SEAN O CONNELL
lora sensnode
Dependencies: libmDot mbed-rtos mbed
Fork of
mDot_LoRa_Sensornode
by 
Adrian Mitevski
Diff: app/MPU9250.h
- Revision:
- 0:f2815503561f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/app/MPU9250.h Wed Jul 06 20:40:36 2016 +0000
@@ -0,0 +1,444 @@
+/**
+ * @file MPU9250.h
+ *
+ * @author Adrian
+ * @date 19.05.2016
+ *
+ */
+#include "I2C_RT.h"
+#include "MPU9250Config.h"
+
+#ifndef APP_MPU9250_H_
+#define APP_MPU9250_H_
+
+#define MPU9250_DEFAULT_ADDRESS 0xD1
+#define MPU9250_ALT_DEFAULT_ADDRESS 0xD2
+
+#define MPU9250_SELF_TEST_X_GYRO 0x00
+#define MPU9250_SELF_TEST_Y_GYRO 0x01
+#define MPU9250_SELF_TEST_Z_GYRO 0x02
+
+#define MPU9250_SELF_TEST_X_ACCEL 0x0D
+#define MPU9250_SELF_TEST_Y_ACCEL 0x0E
+#define MPU9250_SELF_TEST_Z_ACCEL 0x0F
+
+#define MPU9250_XG_OFFSET_H 0x13
+#define MPU9250_XG_OFFSET_L 0x14
+#define MPU9250_YG_OFFSET_H 0x15
+#define MPU9250_YG_OFFSET_L 0x16
+#define MPU9250_ZG_OFFSET_H 0x17
+#define MPU9250_ZG_OFFSET_L 0x18
+#define MPU9250_SMPLRT_DIV 0x19
+#define MPU9250_CONFIG 0x1A
+#define MPU9250_GYRO_CONFIG 0x1B
+#define MPU9250_ACCEL_CONFIG 0x1C
+#define MPU9250_ACCEL_CONFIG2 0x1D
+#define MPU9250_LP_ACCEL_ODR 0x1E
+#define MPU9250_WOM_THR 0x1F
+
+#define MPU9250_FIFO_EN 0x23
+#define MPU9250_I2C_MST_CTRL 0x24
+#define MPU9250_I2C_SLV0_ADDR 0x25
+#define MPU9250_I2C_SLV0_REG 0x26
+#define MPU9250_I2C_SLV0_CTRL 0x27
+#define MPU9250_I2C_SLV1_ADDR 0x28
+#define MPU9250_I2C_SLV1_REG 0x29
+#define MPU9250_I2C_SLV1_CTRL 0x2A
+#define MPU9250_I2C_SLV2_ADDR 0x2B
+#define MPU9250_I2C_SLV2_REG 0x2C
+#define MPU9250_I2C_SLV2_CTRL 0x2D
+#define MPU9250_I2C_SLV3_ADDR 0x2E
+#define MPU9250_I2C_SLV3_REG 0x2F
+#define MPU9250_I2C_SLV3_CTRL 0x30
+#define MPU9250_I2C_SLV4_ADDR 0x31
+#define MPU9250_I2C_SLV4_REG 0x32
+#define MPU9250_I2C_SLV4_DO 0x33
+#define MPU9250_I2C_SLV4_CTRL 0x34
+#define MPU9250_I2C_SLV4_DI 0x35
+#define MPU9250_I2C_MST_STATUS 0x36
+#define MPU9250_INT_PIN_CFG 0x37
+#define MPU9250_INT_ENABLE 0x38
+
+#define MPU9250_INT_STATUS 0x3A
+#define MPU9250_ACCEL_XOUT_H 0x3B
+#define MPU9250_ACCEL_XOUT_L 0x3C
+#define MPU9250_ACCEL_YOUT_H 0x3D
+#define MPU9250_ACCEL_YOUT_L 0x3E
+#define MPU9250_ACCEL_ZOUT_H 0x3F
+#define MPU9250_ACCEL_ZOUT_L 0x40
+#define MPU9250_TEMP_OUT_H 0x41
+#define MPU9250_TEMP_OUT_L 0x42
+#define MPU9250_GYRO_XOUT_H 0x43
+#define MPU9250_GYRO_XOUT_L 0x44
+#define MPU9250_GYRO_YOUT_H 0x45
+#define MPU9250_GYRO_YOUT_L 0x46
+#define MPU9250_GYRO_ZOUT_H 0x47
+#define MPU9250_GYRO_ZOUT_L 0x48
+#define MPU9250_EXT_SENS_DATA_00 0x49
+#define MPU9250_EXT_SENS_DATA_01 0x4A
+#define MPU9250_EXT_SENS_DATA_02 0x4B
+#define MPU9250_EXT_SENS_DATA_03 0x4C
+#define MPU9250_EXT_SENS_DATA_04 0x4D
+#define MPU9250_EXT_SENS_DATA_05 0x4E
+#define MPU9250_EXT_SENS_DATA_06 0x4F
+#define MPU9250_EXT_SENS_DATA_07 0x50
+#define MPU9250_EXT_SENS_DATA_08 0x51
+#define MPU9250_EXT_SENS_DATA_09 0x52
+#define MPU9250_EXT_SENS_DATA_10 0x53
+#define MPU9250_EXT_SENS_DATA_11 0x54
+#define MPU9250_EXT_SENS_DATA_12 0x55
+#define MPU9250_EXT_SENS_DATA_13 0x56
+#define MPU9250_EXT_SENS_DATA_14 0x57
+#define MPU9250_EXT_SENS_DATA_15 0x58
+#define MPU9250_EXT_SENS_DATA_16 0x59
+#define MPU9250_EXT_SENS_DATA_17 0x5A
+#define MPU9250_EXT_SENS_DATA_18 0x5B
+#define MPU9250_EXT_SENS_DATA_19 0x5C
+#define MPU9250_EXT_SENS_DATA_20 0x5D
+#define MPU9250_EXT_SENS_DATA_21 0x5E
+#define MPU9250_EXT_SENS_DATA_22 0x5F
+#define MPU9250_EXT_SENS_DATA_23 0x60
+
+#define MPU9250_I2C_SLV0_DO 0x63
+#define MPU9250_I2C_SLV1_DO 0x64
+#define MPU9250_I2C_SLV2_DO 0x65
+#define MPU9250_I2C_SLV3_DO 0x66
+#define MPU9250_I2C_MST_DELAY_CTRL 0x67
+#define MPU9250_SIGNAL_PATH_RESET 0x68
+#define MPU9250_MOT_DETECT_CTRL 0x69
+#define MPU9250_USER_CTRL 0x6A
+#define MPU9250_PWR_MGMT_1 0x6B
+#define MPU9250_PWR_MGMT_2 0x6C
+
+#define MPU9250_FIFO_COUNTH 0x72
+#define MPU9250_FIFO_COUNTL 0x73
+#define MPU9250_FIFO_R_W 0x74
+#define MPU9250_WHO_AM_I 0x75
+#define MPU9250_XA_OFFSET_H 0x77
+#define MPU9250_XA_OFFSET_L 0x78
+
+#define MPU9250_YA_OFFSET_H 0x7A
+#define MPU9250_YA_OFFSET_L 0x7B
+
+#define MPU9250_ZA_OFFSET_H 0x7D
+#define MPU9250_ZA_OFFSET_L 0x7E
+
+//reset values
+#define WHOAMI_RESET_VAL 0x71
+#define POWER_MANAGMENT_1_RESET_VAL 0x01
+#define DEFAULT_RESET_VALUE 0x00
+
+#define WHOAMI_DEFAULT_VAL 0x68
+
+//CONFIG register masks
+#define MPU9250_FIFO_MODE_MASK 0x40
+#define MPU9250_EXT_SYNC_SET_MASK 0x38
+#define MPU9250_DLPF_CFG_MASK 0x07
+
+//GYRO_CONFIG register masks
+#define MPU9250_XGYRO_CTEN_MASK 0x80
+#define MPU9250_YGYRO_CTEN_MASK 0x40
+#define MPU9250_ZGYRO_CTEN_MASK 0x20
+#define MPU9250_GYRO_FS_SEL_MASK 0x18
+#define MPU9250_FCHOICE_B_MASK 0x03
+
+//ACCEL_CONFIG register masks
+#define MPU9250_AX_ST_EN_MASK 0x80
+#define MPU9250_AY_ST_EN_MASK 0x40
+#define MPU9250_AZ_ST_EN_MASK 0x20
+#define MPU9250_ACCEL_FS_SEL_MASK 0x18
+
+//ACCEL_CONFIG_2 register masks
+#define MPU9250_ACCEL_FCHOICE_B_MASK 0xC0
+#define MPU9250_A_DLPF_CFG_MASK 0x03
+
+//LP_ACCEL_ODR register masks
+#define MPU9250_LPOSC_CLKSEL_MASK 0x0F
+
+//FIFO_EN register masks
+#define MPU9250_TEMP_FIFO_EN_MASK 0x80
+#define MPU9250_GYRO_XOUT_MASK 0x40
+#define MPU9250_GYRO_YOUT_MASK 0x20
+#define MPU9250_GYRO_ZOUT_MASK 0x10
+#define MPU9250_ACCEL_MASK 0x08
+#define MPU9250_SLV2_MASK 0x04
+#define MPU9250_SLV1_MASK 0x02
+#define MPU9250_SLV0_MASK 0x01
+
+//I2C_MST_CTRL register masks
+#define MPU9250_MULT_MST_EN_MASK 0x80
+#define MPU9250_WAIT_FOR_ES_MASK 0x40
+#define MPU9250_SLV_3_FIFO_EN_MASK 0x20
+#define MPU9250_I2C_MST_P_NSR_MASK 0x10
+#define MPU9250_I2C_MST_CLK_MASK 0x0F
+
+//I2C_SLV0_ADDR register masks
+#define MPU9250_I2C_SLV0_RNW_MASK 0x80
+#define MPU9250_I2C_ID_0_MASK 0x7F
+
+//I2C_SLV0_CTRL register masks
+#define MPU9250_I2C_SLV0_EN_MASK 0x80
+#define MPU9250_I2C_SLV0_BYTE_SW_MASK 0x40
+#define MPU9250_I2C_SLV0_REG_DIS_MASK 0x20
+#define MPU9250_I2C_SLV0_GRP_MASK 0x10
+#define MPU9250_I2C_SLV0_LENG_MASK 0x0F
+
+//I2C_SLV1_ADDR register masks
+#define MPU9250_I2C_SLV1_RNW_MASK 0x80
+#define MPU9250_I2C_ID_1_MASK 0x7F
+
+//I2C_SLV1_CTRL register masks
+#define MPU9250_I2C_SLV1_EN_MASK 0x80
+#define MPU9250_I2C_SLV1_BYTE_SW_MASK 0x40
+#define MPU9250_I2C_SLV1_REG_DIS_MASK 0x20
+#define MPU9250_I2C_SLV1_GRP_MASK 0x10
+#define MPU9250_I2C_SLV1_LENG_MASK 0x0F
+
+//I2C_SLV2_ADDR register masks
+#define MPU9250_I2C_SLV2_RNW_MASK 0x80
+#define MPU9250_I2C_ID_2_MASK 0x7F
+
+//I2C_SLV2_CTRL register masks
+#define MPU9250_I2C_SLV2_EN_MASK 0x80
+#define MPU9250_I2C_SLV2_BYTE_SW_MASK 0x40
+#define MPU9250_I2C_SLV2_REG_DIS_MASK 0x20
+#define MPU9250_I2C_SLV2_GRP_MASK 0x10
+#define MPU9250_I2C_SLV2_LENG_MASK 0x0F
+
+//I2C_SLV3_ADDR register masks
+#define MPU9250_I2C_SLV3_RNW_MASK 0x80
+#define MPU9250_I2C_ID_3_MASK 0x7F
+
+//I2C_SLV3_CTRL register masks
+#define MPU9250_I2C_SLV3_EN_MASK 0x80
+#define MPU9250_I2C_SLV3_BYTE_SW_MASK 0x40
+#define MPU9250_I2C_SLV3_REG_DIS_MASK 0x20
+#define MPU9250_I2C_SLV3_GRP_MASK 0x10
+#define MPU9250_I2C_SLV3_LENG_MASK 0x0F
+
+//I2C_SLV4_ADDR register masks
+#define MPU9250_I2C_SLV4_RNW_MASK 0x80
+#define MPU9250_I2C_ID_4_MASK 0x7F
+
+//I2C_SLV4_CTRL register masks
+#define MPU9250_I2C_SLV4_EN_MASK 0x80
+#define MPU9250_SLV4_DONE_INT_EN_MASK 0x40
+#define MPU9250_I2C_SLV4_REG_DIS_MASK 0x20
+#define MPU9250_I2C_MST_DLY_MASK 0x1F
+
+//I2C_MST_STATUS register masks
+#define MPU9250_PASS_THROUGH_MASK 0x80
+#define MPU9250_I2C_SLV4_DONE_MASK 0x40
+#define MPU9250_I2C_LOST_ARB_MASK 0x20
+#define MPU9250_I2C_SLV4_NACK_MASK 0x10
+#define MPU9250_I2C_SLV3_NACK_MASK 0x08
+#define MPU9250_I2C_SLV2_NACK_MASK 0x04
+#define MPU9250_I2C_SLV1_NACK_MASK 0x02
+#define MPU9250_I2C_SLV0_NACK_MASK 0x01
+
+//INT_STATUS register masks
+#define MPU9250_WOM_INT_MASK 0x40
+#define MPU9250_FIFO_OFLOW_INT_MASK 0x10
+#define MPU9250_FSYNC_INT_MASK 0x08
+#define MPU9250_RAW_DATA_RDY_INT_MASK 0x01
+
+//I2C_MST_DELAY_CTRL register masks
+#define MPU9250_DELAY_ES_SHADOW_MASK 0x80
+#define MPU9250_I2C_SLV4_DLY_EN_MASK 0x10
+#define MPU9250_I2C_SLV3_DLY_EN_MASK 0x08
+#define MPU9250_I2C_SLV2_DLY_EN_MASK 0x04
+#define MPU9250_I2C_SLV1_DLY_EN_MASK 0x02
+#define MPU9250_I2C_SLV0_DLY_EN_MASK 0x01
+
+//SIGNAL_PATH_RESET register masks
+#define MPU9250_GYRO_RST_MASK 0x04
+#define MPU9250_ACCEL_RST_MASK 0x02
+#define MPU9250_TEMP_RST_MASK 0x01
+
+//MOT_DETECT_CTRL register masks
+#define MPU9250_ACCEL_INTEL_EN_MASK 0x80
+#define MPU9250_ACCEL_INTEL_MODE_MASK 0x40
+
+//USER_CTRL register masks
+#define MPU9250_FIFO_EN_MASK 0x40
+#define MPU9250_I2C_MST_EN_MASK 0x20
+#define MPU9250_I2C_IF_DIS_MASK 0x10
+#define MPU9250_FIFO_RST_MASK 0x04
+#define MPU9250_I2C_MST_RST_MASK 0x02
+#define MPU9250_SIG_COND_RST_MASK 0x01
+
+//PWR_MGMT_1 register masks
+#define MPU9250_H_RESET_MASK 0x80
+#define MPU9250_SLEEP_MASK 0x40
+#define MPU9250_CYCLE_MASK 0x20
+#define MPU9250_GYRO_STANDBY_CYCLE_MASK 0x10
+#define MPU9250_PD_PTAT_MASK 0x08
+#define MPU9250_CLKSEL_MASK 0x07
+
+//PWR_MGMT_2 register masks
+#define MPU9250_DISABLE_XA_MASK 0x20
+#define MPU9250_DISABLE_YA_MASK 0x10
+#define MPU9250_DISABLE_ZA_MASK 0x08
+#define MPU9250_DISABLE_XG_MASK 0x04
+#define MPU9250_DISABLE_YG_MASK 0x02
+#define MPU9250_DISABLE_ZG_MASK 0x01
+
+#define MPU9250_DISABLE_XYZA_MASK 0x38
+#define MPU9250_DISABLE_XYZG_MASK 0x07
+
+//Magnetometer register maps
+#define MPU9250_MAG_ADDRESS 0x0C<<1//Shift by 1 needed for access via I2C
+
+#define MPU9250_MAG_WIA 0x00
+#define MPU9250_MAG_INFO 0x01
+#define MPU9250_MAG_ST1 0x02
+#define MPU9250_MAG_XOUT_L 0x03
+#define MPU9250_MAG_XOUT_H 0x04
+#define MPU9250_MAG_YOUT_L 0x05
+#define MPU9250_MAG_YOUT_H 0x06
+#define MPU9250_MAG_ZOUT_L 0x07
+#define MPU9250_MAG_ZOUT_H 0x08
+#define MPU9250_MAG_ST2 0x09
+#define MPU9250_MAG_CNTL1 0x0A
+#define MPU9250_MAG_CNTL2 0x0B //reserved mystery meat
+#define MPU9250_MAG_ASTC 0x0C
+#define MPU9250_MAG_TS1 0x0D
+#define MPU9250_MAG_TS2 0x0E
+#define MPU9250_MAG_I2CDIS 0x0F
+#define MPU9250_MAG_ASAX 0x10
+#define MPU9250_MAG_ASAY 0x11
+#define MPU9250_MAG_ASAZ 0x12
+
+//Magnetometer register masks
+#define MPU9250_WIA_MASK 0x48
+
+/**
+ * @class MPU9250
+ * @brief Provides Functionality to control the MPU9250 Sensor on the Sensbert
+ */
+class MPU9250 {
+public:
+ MPU9250(I2C_RT* i2c);
+ virtual ~MPU9250();
+
+ /**
+ * @brief Initializes the MPU9250 according to the desired MPU9250_MODE
+ * @param desiredMode the desired Mode depending on which the MPU9250 has to be
+ * configured
+ */
+ void init(MPU9250_MODE desiredMode);
+
+
+ /**
+ * @brief Gets the measured x-axis acceleration.
+ * Important: Acceleration measurement first needs to be enable by
+ * enableAccelerationMeasurement()
+ * @return
+ */
+ float getXAxisAcceleration();
+
+ /**
+ * @brief Gets the measured y-axis acceleration.
+ * Important: Acceleration measurement first needs to be enable by
+ * enableAccelerationMeasurement()
+ * @return
+ */
+ float getYAxisAcceleration();
+
+ /**
+ * @brief Gets the measured z-axis acceleration.
+ * Important: Acceleration measurement first needs to be enable by
+ * enableAccelerationMeasurement()
+ * @return
+ */
+ float getZAxisAcceleration();
+
+ /**
+ * @brief Gets the measured x-axis gyroscope value.
+ * Important: Acceleration measurement first needs to be enable by
+ * enableAccelerationMeasurement()
+ * @return
+ */
+ float getXAxisGyro();
+
+ /**
+ * @brief Gets the measured y-axis gyroscope value
+ * Important: Gyroscope measurement first needs to be enable by
+ * enableGyroscopeMeasurement()
+ * @return
+ */
+ float getYAxisGyro();
+
+ /**
+ * @brief Gets the measured z-axis gyroscope value.
+ * Important: Gyroscope measurement first needs to be enable by
+ * enableGyroscopeMeasurement()
+ * @return
+ */
+ float getZAxisGyro();
+
+ /**
+ * @brief Gets the measured x-axis tesla value.
+ * Important: Gyroscope measurement first needs to be enable by
+ * enableGyroscopeMeasurement()
+ * @return
+ */
+ float getXAxisTesla();
+
+ /**
+ * @brief Gets the measured y-axis tesla value.
+ * Important: Tesla measurement first needs to be enable by
+ * enableTeslaMeasurement()
+ * @return
+ */
+ float getYAxisTesla();
+
+ /**
+ * @brief Gets the measured z-axis tesla value.
+ * Important: Tesla measurement first needs to be enable by
+ * enableTeslaMeasurement()
+ * @return
+ */
+ float getZAxisTesla();
+private:
+ I2C_RT* i2c;
+ MPU9250Config* config;
+
+ /**
+ * @brief Set the i2c that is used to control the MPU9250
+ * @param i2c the i2c that is used to control the MPU9250
+ */
+ void setI2c(I2C_RT* i2c);
+
+ /**
+ * @brief enables the acceleration measurement for all axis
+ * according to the MPU9250Config.
+ */
+ void enableAxisAccelerationMeasurement();
+
+ /**
+ * @brief enables the gyroscope measurement for all axis
+ * according to the MPU9250Config.
+ */
+ void enableAxisGyroscopeMeasurement();
+
+ /**
+ * @brief enables the tesla measurement for all axis
+ * according to the MPU9250Config.
+ */
+ void enableAxisTeslaMeasurement();
+
+
+ /**
+ * @brief Configures and enables interrupts according to the MPU9250Config
+ */
+ void configureInterrupts();
+
+ /**
+ * @brief Sets the motion threshold in g when an interupt is triggered
+ * according to the MPU9250Config
+ */
+ void setWakeOnReceiveThreshold();
+};
+
+#endif /* APP_MPU9250_H_ */