File content as of revision 1:ca2a40219dc1:

#include "mbed.h"
#include "math.h"
 
// See also MPU-9250 Register Map and Descriptions, Revision 4.0, RM-MPU-9250A-00, Rev. 1.4, 9/9/2013 for registers not listed in 
// above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
//
//Magnetometer Registers
#define AK8963_ADDRESS   0x0C<<1
#define WHO_AM_I_AK8963  0x00 // should return 0x48
#define INFO             0x01
#define AK8963_ST1       0x02  // data ready status bit 0
#define AK8963_XOUT_L    0x03  // data
#define AK8963_XOUT_H    0x04
#define AK8963_YOUT_L    0x05
#define AK8963_YOUT_H    0x06
#define AK8963_ZOUT_L    0x07
#define AK8963_ZOUT_H    0x08
#define AK8963_ST2       0x09  // Data overflow bit 3 and data read error status bit 2
#define AK8963_CNTL      0x0A  // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
#define AK8963_ASTC      0x0C  // Self test control
#define AK8963_I2CDIS    0x0F  // I2C disable
#define AK8963_ASAX      0x10  // Fuse ROM x-axis sensitivity adjustment value
#define AK8963_ASAY      0x11  // Fuse ROM y-axis sensitivity adjustment value
#define AK8963_ASAZ      0x12  // Fuse ROM z-axis sensitivity adjustment value

#define SELF_TEST_X_GYRO 0x00                  
#define SELF_TEST_Y_GYRO 0x01                                                                          
#define SELF_TEST_Z_GYRO 0x02

/*#define X_FINE_GAIN      0x03 // [7:0] fine gain
#define Y_FINE_GAIN      0x04
#define Z_FINE_GAIN      0x05
#define XA_OFFSET_H      0x06 // User-defined trim values for accelerometer
#define XA_OFFSET_L_TC   0x07
#define YA_OFFSET_H      0x08
#define YA_OFFSET_L_TC   0x09
#define ZA_OFFSET_H      0x0A
#define ZA_OFFSET_L_TC   0x0B */

#define SELF_TEST_X_ACCEL 0x0D
#define SELF_TEST_Y_ACCEL 0x0E    
#define SELF_TEST_Z_ACCEL 0x0F

#define SELF_TEST_A      0x10

#define XG_OFFSET_H      0x13  // User-defined trim values for gyroscope
#define XG_OFFSET_L      0x14
#define YG_OFFSET_H      0x15
#define YG_OFFSET_L      0x16
#define ZG_OFFSET_H      0x17
#define ZG_OFFSET_L      0x18
#define SMPLRT_DIV       0x19
#define CONFIG           0x1A
#define GYRO_CONFIG      0x1B
#define ACCEL_CONFIG     0x1C
#define ACCEL_CONFIG2    0x1D
#define LP_ACCEL_ODR     0x1E   
#define WOM_THR          0x1F   

#define MOT_DUR          0x20  // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
#define ZMOT_THR         0x21  // Zero-motion detection threshold bits [7:0]
#define ZRMOT_DUR        0x22  // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms

#define FIFO_EN          0x23
#define I2C_MST_CTRL     0x24   
#define I2C_SLV0_ADDR    0x25
#define I2C_SLV0_REG     0x26
#define I2C_SLV0_CTRL    0x27
#define I2C_SLV1_ADDR    0x28
#define I2C_SLV1_REG     0x29
#define I2C_SLV1_CTRL    0x2A
#define I2C_SLV2_ADDR    0x2B
#define I2C_SLV2_REG     0x2C
#define I2C_SLV2_CTRL    0x2D
#define I2C_SLV3_ADDR    0x2E
#define I2C_SLV3_REG     0x2F
#define I2C_SLV3_CTRL    0x30
#define I2C_SLV4_ADDR    0x31
#define I2C_SLV4_REG     0x32
#define I2C_SLV4_DO      0x33
#define I2C_SLV4_CTRL    0x34
#define I2C_SLV4_DI      0x35
#define I2C_MST_STATUS   0x36
#define INT_PIN_CFG      0x37
#define INT_ENABLE       0x38
#define DMP_INT_STATUS   0x39  // Check DMP interrupt
#define INT_STATUS       0x3A
#define ACCEL_XOUT_H     0x3B
#define ACCEL_XOUT_L     0x3C
#define ACCEL_YOUT_H     0x3D
#define ACCEL_YOUT_L     0x3E
#define ACCEL_ZOUT_H     0x3F
#define ACCEL_ZOUT_L     0x40
#define TEMP_OUT_H       0x41
#define TEMP_OUT_L       0x42
#define GYRO_XOUT_H      0x43
#define GYRO_XOUT_L      0x44
#define GYRO_YOUT_H      0x45
#define GYRO_YOUT_L      0x46
#define GYRO_ZOUT_H      0x47
#define GYRO_ZOUT_L      0x48
#define EXT_SENS_DATA_00 0x49
#define EXT_SENS_DATA_01 0x4A
#define EXT_SENS_DATA_02 0x4B
#define EXT_SENS_DATA_03 0x4C
#define EXT_SENS_DATA_04 0x4D
#define EXT_SENS_DATA_05 0x4E
#define EXT_SENS_DATA_06 0x4F
#define EXT_SENS_DATA_07 0x50
#define EXT_SENS_DATA_08 0x51
#define EXT_SENS_DATA_09 0x52
#define EXT_SENS_DATA_10 0x53
#define EXT_SENS_DATA_11 0x54
#define EXT_SENS_DATA_12 0x55
#define EXT_SENS_DATA_13 0x56
#define EXT_SENS_DATA_14 0x57
#define EXT_SENS_DATA_15 0x58
#define EXT_SENS_DATA_16 0x59
#define EXT_SENS_DATA_17 0x5A
#define EXT_SENS_DATA_18 0x5B
#define EXT_SENS_DATA_19 0x5C
#define EXT_SENS_DATA_20 0x5D
#define EXT_SENS_DATA_21 0x5E
#define EXT_SENS_DATA_22 0x5F
#define EXT_SENS_DATA_23 0x60
#define MOT_DETECT_STATUS 0x61
#define I2C_SLV0_DO      0x63
#define I2C_SLV1_DO      0x64
#define I2C_SLV2_DO      0x65
#define I2C_SLV3_DO      0x66
#define I2C_MST_DELAY_CTRL 0x67
#define SIGNAL_PATH_RESET  0x68
#define MOT_DETECT_CTRL  0x69
#define USER_CTRL        0x6A  // Bit 7 enable DMP, bit 3 reset DMP
#define PWR_MGMT_1       0x6B // Device defaults to the SLEEP mode
#define PWR_MGMT_2       0x6C
#define DMP_BANK         0x6D  // Activates a specific bank in the DMP
#define DMP_RW_PNT       0x6E  // Set read/write pointer to a specific start address in specified DMP bank
#define DMP_REG          0x6F  // Register in DMP from which to read or to which to write
#define DMP_REG_1        0x70
#define DMP_REG_2        0x71 
#define FIFO_COUNTH      0x72
#define FIFO_COUNTL      0x73
#define FIFO_R_W         0x74
#define WHO_AM_I_MPU9250 0x75 // Should return 0x71
#define XA_OFFSET_H      0x77
#define XA_OFFSET_L      0x78
#define YA_OFFSET_H      0x7A
#define YA_OFFSET_L      0x7B
#define ZA_OFFSET_H      0x7D
#define ZA_OFFSET_L      0x7E

#define PI 3.14159265358979323846f
// Using the MSENSR-9250 breakout board, ADO is set to 0 
// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
//mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
#define ADO 0
#if ADO
#define MPU9250_ADDRESS 0x69<<1  // Device address when ADO = 1
#else
#define MPU9250_ADDRESS 0x68<<1  // Device address when ADO = 0
#endif  

// Set initial input parameters
enum Ascale {
  AFS_2G,
  AFS_4G,
  AFS_8G,
  AFS_16G=11
};

enum Gscale {
  GFS_250DPS,
  GFS_500DPS,
  GFS_1000DPS,
  GFS_2000DPS=11
};

enum Mscale {
  MFS_14BITS = 0, // 0.6 mG per LSB
  MFS_16BITS      // 0.15 mG per LSB
};

class MPU9250 {
 
    protected:
 
    public:
       
         MPU9250(PinName sda, PinName scl);
         MPU9250(I2C *i2c);
         ~MPU9250();
         
         void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
         char readByte(uint8_t address, uint8_t subAddress);
         void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest);
         void getMres();
         void getGres();
         void getAres();
         void readAccelData(int16_t * destination);
         void readGyroData(int16_t * destination);
         void readMagData(int16_t * destination);
         int16_t readTempData();
         void resetMPU9250();
         void initAK8963(float * destination);
         void initMPU9250();
         void calibrateMPU9250(float * dest1, float * dest2);
         void MPU9250SelfTest(float * destination);
         void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
         void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);

         float SelfTest[6];
         float gyroBias[3],accelBias[3]; // Bias corrections for gyro and accelerometer
         float magCalibration[3], magbias[3];  // Factory mag calibration and mag bias
         
         uint8_t Ascale;               // AFS_2G, AFS_4G, AFS_8G, AFS_16G
         uint8_t Gscale;               // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
         uint8_t Mscale;               // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
         uint8_t Mmode;                // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR  
         float aRes, gRes, mRes;       // scale resolutions per LSB for the sensors
         
         int16_t accelCount[3];  // Stores the 16-bit signed accelerometer sensor output
         int16_t gyroCount[3];   // Stores the 16-bit signed gyro sensor output
         int16_t magCount[3];    // Stores the 16-bit signed magnetometer sensor output
         float q[4];           // vector to hold quaternion
         
         float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values 
         float pitch, yaw, roll;
         float deltat;                             // integration interval for both filter schemes
         int lastUpdate, firstUpdate, Now;    // used to calculate integration interval                               
         int delt_t; // used to control display output rate
         int count;  // used to control display output rate
         int16_t tempCount;   // Stores the real internal chip temperature in degrees Celsius
         float temperature;
    private:
         I2C *i2c_; 
  };