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