
mbedoguz | 0:d1f0ae13f4a7 | 658 | if (my == 0) |
mbedoguz | 0:d1f0ae13f4a7 | 659 | heading = (mx < 0) ? 180.0 : 0; |
mbedoguz | 0:d1f0ae13f4a7 | 660 | else |
mbedoguz | 0:d1f0ae13f4a7 | 661 | heading = atan2((double)mx, (double)my); |
mbedoguz | 0:d1f0ae13f4a7 | 662 | |
mbedoguz | 0:d1f0ae13f4a7 | 663 | if (heading > PI) heading -= (2 * PI); |
mbedoguz | 0:d1f0ae13f4a7 | 664 | else if (heading < -PI) heading += (2 * PI); |
mbedoguz | 0:d1f0ae13f4a7 | 665 | else if (heading < 0) heading += 2 * PI; |
mbedoguz | 0:d1f0ae13f4a7 | 666 | |
mbedoguz | 0:d1f0ae13f4a7 | 667 | heading*= 180.0 / PI; |
mbedoguz | 0:d1f0ae13f4a7 | 668 | |
mbedoguz | 0:d1f0ae13f4a7 | 669 | return heading; |
mbedoguz | 0:d1f0ae13f4a7 | 670 | } |
mbedoguz | 0:d1f0ae13f4a7 | 671 | |
mbedoguz | 0:d1f0ae13f4a7 | 672 | unsigned short MPU9250_DMP::orientation_row_2_scale(const signed char *row) |
mbedoguz | 0:d1f0ae13f4a7 | 673 | { |
mbedoguz | 0:d1f0ae13f4a7 | 674 | unsigned short b; |
mbedoguz | 0:d1f0ae13f4a7 | 675 | |
mbedoguz | 0:d1f0ae13f4a7 | 676 | if (row[0] > 0) |
mbedoguz | 0:d1f0ae13f4a7 | 677 | b = 0; |
mbedoguz | 0:d1f0ae13f4a7 | 678 | else if (row[0] < 0) |
mbedoguz | 0:d1f0ae13f4a7 | 679 | b = 4; |
mbedoguz | 0:d1f0ae13f4a7 | 680 | else if (row[1] > 0) |
mbedoguz | 0:d1f0ae13f4a7 | 681 | b = 1; |
mbedoguz | 0:d1f0ae13f4a7 | 682 | else if (row[1] < 0) |
mbedoguz | 0:d1f0ae13f4a7 | 683 | b = 5; |
mbedoguz | 0:d1f0ae13f4a7 | 684 | else if (row[2] > 0) |
mbedoguz | 0:d1f0ae13f4a7 | 685 | b = 2; |
mbedoguz | 0:d1f0ae13f4a7 | 686 | else if (row[2] < 0) |
mbedoguz | 0:d1f0ae13f4a7 | 687 | b = 6; |
mbedoguz | 0:d1f0ae13f4a7 | 688 | else |
mbedoguz | 0:d1f0ae13f4a7 | 689 | b = 7; // error |
mbedoguz | 0:d1f0ae13f4a7 | 690 | return b; |
mbedoguz | 0:d1f0ae13f4a7 | 691 | } |
mbedoguz | 0:d1f0ae13f4a7 | 692 | |
mbedoguz | 0:d1f0ae13f4a7 | 693 | static void tap_cb(unsigned char direction, unsigned char count) |
mbedoguz | 0:d1f0ae13f4a7 | 694 | { |
mbedoguz | 0:d1f0ae13f4a7 | 695 | _tap_available = true; |
mbedoguz | 0:d1f0ae13f4a7 | 696 | tap_count = count; |
mbedoguz | 0:d1f0ae13f4a7 | 697 | tap_direction = direction; |
mbedoguz | 0:d1f0ae13f4a7 | 698 | } |
mbedoguz | 0:d1f0ae13f4a7 | 699 | |
mbedoguz | 0:d1f0ae13f4a7 | 700 | static void orient_cb(unsigned char orient) |
mbedoguz | 0:d1f0ae13f4a7 | 701 | { |
mbedoguz | 0:d1f0ae13f4a7 | 702 | mpu9250_orientation = orient; |
mbedoguz | 0:d1f0ae13f4a7 | 703 | } |