223 lines
6.5 KiB
C++
223 lines
6.5 KiB
C++
/**
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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
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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_SLV3_ADDR 0x2E
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#define MPU9250_I2C_SLV3_REG 0x2F
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#define MPU9250_I2C_SLV3_CTRL 0x30
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#define MPU9250_I2C_SLV4_ADDR 0x31
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#define MPU9250_I2C_SLV4_REG 0x32
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#define MPU9250_I2C_SLV4_DO 0x33
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#define MPU9250_I2C_SLV4_CTRL 0x34
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#define MPU9250_I2C_SLV4_DI 0x35
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#define MPU9250_I2C_MST_STATUS 0x36
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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_ACCEL_XOUT_L 0x3C
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#define MPU9250_ACCEL_YOUT_H 0x3D
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#define MPU9250_ACCEL_YOUT_L 0x3E
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#define MPU9250_ACCEL_ZOUT_H 0x3F
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#define MPU9250_ACCEL_ZOUT_L 0x40
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#define MPU9250_TEMP_OUT_H 0x41
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#define MPU9250_TEMP_OUT_L 0x42
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#define MPU9250_GYRO_XOUT_H 0x43
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#define MPU9250_GYRO_XOUT_L 0x44
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#define MPU9250_GYRO_YOUT_H 0x45
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#define MPU9250_GYRO_YOUT_L 0x46
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#define MPU9250_GYRO_ZOUT_H 0x47
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#define MPU9250_GYRO_ZOUT_L 0x48
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#define MPU9250_EXT_SENS_DATA_00 0x49
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#define MPU9250_EXT_SENS_DATA_01 0x4A
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#define MPU9250_EXT_SENS_DATA_02 0x4B
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#define MPU9250_EXT_SENS_DATA_03 0x4C
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#define MPU9250_EXT_SENS_DATA_04 0x4D
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#define MPU9250_EXT_SENS_DATA_05 0x4E
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#define MPU9250_EXT_SENS_DATA_06 0x4F
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#define MPU9250_EXT_SENS_DATA_07 0x50
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#define MPU9250_EXT_SENS_DATA_08 0x51
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#define MPU9250_EXT_SENS_DATA_09 0x52
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#define MPU9250_EXT_SENS_DATA_10 0x53
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#define MPU9250_EXT_SENS_DATA_11 0x54
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#define MPU9250_EXT_SENS_DATA_12 0x55
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#define MPU9250_EXT_SENS_DATA_13 0x56
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#define MPU9250_EXT_SENS_DATA_14 0x57
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#define MPU9250_EXT_SENS_DATA_15 0x58
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#define MPU9250_EXT_SENS_DATA_16 0x59
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#define MPU9250_EXT_SENS_DATA_17 0x5A
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#define MPU9250_EXT_SENS_DATA_18 0x5B
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#define MPU9250_EXT_SENS_DATA_19 0x5C
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#define MPU9250_EXT_SENS_DATA_20 0x5D
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#define MPU9250_EXT_SENS_DATA_21 0x5E
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#define MPU9250_EXT_SENS_DATA_22 0x5F
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#define MPU9250_EXT_SENS_DATA_23 0x60
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#define MPU9250_I2C_SLV0_DO 0x63
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#define MPU9250_I2C_SLV1_DO 0x64
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#define MPU9250_I2C_SLV2_DO 0x65
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#define MPU9250_I2C_SLV3_DO 0x66
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#define MPU9250_I2C_MST_DELAY_CTRL 0x67
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#define MPU9250_SIGNAL_PATH_RESET 0x68
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#define MPU9250_MOT_DETECT_CTRL 0x69
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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_COUNTH 0x72
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#define MPU9250_FIFO_COUNTL 0x73
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#define MPU9250_FIFO_R_W 0x74
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#define MPU9250_WHO_AM_I 0x75
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#define MPU9250_XA_OFFSET_H 0x77
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#define MPU9250_XA_OFFSET_L 0x78
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#define MPU9250_YA_OFFSET_H 0x7A
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#define MPU9250_YA_OFFSET_L 0x7B
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#define MPU9250_ZA_OFFSET_H 0x7D
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#define MPU9250_ZA_OFFSET_L 0x7E
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/// @}
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/// @name Gyro Full Scale Select
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/// @{
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#define MPU9250_GFS_250 0x0 ///< +250dps
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#define MPU9250_GFS_500 0x1 ///< +500dps
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#define MPU9250_GFS_1000 0x2 ///< +1000dps
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#define MPU9250_GFS_2000 0x3 ///< +2000dps
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/// @}
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/// @name Accel Full Scale Select
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/// @{
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#define MPU9250_AFS_2G 0x0 ///< 2g
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#define MPU9250_AFS_4G 0x1 ///< 4g
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#define MPU9250_AFS_8G 0x2 ///< 8g
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#define MPU9250_AFS_16G 0x3 ///< 16g
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/// @}
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/// @name AK8963 Register Addresses
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/// @{
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#define AK8963_WIA 0x00
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#define AK8963_INFO 0x01
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#define AK8963_ST1 0x02
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#define AK8963_HXL 0x03
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#define AK8963_HXH 0x04
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#define AK8963_HYL 0x05
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#define AK8963_HYH 0x06
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#define AK8963_HZL 0x07
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#define AK8963_HZH 0x08
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#define AK8963_ST2 0x09
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#define AK8963_CNTL1 0x0A
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#define AK8963_CNTL2 0x0B
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#define AK8963_ASTC 0x0C
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#define AK8963_TS1 0x0D
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#define AK8963_TS2 0x0E
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#define AK8963_I2CDIS 0x0F
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#define AK8963_ASAX 0x10
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#define AK8963_ASAY 0x11
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#define AK8963_ASAZ 0x12
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#define AK8963_RSV 0x13
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/// @}
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/// @name CNTL1 Mode select
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/// @{
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#define AK8963_MODE_DOWN 0x00 ///< Power down mode
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#define AK8963_MODE_ONE 0x01 ///< One shot data output
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#define AK8963_MODE_C8HZ 0x02 ///< Continous data output 8Hz
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#define AK8963_MODE_C100HZ 0x06 ///< Continous data output 100Hz
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#define AK8963_MODE_TRIG 0x04 ///< External trigger data output
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#define AK8963_MODE_TEST 0x08 ///< Self test
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#define AK8963_MODE_FUSE 0x0F ///< Fuse ROM access
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/// @}
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/// @name Magneto Scale Select
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/// @{
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#define AK8963_BIT_14 0x0 ///< 14bit output
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#define AK8963_BIT_16 0x1 ///< 16bit output
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/// @}
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/**
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* @class FaBo9Axis
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* @brief FaBo 9Axis I2C Controll class
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*/
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class FaBo9Axis {
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public:
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FaBo9Axis(uint8_t addr = MPU9250_SLAVE_ADDRESS);
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bool begin(void);
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bool searchDevice(void);
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void configMPU9250(uint8_t gfs = MPU9250_GFS_250, uint8_t afs = MPU9250_AFS_2G);
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void configAK8963(uint8_t mode = AK8963_MODE_C8HZ, uint8_t mfs = AK8963_BIT_16);
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bool checkDataReady();
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void readAccelXYZ(float * ax, float * ay, float * az);
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float readAccelX();
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float readAccelY();
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float readAccelZ();
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void readGyroXYZ(float * gx, float * gy, float * gz);
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float readGyroX();
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float readGyroY();
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float readGyroZ();
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void readMagnetXYZ(float * mx, float * my, float * mz);
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float readMagnetX();
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float readMagnetY();
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float readMagnetZ();
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void readTemperature(float * temperature);
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void dumpConfig(void);
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private:
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uint8_t _mpu9250addr;
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float _gres, _ares, _mres;
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float _magXcoef, _magYcoef, _magZcoef;
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void writeI2c(byte address, uint8_t register_addr, uint8_t data);
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void readI2c(uint8_t address, uint8_t register_addr, uint8_t num, uint8_t * buffer);
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};
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#endif // FABO9AXIS_MPU9250_H
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