Nora Vazbyte / Mbed OS 99Problems-BLEAint1

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source/MPU9250.h@1:df8884d38960, 2018-10-28 (annotated)

Committer:
vazbyte
Date:
Sun Oct 28 12:51:59 2018 +0000
Revision:
1:df8884d38960
still working dayum

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vazbyte 1:df8884d38960 1 #include "mbed.h"
vazbyte 1:df8884d38960 2 #include "math.h"
vazbyte 1:df8884d38960 3
vazbyte 1:df8884d38960 4 // 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
vazbyte 1:df8884d38960 5 // above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
vazbyte 1:df8884d38960 6 //
vazbyte 1:df8884d38960 7 //Magnetometer Registers
vazbyte 1:df8884d38960 8 #define AK8963_ADDRESS 0x0C<<1
vazbyte 1:df8884d38960 9 #define WHO_AM_I_AK8963 0x00 // should return 0x48
vazbyte 1:df8884d38960 10 #define INFO 0x01
vazbyte 1:df8884d38960 11 #define AK8963_ST1 0x02 // data ready status bit 0
vazbyte 1:df8884d38960 12 #define AK8963_XOUT_L 0x03 // data
vazbyte 1:df8884d38960 13 #define AK8963_XOUT_H 0x04
vazbyte 1:df8884d38960 14 #define AK8963_YOUT_L 0x05
vazbyte 1:df8884d38960 15 #define AK8963_YOUT_H 0x06
vazbyte 1:df8884d38960 16 #define AK8963_ZOUT_L 0x07
vazbyte 1:df8884d38960 17 #define AK8963_ZOUT_H 0x08
vazbyte 1:df8884d38960 18 #define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
vazbyte 1:df8884d38960 19 #define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
vazbyte 1:df8884d38960 20 #define AK8963_ASTC 0x0C // Self test control
vazbyte 1:df8884d38960 21 #define AK8963_I2CDIS 0x0F // I2C disable
vazbyte 1:df8884d38960 22 #define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
vazbyte 1:df8884d38960 23 #define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
vazbyte 1:df8884d38960 24 #define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
vazbyte 1:df8884d38960 25
vazbyte 1:df8884d38960 26 #define SELF_TEST_X_GYRO 0x00
vazbyte 1:df8884d38960 27 #define SELF_TEST_Y_GYRO 0x01
vazbyte 1:df8884d38960 28 #define SELF_TEST_Z_GYRO 0x02
vazbyte 1:df8884d38960 29
vazbyte 1:df8884d38960 30 /*#define X_FINE_GAIN 0x03 // [7:0] fine gain
vazbyte 1:df8884d38960 31 #define Y_FINE_GAIN 0x04
vazbyte 1:df8884d38960 32 #define Z_FINE_GAIN 0x05
vazbyte 1:df8884d38960 33 #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
vazbyte 1:df8884d38960 34 #define XA_OFFSET_L_TC 0x07
vazbyte 1:df8884d38960 35 #define YA_OFFSET_H 0x08
vazbyte 1:df8884d38960 36 #define YA_OFFSET_L_TC 0x09
vazbyte 1:df8884d38960 37 #define ZA_OFFSET_H 0x0A
vazbyte 1:df8884d38960 38 #define ZA_OFFSET_L_TC 0x0B */
vazbyte 1:df8884d38960 39
vazbyte 1:df8884d38960 40 #define SELF_TEST_X_ACCEL 0x0D
vazbyte 1:df8884d38960 41 #define SELF_TEST_Y_ACCEL 0x0E
vazbyte 1:df8884d38960 42 #define SELF_TEST_Z_ACCEL 0x0F
vazbyte 1:df8884d38960 43
vazbyte 1:df8884d38960 44 #define SELF_TEST_A 0x10
vazbyte 1:df8884d38960 45
vazbyte 1:df8884d38960 46 #define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
vazbyte 1:df8884d38960 47 #define XG_OFFSET_L 0x14
vazbyte 1:df8884d38960 48 #define YG_OFFSET_H 0x15
vazbyte 1:df8884d38960 49 #define YG_OFFSET_L 0x16
vazbyte 1:df8884d38960 50 #define ZG_OFFSET_H 0x17
vazbyte 1:df8884d38960 51 #define ZG_OFFSET_L 0x18
vazbyte 1:df8884d38960 52 #define SMPLRT_DIV 0x19
vazbyte 1:df8884d38960 53 #define CONFIG 0x1A
vazbyte 1:df8884d38960 54 #define GYRO_CONFIG 0x1B
vazbyte 1:df8884d38960 55 #define ACCEL_CONFIG 0x1C
vazbyte 1:df8884d38960 56 #define ACCEL_CONFIG2 0x1D
vazbyte 1:df8884d38960 57 #define LP_ACCEL_ODR 0x1E
vazbyte 1:df8884d38960 58 #define WOM_THR 0x1F
vazbyte 1:df8884d38960 59
vazbyte 1:df8884d38960 60 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
vazbyte 1:df8884d38960 61 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
vazbyte 1:df8884d38960 62 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
vazbyte 1:df8884d38960 63
vazbyte 1:df8884d38960 64 #define FIFO_EN 0x23
vazbyte 1:df8884d38960 65 #define I2C_MST_CTRL 0x24
vazbyte 1:df8884d38960 66 #define I2C_SLV0_ADDR 0x25
vazbyte 1:df8884d38960 67 #define I2C_SLV0_REG 0x26
vazbyte 1:df8884d38960 68 #define I2C_SLV0_CTRL 0x27
vazbyte 1:df8884d38960 69 #define I2C_SLV1_ADDR 0x28
vazbyte 1:df8884d38960 70 #define I2C_SLV1_REG 0x29
vazbyte 1:df8884d38960 71 #define I2C_SLV1_CTRL 0x2A
vazbyte 1:df8884d38960 72 #define I2C_SLV2_ADDR 0x2B
vazbyte 1:df8884d38960 73 #define I2C_SLV2_REG 0x2C
vazbyte 1:df8884d38960 74 #define I2C_SLV2_CTRL 0x2D
vazbyte 1:df8884d38960 75 #define I2C_SLV3_ADDR 0x2E
vazbyte 1:df8884d38960 76 #define I2C_SLV3_REG 0x2F
vazbyte 1:df8884d38960 77 #define I2C_SLV3_CTRL 0x30
vazbyte 1:df8884d38960 78 #define I2C_SLV4_ADDR 0x31
vazbyte 1:df8884d38960 79 #define I2C_SLV4_REG 0x32
vazbyte 1:df8884d38960 80 #define I2C_SLV4_DO 0x33
vazbyte 1:df8884d38960 81 #define I2C_SLV4_CTRL 0x34
vazbyte 1:df8884d38960 82 #define I2C_SLV4_DI 0x35
vazbyte 1:df8884d38960 83 #define I2C_MST_STATUS 0x36
vazbyte 1:df8884d38960 84 #define INT_PIN_CFG 0x37
vazbyte 1:df8884d38960 85 #define INT_ENABLE 0x38
vazbyte 1:df8884d38960 86 #define DMP_INT_STATUS 0x39 // Check DMP interrupt
vazbyte 1:df8884d38960 87 #define INT_STATUS 0x3A
vazbyte 1:df8884d38960 88 #define ACCEL_XOUT_H 0x3B
vazbyte 1:df8884d38960 89 #define ACCEL_XOUT_L 0x3C
vazbyte 1:df8884d38960 90 #define ACCEL_YOUT_H 0x3D
vazbyte 1:df8884d38960 91 #define ACCEL_YOUT_L 0x3E
vazbyte 1:df8884d38960 92 #define ACCEL_ZOUT_H 0x3F
vazbyte 1:df8884d38960 93 #define ACCEL_ZOUT_L 0x40
vazbyte 1:df8884d38960 94 #define TEMP_OUT_H 0x41
vazbyte 1:df8884d38960 95 #define TEMP_OUT_L 0x42
vazbyte 1:df8884d38960 96 #define GYRO_XOUT_H 0x43
vazbyte 1:df8884d38960 97 #define GYRO_XOUT_L 0x44
vazbyte 1:df8884d38960 98 #define GYRO_YOUT_H 0x45
vazbyte 1:df8884d38960 99 #define GYRO_YOUT_L 0x46
vazbyte 1:df8884d38960 100 #define GYRO_ZOUT_H 0x47
vazbyte 1:df8884d38960 101 #define GYRO_ZOUT_L 0x48
vazbyte 1:df8884d38960 102 #define EXT_SENS_DATA_00 0x49
vazbyte 1:df8884d38960 103 #define EXT_SENS_DATA_01 0x4A
vazbyte 1:df8884d38960 104 #define EXT_SENS_DATA_02 0x4B
vazbyte 1:df8884d38960 105 #define EXT_SENS_DATA_03 0x4C
vazbyte 1:df8884d38960 106 #define EXT_SENS_DATA_04 0x4D
vazbyte 1:df8884d38960 107 #define EXT_SENS_DATA_05 0x4E
vazbyte 1:df8884d38960 108 #define EXT_SENS_DATA_06 0x4F
vazbyte 1:df8884d38960 109 #define EXT_SENS_DATA_07 0x50
vazbyte 1:df8884d38960 110 #define EXT_SENS_DATA_08 0x51
vazbyte 1:df8884d38960 111 #define EXT_SENS_DATA_09 0x52
vazbyte 1:df8884d38960 112 #define EXT_SENS_DATA_10 0x53
vazbyte 1:df8884d38960 113 #define EXT_SENS_DATA_11 0x54
vazbyte 1:df8884d38960 114 #define EXT_SENS_DATA_12 0x55
vazbyte 1:df8884d38960 115 #define EXT_SENS_DATA_13 0x56
vazbyte 1:df8884d38960 116 #define EXT_SENS_DATA_14 0x57
vazbyte 1:df8884d38960 117 #define EXT_SENS_DATA_15 0x58
vazbyte 1:df8884d38960 118 #define EXT_SENS_DATA_16 0x59
vazbyte 1:df8884d38960 119 #define EXT_SENS_DATA_17 0x5A
vazbyte 1:df8884d38960 120 #define EXT_SENS_DATA_18 0x5B
vazbyte 1:df8884d38960 121 #define EXT_SENS_DATA_19 0x5C
vazbyte 1:df8884d38960 122 #define EXT_SENS_DATA_20 0x5D
vazbyte 1:df8884d38960 123 #define EXT_SENS_DATA_21 0x5E
vazbyte 1:df8884d38960 124 #define EXT_SENS_DATA_22 0x5F
vazbyte 1:df8884d38960 125 #define EXT_SENS_DATA_23 0x60
vazbyte 1:df8884d38960 126 #define MOT_DETECT_STATUS 0x61
vazbyte 1:df8884d38960 127 #define I2C_SLV0_DO 0x63
vazbyte 1:df8884d38960 128 #define I2C_SLV1_DO 0x64
vazbyte 1:df8884d38960 129 #define I2C_SLV2_DO 0x65
vazbyte 1:df8884d38960 130 #define I2C_SLV3_DO 0x66
vazbyte 1:df8884d38960 131 #define I2C_MST_DELAY_CTRL 0x67
vazbyte 1:df8884d38960 132 #define SIGNAL_PATH_RESET 0x68
vazbyte 1:df8884d38960 133 #define MOT_DETECT_CTRL 0x69
vazbyte 1:df8884d38960 134 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
vazbyte 1:df8884d38960 135 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
vazbyte 1:df8884d38960 136 #define PWR_MGMT_2 0x6C
vazbyte 1:df8884d38960 137 #define DMP_BANK 0x6D // Activates a specific bank in the DMP
vazbyte 1:df8884d38960 138 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
vazbyte 1:df8884d38960 139 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
vazbyte 1:df8884d38960 140 #define DMP_REG_1 0x70
vazbyte 1:df8884d38960 141 #define DMP_REG_2 0x71
vazbyte 1:df8884d38960 142 #define FIFO_COUNTH 0x72
vazbyte 1:df8884d38960 143 #define FIFO_COUNTL 0x73
vazbyte 1:df8884d38960 144 #define FIFO_R_W 0x74
vazbyte 1:df8884d38960 145 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71
vazbyte 1:df8884d38960 146 #define XA_OFFSET_H 0x77
vazbyte 1:df8884d38960 147 #define XA_OFFSET_L 0x78
vazbyte 1:df8884d38960 148 #define YA_OFFSET_H 0x7A
vazbyte 1:df8884d38960 149 #define YA_OFFSET_L 0x7B
vazbyte 1:df8884d38960 150 #define ZA_OFFSET_H 0x7D
vazbyte 1:df8884d38960 151 #define ZA_OFFSET_L 0x7E
vazbyte 1:df8884d38960 152
vazbyte 1:df8884d38960 153 #define PI 3.14159265358979323846f
vazbyte 1:df8884d38960 154 // Using the MSENSR-9250 breakout board, ADO is set to 0
vazbyte 1:df8884d38960 155 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
vazbyte 1:df8884d38960 156 //mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
vazbyte 1:df8884d38960 157 #define ADO 0
vazbyte 1:df8884d38960 158 #if ADO
vazbyte 1:df8884d38960 159 #define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1
vazbyte 1:df8884d38960 160 #else
vazbyte 1:df8884d38960 161 #define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0
vazbyte 1:df8884d38960 162 #endif
vazbyte 1:df8884d38960 163
vazbyte 1:df8884d38960 164 // Set initial input parameters
vazbyte 1:df8884d38960 165 enum Ascale {
vazbyte 1:df8884d38960 166 AFS_2G = 0,
vazbyte 1:df8884d38960 167 AFS_4G,
vazbyte 1:df8884d38960 168 AFS_8G,
vazbyte 1:df8884d38960 169 AFS_16G
vazbyte 1:df8884d38960 170 };
vazbyte 1:df8884d38960 171
vazbyte 1:df8884d38960 172 enum Gscale {
vazbyte 1:df8884d38960 173 GFS_250DPS = 0,
vazbyte 1:df8884d38960 174 GFS_500DPS,
vazbyte 1:df8884d38960 175 GFS_1000DPS,
vazbyte 1:df8884d38960 176 GFS_2000DPS
vazbyte 1:df8884d38960 177 };
vazbyte 1:df8884d38960 178
vazbyte 1:df8884d38960 179 enum Mscale {
vazbyte 1:df8884d38960 180 MFS_14BITS = 0, // 0.6 mG per LSB
vazbyte 1:df8884d38960 181 MFS_16BITS // 0.15 mG per LSB
vazbyte 1:df8884d38960 182 };
vazbyte 1:df8884d38960 183
vazbyte 1:df8884d38960 184 class MPU9250 {
vazbyte 1:df8884d38960 185
vazbyte 1:df8884d38960 186 protected:
vazbyte 1:df8884d38960 187
vazbyte 1:df8884d38960 188 public:
vazbyte 1:df8884d38960 189
vazbyte 1:df8884d38960 190 MPU9250(PinName sda, PinName scl);
vazbyte 1:df8884d38960 191 MPU9250(I2C *i2c);
vazbyte 1:df8884d38960 192 ~MPU9250();
vazbyte 1:df8884d38960 193
vazbyte 1:df8884d38960 194 void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
vazbyte 1:df8884d38960 195 char readByte(uint8_t address, uint8_t subAddress);
vazbyte 1:df8884d38960 196 void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest);
vazbyte 1:df8884d38960 197 void getMres();
vazbyte 1:df8884d38960 198 void getGres();
vazbyte 1:df8884d38960 199 void getAres();
vazbyte 1:df8884d38960 200 void readAccelData(int16_t * destination);
vazbyte 1:df8884d38960 201 void readGyroData(int16_t * destination);
vazbyte 1:df8884d38960 202 void readMagData(int16_t * destination);
vazbyte 1:df8884d38960 203 int16_t readTempData();
vazbyte 1:df8884d38960 204 void resetMPU9250();
vazbyte 1:df8884d38960 205 void initAK8963(float * destination);
vazbyte 1:df8884d38960 206 void initMPU9250();
vazbyte 1:df8884d38960 207 void calibrateMPU9250(float * dest1, float * dest2);
vazbyte 1:df8884d38960 208 void MPU9250SelfTest(float * destination);
vazbyte 1:df8884d38960 209 void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
vazbyte 1:df8884d38960 210 void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
vazbyte 1:df8884d38960 211
vazbyte 1:df8884d38960 212 float SelfTest[6];
vazbyte 1:df8884d38960 213 float gyroBias[3],accelBias[3]; // Bias corrections for gyro and accelerometer
vazbyte 1:df8884d38960 214 float magCalibration[3], magbias[3]; // Factory mag calibration and mag bias
vazbyte 1:df8884d38960 215
vazbyte 1:df8884d38960 216 uint8_t Ascale; // AFS_2G, AFS_4G, AFS_8G, AFS_16G
vazbyte 1:df8884d38960 217 uint8_t Gscale; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
vazbyte 1:df8884d38960 218 uint8_t Mscale; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
vazbyte 1:df8884d38960 219 uint8_t Mmode; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR
vazbyte 1:df8884d38960 220 float aRes, gRes, mRes; // scale resolutions per LSB for the sensors
vazbyte 1:df8884d38960 221
vazbyte 1:df8884d38960 222 int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output
vazbyte 1:df8884d38960 223 int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
vazbyte 1:df8884d38960 224 int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output
vazbyte 1:df8884d38960 225 float q[4]; // vector to hold quaternion
vazbyte 1:df8884d38960 226
vazbyte 1:df8884d38960 227 float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values
vazbyte 1:df8884d38960 228 float pitch, yaw, roll;
vazbyte 1:df8884d38960 229 float deltat; // integration interval for both filter schemes
vazbyte 1:df8884d38960 230 int lastUpdate, firstUpdate, Now; // used to calculate integration interval
vazbyte 1:df8884d38960 231 int delt_t; // used to control display output rate
vazbyte 1:df8884d38960 232 int count; // used to control display output rate
vazbyte 1:df8884d38960 233 int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius
vazbyte 1:df8884d38960 234 float temperature;
vazbyte 1:df8884d38960 235 private:
vazbyte 1:df8884d38960 236 I2C *i2c_;
vazbyte 1:df8884d38960 237 };