SEAN O CONNELL
lora sensnode
Dependencies: libmDot mbed-rtos mbed
Fork of
mDot_LoRa_Sensornode
by 
Adrian Mitevski
app/MPU9250.h
- Committer:
- socie123
- Date:
- 2016-08-10
- Revision:
- 1:e67174cc4953
- Parent:
- 0:f2815503561f
File content as of revision 1:e67174cc4953:
/**
* @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_ */