172 lines
7.2 KiB
C
172 lines
7.2 KiB
C
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////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib-Arduino
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//
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// Copyright (c) 2014-2015, richards-tech
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of
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// this software and associated documentation files (the "Software"), to deal in
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// the Software without restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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// Software, and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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#ifndef _RTIMUMPU9150_H
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#define _RTIMUMPU9150_H
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#include "RTIMU.h"
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// MPU9150 I2C Slave Addresses
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#define MPU9150_ADDRESS0 0x68
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#define MPU9150_ADDRESS1 0x69
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#define MPU9150_ID 0x68
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// these magnetometers are on aux bus
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#define AK8975_ADDRESS 0x0c
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#define HMC5883_ADDRESS 0x1e
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// Register map
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#define MPU9150_YG_OFFS_TC 0x01
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#define MPU9150_SMPRT_DIV 0x19
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#define MPU9150_LPF_CONFIG 0x1a
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#define MPU9150_GYRO_CONFIG 0x1b
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#define MPU9150_ACCEL_CONFIG 0x1c
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#define MPU9150_FIFO_EN 0x23
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#define MPU9150_I2C_MST_CTRL 0x24
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#define MPU9150_I2C_SLV0_ADDR 0x25
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#define MPU9150_I2C_SLV0_REG 0x26
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#define MPU9150_I2C_SLV0_CTRL 0x27
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#define MPU9150_I2C_SLV1_ADDR 0x28
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#define MPU9150_I2C_SLV1_REG 0x29
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#define MPU9150_I2C_SLV1_CTRL 0x2a
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#define MPU9150_I2C_SLV4_CTRL 0x34
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#define MPU9150_INT_PIN_CFG 0x37
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#define MPU9150_INT_ENABLE 0x38
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#define MPU9150_INT_STATUS 0x3a
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#define MPU9150_ACCEL_XOUT_H 0x3b
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#define MPU9150_GYRO_XOUT_H 0x43
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#define MPU9150_EXT_SENS_DATA_00 0x49
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#define MPU9150_I2C_SLV1_DO 0x64
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#define MPU9150_I2C_MST_DELAY_CTRL 0x67
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#define MPU9150_USER_CTRL 0x6a
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#define MPU9150_PWR_MGMT_1 0x6b
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#define MPU9150_PWR_MGMT_2 0x6c
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#define MPU9150_FIFO_COUNT_H 0x72
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#define MPU9150_FIFO_R_W 0x74
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#define MPU9150_WHO_AM_I 0x75
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// sample rate defines (applies to gyros and accels, not mags)
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#define MPU9150_SAMPLERATE_MIN 5 // 5 samples per second is the lowest
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#define MPU9150_SAMPLERATE_MAX 1000 // 1000 samples per second is the absolute maximum
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// compass rate defines
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#define MPU9150_COMPASSRATE_MIN 1 // 1 samples per second is the lowest
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#define MPU9150_COMPASSRATE_MAX 100 // 100 samples per second is maximum
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// LPF options (gyros and accels)
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#define MPU9150_LPF_256 0 // gyro: 256Hz, accel: 260Hz
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#define MPU9150_LPF_188 1 // gyro: 188Hz, accel: 184Hz
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#define MPU9150_LPF_98 2 // gyro: 98Hz, accel: 98Hz
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#define MPU9150_LPF_42 3 // gyro: 42Hz, accel: 44Hz
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#define MPU9150_LPF_20 4 // gyro: 20Hz, accel: 21Hz
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#define MPU9150_LPF_10 5 // gyro: 10Hz, accel: 10Hz
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#define MPU9150_LPF_5 6 // gyro: 5Hz, accel: 5Hz
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// Gyro FSR options
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#define MPU9150_GYROFSR_250 0 // +/- 250 degrees per second
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#define MPU9150_GYROFSR_500 8 // +/- 500 degrees per second
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#define MPU9150_GYROFSR_1000 0x10 // +/- 1000 degrees per second
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#define MPU9150_GYROFSR_2000 0x18 // +/- 2000 degrees per second
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// Accel FSR options
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#define MPU9150_ACCELFSR_2 0 // +/- 2g
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#define MPU9150_ACCELFSR_4 8 // +/- 4g
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#define MPU9150_ACCELFSR_8 0x10 // +/- 8g
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#define MPU9150_ACCELFSR_16 0x18 // +/- 16g
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// AK8975 compass registers
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#define AK8975_DEVICEID 0x0 // the device ID
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#define AK8975_ST1 0x02 // status 1
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#define AK8975_CNTL 0x0a // control reg
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#define AK8975_ASAX 0x10 // start of the fuse ROM data
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// HMC5883 compass registers
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#define HMC5883_CONFIG_A 0x00 // configuration A
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#define HMC5883_CONFIG_B 0x01 // configuration B
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#define HMC5883_MODE 0x02 // mode
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#define HMC5883_DATA_X_HI 0x03 // data x msb
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#define HMC5883_STATUS 0x09 // status
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#define HMC5883_ID 0x0a // id
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// FIFO transfer size
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#define MPU9150_FIFO_CHUNK_SIZE 12 // gyro and accels take 12 bytes
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class RTIMUMPU9150 : public RTIMU
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{
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public:
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RTIMUMPU9150(RTIMUSettings *settings);
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~RTIMUMPU9150();
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bool setLpf(unsigned char lpf);
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bool setSampleRate(int rate);
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bool setCompassRate(int rate);
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bool setGyroFsr(unsigned char fsr);
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bool setAccelFsr(unsigned char fsr);
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virtual const char *IMUName() { return "MPU-9150"; }
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virtual int IMUType() { return RTIMU_TYPE_MPU9150; }
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virtual int IMUInit();
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virtual bool IMURead();
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virtual int IMUGetPollInterval();
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private:
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bool configureCompass(); // configure the compass
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bool bypassOn(); // talk to compass
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bool bypassOff(); // talk to MPU9150
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bool setSampleRate();
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bool setCompassRate();
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bool resetFifo();
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bool m_firstTime; // if first sample
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unsigned char m_slaveAddr; // I2C address of MPU9150
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unsigned char m_bus; // I2C bus (usually 1 for Raspberry Pi for example)
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unsigned char m_lpf; // low pass filter setting
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int m_compassRate; // compass sample rate in Hz
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unsigned char m_gyroFsr;
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unsigned char m_accelFsr;
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RTFLOAT m_gyroScale;
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RTFLOAT m_accelScale;
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RTFLOAT m_compassAdjust[3]; // the compass fuse ROM values converted for use
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bool m_compassPresent; // false for MPU-6050
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bool m_compassIs5883; // if it is an MPU-6050/HMC5883 combo
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int m_compassDataLength; // 8 for MPU-9150, 6 for HMC5883
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};
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#endif // _RTIMUMPU9150_H
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