/************************************************************************* * Freematics MPU6050 helper class * Distributed under BSD license * Visit http://freematics.com for more information * (C)2016-2018 Stanley Huang *************************************************************************/ #ifndef _MPU9250_H #define _MPU9250_H // See also MPU-9250 Register Map and Descriptions, Revision 4.0, // RM-MPU-9250A-00, Rev. 1.4, 9/9/2013 for registers not listed in above // document; the MPU9250 and MPU9150 are virtually identical but the latter has // a different register map //Magnetometer Registers #define AK8963_ADDRESS 0x0C #define WHO_AM_I_AK8963 0x00 // should return 0x48 #define INFO 0x01 #define AK8963_ST1 0x02 // data ready status bit 0 #define AK8963_XOUT_L 0x03 // data #define AK8963_XOUT_H 0x04 #define AK8963_YOUT_L 0x05 #define AK8963_YOUT_H 0x06 #define AK8963_ZOUT_L 0x07 #define AK8963_ZOUT_H 0x08 #define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2 #define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0 #define AK8963_CNTL2 0x0B #define AK8963_ASTC 0x0C // Self test control #define AK8963_I2CDIS 0x0F // I2C disable #define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value #define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value #define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value #define SELF_TEST_X_GYRO 0x00 #define SELF_TEST_Y_GYRO 0x01 #define SELF_TEST_Z_GYRO 0x02 /*#define X_FINE_GAIN 0x03 // [7:0] fine gain #define Y_FINE_GAIN 0x04 #define Z_FINE_GAIN 0x05 #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer #define XA_OFFSET_L_TC 0x07 #define YA_OFFSET_H 0x08 #define YA_OFFSET_L_TC 0x09 #define ZA_OFFSET_H 0x0A #define ZA_OFFSET_L_TC 0x0B */ #define SELF_TEST_X_ACCEL 0x0D #define SELF_TEST_Y_ACCEL 0x0E #define SELF_TEST_Z_ACCEL 0x0F #define SELF_TEST_A 0x10 #define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope #define XG_OFFSET_L 0x14 #define YG_OFFSET_H 0x15 #define YG_OFFSET_L 0x16 #define ZG_OFFSET_H 0x17 #define ZG_OFFSET_L 0x18 #define SMPLRT_DIV 0x19 #define CONFIG 0x1A #define GYRO_CONFIG 0x1B #define ACCEL_CONFIG 0x1C #define ACCEL_CONFIG2 0x1D #define LP_ACCEL_ODR 0x1E #define WOM_THR 0x1F // Duration counter threshold for motion interrupt generation, 1 kHz rate, // LSB = 1 ms #define MOT_DUR 0x20 // Zero-motion detection threshold bits [7:0] #define ZMOT_THR 0x21 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, // LSB = 64 ms #define ZRMOT_DUR 0x22 #define FIFO_EN 0x23 #define I2C_MST_CTRL 0x24 #define I2C_SLV0_ADDR 0x25 #define I2C_SLV0_REG 0x26 #define I2C_SLV0_CTRL 0x27 #define I2C_SLV1_ADDR 0x28 #define I2C_SLV1_REG 0x29 #define I2C_SLV1_CTRL 0x2A #define I2C_SLV2_ADDR 0x2B #define I2C_SLV2_REG 0x2C #define I2C_SLV2_CTRL 0x2D #define I2C_SLV3_ADDR 0x2E #define I2C_SLV3_REG 0x2F #define I2C_SLV3_CTRL 0x30 #define I2C_SLV4_ADDR 0x31 #define I2C_SLV4_REG 0x32 #define I2C_SLV4_DO 0x33 #define I2C_SLV4_CTRL 0x34 #define I2C_SLV4_DI 0x35 #define I2C_MST_STATUS 0x36 #define INT_PIN_CFG 0x37 #define INT_ENABLE 0x38 #define DMP_INT_STATUS 0x39 // Check DMP interrupt #define INT_STATUS 0x3A #define ACCEL_XOUT_H 0x3B #define ACCEL_XOUT_L 0x3C #define ACCEL_YOUT_H 0x3D #define ACCEL_YOUT_L 0x3E #define ACCEL_ZOUT_H 0x3F #define ACCEL_ZOUT_L 0x40 #define TEMP_OUT_H 0x41 #define TEMP_OUT_L 0x42 #define GYRO_XOUT_H 0x43 #define GYRO_XOUT_L 0x44 #define GYRO_YOUT_H 0x45 #define GYRO_YOUT_L 0x46 #define GYRO_ZOUT_H 0x47 #define GYRO_ZOUT_L 0x48 #define EXT_SENS_DATA_00 0x49 #define EXT_SENS_DATA_01 0x4A #define EXT_SENS_DATA_02 0x4B #define EXT_SENS_DATA_03 0x4C #define EXT_SENS_DATA_04 0x4D #define EXT_SENS_DATA_05 0x4E #define EXT_SENS_DATA_06 0x4F #define EXT_SENS_DATA_07 0x50 #define EXT_SENS_DATA_08 0x51 #define EXT_SENS_DATA_09 0x52 #define EXT_SENS_DATA_10 0x53 #define EXT_SENS_DATA_11 0x54 #define EXT_SENS_DATA_12 0x55 #define EXT_SENS_DATA_13 0x56 #define EXT_SENS_DATA_14 0x57 #define EXT_SENS_DATA_15 0x58 #define EXT_SENS_DATA_16 0x59 #define EXT_SENS_DATA_17 0x5A #define EXT_SENS_DATA_18 0x5B #define EXT_SENS_DATA_19 0x5C #define EXT_SENS_DATA_20 0x5D #define EXT_SENS_DATA_21 0x5E #define EXT_SENS_DATA_22 0x5F #define EXT_SENS_DATA_23 0x60 #define MOT_DETECT_STATUS 0x61 #define I2C_SLV0_DO 0x63 #define I2C_SLV1_DO 0x64 #define I2C_SLV2_DO 0x65 #define I2C_SLV3_DO 0x66 #define I2C_MST_DELAY_CTRL 0x67 #define SIGNAL_PATH_RESET 0x68 #define MOT_DETECT_CTRL 0x69 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode #define PWR_MGMT_2 0x6C #define DMP_BANK 0x6D // Activates a specific bank in the DMP #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank #define DMP_REG 0x6F // Register in DMP from which to read or to which to write #define DMP_REG_1 0x70 #define DMP_REG_2 0x71 #define FIFO_COUNTH 0x72 #define FIFO_COUNTL 0x73 #define FIFO_R_W 0x74 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71 #define XA_OFFSET_H 0x77 #define XA_OFFSET_L 0x78 #define YA_OFFSET_H 0x7A #define YA_OFFSET_L 0x7B #define ZA_OFFSET_H 0x7D #define ZA_OFFSET_L 0x7E #define MPU9250_ADDRESS 0x68 // Device address when ADO = 0 #define AK8963_ADDRESS 0x0C // Address of magnetometer enum { AFS_2G = 0, AFS_4G, AFS_8G, AFS_16G }; enum { GFS_250DPS = 0, GFS_500DPS, GFS_1000DPS, GFS_2000DPS }; enum { MFS_14BITS = 0, // 0.6 mG per LSB MFS_16BITS // 0.15 mG per LSB }; // Specify sensor full scale #define Ascale AFS_2G #define Gscale GFS_250DPS #define mRes (10.*4912./32760.0) #if Ascale == AFS_2G #define aRes (2.0/32768.0) #elif Ascale == AFS_4G #define aRes (4.0/32768.0) #elif Ascale == AFS_8G #define aRes (8.0/32768.0) #elif Ascale == AFS_16G #define aRes (16.0/32768.0) #endif #if Gscale == GFS_250DPS #define gRes (250.0/32768.0) #elif Gscale == GFS_500DPS #define gRes (500.0/32768.0) #elif Gscale == GFS_1000DPS #define gRes (1000.0/32768.0) #elif Gscale == GFS_2000DPS #define gRes (2000.0/32768.0) #endif // 2 for 8 Hz, 6 for 100 Hz continuous magnetometer data read #define Mmode 0x02 #define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral #define Ki 0.0f typedef struct { float pitch; float yaw; float roll; } ORIENTATION; class CQuaterion { public: void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz); void getOrientation(ORIENTATION* ori); private: float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion // global constants for 9 DoF fusion and AHRS (Attitude and Heading Reference System) float GyroMeasError = PI * (40.0f / 180.0f); // gyroscope measurement error in rads/s (start at 40 deg/s) float GyroMeasDrift = PI * (0.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s) float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value uint32_t firstUpdate = 0; // used to calculate integration interval uint32_t lastUpdate = 0; float deltat = 0.0f; }; class MPU9250_ACC { public: virtual byte begin(bool fusion = false); virtual bool read(float* acc, float* gyr = 0, float* mag = 0, int16_t* temp = 0, ORIENTATION* ori = 0); protected: void getAres(); void readAccelData(int16_t *); int16_t readTempData(); void initMPU9250(); void writeByte(uint8_t, uint8_t); uint8_t readByte(uint8_t); void readBytes(uint8_t, uint8_t, uint8_t *); int16_t accelCount[3] = {0}; }; class MPU9250_9DOF : public MPU9250_ACC { public: byte begin(bool fusion = false); bool read(float* acc, float* gyr = 0, float* mag = 0, int16_t* temp = 0, ORIENTATION* ori = 0); private: void getMres(); void getGres(); void readGyroData(int16_t *); void readMagData(int16_t *); bool initAK8963(float *); void calibrateMPU9250(float * gyroBias, float * accelBias); void MPU9250SelfTest(float * destination); void writeByteAK(uint8_t, uint8_t); uint8_t readByteAK(uint8_t); void readBytesAK(uint8_t, uint8_t, uint8_t *); float gyroBias[3] = {0}; float accelBias[3] = {0}; // Bias corrections for gyro and accelerometer float magCalibration[3] = {0}; int16_t gyroCount[3] = {0}; int16_t magCount[3] = {0}; // Stores the 16-bit signed magnetometer sensor output CQuaterion* quaterion = 0; }; #endif