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MPU9250.h
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MPU9250.h
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/*
Note: The MPU9250 is an I2C sensor and uses the Arduino Wire library.
Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or
a 3.3 V Teensy 3.1. We have disabled the internal pull-ups used by the Wire
library in the Wire.h/twi.c utility file. We are also using the 400 kHz fast
I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
*/
#ifndef _MPU9250_H_
#define _MPU9250_H_
#include <SPI.h>
#include <Wire.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
#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
// Duration counter threshold for motion interrupt generation, 1 kHz rate,
// LSB = 1 ms
#define MOT_DUR 0x20
// Zero-motion detection threshold bits [7:0]
#define ZMOT_THR 0x21
// Duration counter threshold for zero motion interrupt generation, 16 Hz rate,
// LSB = 64 ms
#define ZRMOT_DUR 0x22
#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
// Using the MPU-9250 breakout board, ADO is set to 0
// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
#define ADO 0
#if ADO
#define MPU9250_ADDRESS 0x69 // Device address when ADO = 1
#else
#define MPU9250_ADDRESS 0x68 // Device address when ADO = 0
#define AK8963_ADDRESS 0x0C // Address of magnetometer
#endif // AD0
class MPU9250
{
protected:
// Set initial input parameters
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
};
// Specify sensor full scale
uint8_t Gscale = GFS_250DPS;
uint8_t Ascale = AFS_2G;
// Choose either 14-bit or 16-bit magnetometer resolution
uint8_t Mscale = MFS_16BITS;
// 2 for 8 Hz, 6 for 100 Hz continuous magnetometer data read
uint8_t Mmode = 0x02;
public:
float pitch, yaw, roll;
float temperature; // Stores the real internal chip temperature in Celsius
int16_t tempCount; // Temperature raw count output
uint32_t delt_t = 0; // Used to control display output rate
uint32_t count = 0, sumCount = 0; // used to control display output rate
float deltat = 0.0f, sum = 0.0f; // integration interval for both filter schemes
uint32_t lastUpdate = 0, firstUpdate = 0; // used to calculate integration interval
uint32_t Now = 0; // used to calculate integration interval
int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output
// Scale resolutions per LSB for the sensors
float aRes, gRes, mRes;
// Variables to hold latest sensor data values
float ax, ay, az, gx, gy, gz, mx, my, mz;
// Factory mag calibration and mag bias
float magCalibration[3] = {0, 0, 0}, magbias[3] = {0, 0, 0};
// Bias corrections for gyro and accelerometer
float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0};
float SelfTest[6];
// Stores the 16-bit signed accelerometer sensor output
int16_t accelCount[3];
public:
void getMres();
void getGres();
void getAres();
void readAccelData(int16_t *);
void readGyroData(int16_t *);
void readMagData(int16_t *);
int16_t readTempData();
void updateTime();
void initAK8963(float *);
void initMPU9250();
void calibrateMPU9250(float * gyroBias, float * accelBias);
void MPU9250SelfTest(float * destination);
void writeByte(uint8_t, uint8_t, uint8_t);
uint8_t readByte(uint8_t, uint8_t);
void readBytes(uint8_t, uint8_t, uint8_t, uint8_t *);
}; // class MPU9250
#endif // _MPU9250_H_