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mpu9250.js
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mpu9250.js
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/**
*
* NodeJs Module : MPU9250
* @author BENKHADRA Hocine
* @description Simple reading data for node js and mpu9250
* @version 0.2.4
* @dependent @abandonware/i2c, extend, sleep
* @license MIT
*
*/
///////////////////////////////////////////////////////////////////////////////////////
//***********************************************************************************//
//** **//
//** **//
//** The MIT License (MIT) **//
//** **//
//** Copyright (c) <2015> <BENKHADRA Hocine> **//
//** **//
//** Permission is hereby granted, free of charge, to any person obtaining a copy **//
//** of this software and associated documentation files (the "Software"), to deal **//
//** in the Software without restriction, including without limitation the rights **//
//** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell **//
//** copies of the Software, and to permit persons to whom the Software is **//
//** furnished to do so, subject to the following conditions: **//
//** **//
//** The above copyright notice and this permission notice shall be included in **//
//** all copies or substantial portions of the Software. **//
//** **//
//** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR **//
//** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, **//
//** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE **//
//** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER **//
//** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, **//
//** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN **//
//** THE SOFTWARE. **//
//** **//
//***********************************************************************************//
///////////////////////////////////////////////////////////////////////////////////////
/*********************/
/** Module required **/
/*********************/
var MOD_I2C = require('@abandonware/i2c');
var extend = require('extend');
var sleep = require('sleep');
/*****************/
/** MPU9250 MAP **/
/*****************/
// documentation:
// https://www.invensense.com/products/motion-tracking/9-axis/mpu-9250/
// https://www.invensense.com/wp-content/uploads/2015/02/MPU-9250-Datasheet.pdf
// https://www.invensense.com/wp-content/uploads/2015/02/MPU-9250-Register-Map.pdf
var MPU9250 = {
ID_MPU_9250: 0x71,
ID_MPU_9255: 0x73,
I2C_ADDRESS_AD0_LOW: 0x68,
I2C_ADDRESS_AD0_HIGH: 0x69,
WHO_AM_I: 0x75,
SMPLRT_DIV: 0x19,
RA_CONFIG: 0x1A,
RA_GYRO_CONFIG: 0x1B,
RA_ACCEL_CONFIG_1: 0x1C,
RA_ACCEL_CONFIG_2: 0x1D,
RA_INT_PIN_CFG: 0x37,
INTCFG_ACTL_BIT: 7,
INTCFG_OPEN_BIT: 6,
INTCFG_LATCH_INT_EN_BIT: 5,
INTCFG_INT_ANYRD_2CLEAR_BIT: 4,
INTCFG_ACTL_FSYNC_BIT: 3,
INTCFG_FSYNC_INT_MODE_EN_BIT: 2,
INTCFG_BYPASS_EN_BIT: 1,
INTCFG_NONE_BIT: 0,
// BY_PASS_MODE: 0x02,
ACCEL_XOUT_H: 0x3B,
ACCEL_XOUT_L: 0x3C,
ACCEL_YOUT_H: 0x3D,
ACCEL_YOUT_L: 0x3E,
ACCEL_ZOUT_H: 0x3F,
ACCEL_ZOUT_L: 0x40,
TEMP_OUT_H: 0x41,
TEMP_OUT_L: 0x42,
GYRO_XOUT_H: 0x43,
GYRO_XOUT_L: 0x44,
GYRO_YOUT_H: 0x45,
GYRO_YOUT_L: 0x46,
GYRO_ZOUT_H: 0x47,
GYRO_ZOUT_L: 0x48,
RA_USER_CTRL: 0x6A,
RA_PWR_MGMT_1: 0x6B,
RA_PWR_MGMT_2: 0x6C,
PWR1_DEVICE_RESET_BIT: 7,
PWR1_SLEEP_BIT: 6,
PWR1_CYCLE_BIT: 5,
PWR1_TEMP_DIS_BIT: 3, // (PD_PTAT)
PWR1_CLKSEL_BIT: 0,
PWR1_CLKSEL_LENGTH: 3,
GCONFIG_FS_SEL_BIT: 3,
GCONFIG_FS_SEL_LENGTH: 2,
GYRO_FS_250: 0x00,
GYRO_FS_500: 0x01,
GYRO_FS_1000: 0x02,
GYRO_FS_2000: 0x03,
GYRO_SCALE_FACTOR: [131, 65.5, 32.8, 16.4],
ACONFIG_FS_SEL_BIT: 3,
ACONFIG_FS_SEL_LENGTH: 2,
ACCEL_FS_2: 0x00,
ACCEL_FS_4: 0x01,
ACCEL_FS_8: 0x02,
ACCEL_FS_16: 0x03,
ACCEL_SCALE_FACTOR: [16384, 8192, 4096, 2048],
CLOCK_INTERNAL: 0x00,
CLOCK_PLL_XGYRO: 0x01,
CLOCK_PLL_YGYRO: 0x02,
CLOCK_PLL_ZGYRO: 0x03,
CLOCK_KEEP_RESET: 0x07,
CLOCK_PLL_EXT32K: 0x04,
CLOCK_PLL_EXT19M: 0x05,
I2C_SLV0_DO: 0x63,
I2C_SLV1_DO: 0x64,
I2C_SLV2_DO: 0x65,
USERCTRL_DMP_EN_BIT: 7,
USERCTRL_FIFO_EN_BIT: 6,
USERCTRL_I2C_MST_EN_BIT: 5,
USERCTRL_I2C_IF_DIS_BIT: 4,
USERCTRL_DMP_RESET_BIT: 3,
USERCTRL_FIFO_RESET_BIT: 2,
USERCTRL_I2C_MST_RESET_BIT: 1,
USERCTRL_SIG_COND_RESET_BIT: 0,
DEFAULT_GYRO_OFFSET: { x: 0, y: 0, z: 0 },
DEFAULT_ACCEL_CALIBRATION: {
offset: { x: 0, y: 0, z: 0 },
scale: {
x: [-1, 1],
y: [-1, 1],
z: [-1, 1]
}
},
/** For Gyro */
DLPF_CFG_250HZ: 0x00,
DLPF_CFG_184HZ: 0x01,
DLPF_CFG_92HZ: 0x02,
DLPF_CFG_41HZ: 0x03,
DLPF_CFG_20HZ: 0x04,
DLPF_CFG_10HZ: 0x05,
DLPF_CFG_5HZ: 0x06,
DLPF_CFG_3600HZ: 0x07,
/** Sample rate min/max value */
SAMPLERATE_MIN: 5,
SAMPLERATE_MAX: 32000,
/** For accel. */
A_DLPF_CFG_460HZ: 0x00,
A_DLPF_CFG_184HZ: 0x01,
A_DLPF_CFG_92HZ: 0x02,
A_DLPF_CFG_41HZ: 0x03,
A_DLPF_CFG_20HZ: 0x04,
A_DLPF_CFG_10HZ: 0x05,
A_DLPF_CFG_5HZ: 0x06,
A_DLPF_CFG_460HZ_2: 0x07,
A_DLPF_CFG_MASK: 0x07,
};
/****************/
/** AK8963 MAP **/
/****************/
// Technical documentation available here: https://www.akm.com/akm/en/file/datasheet/AK8963C.pdf
var AK8963 = {
ADDRESS: 0x0C,
WHO_AM_I: 0x00, // should return 0x48,
WHO_AM_I_RESPONSE: 0x48,
INFO: 0x01,
ST1: 0x02, // data ready status bit 0
XOUT_L: 0x03, // data
XOUT_H: 0x04,
YOUT_L: 0x05,
YOUT_H: 0x06,
ZOUT_L: 0x07,
ZOUT_H: 0x08,
ST2: 0x09, // Data overflow bit 3 and data read error status bit 2
CNTL: 0x0A, // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
ASTC: 0x0C, // Self test control
I2CDIS: 0x0F, // I2C disable
ASAX: 0x10, // Fuse ROM x-axis sensitivity adjustment value
ASAY: 0x11, // Fuse ROM y-axis sensitivity adjustment value
ASAZ: 0x12,
ST1_DRDY_BIT: 0,
ST1_DOR_BIT: 1,
CNTL_MODE_OFF: 0x00, // Power-down mode
CNTL_MODE_SINGLE_MEASURE: 0x01, // Single measurement mode
CNTL_MODE_CONTINUE_MEASURE_1: 0x02, // Continuous measurement mode 1 - Sensor is measured periodically at 8Hz
CNTL_MODE_CONTINUE_MEASURE_2: 0x06, // Continuous measurement mode 2 - Sensor is measured periodically at 100Hz
CNTL_MODE_EXT_TRIG_MEASURE: 0x04, // External trigger measurement mode
CNTL_MODE_SELF_TEST_MODE: 0x08, // Self-test mode
CNTL_MODE_FUSE_ROM_ACCESS: 0x0F, // Fuse ROM access mode
DEFAULT_CALIBRATION: {
offset: { x: 0, y: 0, z: 0 },
scale: { x: 1, y: 1, z: 1 }
}
};
////////////////////////////////////////////////////////////////////////////////////
// /** ---------------------------------------------------------------------- **/ //
// * MPU Configuration * //
// /** ---------------------------------------------------------------------- **/ //
////////////////////////////////////////////////////////////////////////////////////
/**
* @name mpu9250
* @params Object {device: '', address: '', UpMagneto: false, DEBUG: false, ak_address: ''}
*/
var mpu9250 = function (cfg) {
cfg = cfg || {};
if (typeof cfg !== 'object') {
cfg = {};
}
var _default = {
device: '/dev/i2c-1',
address: MPU9250.I2C_ADDRESS_AD0_LOW,
UpMagneto: false,
DEBUG: false,
scaleValues: false,
ak_address: AK8963.ADDRESS,
GYRO_FS: 0,
ACCEL_FS: 2,
gyroBiasOffset: MPU9250.DEFAULT_GYRO_OFFSET,
accelCalibration: MPU9250.DEFAULT_ACCEL_CALIBRATION
};
var config = extend({}, _default, cfg);
this._config = config;
};
/**
* @name initialize
* @return boolean
*/
mpu9250.prototype.initialize = function () {
this.i2c = new LOCAL_I2C(this._config.address, { device: this._config.device });
this.debug = new debugConsole(this._config.DEBUG);
this.debug.Log('INFO', 'Initialization MPU9250 ....');
// clear configuration
this.i2c.writeBit(MPU9250.RA_PWR_MGMT_1, MPU9250.PWR1_DEVICE_RESET_BIT, 1);
this.debug.Log('INFO', 'Reset configuration MPU9250.');
sleep.usleep(10000);
// defined sample rate
if (
'SAMPLE_RATE' in this._config
&& this._config.SAMPLE_RATE
&& (
this._config.SAMPLE_RATE > MPU9250.SAMPLERATE_MIN
&& this._config.SAMPLE_RATE < MPU9250.SAMPLERATE_MAX
)
) {
this.setSampleRate(this._config.SAMPLE_RATE);
sleep.usleep(100000);
}
// define DLPF_CFG
if ('DLPF_CFG' in this._config && this._config.DLPF_CFG) {
this.setDLPFConfig(this._config.DLPF_CFG);
sleep.usleep(100000);
}
// define A_DLPF_CFG
if ('A_DLPF_CFG' in this._config && this._config.A_DLPF_CFG) {
this.setAccelDLPFConfig(this._config.DLPF_CFG);
sleep.usleep(100000);
}
// define clock source
this.setClockSource(MPU9250.CLOCK_PLL_XGYRO);
sleep.usleep(10000);
// define gyro range
var gyro_fs = [MPU9250.GYRO_FS_250, MPU9250.GYRO_FS_500, MPU9250.GYRO_FS_1000, MPU9250.GYRO_FS_2000];
var gyro_value = MPU9250.GYRO_FS_250;
if (this._config.GYRO_FS > -1 && this._config.GYRO_FS < 4) gyro_value = gyro_fs[this._config.GYRO_FS];
this.setFullScaleGyroRange(gyro_value);
sleep.usleep(10000);
// define accel range
var accel_fs = [MPU9250.ACCEL_FS_2, MPU9250.ACCEL_FS_4, MPU9250.ACCEL_FS_8, MPU9250.ACCEL_FS_16];
var accel_value = MPU9250.ACCEL_FS_4;
if (this._config.ACCEL_FS > -1 && this._config.ACCEL_FS < 4) accel_value = accel_fs[this._config.ACCEL_FS];
this.setFullScaleAccelRange(accel_value);
sleep.usleep(10000);
// disable sleepEnabled
this.setSleepEnabled(false);
sleep.usleep(10000);
if (this._config.UpMagneto) {
this.debug.Log('INFO', 'Enabled magnetometer. Starting initialization ....');
this.enableMagnetometer();
this.debug.Log('INFO', 'END of magnetometer initialization.');
}
this.debug.Log('INFO', 'END of MPU9150 initialization.');
// Print out the configuration
if (this._config.DEBUG) {
this.printSettings();
this.printAccelSettings();
this.printGyroSettings();
if (this.ak8963) {
this.ak8963.printSettings();
}
}
return this.testDevice();
};
/**------------------|[ FUNCTION ]|------------------**/
/**
* @name testDevice
* @return boolean
*/
mpu9250.prototype.testDevice = function () {
var currentDeviceID = this.getIDDevice();
return (currentDeviceID === MPU9250.ID_MPU_9250 || currentDeviceID === MPU9250.ID_MPU_9255);
};
/**
* @name enableMagnetometer
* @return boolean
*/
mpu9250.prototype.enableMagnetometer = function () {
if (this.i2c) {
this.setI2CMasterModeEnabled(false);
sleep.usleep(100000);
this.setByPASSEnabled(true);
sleep.usleep(100000);
if (this.getByPASSEnabled()) {
this.ak8963 = new ak8963(this._config);
return true;
} else {
this.debug.Log('ERROR', 'Can\'t turn on RA_INT_PIN_CFG.');
}
}
return false;
};
/**---------------------|[ GET ]|--------------------**/
/**
* @name getIDDevice
* @return number | false
*/
mpu9250.prototype.getIDDevice = function () {
if (this.i2c) {
return this.i2c.readByte(MPU9250.WHO_AM_I);
}
return false;
};
/**
* @name getTemperature
* @return int | false
*/
mpu9250.prototype.getTemperature = function () {
if (this.i2c) {
var buffer = this.i2c.readBytes(MPU9250.TEMP_OUT_H, 2, function () { });
return buffer.readInt16BE(0);
}
return false;
};
/**
* @name getTemperatureCelsius
* @return string
*/
mpu9250.prototype.getTemperatureCelsius = function () {
/*
((TEMP_OUT – RoomTemp_Offset)/Temp_Sensitivity) + 21degC
*/
var TEMP_OUT = this.getTemperatureCelsiusDigital();
if (TEMP_OUT) {
return TEMP_OUT + '°C';
}
return 'no data';
};
mpu9250.prototype.getTemperatureCelsiusDigital = function () {
var TEMP_OUT = this.getTemperature();
if (TEMP_OUT) {
return (TEMP_OUT / 333.87) + 21.0;
}
return 0;
};
/**
* @name getMotion6
* @return array | false
*/
mpu9250.prototype.getMotion6 = function () {
if (this.i2c) {
var buffer = this.i2c.readBytes(MPU9250.ACCEL_XOUT_H, 14, function () { });
var gCal = this._config.gyroBiasOffset;
var aCal = this._config.accelCalibration;
var xAccel = buffer.readInt16BE(0) * this.accelScalarInv;
var yAccel = buffer.readInt16BE(2) * this.accelScalarInv;
var zAccel = buffer.readInt16BE(4) * this.accelScalarInv;
return [
scaleAccel(xAccel, aCal.offset.x, aCal.scale.x),
scaleAccel(yAccel, aCal.offset.y, aCal.scale.y),
scaleAccel(zAccel, aCal.offset.z, aCal.scale.z),
// Skip Temperature - bytes 6:7
buffer.readInt16BE(8) * this.gyroScalarInv + gCal.x,
buffer.readInt16BE(10) * this.gyroScalarInv + gCal.y,
buffer.readInt16BE(12) * this.gyroScalarInv + gCal.z
];
}
return false;
};
/**
* This wee function just simplifies the code. It scales the Accelerometer values appropriately.
* The values are scaled to 1g and the offset it taken into account.
*/
function scaleAccel(val, offset, scalerArr) {
if (val < 0) {
return -(val - offset) / (scalerArr[0] - offset);
} else {
return (val - offset) / (scalerArr[1] - offset);
}
}
/**
* @name getMotion9
* @return array | false
*/
mpu9250.prototype.getMotion9 = function () {
if (this.i2c) {
var mpudata = this.getMotion6();
var magdata;
if (this.ak8963) {
magdata = this.ak8963.getMagAttitude();
} else {
magdata = [0, 0, 0];
}
return mpudata.concat(magdata);
}
return false;
};
/**
* @name getAccel
* @return array | false
*/
mpu9250.prototype.getAccel = function () {
if (this.i2c) {
var buffer = this.i2c.readBytes(MPU9250.ACCEL_XOUT_H, 6, function () { });
var aCal = this._config.accelCalibration;
var xAccel = buffer.readInt16BE(0) * this.accelScalarInv;
var yAccel = buffer.readInt16BE(2) * this.accelScalarInv;
var zAccel = buffer.readInt16BE(4) * this.accelScalarInv;
return [
scaleAccel(xAccel, aCal.offset.x, aCal.scale.x),
scaleAccel(yAccel, aCal.offset.y, aCal.scale.y),
scaleAccel(zAccel, aCal.offset.z, aCal.scale.z)
];
}
return false;
};
/**
* @name getAccel
* @return array | false
*/
mpu9250.prototype.getGyro = function () {
if (this.i2c) {
var buffer = this.i2c.readBytes(MPU9250.GYRO_XOUT_H, 6, function () { });
var gCal = this._config.gyroBiasOffset;
return [
buffer.readInt16BE(0) * this.gyroScalarInv + gCal.x,
buffer.readInt16BE(2) * this.gyroScalarInv + gCal.y,
buffer.readInt16BE(4) * this.gyroScalarInv + gCal.z
];
}
return false;
};
/**
* @name getSleepEnabled
* @return number | false
*/
mpu9250.prototype.getSleepEnabled = function () {
if (this.i2c) {
return this.i2c.readBit(MPU9250.RA_PWR_MGMT_1, MPU9250.PWR1_SLEEP_BIT);
}
return false;
};
/**
* @name getClockSource
* @return number | false
*/
mpu9250.prototype.getClockSource = function () {
if (this.i2c) {
return this.i2c.readByte(MPU9250.RA_PWR_MGMT_1) & 0x07;
}
return false;
};
/**
* @name getFullScaleGyroRange
* @return number | false
*/
mpu9250.prototype.getFullScaleGyroRange = function () {
if (this.i2c) {
var byte = this.i2c.readByte(MPU9250.RA_GYRO_CONFIG);
byte = byte & 0x18;
byte = byte >> 3;
return byte;
}
return false;
};
/**
* @name getGyroPowerSettings
* @return array
*/
mpu9250.prototype.getGyroPowerSettings = function () {
if (this.i2c) {
var byte = this.i2c.readByte(MPU9250.RA_PWR_MGMT_2);
byte = byte & 0x07;
return [
(byte >> 2) & 1, // X
(byte >> 1) & 1, // Y
(byte >> 0) & 1 // Z
];
}
return false;
};
/**
* @name getAccelPowerSettings
* @return array
*/
mpu9250.prototype.getAccelPowerSettings = function () {
if (this.i2c) {
var byte = this.i2c.readByte(MPU9250.RA_PWR_MGMT_2);
byte = byte & 0x38;
return [
(byte >> 5) & 1, // X
(byte >> 4) & 1, // Y
(byte >> 3) & 1 // Z
];
}
return false;
};
/**
* @name getFullScaleAccelRange
* @return number | false
*/
mpu9250.prototype.getFullScaleAccelRange = function () {
if (this.i2c) {
var byte = this.i2c.readByte(MPU9250.RA_ACCEL_CONFIG_1);
byte = byte & 0x18;
byte = byte >> 3;
return byte;
}
return false;
};
/**
* @name getByPASSEnabled
* @return number | false
*/
mpu9250.prototype.getByPASSEnabled = function () {
if (this.i2c) {
return this.i2c.readBit(MPU9250.RA_INT_PIN_CFG, MPU9250.INTCFG_BYPASS_EN_BIT);
}
return false;
};
/**
* @name getI2CMasterMode
* @return undefined | false
*/
mpu9250.prototype.getI2CMasterMode = function () {
if (this.i2c) {
return this.i2c.readBit(MPU9250.RA_USER_CTRL, MPU9250.USERCTRL_I2C_MST_EN_BIT);
}
return false;
};
/**
* @name getPitch
* return number
*/
mpu9250.prototype.getPitch = function (value) {
return ((Math.atan2(value[0], value[2]) + Math.PI) * (180 / Math.PI)) - 180;
};
/**
* @name getRoll
* return number
*/
mpu9250.prototype.getRoll = function (value) {
return ((Math.atan2(value[1], value[2]) + Math.PI) * (180 / Math.PI)) - 180;
};
/**
* @name getYaw
* return number
*/
mpu9250.prototype.getYaw = function (value) {
return 0;
};
/**---------------------|[ SET ]|--------------------**/
/**
* @name setClockSource
* @return undefined | false
*/
mpu9250.prototype.setClockSource = function (adrs) {
if (this.i2c) {
return this.i2c.writeBits(MPU9250.RA_PWR_MGMT_1, MPU9250.PWR1_CLKSEL_BIT, MPU9250.PWR1_CLKSEL_LENGTH, adrs);
}
return false;
};
/**
* @name setFullScaleGyroRange
* @return undefined | false
*/
mpu9250.prototype.setFullScaleGyroRange = function (adrs) {
if (this.i2c) {
if (this._config.scaleValues) {
this.gyroScalarInv = 1 / MPU9250.GYRO_SCALE_FACTOR[adrs];
} else {
this.gyroScalarInv = 1;
}
return this.i2c.writeBits(MPU9250.RA_GYRO_CONFIG, MPU9250.GCONFIG_FS_SEL_BIT, MPU9250.GCONFIG_FS_SEL_LENGTH, adrs);
}
return false;
};
/**
* @name setFullScaleAccelRange
* @return undefined | false
*/
mpu9250.prototype.setFullScaleAccelRange = function (adrs) {
if (this.i2c) {
if (this._config.scaleValues) {
this.accelScalarInv = 1 / MPU9250.ACCEL_SCALE_FACTOR[adrs];
} else {
this.accelScalarInv = 1;
}
return this.i2c.writeBits(MPU9250.RA_ACCEL_CONFIG_1, MPU9250.ACONFIG_FS_SEL_BIT, MPU9250.ACONFIG_FS_SEL_LENGTH, adrs);
}
return false;
};
/**
* @name setSleepEnabled
* @return undefined | false
*/
mpu9250.prototype.setSleepEnabled = function (bool) {
var val = bool ? 1 : 0;
if (this.i2c) {
return this.i2c.writeBit(MPU9250.RA_PWR_MGMT_1, MPU9250.PWR1_SLEEP_BIT, val);
}
return false;
};
/**
* @name setI2CMasterModeEnabled
* @return undefined | false
*/
mpu9250.prototype.setI2CMasterModeEnabled = function (bool) {
var val = bool ? 1 : 0;
if (this.i2c) {
return this.i2c.writeBit(MPU9250.RA_USER_CTRL, MPU9250.USERCTRL_I2C_MST_EN_BIT, val);
}
return false;
};
/**
* @name setByPASSEnabled
* @return undefined | false
*/
mpu9250.prototype.setByPASSEnabled = function (bool) {
var adrs = bool ? 1 : 0;
if (this.i2c) {
return this.i2c.writeBit(MPU9250.RA_INT_PIN_CFG, MPU9250.INTCFG_BYPASS_EN_BIT, adrs);
}
return false;
};
/**
* @name setConfig
* @return undefined | false
*/
mpu9250.prototype.setDLPFConfig = function (dlpf_cfg) {
if (this.i2c) {
return this.i2c.writeBits(MPU9250.RA_CONFIG, 0, 3, dlpf_cfg, (r) => {
if (r) {
this.debug.Log('ERROR', 'setDLPFConfig ' + r.message);
}
});
}
return false;
};
/**
* @name setConfig
* @return undefined | false
*/
mpu9250.prototype.setAccelDLPFConfig = function (a_dlpf_cfg) {
if (this.i2c) {
return this.i2c.writeBits(MPU9250.RA_ACCEL_CONFIG_2, 0, 4, a_dlpf_cfg, (r) => {
if (r) {
this.debug.Log('ERROR', 'setAccelDLPFConfig ' + r.message);
}
});
}
return false;
};
/**
* @name setSampleRate
* @return undefined | false
*/
mpu9250.prototype.setSampleRate = function (sample_rate) {
if (this.i2c) {
if (sample_rate < MPU9250.SAMPLERATE_MAX && sample_rate >= 8000) {
sample_rate = 8000;
}
if (sample_rate < 8000 && sample_rate > 1000) {
sample_rate = 1000;
}
if (sample_rate < 1000) {
sample_rate = 1000 / (1 + sample_rate);
}
return this.i2c.writeBits(MPU9250.SMPLRT_DIV, 0, 8, sample_rate, (r) => {
if (r) {
this.debug.Log('ERROR', 'setSampleRate ' + r.message);
}
});
}
return false;
};
/**---------------------|[ Print ]|--------------------**/
/**
* @name printAccelSettings
*/
mpu9250.prototype.printSettings = function () {
var CLK_RNG = [
'0 (Internal 20MHz oscillator)',
'1 (Auto selects the best available clock source)',
'2 (Auto selects the best available clock source)',
'3 (Auto selects the best available clock source)',
'4 (Auto selects the best available clock source)',
'5 (Auto selects the best available clock source)',
'6 (Internal 20MHz oscillator)',
'7 (Stops the clock and keeps timing generator in reset)'
];
this.debug.Log('INFO', 'MPU9250:');
this.debug.Log('INFO', '--> Device address: 0x' + this._config.address.toString(16));
this.debug.Log('INFO', '--> i2c bus: 0x' + this.getIDDevice().toString(16));
this.debug.Log('INFO', '--> Device ID: 0x' + this.getIDDevice().toString(16));
this.debug.Log('INFO', '--> BYPASS enabled: ' + (this.getByPASSEnabled() ? 'Yes' : 'No'));
this.debug.Log('INFO', '--> SleepEnabled Mode: ' + (this.getSleepEnabled() === 1 ? 'On' : 'Off'));
this.debug.Log('INFO', '--> i2c Master Mode: ' + (this.getI2CMasterMode() === 1 ? 'Enabled' : 'Disabled'));
this.debug.Log('INFO', '--> Power Management (0x6B, 0x6C):');
this.debug.Log('INFO', ' --> Clock Source: ' + CLK_RNG[this.getClockSource()]);
this.debug.Log('INFO', ' --> Accel enabled (x, y, z): ' + vectorToYesNo(this.getAccelPowerSettings()));
this.debug.Log('INFO', ' --> Gyro enabled (x, y, z): ' + vectorToYesNo(this.getGyroPowerSettings()));
};
function vectorToYesNo(v) {
var str = '(';
str += v[0] ? 'No, ' : 'Yes, ';
str += v[1] ? 'No, ' : 'Yes, ';
str += v[2] ? 'No' : 'Yes';
str += ')';
return str;
}
mpu9250.prototype.printAccelSettings = function () {
var FS_RANGE = ['±2g (0)', '±4g (1)', '±8g (2)', '±16g (3)'];
this.debug.Log('INFO', 'Accelerometer:');
this.debug.Log('INFO', '--> Full Scale Range (0x1C): ' + FS_RANGE[this.getFullScaleAccelRange()]);
this.debug.Log('INFO', '--> Scalar: 1/' + (1 / this.accelScalarInv));
this.debug.Log('INFO', '--> Calibration:');
this.debug.Log('INFO', ' --> Offset: ');
this.debug.Log('INFO', ' --> x: ' + this._config.accelCalibration.offset.x);
this.debug.Log('INFO', ' --> y: ' + this._config.accelCalibration.offset.y);
this.debug.Log('INFO', ' --> z: ' + this._config.accelCalibration.offset.z);
this.debug.Log('INFO', ' --> Scale: ');
this.debug.Log('INFO', ' --> x: ' + this._config.accelCalibration.scale.x);
this.debug.Log('INFO', ' --> y: ' + this._config.accelCalibration.scale.y);
this.debug.Log('INFO', ' --> z: ' + this._config.accelCalibration.scale.z);
};
mpu9250.prototype.printGyroSettings = function () {
var FS_RANGE = ['+250dps (0)', '+500 dps (1)', '+1000 dps (2)', '+2000 dps (3)'];
this.debug.Log('INFO', 'Gyroscope:');
this.debug.Log('INFO', '--> Full Scale Range (0x1B): ' + FS_RANGE[this.getFullScaleGyroRange()]);
this.debug.Log('INFO', '--> Scalar: 1/' + (1 / this.gyroScalarInv));
this.debug.Log('INFO', '--> Bias Offset:');
this.debug.Log('INFO', ' --> x: ' + this._config.gyroBiasOffset.x);
this.debug.Log('INFO', ' --> y: ' + this._config.gyroBiasOffset.y);
this.debug.Log('INFO', ' --> z: ' + this._config.gyroBiasOffset.z);
};
////////////////////////////////////////////////////////////////////////////////////
// /** ---------------------------------------------------------------------- **/ //
// * Magnetometer Configuration * //
// /** ---------------------------------------------------------------------- **/ //
////////////////////////////////////////////////////////////////////////////////////
var ak8963 = function (config, callback) {
callback = callback || function () { };
this._config = config;
this.debug = new debugConsole(config.DEBUG);
this._config.ak_address = this._config.ak_address || AK8963.ADDRESS;
this._config.magCalibration = this._config.magCalibration || AK8963.DEFAULT_CALIBRATION;
// connection with magnetometer
this.i2c = new LOCAL_I2C(this._config.ak_address, { device: this._config.device });
sleep.usleep(10000);
var buffer = this.getIDDevice();
if (buffer & AK8963.WHO_AM_I_RESPONSE) {
this.getSensitivityAdjustmentValues();
sleep.usleep(10000);
this.setCNTL(AK8963.CNTL_MODE_CONTINUE_MEASURE_2);
} else {
this.debug.Log('ERROR', 'AK8963: Device ID is not equal to 0x' + AK8963.WHO_AM_I_RESPONSE.toString(16) + ', device value is 0x' + buffer.toString(16));
}
callback(true);
};
ak8963.prototype.printSettings = function () {
var MODE_LST = {
0: '0x00 (Power-down mode)',
1: '0x01 (Single measurement mode)',
2: '0x02 (Continuous measurement mode 1: 8Hz)',
6: '0x06 (Continuous measurement mode 2: 100Hz)',
4: '0x04 (External trigger measurement mode)',
8: '0x08 (Self-test mode)',
15: '0x0F (Fuse ROM access mode)'
};
this.debug.Log('INFO', 'Magnetometer (Compass):');
this.debug.Log('INFO', '--> i2c address: 0x' + this._config.ak_address.toString(16));
this.debug.Log('INFO', '--> Device ID: 0x' + this.getIDDevice().toString(16));
this.debug.Log('INFO', '--> Mode: ' + MODE_LST[this.getCNTL() & 0x0F]);
this.debug.Log('INFO', '--> Scalars:');
this.debug.Log('INFO', ' --> x: ' + this.asax);
this.debug.Log('INFO', ' --> y: ' + this.asay);
this.debug.Log('INFO', ' --> z: ' + this.asaz);
};
/**------------------|[ FUNCTION ]|------------------**/
/**---------------------|[ GET ]|--------------------**/
/**
* @name getDataReady
* @return number | false
*/
ak8963.prototype.getDataReady = function () {
if (this.i2c) {
return this.i2c.readBit(AK8963.ST1, AK8963.ST1_DRDY_BIT);
}
return false;
};
/**
* @name getIDDevice
* @return number | false
*/
ak8963.prototype.getIDDevice = function () {
if (this.i2c) {
return this.i2c.readByte(AK8963.WHO_AM_I);
}
return false;
};
/**
* Get the Sensitivity Adjustment values. These were set during manufacture and allow us to get the actual H values
* from the magnetometer.
* @name getSensitivityAdjustmentValues
*/
ak8963.prototype.getSensitivityAdjustmentValues = function () {
if (!this._config.scaleValues) {
this.asax = 1;
this.asay = 1;
this.asaz = 1;
return;
}
// Need to set to Fuse mode to get valid values from this.
var currentMode = this.getCNTL();
this.setCNTL(AK8963.CNTL_MODE_FUSE_ROM_ACCESS);
sleep.usleep(10000);
// Get the ASA* values
this.asax = ((this.i2c.readByte(AK8963.ASAX) - 128) * 0.5 / 128 + 1);
this.asay = ((this.i2c.readByte(AK8963.ASAY) - 128) * 0.5 / 128 + 1);
this.asaz = ((this.i2c.readByte(AK8963.ASAZ) - 128) * 0.5 / 128 + 1);
// Return the mode we were in before
this.setCNTL(currentMode);
};
/**
* Get the raw magnetometer values
* @name getMagAttitude
* @return array
*/
ak8963.prototype.getMagAttitude = function () {
// Get the actual data
var buffer = this.i2c.readBytes(AK8963.XOUT_L, 6, function (e, r) { });
var cal = this._config.magCalibration;
// For some reason when we read ST2 (Status 2) just after reading byte, this ensures the
// next reading is fresh. If we do it before without a pause, only 1 in 15 readings will
// be fresh. The setTimeout ensures this read goes to the back of the queue, once all other
// computation is done.
var self = this;
setTimeout(function () {
self.i2c.readByte(AK8963.ST2);
}, 0);
return [
((buffer.readInt16LE(0) * this.asax) - cal.offset.x) * cal.scale.x,
((buffer.readInt16LE(2) * this.asay) - cal.offset.y) * cal.scale.y,
((buffer.readInt16LE(4) * this.asaz) - cal.offset.z) * cal.scale.z
];
};
/**
* @name getCNTL
* @return byte | false
*/
ak8963.prototype.getCNTL = function () {
if (this.i2c) {
return this.i2c.readByte(AK8963.CNTL);
}
return false;
};
/**---------------------|[ SET ]|--------------------**/
/**
* @name setCNTL
* CNTL_MODE_OFF: 0x00, // Power-down mode
* CNTL_MODE_SINGLE_MEASURE: 0x01, // Single measurement mode
* CNTL_MODE_CONTINUE_MEASURE_1: 0x02, // Continuous measurement mode 1
* CNTL_MODE_CONTINUE_MEASURE_2: 0x06, // Continuous measurement mode 2