Diff: MPU9250.h

Revision:

0:b502ea2d6ebb

Child:

1:e16407b5e24f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250.h	Wed Jan 20 14:50:12 2016 +0000
@@ -0,0 +1,109 @@
+#ifndef MPU9250_H
+#define MPU9250_H
+
+#include "mbed.h"
+#include "math.h"
+#include "register.h"
+
+
+static DigitalOut myled(LED1);
+
+
+class MPU9250
+{
+
+protected:
+
+public:
+    enum Ascale {
+        AFS_2G = 0,
+        AFS_4G,
+        AFS_8G,
+        AFS_16G
+    };
+
+    enum Gscale {
+        GFS_250DPS = 0,
+        GFS_500DPS,
+        GFS_1000DPS,
+        GFS_2000DPS
+    };
+
+    enum Mscale {
+        MFS_14BITS = 0, // 0.6 mG per LSB
+        MFS_16BITS      // 0.15 mG per LSB
+    };
+
+    MPU9250(PinName sda, PinName scl, PinName tx, PinName rx, int address);
+    
+    ~MPU9250() {}
+
+    Serial pc;
+    I2C i2c;
+    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 initMPU9250();
+    void calibrateMPU9250();
+
+    void setMres();
+    void setGres();
+    void setAres();
+    
+    void getMres();
+    void getGres();
+    void getAres();
+
+    void AccelXYZCal();
+    void GyroXYZCal();
+    void MagXYZCal();
+
+    void MagCal();
+
+    void readAccelData();
+    void readGyroData();
+    void readMagData();
+    void readTempData();
+
+    void resetMPU9250();
+    void initAK8963();
+    void MPU9250SelfTest();
+    
+    void Start();
+    void ReadRawAccGyroMag();
+    
+    float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values
+    
+
+protected:
+    float temperature;
+    uint8_t whoami;
+
+private:
+    uint8_t MPU9250_ADDRESS;
+
+    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 magCalibration[3], magbias[3];  // Factory mag calibration and mag bias
+    float gyroBias[3], accelBias[3]; // Bias corrections for gyro and accelerometer
+    //int16_t tempCount;   // Stores the real internal chip temperature in degrees Celsius
+    float SelfTest[6];
+
+
+
+    //MagCal
+    float xmax,xmin;
+    float ymax,ymin;
+    float zmax,zmin;
+    bool change;
+
+    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
+
+};
+#endif
\ No newline at end of file