176 lines
7.3 KiB
C
176 lines
7.3 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 _RTIMUMPU9250_H
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#define _RTIMUMPU9250_H
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#include "RTIMU.h"
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// MPU9250 I2C Slave Addresses
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#define MPU9250_ADDRESS0 0x68
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#define MPU9250_ADDRESS1 0x69
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#define MPU9250_ID 0x71
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#define AK8963_ADDRESS 0x0c
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// Register map
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#define MPU9250_SMPRT_DIV 0x19
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#define MPU9250_GYRO_LPF 0x1a
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#define MPU9250_GYRO_CONFIG 0x1b
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#define MPU9250_ACCEL_CONFIG 0x1c
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#define MPU9250_ACCEL_LPF 0x1d
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#define MPU9250_FIFO_EN 0x23
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#define MPU9250_I2C_MST_CTRL 0x24
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#define MPU9250_I2C_SLV0_ADDR 0x25
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#define MPU9250_I2C_SLV0_REG 0x26
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#define MPU9250_I2C_SLV0_CTRL 0x27
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#define MPU9250_I2C_SLV1_ADDR 0x28
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#define MPU9250_I2C_SLV1_REG 0x29
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#define MPU9250_I2C_SLV1_CTRL 0x2a
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#define MPU9250_I2C_SLV2_ADDR 0x2b
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#define MPU9250_I2C_SLV2_REG 0x2c
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#define MPU9250_I2C_SLV2_CTRL 0x2d
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#define MPU9250_I2C_SLV4_CTRL 0x34
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#define MPU9250_INT_PIN_CFG 0x37
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#define MPU9250_INT_ENABLE 0x38
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#define MPU9250_INT_STATUS 0x3a
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#define MPU9250_ACCEL_XOUT_H 0x3b
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#define MPU9250_GYRO_XOUT_H 0x43
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#define MPU9250_EXT_SENS_DATA_00 0x49
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#define MPU9250_I2C_SLV1_DO 0x64
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#define MPU9250_I2C_MST_DELAY_CTRL 0x67
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#define MPU9250_USER_CTRL 0x6a
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#define MPU9250_PWR_MGMT_1 0x6b
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#define MPU9250_PWR_MGMT_2 0x6c
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#define MPU9250_FIFO_COUNT_H 0x72
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#define MPU9250_FIFO_R_W 0x74
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#define MPU9250_WHO_AM_I 0x75
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// sample rate defines (applies to gyros and accels, not mags)
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#define MPU9250_SAMPLERATE_MIN 5 // 5 samples per second is the lowest
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#define MPU9250_SAMPLERATE_MAX 1000 // 1000 samples per second is the absolute maximum
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// compass rate defines
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#define MPU9250_COMPASSRATE_MIN 1 // 1 samples per second is the lowest
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#define MPU9250_COMPASSRATE_MAX 100 // 100 samples per second is maximum
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// Gyro LPF options
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#define MPU9250_GYRO_LPF_8800 0x11 // 8800Hz, 0.64mS delay
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#define MPU9250_GYRO_LPF_3600 0x10 // 3600Hz, 0.11mS delay
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#define MPU9250_GYRO_LPF_250 0x00 // 250Hz, 0.97mS delay
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#define MPU9250_GYRO_LPF_184 0x01 // 184Hz, 2.9mS delay
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#define MPU9250_GYRO_LPF_92 0x02 // 92Hz, 3.9mS delay
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#define MPU9250_GYRO_LPF_41 0x03 // 41Hz, 5.9mS delay
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#define MPU9250_GYRO_LPF_20 0x04 // 20Hz, 9.9mS delay
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#define MPU9250_GYRO_LPF_10 0x05 // 10Hz, 17.85mS delay
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#define MPU9250_GYRO_LPF_5 0x06 // 5Hz, 33.48mS delay
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// Gyro FSR options
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#define MPU9250_GYROFSR_250 0 // +/- 250 degrees per second
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#define MPU9250_GYROFSR_500 8 // +/- 500 degrees per second
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#define MPU9250_GYROFSR_1000 0x10 // +/- 1000 degrees per second
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#define MPU9250_GYROFSR_2000 0x18 // +/- 2000 degrees per second
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// Accel FSR options
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#define MPU9250_ACCELFSR_2 0 // +/- 2g
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#define MPU9250_ACCELFSR_4 8 // +/- 4g
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#define MPU9250_ACCELFSR_8 0x10 // +/- 8g
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#define MPU9250_ACCELFSR_16 0x18 // +/- 16g
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// Accel LPF options
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#define MPU9250_ACCEL_LPF_1130 0x08 // 1130Hz, 0.75mS delay
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#define MPU9250_ACCEL_LPF_460 0x00 // 460Hz, 1.94mS delay
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#define MPU9250_ACCEL_LPF_184 0x01 // 184Hz, 5.80mS delay
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#define MPU9250_ACCEL_LPF_92 0x02 // 92Hz, 7.80mS delay
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#define MPU9250_ACCEL_LPF_41 0x03 // 41Hz, 11.80mS delay
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#define MPU9250_ACCEL_LPF_20 0x04 // 20Hz, 19.80mS delay
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#define MPU9250_ACCEL_LPF_10 0x05 // 10Hz, 35.70mS delay
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#define MPU9250_ACCEL_LPF_5 0x06 // 5Hz, 66.96mS delay
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// AK8963 compass registers
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#define AK8963_DEVICEID 0x48 // the device ID
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#define AK8963_ST1 0x02 // status 1
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#define AK8963_CNTL 0x0a // control reg
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#define AK8963_ASAX 0x10 // start of the fuse ROM data
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// FIFO transfer size
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#define MPU9250_FIFO_CHUNK_SIZE 12 // gyro and accels take 12 bytes
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class RTIMUMPU9250 : public RTIMU
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{
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public:
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RTIMUMPU9250(RTIMUSettings *settings);
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~RTIMUMPU9250();
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bool setGyroLpf(unsigned char lpf);
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bool setAccelLpf(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-9250"; }
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virtual int IMUType() { return RTIMU_TYPE_MPU9250; }
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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 setGyroConfig();
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bool setAccelConfig();
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bool setSampleRate();
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bool compassSetup();
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bool setCompassRate();
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bool resetFifo();
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bool bypassOn();
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bool bypassOff();
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bool m_firstTime; // if first sample
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unsigned char m_slaveAddr; // I2C address of MPU9250
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unsigned char m_bus; // I2C bus (usually 1 for Raspberry Pi for example)
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unsigned char m_gyroLpf; // gyro low pass filter setting
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unsigned char m_accelLpf; // accel 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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};
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#endif // _RTIMUMPU9250_H
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