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王立帮
371
arduino-cli/libraries/MPU9250/src/FaBo9Axis_MPU9250.cpp
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371
arduino-cli/libraries/MPU9250/src/FaBo9Axis_MPU9250.cpp
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/**
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@file FaBo9Axis_MPU9250.cpp
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@brief This is a library for the FaBo 9Axis I2C Brick.
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http://fabo.io/202.html
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Released under APACHE LICENSE, VERSION 2.0
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http://www.apache.org/licenses/
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@author FaBo<info@fabo.io>
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*/
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#include "FaBo9Axis_MPU9250.h"
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/**
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@brief Constructor
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@param [in] addr MPU-9250 I2C slave address
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*/
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FaBo9Axis::FaBo9Axis(uint8_t addr) {
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_mpu9250addr = addr;
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Wire.begin();
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}
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/**
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@brief Begin Device
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@retval true normaly done
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@retval false device error
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*/
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bool FaBo9Axis::begin() {
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if (searchDevice()) {
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configMPU9250();
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configAK8963();
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return true;
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} else {
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return false;
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}
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}
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/**
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@brief Search Device
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@retval true device connected
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@retval false device error
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*/
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bool FaBo9Axis::searchDevice() {
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uint8_t whoami;
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readI2c(_mpu9250addr, MPU9250_WHO_AM_I, 1, &whoami);
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if(whoami == 0x71){
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return true;
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} else{
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return false;
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}
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}
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/**
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@brief Configure MPU-9250
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@param [in] gfs Gyro Full Scale Select(default:MPU9250_GFS_250[+250dps])
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@param [in] afs Accel Full Scale Select(default:MPU9250_AFS_2G[2g])
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*/
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void FaBo9Axis::configMPU9250(uint8_t gfs, uint8_t afs) {
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switch(gfs) {
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case MPU9250_GFS_250:
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_gres = 250.0/32768.0;
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break;
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case MPU9250_GFS_500:
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_gres = 500.0/32768.0;
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break;
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case MPU9250_GFS_1000:
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_gres = 1000.0/32768.0;
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break;
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case MPU9250_GFS_2000:
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_gres = 2000.0/32768.0;
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break;
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}
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switch(afs) {
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case MPU9250_AFS_2G:
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_ares = 2.0/32768.0;
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break;
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case MPU9250_AFS_4G:
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_ares = 4.0/32768.0;
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break;
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case MPU9250_AFS_8G:
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_ares = 8.0/32768.0;
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break;
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case MPU9250_AFS_16G:
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_ares = 16.0/32768.0;
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break;
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}
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// sleep off
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writeI2c(_mpu9250addr, MPU9250_PWR_MGMT_1, 0x00);
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delay(100);
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// auto select clock source
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writeI2c(_mpu9250addr, MPU9250_PWR_MGMT_1, 0x01);
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delay(200);
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// DLPF_CFG
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writeI2c(_mpu9250addr, MPU9250_CONFIG, 0x03);
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// sample rate divider
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writeI2c(_mpu9250addr, MPU9250_SMPLRT_DIV, 0x04);
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// gyro full scale select
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writeI2c(_mpu9250addr, MPU9250_GYRO_CONFIG, gfs << 3);
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// accel full scale select
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writeI2c(_mpu9250addr, MPU9250_ACCEL_CONFIG, afs << 3);
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// A_DLPFCFG
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writeI2c(_mpu9250addr, MPU9250_ACCEL_CONFIG_2, 0x03);
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// BYPASS_EN
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writeI2c(_mpu9250addr, MPU9250_INT_PIN_CFG, 0x02);
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delay(100);
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}
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void FaBo9Axis::dumpConfig() {
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uint8_t c;
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readI2c(_mpu9250addr, MPU9250_GYRO_CONFIG, 1, &c);
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Serial.println(c,HEX);
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readI2c(_mpu9250addr, MPU9250_ACCEL_CONFIG, 1, &c);
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Serial.println(c,HEX);
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readI2c(_mpu9250addr, MPU9250_ACCEL_CONFIG_2, 1, &c);
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Serial.println(c,HEX);
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readI2c(AK8963_SLAVE_ADDRESS, AK8963_CNTL1, 1, &c);
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Serial.println(c,HEX);
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}
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/**
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@brief Configure AK8963
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@param [in] mode Magneto Mode Select(default:AK8963_MODE_C8HZ[Continous 8Hz])
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@param [in] mfs Magneto Scale Select(default:AK8963_BIT_16[16bit])
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*/
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void FaBo9Axis::configAK8963(uint8_t mode, uint8_t mfs) {
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uint8_t data[3];
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switch(mfs) {
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case AK8963_BIT_14:
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_mres = 4912.0/8190.0;
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break;
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case AK8963_BIT_16:
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_mres = 4912.0/32760.0;
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break;
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}
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// set software reset
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// writeI2c(AK8963_SLAVE_ADDRESS, AK8963_CNTL2, 0x01);
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// delay(100);
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// set power down mode
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writeI2c(AK8963_SLAVE_ADDRESS, AK8963_CNTL1, 0x00);
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delay(1);
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// set read FuseROM mode
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writeI2c(AK8963_SLAVE_ADDRESS, AK8963_CNTL1, 0x0F);
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delay(1);
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// read coef data
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readI2c(AK8963_SLAVE_ADDRESS, AK8963_ASAX, 3, data);
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_magXcoef = (float)(data[0] - 128) / 256.0 + 1.0;
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_magYcoef = (float)(data[1] - 128) / 256.0 + 1.0;
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_magZcoef = (float)(data[2] - 128) / 256.0 + 1.0;
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// set power down mode
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writeI2c(AK8963_SLAVE_ADDRESS, AK8963_CNTL1, 0x00);
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delay(1);
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// set scale&continous mode
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writeI2c(AK8963_SLAVE_ADDRESS, AK8963_CNTL1, (mfs<<4|mode));
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delay(1);
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}
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/**
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@brief Check data ready
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@retval true data is ready
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@retval false data is not ready
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*/
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bool FaBo9Axis::checkDataReady() {
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uint8_t drdy;
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readI2c(_mpu9250addr, MPU9250_INT_STATUS, 1, &drdy);
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if ( drdy & 0x01 ) {
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return true;
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} else {
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return false;
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}
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}
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/**
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@brief Read accelerometer
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@param [out] ax X-accel(g)
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@param [out] ay Y-accel(g)
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@param [out] az Z-accel(g)
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*/
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void FaBo9Axis::readAccelXYZ(float * ax, float * ay, float * az) {
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uint8_t data[6];
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int16_t axc, ayc, azc;
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readI2c(_mpu9250addr, MPU9250_ACCEL_XOUT_H, 6, data);
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axc = ((int16_t)data[0] << 8) | data[1];
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ayc = ((int16_t)data[2] << 8) | data[3];
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azc = ((int16_t)data[4] << 8) | data[5];
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*ax = (float)axc * _ares;
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*ay = (float)ayc * _ares;
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*az = (float)azc * _ares;
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}
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float FaBo9Axis::readAccelX() {
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uint8_t data[6];
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int16_t axc, ayc, azc;
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readI2c(_mpu9250addr, MPU9250_ACCEL_XOUT_H, 6, data);
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axc = ((int16_t)data[0] << 8) | data[1];
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float ax = (float)axc * _ares;
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return ax;
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}
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float FaBo9Axis::readAccelY() {
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uint8_t data[6];
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int16_t axc, ayc, azc;
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readI2c(_mpu9250addr, MPU9250_ACCEL_XOUT_H, 6, data);
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ayc = ((int16_t)data[2] << 8) | data[3];
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float ay = (float)ayc * _ares;
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return ay;
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}
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float FaBo9Axis::readAccelZ() {
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uint8_t data[6];
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int16_t axc, ayc, azc;
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readI2c(_mpu9250addr, MPU9250_ACCEL_XOUT_H, 6, data);
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azc = ((int16_t)data[4] << 8) | data[5];
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float az = (float)azc * _ares;
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return az;
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}
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/**
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@brief Read gyro
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@param [out] gx X-gyro(degrees/sec)
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@param [out] gy Y-gyro(degrees/sec)
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@param [out] gz Z-gyro(degrees/sec)
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*/
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void FaBo9Axis::readGyroXYZ(float * gx, float * gy, float * gz) {
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uint8_t data[6];
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int16_t gxc, gyc, gzc;
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readI2c(_mpu9250addr, MPU9250_GYRO_XOUT_H, 6, data);
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gxc = ((int16_t)data[0] << 8) | data[1];
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gyc = ((int16_t)data[2] << 8) | data[3];
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gzc = ((int16_t)data[4] << 8) | data[5];
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*gx = (float)gxc * _gres;
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*gy = (float)gyc * _gres;
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*gz = (float)gzc * _gres;
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}
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float FaBo9Axis::readGyroX() {
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uint8_t data[6];
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int16_t gxc, gyc, gzc;
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readI2c(_mpu9250addr, MPU9250_GYRO_XOUT_H, 6, data);
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gxc = ((int16_t)data[0] << 8) | data[1];
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float gx = (float)gxc * _gres;
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return gx;
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}
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float FaBo9Axis::readGyroY() {
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uint8_t data[6];
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int16_t gxc, gyc, gzc;
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readI2c(_mpu9250addr, MPU9250_GYRO_XOUT_H, 6, data);
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gyc = ((int16_t)data[2] << 8) | data[3];
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float gy = (float)gyc * _gres;
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return gy;
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}
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float FaBo9Axis::readGyroZ() {
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uint8_t data[6];
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int16_t gxc, gyc, gzc;
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readI2c(_mpu9250addr, MPU9250_GYRO_XOUT_H, 6, data);
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gzc = ((int16_t)data[4] << 8) | data[5];
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float gz = (float)gzc * _gres;
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return gz;
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}
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/**
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@brief Read magneto
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@param [out] mx X-magneto(uT)
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@param [out] my Y-magneto(uT)
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@param [out] mz Z-magneto(uT)
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*/
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void FaBo9Axis::readMagnetXYZ(float * mx, float * my, float * mz) {
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uint8_t data[7];
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uint8_t drdy;
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int16_t mxc, myc, mzc;
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readI2c(AK8963_SLAVE_ADDRESS, AK8963_ST1, 1, &drdy);
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if ( drdy & 0x01 ) { // check data ready
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readI2c(AK8963_SLAVE_ADDRESS, AK8963_HXL, 7, data);
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if ( !(data[6] & 0x08) ) { // check overflow
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mxc = ((int16_t)data[1] << 8) | data[0];
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myc = ((int16_t)data[3] << 8) | data[2];
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mzc = ((int16_t)data[5] << 8) | data[4];
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*mx = (float)mxc * _mres * _magXcoef;
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*my = (float)myc * _mres * _magYcoef;
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*mz = (float)mzc * _mres * _magZcoef;
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}
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}
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}
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float FaBo9Axis::readMagnetX() {
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uint8_t data[7];
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uint8_t drdy;
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int16_t mxc, myc, mzc;
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float mx;
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readI2c(AK8963_SLAVE_ADDRESS, AK8963_ST1, 1, &drdy);
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if ( drdy & 0x01 ) { // check data ready
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readI2c(AK8963_SLAVE_ADDRESS, AK8963_HXL, 7, data);
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if ( !(data[6] & 0x08) ) { // check overflow
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mxc = ((int16_t)data[1] << 8) | data[0];
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mx = (float)mxc * _mres * _magXcoef;
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}
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}
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return mx;
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}
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float FaBo9Axis::readMagnetY() {
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uint8_t data[7];
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uint8_t drdy;
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float my ;
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int16_t mxc, myc, mzc;
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readI2c(AK8963_SLAVE_ADDRESS, AK8963_ST1, 1, &drdy);
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if ( drdy & 0x01 ) { // check data ready
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readI2c(AK8963_SLAVE_ADDRESS, AK8963_HXL, 7, data);
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if ( !(data[6] & 0x08) ) { // check overflow
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myc = ((int16_t)data[3] << 8) | data[2];
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my = (float)myc * _mres * _magYcoef;
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}
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}
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return my;
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}
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float FaBo9Axis::readMagnetZ() {
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uint8_t data[7];
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uint8_t drdy;
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float mz ;
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int16_t mxc, myc, mzc;
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readI2c(AK8963_SLAVE_ADDRESS, AK8963_ST1, 1, &drdy);
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if ( drdy & 0x01 ) { // check data ready
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readI2c(AK8963_SLAVE_ADDRESS, AK8963_HXL, 7, data);
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if ( !(data[6] & 0x08) ) { // check overflow
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mzc = ((int16_t)data[5] << 8) | data[4];
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mz = (float)mzc * _mres * _magZcoef;
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}
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}
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return mz;
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}
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/**
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@brief Read temperature
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@param [out] temperature temperature(degrees C)
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*/
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void FaBo9Axis::readTemperature(float * temperature) {
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uint8_t data[2];
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int16_t tmc;
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readI2c(_mpu9250addr, MPU9250_TEMP_OUT_H, 2, data);
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tmc = ((int16_t)data[0] << 8) | data[1];
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*temperature = ((float)tmc) / 333.87 + 21.0;
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}
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/////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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@brief Write I2C
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@param [in] address I2C slave address
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@param [in] register_addr register address
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@param [in] data write data
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*/
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void FaBo9Axis::writeI2c(uint8_t address, uint8_t register_addr, uint8_t data) {
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Wire.beginTransmission(address);
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Wire.write(register_addr);
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Wire.write(data);
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Wire.endTransmission();
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}
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/**
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@brief Read I2C
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@param [in] address I2C slave address
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@param [in] register_addr register address
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@param [in] num read length
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@param [out] buffer read data
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*/
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void FaBo9Axis::readI2c(uint8_t address, uint8_t register_addr, uint8_t num, uint8_t * buffer) {
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Wire.beginTransmission(address);
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Wire.write(register_addr);
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Wire.endTransmission();
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uint8_t i = 0;
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Wire.requestFrom(address, num);
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while( Wire.available() ) {
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buffer[i++] = Wire.read();
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}
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}
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222
arduino-cli/libraries/MPU9250/src/FaBo9Axis_MPU9250.h
Normal file
222
arduino-cli/libraries/MPU9250/src/FaBo9Axis_MPU9250.h
Normal file
@@ -0,0 +1,222 @@
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/**
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@file FaBo9Axis_MPU9250.h
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@brief This is a library for the FaBo 9Axis I2C Brick.
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http://fabo.io/202.html
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Released under APACHE LICENSE, VERSION 2.0
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http://www.apache.org/licenses/
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@author FaBo<info@fabo.io>
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*/
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#ifndef FABO9AXIS_MPU9250_H
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#define FABO9AXIS_MPU9250_H
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#include <Arduino.h>
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#include <Wire.h>
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#define MPU9250_SLAVE_ADDRESS 0x68 ///< MPU9250 Default I2C slave address
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#define AK8963_SLAVE_ADDRESS 0x0C ///< AK8963 I2C slave address
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/// @name MPU-9250 Register Addresses
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/// @{
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#define MPU9250_SELF_TEST_X_GYRO 0x00
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#define MPU9250_SELF_TEST_Y_GYRO 0x01
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#define MPU9250_SELF_TEST_Z_GYRO 0x02
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#define MPU9250_SELF_TEST_X_ACCEL 0x0D
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#define MPU9250_SELF_TEST_Y_ACCEL 0x0E
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#define MPU9250_SELF_TEST_Z_ACCEL 0x0F
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#define MPU9250_XG_OFFSET_H 0x13
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#define MPU9250_XG_OFFSET_L 0x14
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#define MPU9250_YG_OFFSET_H 0x15
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#define MPU9250_YG_OFFSET_L 0x16
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#define MPU9250_ZG_OFFSET_H 0x17
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#define MPU9250_ZG_OFFSET_L 0x18
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#define MPU9250_SMPLRT_DIV 0x19
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#define MPU9250_CONFIG 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_CONFIG_2 0x1D
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#define MPU9250_LP_ACCEL_ODR 0x1E
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#define MPU9250_WOM_THR 0x1F
|
||||
#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_SLV3_ADDR 0x2E
|
||||
#define MPU9250_I2C_SLV3_REG 0x2F
|
||||
#define MPU9250_I2C_SLV3_CTRL 0x30
|
||||
#define MPU9250_I2C_SLV4_ADDR 0x31
|
||||
#define MPU9250_I2C_SLV4_REG 0x32
|
||||
#define MPU9250_I2C_SLV4_DO 0x33
|
||||
#define MPU9250_I2C_SLV4_CTRL 0x34
|
||||
#define MPU9250_I2C_SLV4_DI 0x35
|
||||
#define MPU9250_I2C_MST_STATUS 0x36
|
||||
#define MPU9250_INT_PIN_CFG 0x37
|
||||
#define MPU9250_INT_ENABLE 0x38
|
||||
#define MPU9250_INT_STATUS 0x3A
|
||||
#define MPU9250_ACCEL_XOUT_H 0x3B
|
||||
#define MPU9250_ACCEL_XOUT_L 0x3C
|
||||
#define MPU9250_ACCEL_YOUT_H 0x3D
|
||||
#define MPU9250_ACCEL_YOUT_L 0x3E
|
||||
#define MPU9250_ACCEL_ZOUT_H 0x3F
|
||||
#define MPU9250_ACCEL_ZOUT_L 0x40
|
||||
#define MPU9250_TEMP_OUT_H 0x41
|
||||
#define MPU9250_TEMP_OUT_L 0x42
|
||||
#define MPU9250_GYRO_XOUT_H 0x43
|
||||
#define MPU9250_GYRO_XOUT_L 0x44
|
||||
#define MPU9250_GYRO_YOUT_H 0x45
|
||||
#define MPU9250_GYRO_YOUT_L 0x46
|
||||
#define MPU9250_GYRO_ZOUT_H 0x47
|
||||
#define MPU9250_GYRO_ZOUT_L 0x48
|
||||
#define MPU9250_EXT_SENS_DATA_00 0x49
|
||||
#define MPU9250_EXT_SENS_DATA_01 0x4A
|
||||
#define MPU9250_EXT_SENS_DATA_02 0x4B
|
||||
#define MPU9250_EXT_SENS_DATA_03 0x4C
|
||||
#define MPU9250_EXT_SENS_DATA_04 0x4D
|
||||
#define MPU9250_EXT_SENS_DATA_05 0x4E
|
||||
#define MPU9250_EXT_SENS_DATA_06 0x4F
|
||||
#define MPU9250_EXT_SENS_DATA_07 0x50
|
||||
#define MPU9250_EXT_SENS_DATA_08 0x51
|
||||
#define MPU9250_EXT_SENS_DATA_09 0x52
|
||||
#define MPU9250_EXT_SENS_DATA_10 0x53
|
||||
#define MPU9250_EXT_SENS_DATA_11 0x54
|
||||
#define MPU9250_EXT_SENS_DATA_12 0x55
|
||||
#define MPU9250_EXT_SENS_DATA_13 0x56
|
||||
#define MPU9250_EXT_SENS_DATA_14 0x57
|
||||
#define MPU9250_EXT_SENS_DATA_15 0x58
|
||||
#define MPU9250_EXT_SENS_DATA_16 0x59
|
||||
#define MPU9250_EXT_SENS_DATA_17 0x5A
|
||||
#define MPU9250_EXT_SENS_DATA_18 0x5B
|
||||
#define MPU9250_EXT_SENS_DATA_19 0x5C
|
||||
#define MPU9250_EXT_SENS_DATA_20 0x5D
|
||||
#define MPU9250_EXT_SENS_DATA_21 0x5E
|
||||
#define MPU9250_EXT_SENS_DATA_22 0x5F
|
||||
#define MPU9250_EXT_SENS_DATA_23 0x60
|
||||
#define MPU9250_I2C_SLV0_DO 0x63
|
||||
#define MPU9250_I2C_SLV1_DO 0x64
|
||||
#define MPU9250_I2C_SLV2_DO 0x65
|
||||
#define MPU9250_I2C_SLV3_DO 0x66
|
||||
#define MPU9250_I2C_MST_DELAY_CTRL 0x67
|
||||
#define MPU9250_SIGNAL_PATH_RESET 0x68
|
||||
#define MPU9250_MOT_DETECT_CTRL 0x69
|
||||
#define MPU9250_USER_CTRL 0x6A
|
||||
#define MPU9250_PWR_MGMT_1 0x6B
|
||||
#define MPU9250_PWR_MGMT_2 0x6C
|
||||
#define MPU9250_FIFO_COUNTH 0x72
|
||||
#define MPU9250_FIFO_COUNTL 0x73
|
||||
#define MPU9250_FIFO_R_W 0x74
|
||||
#define MPU9250_WHO_AM_I 0x75
|
||||
#define MPU9250_XA_OFFSET_H 0x77
|
||||
#define MPU9250_XA_OFFSET_L 0x78
|
||||
#define MPU9250_YA_OFFSET_H 0x7A
|
||||
#define MPU9250_YA_OFFSET_L 0x7B
|
||||
#define MPU9250_ZA_OFFSET_H 0x7D
|
||||
#define MPU9250_ZA_OFFSET_L 0x7E
|
||||
/// @}
|
||||
|
||||
/// @name Gyro Full Scale Select
|
||||
/// @{
|
||||
#define MPU9250_GFS_250 0x0 ///< +250dps
|
||||
#define MPU9250_GFS_500 0x1 ///< +500dps
|
||||
#define MPU9250_GFS_1000 0x2 ///< +1000dps
|
||||
#define MPU9250_GFS_2000 0x3 ///< +2000dps
|
||||
/// @}
|
||||
|
||||
/// @name Accel Full Scale Select
|
||||
/// @{
|
||||
#define MPU9250_AFS_2G 0x0 ///< 2g
|
||||
#define MPU9250_AFS_4G 0x1 ///< 4g
|
||||
#define MPU9250_AFS_8G 0x2 ///< 8g
|
||||
#define MPU9250_AFS_16G 0x3 ///< 16g
|
||||
/// @}
|
||||
|
||||
|
||||
/// @name AK8963 Register Addresses
|
||||
/// @{
|
||||
#define AK8963_WIA 0x00
|
||||
#define AK8963_INFO 0x01
|
||||
#define AK8963_ST1 0x02
|
||||
#define AK8963_HXL 0x03
|
||||
#define AK8963_HXH 0x04
|
||||
#define AK8963_HYL 0x05
|
||||
#define AK8963_HYH 0x06
|
||||
#define AK8963_HZL 0x07
|
||||
#define AK8963_HZH 0x08
|
||||
#define AK8963_ST2 0x09
|
||||
#define AK8963_CNTL1 0x0A
|
||||
#define AK8963_CNTL2 0x0B
|
||||
#define AK8963_ASTC 0x0C
|
||||
#define AK8963_TS1 0x0D
|
||||
#define AK8963_TS2 0x0E
|
||||
#define AK8963_I2CDIS 0x0F
|
||||
#define AK8963_ASAX 0x10
|
||||
#define AK8963_ASAY 0x11
|
||||
#define AK8963_ASAZ 0x12
|
||||
#define AK8963_RSV 0x13
|
||||
/// @}
|
||||
|
||||
|
||||
/// @name CNTL1 Mode select
|
||||
/// @{
|
||||
#define AK8963_MODE_DOWN 0x00 ///< Power down mode
|
||||
#define AK8963_MODE_ONE 0x01 ///< One shot data output
|
||||
#define AK8963_MODE_C8HZ 0x02 ///< Continous data output 8Hz
|
||||
#define AK8963_MODE_C100HZ 0x06 ///< Continous data output 100Hz
|
||||
#define AK8963_MODE_TRIG 0x04 ///< External trigger data output
|
||||
#define AK8963_MODE_TEST 0x08 ///< Self test
|
||||
#define AK8963_MODE_FUSE 0x0F ///< Fuse ROM access
|
||||
/// @}
|
||||
|
||||
/// @name Magneto Scale Select
|
||||
/// @{
|
||||
#define AK8963_BIT_14 0x0 ///< 14bit output
|
||||
#define AK8963_BIT_16 0x1 ///< 16bit output
|
||||
/// @}
|
||||
|
||||
|
||||
/**
|
||||
* @class FaBo9Axis
|
||||
* @brief FaBo 9Axis I2C Controll class
|
||||
*/
|
||||
class FaBo9Axis {
|
||||
public:
|
||||
FaBo9Axis(uint8_t addr = MPU9250_SLAVE_ADDRESS);
|
||||
bool begin(void);
|
||||
bool searchDevice(void);
|
||||
void configMPU9250(uint8_t gfs = MPU9250_GFS_250, uint8_t afs = MPU9250_AFS_2G);
|
||||
void configAK8963(uint8_t mode = AK8963_MODE_C8HZ, uint8_t mfs = AK8963_BIT_16);
|
||||
bool checkDataReady();
|
||||
void readAccelXYZ(float * ax, float * ay, float * az);
|
||||
float readAccelX();
|
||||
float readAccelY();
|
||||
float readAccelZ();
|
||||
void readGyroXYZ(float * gx, float * gy, float * gz);
|
||||
float readGyroX();
|
||||
float readGyroY();
|
||||
float readGyroZ();
|
||||
void readMagnetXYZ(float * mx, float * my, float * mz);
|
||||
float readMagnetX();
|
||||
float readMagnetY();
|
||||
float readMagnetZ();
|
||||
void readTemperature(float * temperature);
|
||||
void dumpConfig(void);
|
||||
private:
|
||||
uint8_t _mpu9250addr;
|
||||
float _gres, _ares, _mres;
|
||||
float _magXcoef, _magYcoef, _magZcoef;
|
||||
void writeI2c(byte address, uint8_t register_addr, uint8_t data);
|
||||
void readI2c(uint8_t address, uint8_t register_addr, uint8_t num, uint8_t * buffer);
|
||||
};
|
||||
|
||||
#endif // FABO9AXIS_MPU9250_H
|
||||
Reference in New Issue
Block a user