yushin yamada
/
MPU9250
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Fork of
MPU9250
by 
yushin yamada
Revision 2:f274ea3bced9, committed 2014-06-21
- Comitter:
- kylongmu
- Date:
- Sat Jun 21 12:39:55 2014 +0000
- Parent:
- 1:f738165e54f0
- Child:
- 3:f4fa24cc247d
- Commit message:
- Modify read function.
Changed in this revision
| MPU9250.cpp | Show annotated file Show diff for this revision Revisions of this file |
| MPU9250.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/MPU9250.cpp Sat Jun 21 11:55:36 2014 +0000
+++ b/MPU9250.cpp Sat Jun 21 12:39:55 2014 +0000
@@ -17,7 +17,11 @@
wait_us(50);
return temp_val;
}
-void mpu9250_spi::ReadRegs( unsigned int ReadAddr, unsigned int *ReadBuf, unsigned int Bytes )
+unsigned int mpu9250_spi::ReadReg( uint8_t WriteAddr, uint8_t WriteData )
+{
+ return WriteReg(WriteAddr | READ_FLAG,WriteData);
+}
+void mpu9250_spi::ReadRegs( uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes )
{
unsigned int i = 0;
@@ -29,19 +33,6 @@
wait_us(50);
}
-/*
-void mpu9250_spi::ReadReg( u8 ReadAddr, u8 *ReadData )
-{
- select();
- response=spi.write(MPUREG_USER_CTRL);
- response=spi.write(BIT_I2C_IF_DIS);
- deselect();
- IMU_CSM = 0;
- SPI_WriteByte(SPIx, 0x80 | ReadAddr);
- *ReadData = SPI_ReadByte(SPIx);
- IMU_CSM = 1;
-}
-*/
/*-----------------------------------------------------------------------------------------------
INITIALIZATION
usage: call this function at startup, giving the sample rate divider (raging from 0 to 255) and
@@ -196,29 +187,26 @@
2 -> Z axis
returns the value in Gs
-----------------------------------------------------------------------------------------------*/
-float mpu9250_spi::read_acc(int axis){
- uint8_t responseH,responseL;
+void mpu9250_spi::read_acc()
+{
+ uint8_t response[2];
int16_t bit_data;
float data;
- select();
- switch (axis){
- case 0:
- responseH=spi.write(MPUREG_ACCEL_XOUT_H | READ_FLAG);
- break;
- case 1:
- responseH=spi.write(MPUREG_ACCEL_YOUT_H | READ_FLAG);
- break;
- case 2:
- responseH=spi.write(MPUREG_ACCEL_ZOUT_H | READ_FLAG);
- break;
- }
- responseH=spi.write(0x00);
- responseL=spi.write(0x00);
- bit_data=((int16_t)responseH<<8)|responseL;
+
+ ReadRegs(MPUREG_ACCEL_XOUT_H,response,2);
+ bit_data=((int16_t)response[0]<<8)|response[1];
data=(float)bit_data;
- data=data/acc_divider;
- deselect();
- return data;
+ accelerometer_data[0]=data/acc_divider;
+
+ ReadRegs(MPUREG_ACCEL_YOUT_H,response,2);
+ bit_data=((int16_t)response[0]<<8)|response[1];
+ data=(float)bit_data;
+ accelerometer_data[1]=data/acc_divider;
+
+ ReadRegs(MPUREG_ACCEL_ZOUT_H,response,2);
+ bit_data=((int16_t)response[0]<<8)|response[1];
+ data=(float)bit_data;
+ accelerometer_data[2]=data/acc_divider;
}
/*-----------------------------------------------------------------------------------------------
@@ -229,29 +217,26 @@
2 -> Z axis
returns the value in Degrees per second
-----------------------------------------------------------------------------------------------*/
-float mpu9250_spi::read_rot(int axis){
- uint8_t responseH,responseL;
+void mpu9250_spi::read_rot()
+{
+ uint8_t response[2];
int16_t bit_data;
float data;
- select();
- switch (axis){
- case 0:
- responseH=spi.write(MPUREG_GYRO_XOUT_H | READ_FLAG);
- break;
- case 1:
- responseH=spi.write(MPUREG_GYRO_YOUT_H | READ_FLAG);
- break;
- case 2:
- responseH=spi.write(MPUREG_GYRO_ZOUT_H | READ_FLAG);
- break;
- }
- responseH=spi.write(0x00);
- responseL=spi.write(0x00);
- bit_data=((int16_t)responseH<<8)|responseL;
+
+ ReadRegs(MPUREG_GYRO_XOUT_H,response,2);
+ bit_data=((int16_t)response[0]<<8)|response[1];
data=(float)bit_data;
- data=data/gyro_divider;
- deselect();
- return data;
+ gyroscope_data[0]=data/gyro_divider;
+
+ ReadRegs(MPUREG_GYRO_YOUT_H,response,2);
+ bit_data=((int16_t)response[0]<<8)|response[1];
+ data=(float)bit_data;
+ gyroscope_data[1]=data/gyro_divider;
+
+ ReadRegs(MPUREG_GYRO_ZOUT_H,response,2);
+ bit_data=((int16_t)response[0]<<8)|response[1];
+ data=(float)bit_data;
+ gyroscope_data[2]=data/gyro_divider;
}
/*-----------------------------------------------------------------------------------------------
@@ -260,14 +245,12 @@
returns the value in °C
-----------------------------------------------------------------------------------------------*/
float mpu9250_spi::read_temp(){
- uint8_t responseH,responseL;
+ uint8_t response[2];
int16_t bit_data;
float data;
- select();
- responseH=spi.write(MPUREG_TEMP_OUT_H | READ_FLAG);
- responseH=spi.write(0x00);
- responseL=spi.write(0x00);
- bit_data=((int16_t)responseH<<8)|responseL;
+ ReadRegs(MPUREG_TEMP_OUT_H,response,2);
+
+ bit_data=((int16_t)response[0]<<8)|response[1];
data=(float)bit_data;
data=(data/340)+36.53;
deselect();
@@ -282,45 +265,23 @@
2 -> Z axis
returns Factory Trim value
-----------------------------------------------------------------------------------------------*/
-int mpu9250_spi::calib_acc(int axis){
- uint8_t responseH,responseL,calib_data;
+void mpu9250_spi::calib_acc()
+{
+ uint8_t response[4];
int temp_scale;
//READ CURRENT ACC SCALE
temp_scale=WriteReg(MPUREG_ACCEL_CONFIG|READ_FLAG, 0x00);
set_acc_scale(BITS_FS_8G);
- //ENABLE SELF TEST
- temp_scale=WriteReg(MPUREG_ACCEL_CONFIG, 0x80>>axis);
+ //ENABLE SELF TEST need modify
+ //temp_scale=WriteReg(MPUREG_ACCEL_CONFIG, 0x80>>axis);
- select();
- responseH=spi.write(MPUREG_SELF_TEST_X|READ_FLAG);
- switch(axis){
- case 0:
- responseH=spi.write(0x00);
- responseL=spi.write(0x00);
- responseL=spi.write(0x00);
- responseL=spi.write(0x00);
- calib_data=((responseH&11100000)>>3)|((responseL&00110000)>>4);
- break;
- case 1:
- responseH=spi.write(0x00);
- responseH=spi.write(0x00);
- responseL=spi.write(0x00);
- responseL=spi.write(0x00);
- calib_data=((responseH&11100000)>>3)|((responseL&00001100)>>2);
- break;
- case 2:
- responseH=spi.write(0x00);
- responseH=spi.write(0x00);
- responseH=spi.write(0x00);
- responseL=spi.write(0x00);
- calib_data=((responseH&11100000)>>3)|((responseL&00000011));
- break;
- }
- deselect();
- wait(0.01);
+ ReadRegs(MPUREG_SELF_TEST_X,response,4);
+ calib_data[0]=((response[0]&11100000)>>3)|((response[3]&00110000)>>4);
+ calib_data[1]=((response[1]&11100000)>>3)|((response[3]&00001100)>>2);
+ calib_data[2]=((response[2]&11100000)>>3)|((response[3]&00000011));
+
set_acc_scale(temp_scale);
- return calib_data;
-}
+}
/*-----------------------------------------------------------------------------------------------
SPI SELECT AND DESELECT
--- a/MPU9250.h Sat Jun 21 11:55:36 2014 +0000
+++ b/MPU9250.h Sat Jun 21 12:39:55 2014 +0000
@@ -49,14 +49,15 @@
public:
mpu9250_spi(SPI& _spi, PinName _cs);
unsigned int WriteReg( uint8_t WriteAddr, uint8_t WriteData );
- void ReadRegs( unsigned int ReadAddr, unsigned int *ReadBuf, unsigned int Bytes );
+ unsigned int ReadReg( uint8_t WriteAddr, uint8_t WriteData );
+ void ReadRegs( uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes );
bool init(int sample_rate_div,int low_pass_filter);
- float read_acc(int axis);
- float read_rot(int axis);
+ void read_acc();
+ void read_rot();
unsigned int set_gyro_scale(int scale);
unsigned int set_acc_scale(int scale);
- int calib_acc(int axis);
+ void calib_acc();
float read_temp();
void select();
void deselect();
@@ -65,6 +66,10 @@
float acc_divider;
float gyro_divider;
+ int calib_data[3];
+ float gyroscope_data[3];
+ float accelerometer_data[3];
+
private:
PinName _CS_pin;
PinName _SO_pin;