//////////////////////////////////////////////////////////////////////////// // // This file is part of RTIMULib-Arduino // // Copyright (c) 2014-2015, richards-tech // // 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. #ifndef _RTIMUMPU9150_H #define _RTIMUMPU9150_H #include "RTIMU.h" // MPU9150 I2C Slave Addresses #define MPU9150_ADDRESS0 0x68 #define MPU9150_ADDRESS1 0x69 #define MPU9150_ID 0x68 // these magnetometers are on aux bus #define AK8975_ADDRESS 0x0c #define HMC5883_ADDRESS 0x1e // Register map #define MPU9150_YG_OFFS_TC 0x01 #define MPU9150_SMPRT_DIV 0x19 #define MPU9150_LPF_CONFIG 0x1a #define MPU9150_GYRO_CONFIG 0x1b #define MPU9150_ACCEL_CONFIG 0x1c #define MPU9150_FIFO_EN 0x23 #define MPU9150_I2C_MST_CTRL 0x24 #define MPU9150_I2C_SLV0_ADDR 0x25 #define MPU9150_I2C_SLV0_REG 0x26 #define MPU9150_I2C_SLV0_CTRL 0x27 #define MPU9150_I2C_SLV1_ADDR 0x28 #define MPU9150_I2C_SLV1_REG 0x29 #define MPU9150_I2C_SLV1_CTRL 0x2a #define MPU9150_I2C_SLV4_CTRL 0x34 #define MPU9150_INT_PIN_CFG 0x37 #define MPU9150_INT_ENABLE 0x38 #define MPU9150_INT_STATUS 0x3a #define MPU9150_ACCEL_XOUT_H 0x3b #define MPU9150_GYRO_XOUT_H 0x43 #define MPU9150_EXT_SENS_DATA_00 0x49 #define MPU9150_I2C_SLV1_DO 0x64 #define MPU9150_I2C_MST_DELAY_CTRL 0x67 #define MPU9150_USER_CTRL 0x6a #define MPU9150_PWR_MGMT_1 0x6b #define MPU9150_PWR_MGMT_2 0x6c #define MPU9150_FIFO_COUNT_H 0x72 #define MPU9150_FIFO_R_W 0x74 #define MPU9150_WHO_AM_I 0x75 // sample rate defines (applies to gyros and accels, not mags) #define MPU9150_SAMPLERATE_MIN 5 // 5 samples per second is the lowest #define MPU9150_SAMPLERATE_MAX 1000 // 1000 samples per second is the absolute maximum // compass rate defines #define MPU9150_COMPASSRATE_MIN 1 // 1 samples per second is the lowest #define MPU9150_COMPASSRATE_MAX 100 // 100 samples per second is maximum // LPF options (gyros and accels) #define MPU9150_LPF_256 0 // gyro: 256Hz, accel: 260Hz #define MPU9150_LPF_188 1 // gyro: 188Hz, accel: 184Hz #define MPU9150_LPF_98 2 // gyro: 98Hz, accel: 98Hz #define MPU9150_LPF_42 3 // gyro: 42Hz, accel: 44Hz #define MPU9150_LPF_20 4 // gyro: 20Hz, accel: 21Hz #define MPU9150_LPF_10 5 // gyro: 10Hz, accel: 10Hz #define MPU9150_LPF_5 6 // gyro: 5Hz, accel: 5Hz // Gyro FSR options #define MPU9150_GYROFSR_250 0 // +/- 250 degrees per second #define MPU9150_GYROFSR_500 8 // +/- 500 degrees per second #define MPU9150_GYROFSR_1000 0x10 // +/- 1000 degrees per second #define MPU9150_GYROFSR_2000 0x18 // +/- 2000 degrees per second // Accel FSR options #define MPU9150_ACCELFSR_2 0 // +/- 2g #define MPU9150_ACCELFSR_4 8 // +/- 4g #define MPU9150_ACCELFSR_8 0x10 // +/- 8g #define MPU9150_ACCELFSR_16 0x18 // +/- 16g // AK8975 compass registers #define AK8975_DEVICEID 0x0 // the device ID #define AK8975_ST1 0x02 // status 1 #define AK8975_CNTL 0x0a // control reg #define AK8975_ASAX 0x10 // start of the fuse ROM data // HMC5883 compass registers #define HMC5883_CONFIG_A 0x00 // configuration A #define HMC5883_CONFIG_B 0x01 // configuration B #define HMC5883_MODE 0x02 // mode #define HMC5883_DATA_X_HI 0x03 // data x msb #define HMC5883_STATUS 0x09 // status #define HMC5883_ID 0x0a // id // FIFO transfer size #define MPU9150_FIFO_CHUNK_SIZE 12 // gyro and accels take 12 bytes class RTIMUMPU9150 : public RTIMU { public: RTIMUMPU9150(RTIMUSettings *settings); ~RTIMUMPU9150(); bool setLpf(unsigned char lpf); bool setSampleRate(int rate); bool setCompassRate(int rate); bool setGyroFsr(unsigned char fsr); bool setAccelFsr(unsigned char fsr); virtual const char *IMUName() { return "MPU-9150"; } virtual int IMUType() { return RTIMU_TYPE_MPU9150; } virtual int IMUInit(); virtual bool IMURead(); virtual int IMUGetPollInterval(); private: bool configureCompass(); // configure the compass bool bypassOn(); // talk to compass bool bypassOff(); // talk to MPU9150 bool setSampleRate(); bool setCompassRate(); bool resetFifo(); bool m_firstTime; // if first sample unsigned char m_slaveAddr; // I2C address of MPU9150 unsigned char m_bus; // I2C bus (usually 1 for Raspberry Pi for example) unsigned char m_lpf; // low pass filter setting int m_compassRate; // compass sample rate in Hz unsigned char m_gyroFsr; unsigned char m_accelFsr; RTFLOAT m_gyroScale; RTFLOAT m_accelScale; RTFLOAT m_compassAdjust[3]; // the compass fuse ROM values converted for use bool m_compassPresent; // false for MPU-6050 bool m_compassIs5883; // if it is an MPU-6050/HMC5883 combo int m_compassDataLength; // 8 for MPU-9150, 6 for HMC5883 }; #endif // _RTIMUMPU9150_H