주 형진 / ai_car

ai_car

MPU9250_SPI.h@12:f3816a0f498e, 2021-05-03 (annotated)

Committer:
wngudwls000
Date:
Mon May 03 07:20:25 2021 +0000
Revision:
12:f3816a0f498e
adas

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wngudwls000 12:f3816a0f498e 1 #ifndef MPU9250_SPI_
wngudwls000 12:f3816a0f498e 2 #define MPU9250_SPI_
wngudwls000 12:f3816a0f498e 3 #include "mbed.h"
wngudwls000 12:f3816a0f498e 4 #include <cmath>
wngudwls000 12:f3816a0f498e 5 #include "MPU9250RegisterMap.h"
wngudwls000 12:f3816a0f498e 6 #define DT 0.01f
wngudwls000 12:f3816a0f498e 7 #define fc 0.5f
wngudwls000 12:f3816a0f498e 8 #define Tc (1./(2.*M_PI*fc))
wngudwls000 12:f3816a0f498e 9 enum GyroRange { GYRO_RANGE_250DPS, GYRO_RANGE_500DPS, GYRO_RANGE_1000DPS, GYRO_RANGE_2000DPS };
wngudwls000 12:f3816a0f498e 10 enum AccelRange { ACCEL_RANGE_2G, ACCEL_RANGE_4G, ACCEL_RANGE_8G, ACCEL_RANGE_16G };
wngudwls000 12:f3816a0f498e 11 enum DlpfBandwidth { DLPF_BANDWIDTH_250HZ, DLPF_BANDWIDTH_184HZ, DLPF_BANDWIDTH_92HZ, DLPF_BANDWIDTH_41HZ,
wngudwls000 12:f3816a0f498e 12 DLPF_BANDWIDTH_20HZ, DLPF_BANDWIDTH_10HZ, DLPF_BANDWIDTH_5HZ };
wngudwls000 12:f3816a0f498e 13 enum MagnBits { MGN_14BITS, MGN_16BITS }; // CNTL1 offset 4 0:14bits, 1:16bits
wngudwls000 12:f3816a0f498e 14 enum MagnMode { MGN_POWER_DN=0, MGN_SNGL_MEAS=1, MGN_CONT_MEAS1=2,MGN_CONT_MEAS2=6,MGN_EX_TRIG=4,
wngudwls000 12:f3816a0f498e 15 MGN_SELF_TEST=8, MGN_FUSE_ROM=15}; // CNTL1 offset 0
wngudwls000 12:f3816a0f498e 16 enum SampleRate {SR_1000HZ=0, SR_200HZ=4, SR_100HZ=9 }; // 1kHz/(1+SRD)
wngudwls000 12:f3816a0f498e 17 struct Vect3 {float x,y,z;};
wngudwls000 12:f3816a0f498e 18 class MPU9250_SPI {
wngudwls000 12:f3816a0f498e 19 float aRes ; // 가속도 (LSB 당의 값)
wngudwls000 12:f3816a0f498e 20 float gRes ; // 자이로 (LSB 당의 값)
wngudwls000 12:f3816a0f498e 21 float mRes ; // 지자기 (LSB 당의 값)
wngudwls000 12:f3816a0f498e 22 AccelRange _accelRange;
wngudwls000 12:f3816a0f498e 23 GyroRange _gyroRange;
wngudwls000 12:f3816a0f498e 24 DlpfBandwidth _bandwidth;
wngudwls000 12:f3816a0f498e 25 MagnMode _mMode;
wngudwls000 12:f3816a0f498e 26 MagnBits _mBits;
wngudwls000 12:f3816a0f498e 27 SampleRate _srd;
wngudwls000 12:f3816a0f498e 28 Vect3 magCalibration ; // factory mag calibration
wngudwls000 12:f3816a0f498e 29 Vect3 magBias ; //지자기 바이어스
wngudwls000 12:f3816a0f498e 30 Vect3 magScale ; // 지자기 스케일
wngudwls000 12:f3816a0f498e 31 Vect3 gyroBias ; // 자이로 바이어스
wngudwls000 12:f3816a0f498e 32 Vect3 accelBias ; // 가속도 바이어스
wngudwls000 12:f3816a0f498e 33 int16_t tempCount; // 원시 온도값
wngudwls000 12:f3816a0f498e 34 float temperature; //실제 온도값 (도C)
wngudwls000 12:f3816a0f498e 35 float SelfTestResult[6]; // 자이로 가속도 실험결과
wngudwls000 12:f3816a0f498e 36 Vect3 a, g, m;
wngudwls000 12:f3816a0f498e 37 float roll, pitch, yaw;
wngudwls000 12:f3816a0f498e 38 float magnetic_declination; // Seoul 2019.1.2
wngudwls000 12:f3816a0f498e 39 SPI _spi;
wngudwls000 12:f3816a0f498e 40 DigitalOut _csPin;
wngudwls000 12:f3816a0f498e 41 InterruptIn _intPin;
wngudwls000 12:f3816a0f498e 42 Timer _tmr;
wngudwls000 12:f3816a0f498e 43 volatile static bool _dataReady;
wngudwls000 12:f3816a0f498e 44 public:
wngudwls000 12:f3816a0f498e 45 // MPU9250_SPI(SPIClass& bus,uint8_t csPin,uint8_t intPin);
wngudwls000 12:f3816a0f498e 46 MPU9250_SPI(PinName mosi,PinName miso,PinName sclk, PinName cs, PinName intpin );
wngudwls000 12:f3816a0f498e 47 void setup() ;
wngudwls000 12:f3816a0f498e 48 void update(Vect3& _a,Vect3& _g,Vect3& _m) ;
wngudwls000 12:f3816a0f498e 49 Vect3 getAccBias() const { return accelBias; }
wngudwls000 12:f3816a0f498e 50 Vect3 getGyroBias() const { return gyroBias; }
wngudwls000 12:f3816a0f498e 51 Vect3 getMagBias() const { return magBias; }
wngudwls000 12:f3816a0f498e 52 Vect3 getMagScale() const { return magScale; }
wngudwls000 12:f3816a0f498e 53 void setAccBias(Vect3 v) { accelBias = v; }
wngudwls000 12:f3816a0f498e 54 void setGyroBias(Vect3 v) { gyroBias = v; }
wngudwls000 12:f3816a0f498e 55 void setMagBias(Vect3 v) { magBias = v; }
wngudwls000 12:f3816a0f498e 56 void setMagScale(Vect3 v) { magScale = v; }
wngudwls000 12:f3816a0f498e 57 void setMagneticDeclination(const float d) { magnetic_declination = d; }
wngudwls000 12:f3816a0f498e 58 void setAccelRange(AccelRange range) ;
wngudwls000 12:f3816a0f498e 59 void setGyroRange(GyroRange range);
wngudwls000 12:f3816a0f498e 60 void setDlpfBandwidth(DlpfBandwidth bandwidth);
wngudwls000 12:f3816a0f498e 61 void setSampleRate(SampleRate srd);
wngudwls000 12:f3816a0f498e 62 float getRoll() const { return roll; }
wngudwls000 12:f3816a0f498e 63 float getPitch() const { return pitch; }
wngudwls000 12:f3816a0f498e 64 float getYaw() const { return yaw; }
wngudwls000 12:f3816a0f498e 65 Vect3 getAccelVect() {return a;}
wngudwls000 12:f3816a0f498e 66 Vect3 getGyroVect() {return g;}
wngudwls000 12:f3816a0f498e 67 Vect3 getMagVect() {return m;}
wngudwls000 12:f3816a0f498e 68 void enableDataReadyInterrupt();
wngudwls000 12:f3816a0f498e 69 bool isDataReady(){return _dataReady;}
wngudwls000 12:f3816a0f498e 70 private:
wngudwls000 12:f3816a0f498e 71 uint8_t isConnectedMPU9250() ;
wngudwls000 12:f3816a0f498e 72 uint8_t isConnectedAK8963() ;
wngudwls000 12:f3816a0f498e 73 void initMPU9250() ;
wngudwls000 12:f3816a0f498e 74 void initAK8963() ;
wngudwls000 12:f3816a0f498e 75 void intService(){ _dataReady=true; }
wngudwls000 12:f3816a0f498e 76 void updateSensors();
wngudwls000 12:f3816a0f498e 77 void updateAccelGyro() ;
wngudwls000 12:f3816a0f498e 78 void readMPU9250Data(int16_t * destination) ;
wngudwls000 12:f3816a0f498e 79 void updateMag() ;
wngudwls000 12:f3816a0f498e 80 void readMagData(int16_t * destination) ;
wngudwls000 12:f3816a0f498e 81 void writeByte(uint8_t subAddress, uint8_t data);
wngudwls000 12:f3816a0f498e 82 uint8_t readByte(uint8_t subAddress);
wngudwls000 12:f3816a0f498e 83 void readBytes(uint8_t subAddress, uint8_t count, uint8_t* dest);
wngudwls000 12:f3816a0f498e 84 void replaceBlock(uint8_t address, uint8_t block, uint8_t at, uint8_t sz);
wngudwls000 12:f3816a0f498e 85 void replaceBlockAK(uint8_t address, uint8_t block, uint8_t at, uint8_t sz);
wngudwls000 12:f3816a0f498e 86 void writeAK8963Byte(uint8_t subAddress, uint8_t data);
wngudwls000 12:f3816a0f498e 87 void readAK8963Bytes(uint8_t subAddress, uint8_t count, uint8_t* dest);
wngudwls000 12:f3816a0f498e 88 uint8_t readAK8963Byte(uint8_t subAddress);
wngudwls000 12:f3816a0f498e 89 };
wngudwls000 12:f3816a0f498e 90 #endif