Raghid Mardini
/
MPU9250_SPI_Raghid
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MPU_9250/MPU9250.h@0:03c072adb139, 2015-07-21 (annotated)
- Committer:
- rmardini
- Date:
- Tue Jul 21 21:05:32 2015 +0000
- Revision:
- 0:03c072adb139
Working version of MPU-9250 SPI library.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| rmardini | 0:03c072adb139 | 1 | /*CODED by Qiyong Mu on 21/06/2014 |
| rmardini | 0:03c072adb139 | 2 | kylongmu@msn.com |
| rmardini | 0:03c072adb139 | 3 | |
| rmardini | 0:03c072adb139 | 4 | Modified by Raghid Mardini |
| rmardini | 0:03c072adb139 | 5 | */ |
| rmardini | 0:03c072adb139 | 6 | |
| rmardini | 0:03c072adb139 | 7 | |
| rmardini | 0:03c072adb139 | 8 | #ifndef mpu9250_h |
| rmardini | 0:03c072adb139 | 9 | #define mpu9250_h |
| rmardini | 0:03c072adb139 | 10 | #include "mbed.h" |
| rmardini | 0:03c072adb139 | 11 | |
| rmardini | 0:03c072adb139 | 12 | /** IMU class. |
| rmardini | 0:03c072adb139 | 13 | * Used to communicate with IMU. |
| rmardini | 0:03c072adb139 | 14 | */ |
| rmardini | 0:03c072adb139 | 15 | class mpu9250_spi |
| rmardini | 0:03c072adb139 | 16 | { |
| rmardini | 0:03c072adb139 | 17 | |
| rmardini | 0:03c072adb139 | 18 | |
| rmardini | 0:03c072adb139 | 19 | public: |
| rmardini | 0:03c072adb139 | 20 | /** Create mpu9250_spi class instance |
| rmardini | 0:03c072adb139 | 21 | * @param mosi SPI MOSI pin for encoder |
| rmardini | 0:03c072adb139 | 22 | * @param miso SPI MISO pin for encoder |
| rmardini | 0:03c072adb139 | 23 | * @param sck SPI SCK pin for encoder |
| rmardini | 0:03c072adb139 | 24 | * @param ncs SPI CS pin for encoder |
| rmardini | 0:03c072adb139 | 25 | */ |
| rmardini | 0:03c072adb139 | 26 | mpu9250_spi(PinName mosi, PinName miso, PinName sck, PinName ncs); |
| rmardini | 0:03c072adb139 | 27 | |
| rmardini | 0:03c072adb139 | 28 | /** Writes one byte to a register address |
| rmardini | 0:03c072adb139 | 29 | * @param WriteAddr Register Address |
| rmardini | 0:03c072adb139 | 30 | * @param WriteData Data |
| rmardini | 0:03c072adb139 | 31 | * @returns temp_data recieved from SPI |
| rmardini | 0:03c072adb139 | 32 | */ |
| rmardini | 0:03c072adb139 | 33 | unsigned int WriteReg( uint8_t WriteAddr, uint8_t WriteData ); |
| rmardini | 0:03c072adb139 | 34 | |
| rmardini | 0:03c072adb139 | 35 | /** Reads one byte from a register address |
| rmardini | 0:03c072adb139 | 36 | * @param WriteAddr Register Address |
| rmardini | 0:03c072adb139 | 37 | * @param WriteData Data |
| rmardini | 0:03c072adb139 | 38 | * @returns temp_data recieved from SPI |
| rmardini | 0:03c072adb139 | 39 | */ |
| rmardini | 0:03c072adb139 | 40 | unsigned int ReadReg( uint8_t WriteAddr, uint8_t WriteData ); |
| rmardini | 0:03c072adb139 | 41 | |
| rmardini | 0:03c072adb139 | 42 | /** Reads multiple bytes from a register address |
| rmardini | 0:03c072adb139 | 43 | * @param ReadAddr Register Address |
| rmardini | 0:03c072adb139 | 44 | * @param ReadBuf Pointer to an array where data will be written |
| rmardini | 0:03c072adb139 | 45 | * @param Bytes Number of bytes to read |
| rmardini | 0:03c072adb139 | 46 | */ |
| rmardini | 0:03c072adb139 | 47 | void ReadRegs( uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes ); |
| rmardini | 0:03c072adb139 | 48 | |
| rmardini | 0:03c072adb139 | 49 | /** Initializes the IMU |
| rmardini | 0:03c072adb139 | 50 | * @param sample_rate_div sample rate divider (raging from 0 to 255) |
| rmardini | 0:03c072adb139 | 51 | * @param low_pass_filter low pass filter value; suitable values are: |
| rmardini | 0:03c072adb139 | 52 | * BITS_DLPF_CFG_256HZ_NOLPF2 |
| rmardini | 0:03c072adb139 | 53 | * BITS_DLPF_CFG_188HZ |
| rmardini | 0:03c072adb139 | 54 | * BITS_DLPF_CFG_98HZ |
| rmardini | 0:03c072adb139 | 55 | * BITS_DLPF_CFG_42HZ |
| rmardini | 0:03c072adb139 | 56 | * BITS_DLPF_CFG_20HZ |
| rmardini | 0:03c072adb139 | 57 | * BITS_DLPF_CFG_10HZ |
| rmardini | 0:03c072adb139 | 58 | * BITS_DLPF_CFG_5HZ |
| rmardini | 0:03c072adb139 | 59 | * BITS_DLPF_CFG_2100HZ_NOLPF |
| rmardini | 0:03c072adb139 | 60 | * @returns 1 if an error occurred |
| rmardini | 0:03c072adb139 | 61 | */ |
| rmardini | 0:03c072adb139 | 62 | bool init(int sample_rate_div,int low_pass_filter); |
| rmardini | 0:03c072adb139 | 63 | |
| rmardini | 0:03c072adb139 | 64 | /** Reads tempreture reading |
| rmardini | 0:03c072adb139 | 65 | */ |
| rmardini | 0:03c072adb139 | 66 | void read_temp(); |
| rmardini | 0:03c072adb139 | 67 | /** Reads accelerometer reading |
| rmardini | 0:03c072adb139 | 68 | */ |
| rmardini | 0:03c072adb139 | 69 | void read_acc(); |
| rmardini | 0:03c072adb139 | 70 | /** Reads gyroscope reading |
| rmardini | 0:03c072adb139 | 71 | */ |
| rmardini | 0:03c072adb139 | 72 | void read_rot(); |
| rmardini | 0:03c072adb139 | 73 | /** Sets gyroscope scale |
| rmardini | 0:03c072adb139 | 74 | * @param scale Gyro scale range. Suitable Values: {BITS_FS_250DPS, BITS_FS_500DPS, BITS_FS_1000DPS, BITS_FS_2000DPS} |
| rmardini | 0:03c072adb139 | 75 | * @returns the scale set |
| rmardini | 0:03c072adb139 | 76 | */ |
| rmardini | 0:03c072adb139 | 77 | unsigned int set_gyro_scale(int scale); |
| rmardini | 0:03c072adb139 | 78 | |
| rmardini | 0:03c072adb139 | 79 | /** Sets accelerometer scale |
| rmardini | 0:03c072adb139 | 80 | * @param scale Acce scale range. Suitable Values: {BITS_FS_2G, BITS_FS_4G, BITS_FS_8G, BITS_FS_16G} |
| rmardini | 0:03c072adb139 | 81 | * @returns the scale set |
| rmardini | 0:03c072adb139 | 82 | */ |
| rmardini | 0:03c072adb139 | 83 | unsigned int set_acc_scale(int scale); |
| rmardini | 0:03c072adb139 | 84 | |
| rmardini | 0:03c072adb139 | 85 | /** Calibrates accelerometer |
| rmardini | 0:03c072adb139 | 86 | */ |
| rmardini | 0:03c072adb139 | 87 | void calib_acc(); |
| rmardini | 0:03c072adb139 | 88 | |
| rmardini | 0:03c072adb139 | 89 | /** Calibrates magnetometer |
| rmardini | 0:03c072adb139 | 90 | */ |
| rmardini | 0:03c072adb139 | 91 | void AK8963_calib_Magnetometer(); |
| rmardini | 0:03c072adb139 | 92 | |
| rmardini | 0:03c072adb139 | 93 | /** Selects spi slave pin |
| rmardini | 0:03c072adb139 | 94 | */ |
| rmardini | 0:03c072adb139 | 95 | void select(); |
| rmardini | 0:03c072adb139 | 96 | |
| rmardini | 0:03c072adb139 | 97 | /** Deselects spi slave pin |
| rmardini | 0:03c072adb139 | 98 | */ |
| rmardini | 0:03c072adb139 | 99 | void deselect(); |
| rmardini | 0:03c072adb139 | 100 | |
| rmardini | 0:03c072adb139 | 101 | /** Returns the mpu9250 I2C address |
| rmardini | 0:03c072adb139 | 102 | * @returns I2C adress of mpu9250 |
| rmardini | 0:03c072adb139 | 103 | */ |
| rmardini | 0:03c072adb139 | 104 | unsigned int whoami(); |
| rmardini | 0:03c072adb139 | 105 | |
| rmardini | 0:03c072adb139 | 106 | /** Returns the magnetormeter I2C address |
| rmardini | 0:03c072adb139 | 107 | * @returns I2C adress of magnetometer |
| rmardini | 0:03c072adb139 | 108 | */ |
| rmardini | 0:03c072adb139 | 109 | uint8_t AK8963_whoami(); |
| rmardini | 0:03c072adb139 | 110 | |
| rmardini | 0:03c072adb139 | 111 | /** Reads magnetometer reading |
| rmardini | 0:03c072adb139 | 112 | */ |
| rmardini | 0:03c072adb139 | 113 | void AK8963_read_Magnetometer(); |
| rmardini | 0:03c072adb139 | 114 | |
| rmardini | 0:03c072adb139 | 115 | /** Reads all readings from all sensors |
| rmardini | 0:03c072adb139 | 116 | * |
| rmardini | 0:03c072adb139 | 117 | */ |
| rmardini | 0:03c072adb139 | 118 | void read_all(); |
| rmardini | 0:03c072adb139 | 119 | |
| rmardini | 0:03c072adb139 | 120 | /** Calibrates mpu9250 and calculates accelerometer and gyroscope bias |
| rmardini | 0:03c072adb139 | 121 | */ |
| rmardini | 0:03c072adb139 | 122 | void calibrateMPU9250(); //added |
| rmardini | 0:03c072adb139 | 123 | |
| rmardini | 0:03c072adb139 | 124 | /** Calculates quaternions based on Madgwick filter from accelerometer, gyroscope and magnetometer readings |
| rmardini | 0:03c072adb139 | 125 | * @param ax Accelermoter x reading |
| rmardini | 0:03c072adb139 | 126 | * @param ay Accelermoter y reading |
| rmardini | 0:03c072adb139 | 127 | * @param az Accelermoter z reading |
| rmardini | 0:03c072adb139 | 128 | * @param gx Gyroscope x reading |
| rmardini | 0:03c072adb139 | 129 | * @param gy Gyroscope y reading |
| rmardini | 0:03c072adb139 | 130 | * @param gz Gyroscope z reading |
| rmardini | 0:03c072adb139 | 131 | * @param mx Magnetometer x reading |
| rmardini | 0:03c072adb139 | 132 | * @param my Magnetometer y reading |
| rmardini | 0:03c072adb139 | 133 | * @param mz Magnetometer z reading |
| rmardini | 0:03c072adb139 | 134 | * @param deltat Time diffference since last calculation |
| rmardini | 0:03c072adb139 | 135 | * @param beta Integration gain |
| rmardini | 0:03c072adb139 | 136 | */ |
| rmardini | 0:03c072adb139 | 137 | void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz,float deltat,float beta); |
| rmardini | 0:03c072adb139 | 138 | |
| rmardini | 0:03c072adb139 | 139 | /** Calculates quaternions based on Madgwick filter from accelerometer and gyroscope readings |
| rmardini | 0:03c072adb139 | 140 | * @param ax Accelermoter x reading |
| rmardini | 0:03c072adb139 | 141 | * @param ay Accelermoter y reading |
| rmardini | 0:03c072adb139 | 142 | * @param az Accelermoter z reading |
| rmardini | 0:03c072adb139 | 143 | * @param gx Gyroscope x reading |
| rmardini | 0:03c072adb139 | 144 | * @param gy Gyroscope y reading |
| rmardini | 0:03c072adb139 | 145 | * @param gz Gyroscope z reading |
| rmardini | 0:03c072adb139 | 146 | * @param deltat Time diffference since last calculation |
| rmardini | 0:03c072adb139 | 147 | * @param beta Integration gain |
| rmardini | 0:03c072adb139 | 148 | */ |
| rmardini | 0:03c072adb139 | 149 | void MadgwickAHRSupdateIMU( float ax, float ay, float az,float gx, float gy, float gz, float deltat,float beta); |
| rmardini | 0:03c072adb139 | 150 | |
| rmardini | 0:03c072adb139 | 151 | /** Used in Madgwick filter. Calculates inverse squared value. |
| rmardini | 0:03c072adb139 | 152 | * @param x input value |
| rmardini | 0:03c072adb139 | 153 | * @returns inverse squared |
| rmardini | 0:03c072adb139 | 154 | */ |
| rmardini | 0:03c072adb139 | 155 | float invSqrt(float x); |
| rmardini | 0:03c072adb139 | 156 | |
| rmardini | 0:03c072adb139 | 157 | /** Calculates euler angle |
| rmardini | 0:03c072adb139 | 158 | * @param angle 0=Roll, 1=Pitch, 2=Yaw |
| rmardini | 0:03c072adb139 | 159 | * @returns Euler angle |
| rmardini | 0:03c072adb139 | 160 | */ |
| rmardini | 0:03c072adb139 | 161 | float euler_angle(int angle); |
| rmardini | 0:03c072adb139 | 162 | |
| rmardini | 0:03c072adb139 | 163 | int calib_data[3]; |
| rmardini | 0:03c072adb139 | 164 | float Magnetometer_ASA[3]; |
| rmardini | 0:03c072adb139 | 165 | float gyroBias[3], accelBias[3]; // Bias corrections for gyro and accelerometer |
| rmardini | 0:03c072adb139 | 166 | float accelerometer_data[3]; |
| rmardini | 0:03c072adb139 | 167 | float Temperature; |
| rmardini | 0:03c072adb139 | 168 | float gyroscope_data[3]; |
| rmardini | 0:03c072adb139 | 169 | float Magnetometer[3]; |
| rmardini | 0:03c072adb139 | 170 | float roll,pitch,yaw; |
| rmardini | 0:03c072adb139 | 171 | float q1,q2,q3,q4; |
| rmardini | 0:03c072adb139 | 172 | |
| rmardini | 0:03c072adb139 | 173 | private: |
| rmardini | 0:03c072adb139 | 174 | SPI _spi; |
| rmardini | 0:03c072adb139 | 175 | DigitalOut _cs; |
| rmardini | 0:03c072adb139 | 176 | |
| rmardini | 0:03c072adb139 | 177 | float acc_divider; |
| rmardini | 0:03c072adb139 | 178 | float gyro_divider; |
| rmardini | 0:03c072adb139 | 179 | |
| rmardini | 0:03c072adb139 | 180 | // PinName _CS_pin; |
| rmardini | 0:03c072adb139 | 181 | // PinName _SO_pin; |
| rmardini | 0:03c072adb139 | 182 | // PinName _SCK_pin; |
| rmardini | 0:03c072adb139 | 183 | float _error; |
| rmardini | 0:03c072adb139 | 184 | }; |
| rmardini | 0:03c072adb139 | 185 | |
| rmardini | 0:03c072adb139 | 186 | #endif |
| rmardini | 0:03c072adb139 | 187 | |
| rmardini | 0:03c072adb139 | 188 | |
| rmardini | 0:03c072adb139 | 189 | #define PI 3.14159265 |
| rmardini | 0:03c072adb139 | 190 | #define RadToDeg 57.2957795131 |
| rmardini | 0:03c072adb139 | 191 | #define DegToRad 0.01745329251 |
| rmardini | 0:03c072adb139 | 192 | |
| rmardini | 0:03c072adb139 | 193 | |
| rmardini | 0:03c072adb139 | 194 | // mpu9250 registers |
| rmardini | 0:03c072adb139 | 195 | #define MPUREG_XG_OFFS_TC 0x00 |
| rmardini | 0:03c072adb139 | 196 | #define MPUREG_YG_OFFS_TC 0x01 |
| rmardini | 0:03c072adb139 | 197 | #define MPUREG_ZG_OFFS_TC 0x02 |
| rmardini | 0:03c072adb139 | 198 | #define MPUREG_X_FINE_GAIN 0x03 |
| rmardini | 0:03c072adb139 | 199 | #define MPUREG_Y_FINE_GAIN 0x04 |
| rmardini | 0:03c072adb139 | 200 | #define MPUREG_Z_FINE_GAIN 0x05 |
| rmardini | 0:03c072adb139 | 201 | #define MPUREG_XA_OFFS_H 0x06 |
| rmardini | 0:03c072adb139 | 202 | #define MPUREG_XA_OFFS_L 0x07 |
| rmardini | 0:03c072adb139 | 203 | #define MPUREG_YA_OFFS_H 0x08 |
| rmardini | 0:03c072adb139 | 204 | #define MPUREG_YA_OFFS_L 0x09 |
| rmardini | 0:03c072adb139 | 205 | #define MPUREG_ZA_OFFS_H 0x0A |
| rmardini | 0:03c072adb139 | 206 | #define MPUREG_ZA_OFFS_L 0x0B |
| rmardini | 0:03c072adb139 | 207 | #define MPUREG_PRODUCT_ID 0x0C |
| rmardini | 0:03c072adb139 | 208 | #define MPUREG_SELF_TEST_X 0x0D |
| rmardini | 0:03c072adb139 | 209 | #define MPUREG_SELF_TEST_Y 0x0E |
| rmardini | 0:03c072adb139 | 210 | #define MPUREG_SELF_TEST_Z 0x0F |
| rmardini | 0:03c072adb139 | 211 | #define MPUREG_SELF_TEST_A 0x10 |
| rmardini | 0:03c072adb139 | 212 | #define MPUREG_XG_OFFS_USRH 0x13 |
| rmardini | 0:03c072adb139 | 213 | #define MPUREG_XG_OFFS_USRL 0x14 |
| rmardini | 0:03c072adb139 | 214 | #define MPUREG_YG_OFFS_USRH 0x15 |
| rmardini | 0:03c072adb139 | 215 | #define MPUREG_YG_OFFS_USRL 0x16 |
| rmardini | 0:03c072adb139 | 216 | #define MPUREG_ZG_OFFS_USRH 0x17 |
| rmardini | 0:03c072adb139 | 217 | #define MPUREG_ZG_OFFS_USRL 0x18 |
| rmardini | 0:03c072adb139 | 218 | #define MPUREG_SMPLRT_DIV 0x19 |
| rmardini | 0:03c072adb139 | 219 | #define MPUREG_CONFIG 0x1A |
| rmardini | 0:03c072adb139 | 220 | #define MPUREG_GYRO_CONFIG 0x1B |
| rmardini | 0:03c072adb139 | 221 | #define MPUREG_ACCEL_CONFIG 0x1C |
| rmardini | 0:03c072adb139 | 222 | #define MPUREG_ACCEL_CONFIG_2 0x1D |
| rmardini | 0:03c072adb139 | 223 | #define MPUREG_LP_ACCEL_ODR 0x1E |
| rmardini | 0:03c072adb139 | 224 | #define MPUREG_MOT_THR 0x1F |
| rmardini | 0:03c072adb139 | 225 | #define MPUREG_FIFO_EN 0x23 |
| rmardini | 0:03c072adb139 | 226 | #define MPUREG_I2C_MST_CTRL 0x24 |
| rmardini | 0:03c072adb139 | 227 | #define MPUREG_I2C_SLV0_ADDR 0x25 |
| rmardini | 0:03c072adb139 | 228 | #define MPUREG_I2C_SLV0_REG 0x26 |
| rmardini | 0:03c072adb139 | 229 | #define MPUREG_I2C_SLV0_CTRL 0x27 |
| rmardini | 0:03c072adb139 | 230 | #define MPUREG_I2C_SLV1_ADDR 0x28 |
| rmardini | 0:03c072adb139 | 231 | #define MPUREG_I2C_SLV1_REG 0x29 |
| rmardini | 0:03c072adb139 | 232 | #define MPUREG_I2C_SLV1_CTRL 0x2A |
| rmardini | 0:03c072adb139 | 233 | #define MPUREG_I2C_SLV2_ADDR 0x2B |
| rmardini | 0:03c072adb139 | 234 | #define MPUREG_I2C_SLV2_REG 0x2C |
| rmardini | 0:03c072adb139 | 235 | #define MPUREG_I2C_SLV2_CTRL 0x2D |
| rmardini | 0:03c072adb139 | 236 | #define MPUREG_I2C_SLV3_ADDR 0x2E |
| rmardini | 0:03c072adb139 | 237 | #define MPUREG_I2C_SLV3_REG 0x2F |
| rmardini | 0:03c072adb139 | 238 | #define MPUREG_I2C_SLV3_CTRL 0x30 |
| rmardini | 0:03c072adb139 | 239 | #define MPUREG_I2C_SLV4_ADDR 0x31 |
| rmardini | 0:03c072adb139 | 240 | #define MPUREG_I2C_SLV4_REG 0x32 |
| rmardini | 0:03c072adb139 | 241 | #define MPUREG_I2C_SLV4_DO 0x33 |
| rmardini | 0:03c072adb139 | 242 | #define MPUREG_I2C_SLV4_CTRL 0x34 |
| rmardini | 0:03c072adb139 | 243 | #define MPUREG_I2C_SLV4_DI 0x35 |
| rmardini | 0:03c072adb139 | 244 | #define MPUREG_I2C_MST_STATUS 0x36 |
| rmardini | 0:03c072adb139 | 245 | #define MPUREG_INT_PIN_CFG 0x37 |
| rmardini | 0:03c072adb139 | 246 | #define MPUREG_INT_ENABLE 0x38 |
| rmardini | 0:03c072adb139 | 247 | #define MPUREG_ACCEL_XOUT_H 0x3B |
| rmardini | 0:03c072adb139 | 248 | #define MPUREG_ACCEL_XOUT_L 0x3C |
| rmardini | 0:03c072adb139 | 249 | #define MPUREG_ACCEL_YOUT_H 0x3D |
| rmardini | 0:03c072adb139 | 250 | #define MPUREG_ACCEL_YOUT_L 0x3E |
| rmardini | 0:03c072adb139 | 251 | #define MPUREG_ACCEL_ZOUT_H 0x3F |
| rmardini | 0:03c072adb139 | 252 | #define MPUREG_ACCEL_ZOUT_L 0x40 |
| rmardini | 0:03c072adb139 | 253 | #define MPUREG_TEMP_OUT_H 0x41 |
| rmardini | 0:03c072adb139 | 254 | #define MPUREG_TEMP_OUT_L 0x42 |
| rmardini | 0:03c072adb139 | 255 | #define MPUREG_GYRO_XOUT_H 0x43 |
| rmardini | 0:03c072adb139 | 256 | #define MPUREG_GYRO_XOUT_L 0x44 |
| rmardini | 0:03c072adb139 | 257 | #define MPUREG_GYRO_YOUT_H 0x45 |
| rmardini | 0:03c072adb139 | 258 | #define MPUREG_GYRO_YOUT_L 0x46 |
| rmardini | 0:03c072adb139 | 259 | #define MPUREG_GYRO_ZOUT_H 0x47 |
| rmardini | 0:03c072adb139 | 260 | #define MPUREG_GYRO_ZOUT_L 0x48 |
| rmardini | 0:03c072adb139 | 261 | #define MPUREG_EXT_SENS_DATA_00 0x49 |
| rmardini | 0:03c072adb139 | 262 | #define MPUREG_EXT_SENS_DATA_01 0x4A |
| rmardini | 0:03c072adb139 | 263 | #define MPUREG_EXT_SENS_DATA_02 0x4B |
| rmardini | 0:03c072adb139 | 264 | #define MPUREG_EXT_SENS_DATA_03 0x4C |
| rmardini | 0:03c072adb139 | 265 | #define MPUREG_EXT_SENS_DATA_04 0x4D |
| rmardini | 0:03c072adb139 | 266 | #define MPUREG_EXT_SENS_DATA_05 0x4E |
| rmardini | 0:03c072adb139 | 267 | #define MPUREG_EXT_SENS_DATA_06 0x4F |
| rmardini | 0:03c072adb139 | 268 | #define MPUREG_EXT_SENS_DATA_07 0x50 |
| rmardini | 0:03c072adb139 | 269 | #define MPUREG_EXT_SENS_DATA_08 0x51 |
| rmardini | 0:03c072adb139 | 270 | #define MPUREG_EXT_SENS_DATA_09 0x52 |
| rmardini | 0:03c072adb139 | 271 | #define MPUREG_EXT_SENS_DATA_10 0x53 |
| rmardini | 0:03c072adb139 | 272 | #define MPUREG_EXT_SENS_DATA_11 0x54 |
| rmardini | 0:03c072adb139 | 273 | #define MPUREG_EXT_SENS_DATA_12 0x55 |
| rmardini | 0:03c072adb139 | 274 | #define MPUREG_EXT_SENS_DATA_13 0x56 |
| rmardini | 0:03c072adb139 | 275 | #define MPUREG_EXT_SENS_DATA_14 0x57 |
| rmardini | 0:03c072adb139 | 276 | #define MPUREG_EXT_SENS_DATA_15 0x58 |
| rmardini | 0:03c072adb139 | 277 | #define MPUREG_EXT_SENS_DATA_16 0x59 |
| rmardini | 0:03c072adb139 | 278 | #define MPUREG_EXT_SENS_DATA_17 0x5A |
| rmardini | 0:03c072adb139 | 279 | #define MPUREG_EXT_SENS_DATA_18 0x5B |
| rmardini | 0:03c072adb139 | 280 | #define MPUREG_EXT_SENS_DATA_19 0x5C |
| rmardini | 0:03c072adb139 | 281 | #define MPUREG_EXT_SENS_DATA_20 0x5D |
| rmardini | 0:03c072adb139 | 282 | #define MPUREG_EXT_SENS_DATA_21 0x5E |
| rmardini | 0:03c072adb139 | 283 | #define MPUREG_EXT_SENS_DATA_22 0x5F |
| rmardini | 0:03c072adb139 | 284 | #define MPUREG_EXT_SENS_DATA_23 0x60 |
| rmardini | 0:03c072adb139 | 285 | #define MPUREG_I2C_SLV0_DO 0x63 |
| rmardini | 0:03c072adb139 | 286 | #define MPUREG_I2C_SLV1_DO 0x64 |
| rmardini | 0:03c072adb139 | 287 | #define MPUREG_I2C_SLV2_DO 0x65 |
| rmardini | 0:03c072adb139 | 288 | #define MPUREG_I2C_SLV3_DO 0x66 |
| rmardini | 0:03c072adb139 | 289 | #define MPUREG_I2C_MST_DELAY_CTRL 0x67 |
| rmardini | 0:03c072adb139 | 290 | #define MPUREG_SIGNAL_PATH_RESET 0x68 |
| rmardini | 0:03c072adb139 | 291 | #define MPUREG_MOT_DETECT_CTRL 0x69 |
| rmardini | 0:03c072adb139 | 292 | #define MPUREG_USER_CTRL 0x6A |
| rmardini | 0:03c072adb139 | 293 | #define MPUREG_PWR_MGMT_1 0x6B |
| rmardini | 0:03c072adb139 | 294 | #define MPUREG_PWR_MGMT_2 0x6C |
| rmardini | 0:03c072adb139 | 295 | #define MPUREG_BANK_SEL 0x6D |
| rmardini | 0:03c072adb139 | 296 | #define MPUREG_MEM_START_ADDR 0x6E |
| rmardini | 0:03c072adb139 | 297 | #define MPUREG_MEM_R_W 0x6F |
| rmardini | 0:03c072adb139 | 298 | #define MPUREG_DMP_CFG_1 0x70 |
| rmardini | 0:03c072adb139 | 299 | #define MPUREG_DMP_CFG_2 0x71 |
| rmardini | 0:03c072adb139 | 300 | #define MPUREG_FIFO_COUNTH 0x72 |
| rmardini | 0:03c072adb139 | 301 | #define MPUREG_FIFO_COUNTL 0x73 |
| rmardini | 0:03c072adb139 | 302 | #define MPUREG_FIFO_R_W 0x74 |
| rmardini | 0:03c072adb139 | 303 | #define MPUREG_WHOAMI 0x75 |
| rmardini | 0:03c072adb139 | 304 | #define MPUREG_XA_OFFSET_H 0x77 |
| rmardini | 0:03c072adb139 | 305 | #define MPUREG_XA_OFFSET_L 0x78 |
| rmardini | 0:03c072adb139 | 306 | #define MPUREG_YA_OFFSET_H 0x7A |
| rmardini | 0:03c072adb139 | 307 | #define MPUREG_YA_OFFSET_L 0x7B |
| rmardini | 0:03c072adb139 | 308 | #define MPUREG_ZA_OFFSET_H 0x7D |
| rmardini | 0:03c072adb139 | 309 | #define MPUREG_ZA_OFFSET_L 0x7E |
| rmardini | 0:03c072adb139 | 310 | /* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */ |
| rmardini | 0:03c072adb139 | 311 | |
| rmardini | 0:03c072adb139 | 312 | #define AK8963_I2C_ADDR 0x0c//0x18 |
| rmardini | 0:03c072adb139 | 313 | #define AK8963_Device_ID 0x48 |
| rmardini | 0:03c072adb139 | 314 | |
| rmardini | 0:03c072adb139 | 315 | // Read-only Reg |
| rmardini | 0:03c072adb139 | 316 | #define AK8963_WIA 0x00 |
| rmardini | 0:03c072adb139 | 317 | #define AK8963_INFO 0x01 |
| rmardini | 0:03c072adb139 | 318 | #define AK8963_ST1 0x02 |
| rmardini | 0:03c072adb139 | 319 | #define AK8963_HXL 0x03 |
| rmardini | 0:03c072adb139 | 320 | #define AK8963_HXH 0x04 |
| rmardini | 0:03c072adb139 | 321 | #define AK8963_HYL 0x05 |
| rmardini | 0:03c072adb139 | 322 | #define AK8963_HYH 0x06 |
| rmardini | 0:03c072adb139 | 323 | #define AK8963_HZL 0x07 |
| rmardini | 0:03c072adb139 | 324 | #define AK8963_HZH 0x08 |
| rmardini | 0:03c072adb139 | 325 | #define AK8963_ST2 0x09 |
| rmardini | 0:03c072adb139 | 326 | // Write/Read Reg |
| rmardini | 0:03c072adb139 | 327 | #define AK8963_CNTL1 0x0A |
| rmardini | 0:03c072adb139 | 328 | #define AK8963_CNTL2 0x0B |
| rmardini | 0:03c072adb139 | 329 | #define AK8963_ASTC 0x0C |
| rmardini | 0:03c072adb139 | 330 | #define AK8963_TS1 0x0D |
| rmardini | 0:03c072adb139 | 331 | #define AK8963_TS2 0x0E |
| rmardini | 0:03c072adb139 | 332 | #define AK8963_I2CDIS 0x0F |
| rmardini | 0:03c072adb139 | 333 | // Read-only Reg ( ROM ) |
| rmardini | 0:03c072adb139 | 334 | #define AK8963_ASAX 0x10 |
| rmardini | 0:03c072adb139 | 335 | #define AK8963_ASAY 0x11 |
| rmardini | 0:03c072adb139 | 336 | #define AK8963_ASAZ 0x12 |
| rmardini | 0:03c072adb139 | 337 | |
| rmardini | 0:03c072adb139 | 338 | // Configuration bits mpu9250 |
| rmardini | 0:03c072adb139 | 339 | #define BIT_SLEEP 0x40 |
| rmardini | 0:03c072adb139 | 340 | #define BIT_H_RESET 0x80 |
| rmardini | 0:03c072adb139 | 341 | #define BITS_CLKSEL 0x07 |
| rmardini | 0:03c072adb139 | 342 | #define MPU_CLK_SEL_PLLGYROX 0x01 |
| rmardini | 0:03c072adb139 | 343 | #define MPU_CLK_SEL_PLLGYROZ 0x03 |
| rmardini | 0:03c072adb139 | 344 | #define MPU_EXT_SYNC_GYROX 0x02 |
| rmardini | 0:03c072adb139 | 345 | #define BITS_FS_250DPS 0x00 |
| rmardini | 0:03c072adb139 | 346 | #define BITS_FS_500DPS 0x08 |
| rmardini | 0:03c072adb139 | 347 | #define BITS_FS_1000DPS 0x10 |
| rmardini | 0:03c072adb139 | 348 | #define BITS_FS_2000DPS 0x18 |
| rmardini | 0:03c072adb139 | 349 | #define BITS_FS_2G 0x00 |
| rmardini | 0:03c072adb139 | 350 | #define BITS_FS_4G 0x08 |
| rmardini | 0:03c072adb139 | 351 | #define BITS_FS_8G 0x10 |
| rmardini | 0:03c072adb139 | 352 | #define BITS_FS_16G 0x18 |
| rmardini | 0:03c072adb139 | 353 | #define BITS_FS_MASK 0x18 |
| rmardini | 0:03c072adb139 | 354 | #define BITS_DLPF_CFG_256HZ_NOLPF2 0x00 |
| rmardini | 0:03c072adb139 | 355 | #define BITS_DLPF_CFG_188HZ 0x01 |
| rmardini | 0:03c072adb139 | 356 | #define BITS_DLPF_CFG_98HZ 0x02 |
| rmardini | 0:03c072adb139 | 357 | #define BITS_DLPF_CFG_42HZ 0x03 |
| rmardini | 0:03c072adb139 | 358 | #define BITS_DLPF_CFG_20HZ 0x04 |
| rmardini | 0:03c072adb139 | 359 | #define BITS_DLPF_CFG_10HZ 0x05 |
| rmardini | 0:03c072adb139 | 360 | #define BITS_DLPF_CFG_5HZ 0x06 |
| rmardini | 0:03c072adb139 | 361 | #define BITS_DLPF_CFG_2100HZ_NOLPF 0x07 |
| rmardini | 0:03c072adb139 | 362 | #define BITS_DLPF_CFG_MASK 0x07 |
| rmardini | 0:03c072adb139 | 363 | #define BIT_INT_ANYRD_2CLEAR 0x10 |
| rmardini | 0:03c072adb139 | 364 | #define BIT_RAW_RDY_EN 0x01 |
| rmardini | 0:03c072adb139 | 365 | #define BIT_I2C_IF_DIS 0x10 |
| rmardini | 0:03c072adb139 | 366 | |
| rmardini | 0:03c072adb139 | 367 | #define READ_FLAG 0x80 |
| rmardini | 0:03c072adb139 | 368 | |
| rmardini | 0:03c072adb139 | 369 | /* ---- Sensitivity --------------------------------------------------------- */ |
| rmardini | 0:03c072adb139 | 370 | |
| rmardini | 0:03c072adb139 | 371 | #define MPU9250A_2g ((float)0.000061035156f) // 0.000061035156 g/LSB |
| rmardini | 0:03c072adb139 | 372 | #define MPU9250A_4g ((float)0.000122070312f) // 0.000122070312 g/LSB |
| rmardini | 0:03c072adb139 | 373 | #define MPU9250A_8g ((float)0.000244140625f) // 0.000244140625 g/LSB |
| rmardini | 0:03c072adb139 | 374 | #define MPU9250A_16g ((float)0.000488281250f) // 0.000488281250 g/LSB |
| rmardini | 0:03c072adb139 | 375 | |
| rmardini | 0:03c072adb139 | 376 | #define MPU9250G_250dps ((float)0.007633587786f) // 0.007633587786 dps/LSB |
| rmardini | 0:03c072adb139 | 377 | #define MPU9250G_500dps ((float)0.015267175572f) // 0.015267175572 dps/LSB |
| rmardini | 0:03c072adb139 | 378 | #define MPU9250G_1000dps ((float)0.030487804878f) // 0.030487804878 dps/LSB |
| rmardini | 0:03c072adb139 | 379 | #define MPU9250G_2000dps ((float)0.060975609756f) // 0.060975609756 dps/LSB |
| rmardini | 0:03c072adb139 | 380 | |
| rmardini | 0:03c072adb139 | 381 | #define MPU9250M_4800uT ((float)0.6f) // 0.6 uT/LSB |
| rmardini | 0:03c072adb139 | 382 | |
| rmardini | 0:03c072adb139 | 383 | #define MPU9250T_85degC ((float)0.002995177763f) // 0.002995177763 degC/LSB |
| rmardini | 0:03c072adb139 | 384 | |
| rmardini | 0:03c072adb139 | 385 | #define Magnetometer_Sensitivity_Scale_Factor ((float)0.15f) |
| rmardini | 0:03c072adb139 | 386 | |
| rmardini | 0:03c072adb139 | 387 | // For Calibration Function |
| rmardini | 0:03c072adb139 | 388 | #define XA_OFFSET_H 0x77 |
| rmardini | 0:03c072adb139 | 389 | #define XA_OFFSET_L 0x78 |
| rmardini | 0:03c072adb139 | 390 | #define YA_OFFSET_H 0x7A |
| rmardini | 0:03c072adb139 | 391 | #define YA_OFFSET_L 0x7B |
| rmardini | 0:03c072adb139 | 392 | #define ZA_OFFSET_H 0x7D |
| rmardini | 0:03c072adb139 | 393 | #define ZA_OFFSET_L 0x7E |
| rmardini | 0:03c072adb139 | 394 | #define PWR_MGMT_2 0x6C |
| rmardini | 0:03c072adb139 | 395 | #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP |
| rmardini | 0:03c072adb139 | 396 | #define CONFIG 0x1A |
| rmardini | 0:03c072adb139 | 397 | #define GYRO_CONFIG 0x1B |
| rmardini | 0:03c072adb139 | 398 | #define ACCEL_CONFIG 0x1C |
| rmardini | 0:03c072adb139 | 399 | #define FIFO_EN 0x23 |
| rmardini | 0:03c072adb139 | 400 | #define I2C_MST_CTRL 0x24 |
| rmardini | 0:03c072adb139 | 401 | #define FIFO_COUNTH 0x72 |
| rmardini | 0:03c072adb139 | 402 | #define FIFO_COUNTL 0x73 |
| rmardini | 0:03c072adb139 | 403 | #define FIFO_R_W 0x74 |
| rmardini | 0:03c072adb139 | 404 | #define SMPLRT_DIV 0x19 |
| rmardini | 0:03c072adb139 | 405 | #define PWR_MGMT_1 0x6B |
| rmardini | 0:03c072adb139 | 406 | |
| rmardini | 0:03c072adb139 | 407 | ///////////// |