Gaku Matsumoto / mpu9250_i2c

mpu9250のライブラリ、I2Cを利用。開発段階のため微妙

Dependents:   library

mpu9250_i2c.h@10:fad6675651c1, 2017-01-28 (annotated)

Committer:
Gaku0606
Date:
Sat Jan 28 21:00:46 2017 +0000
Revision:
10:fad6675651c1
Parent:
9:424ce8140bd1 
ggg

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gaku0606 0:d36bfb8300a2 1 #ifndef _MPU9250_I2C_H_
Gaku0606 0:d36bfb8300a2 2 #define _MPU9250_I2C_H_
Gaku0606 0:d36bfb8300a2 3
Gaku0606 1:6a4c2f84180b 4
Gaku0606 1:6a4c2f84180b 5
Gaku0606 0:d36bfb8300a2 6 #define SLAVE_ADDR_LOW (0b1101000 << 1)//AD0 == LOW
Gaku0606 0:d36bfb8300a2 7 #define SLAVE_ADDR_HIGH (0b1101001 << 1)//AD0 == HIGH
Gaku0606 0:d36bfb8300a2 8 #define MAG_ADDR (0b0001100 << 1)
Gaku0606 0:d36bfb8300a2 9
Gaku0606 0:d36bfb8300a2 10 #define WRITE_FLAG 0b00000000
Gaku0606 0:d36bfb8300a2 11 #define READ_FLAG 0b00000001
Gaku0606 0:d36bfb8300a2 12 #define CONFIG 0x1A
Gaku0606 0:d36bfb8300a2 13 #define GYRO_CONFIG 0x1B
Gaku0606 0:d36bfb8300a2 14 #define ACCEL_CONFIG 0x1C
Gaku0606 0:d36bfb8300a2 15 #define ACCEL_CONFIG2 0x1D
Gaku0606 0:d36bfb8300a2 16 #define LP_ACCEL_ODR 0x1E
Gaku0606 0:d36bfb8300a2 17 #define INT_PIN_CFG 0x37
Gaku0606 0:d36bfb8300a2 18 #define ACCEL_XOUT_H 0x3B
Gaku0606 0:d36bfb8300a2 19 #define ACCEL_XOUT_L 0x3C
Gaku0606 0:d36bfb8300a2 20 #define ACCEL_YOUT_H 0x3D
Gaku0606 0:d36bfb8300a2 21 #define ACCEL_YOUT_L 0x3E
Gaku0606 0:d36bfb8300a2 22 #define ACCLE_ZOUT_H 0x3F
Gaku0606 0:d36bfb8300a2 23 #define ACCEL_ZOUT_L 0x40
Gaku0606 0:d36bfb8300a2 24 #define TEMP_OUT_H 0x41
Gaku0606 0:d36bfb8300a2 25 #define TEMP_OUT_L 0x42
Gaku0606 0:d36bfb8300a2 26 #define GYRO_XOUT_H 0x43
Gaku0606 0:d36bfb8300a2 27 #define GYRO_XOUT_L 0x44
Gaku0606 0:d36bfb8300a2 28 #define GYRO_YOUT_H 0x45
Gaku0606 0:d36bfb8300a2 29 #define GYRO_YOUT_L 0x46
Gaku0606 0:d36bfb8300a2 30 #define GYRO_ZOUT_H 0x47
Gaku0606 0:d36bfb8300a2 31 #define GYRO_ZOUT_L 0x48
Gaku0606 1:6a4c2f84180b 32 #define WHO_AM_I_MPU9250 0x75 //0x71ならおｋ
Gaku0606 0:d36bfb8300a2 33 #define XG_OFFSET_H 0x13
Gaku0606 0:d36bfb8300a2 34 #define XG_OFFSET_L 0x14
Gaku0606 0:d36bfb8300a2 35 #define YG_OFFSET_H 0x15
Gaku0606 0:d36bfb8300a2 36 #define YG_OFFSET_L 0x16
Gaku0606 0:d36bfb8300a2 37 #define ZG_OFFSET_H 0x17
Gaku0606 0:d36bfb8300a2 38 #define ZG_OFFSET_L 0x18
Gaku0606 0:d36bfb8300a2 39 #define XA_OFFSET_H 0x77
Gaku0606 0:d36bfb8300a2 40 #define XA_OFFSET_L 0x78
Gaku0606 0:d36bfb8300a2 41 #define YA_OFFSET_H 0x79
Gaku0606 0:d36bfb8300a2 42 #define YA_OFFERT_L 0x80
Gaku0606 0:d36bfb8300a2 43 #define ZA_OFFSET_H 0x81
Gaku0606 0:d36bfb8300a2 44 #define ZA_OFFSET_L 0x82
Gaku0606 0:d36bfb8300a2 45
Gaku0606 0:d36bfb8300a2 46 #define WIA 0x00 //device ID
Gaku0606 0:d36bfb8300a2 47 #define INFO 0x01
Gaku0606 0:d36bfb8300a2 48 #define ST1 0x02
Gaku0606 0:d36bfb8300a2 49 #define HXL 0x03//Low -> Highの順に注意
Gaku0606 0:d36bfb8300a2 50 #define HXH 0x04
Gaku0606 0:d36bfb8300a2 51 #define HYL 0x05
Gaku0606 0:d36bfb8300a2 52 #define HYH 0x06
Gaku0606 0:d36bfb8300a2 53 #define HZL 0x07
Gaku0606 0:d36bfb8300a2 54 #define HZH 0x08
Gaku0606 0:d36bfb8300a2 55 #define ST2 0x09
Gaku0606 0:d36bfb8300a2 56 #define CNTL1 0x0A
Gaku0606 0:d36bfb8300a2 57 #define CNTL2 0x0B
Gaku0606 0:d36bfb8300a2 58
Gaku0606 0:d36bfb8300a2 59 #define ACC_LSB (0.0000610350)//[G / LSB]
Gaku0606 0:d36bfb8300a2 60 #define GYRO_LSB (0.007630) //[(degree / s) / LSB]
Gaku0606 0:d36bfb8300a2 61 #define MAG_LSB (0.150) //[uT / LSB]
Gaku0606 0:d36bfb8300a2 62
Gaku0606 5:92d3913dcaee 63 typedef enum AD0 {
Gaku0606 0:d36bfb8300a2 64 AD0_HIGH = 1,
Gaku0606 5:92d3913dcaee 65 AD0_LOW = 0
Gaku0606 5:92d3913dcaee 66 } ad0;
Gaku0606 0:d36bfb8300a2 67
Gaku0606 5:92d3913dcaee 68 typedef enum ACC_RANGE {
Gaku0606 0:d36bfb8300a2 69 _2G = 1,
Gaku0606 0:d36bfb8300a2 70 _4G = 2,
Gaku0606 0:d36bfb8300a2 71 _8G = 4,
Gaku0606 0:d36bfb8300a2 72 _16G = 8
Gaku0606 5:92d3913dcaee 73 } acc_range;
Gaku0606 0:d36bfb8300a2 74
Gaku0606 5:92d3913dcaee 75 typedef enum GYRO_RANGE {
Gaku0606 0:d36bfb8300a2 76 _250DPS = 1,
Gaku0606 0:d36bfb8300a2 77 _500DPS = 2,
Gaku0606 0:d36bfb8300a2 78 _1000DPS = 4,
Gaku0606 0:d36bfb8300a2 79 _2000DPS = 8
Gaku0606 5:92d3913dcaee 80 } gyro_range;
Gaku0606 0:d36bfb8300a2 81
Gaku0606 5:92d3913dcaee 82 typedef enum MAG_RATE {
Gaku0606 0:d36bfb8300a2 83 _8HZ = 0,
Gaku0606 0:d36bfb8300a2 84 _100HZ = 1
Gaku0606 5:92d3913dcaee 85 } mag_rate;
Gaku0606 0:d36bfb8300a2 86
Gaku0606 5:92d3913dcaee 87 typedef enum A_BAND_WIDTH {
Gaku0606 0:d36bfb8300a2 88 NO_USE = 0b00000000,
Gaku0606 0:d36bfb8300a2 89 _460HZ = 0b00001000,
Gaku0606 0:d36bfb8300a2 90 _184HZ = 0b00001001,
Gaku0606 0:d36bfb8300a2 91 _92HZ = 0b00001010,
Gaku0606 0:d36bfb8300a2 92 _41HZ = 0b00001011,
Gaku0606 0:d36bfb8300a2 93 _20HZ = 0b00001100,
Gaku0606 0:d36bfb8300a2 94 _10HZ = 0b00001101,
Gaku0606 0:d36bfb8300a2 95 _5HZ = 0b00001110,
Gaku0606 5:92d3913dcaee 96 } a_band_width;
Gaku0606 0:d36bfb8300a2 97
Gaku0606 10:fad6675651c1 98 /**
Gaku0606 10:fad6675651c1 99 * @bref mpu9250を比較的簡単に利用できるようにしたライブラリ
Gaku0606 10:fad6675651c1 100 * @note ローパスフィルタまわりの実装がまだです．外部でよろです！
Gaku0606 10:fad6675651c1 101 * @author Gaku MATSUMOTO
Gaku0606 10:fad6675651c1 102 */
Gaku0606 5:92d3913dcaee 103 class mpu9250
Gaku0606 5:92d3913dcaee 104 {
Gaku0606 0:d36bfb8300a2 105
Gaku0606 0:d36bfb8300a2 106 public:
Gaku0606 1:6a4c2f84180b 107
Gaku0606 9:424ce8140bd1 108 /**
Gaku0606 9:424ce8140bd1 109 * @bref mpu9250インスタンスを生成する
Gaku0606 9:424ce8140bd1 110 * @param _i2c メインプログラムで宣言したI2Cインスタンスのアドレス
Gaku0606 9:424ce8140bd1 111 * @param celect AD0ピンがHIGHならAD0_HIGH，LOWならAD0_LOW
Gaku0606 9:424ce8140bd1 112 * @note 第二引数なしだとAD0_HIGHになります．
Gaku0606 9:424ce8140bd1 113 */
Gaku0606 1:6a4c2f84180b 114 mpu9250(I2C &_i2c, AD0 celect = AD0_HIGH);
Gaku0606 5:92d3913dcaee 115
Gaku0606 0:d36bfb8300a2 116 I2C *_nine;
Gaku0606 0:d36bfb8300a2 117 public:
Gaku0606 0:d36bfb8300a2 118 void writeReg(char addr, char data);
Gaku0606 0:d36bfb8300a2 119 void writeReg(char addr, char reg, char data);
Gaku0606 0:d36bfb8300a2 120 char readReg(char addr, char reg);
Gaku0606 0:d36bfb8300a2 121 void readReg(char addr, char start_reg, char* buff, char num);
Gaku0606 5:92d3913dcaee 122
Gaku0606 9:424ce8140bd1 123 /*!
Gaku0606 6:813fb8b332ee 124 @bref 慣性センサと通信ができているか確認する
Gaku0606 6:813fb8b332ee 125 @note trueが返ってきたら成功，falseなら．．．
Gaku0606 5:92d3913dcaee 126 */
Gaku0606 2:4c7bc164cc4d 127 bool senserTest();
Gaku0606 5:92d3913dcaee 128
Gaku0606 9:424ce8140bd1 129 /**
Gaku0606 9:424ce8140bd1 130 * @fn bool mpu9250::mag_senserTest()
Gaku0606 9:424ce8140bd1 131 * @bref 地磁気センサと通信ができているか確認する
Gaku0606 9:424ce8140bd1 132 * @note trueが返ってきたら成功，falseなら．．．
Gaku0606 9:424ce8140bd1 133 */
Gaku0606 0:d36bfb8300a2 134 bool mag_senserTest();
Gaku0606 5:92d3913dcaee 135
Gaku0606 5:92d3913dcaee 136 /**
Gaku0606 5:92d3913dcaee 137 * @bref 加速度センサのレンジを設定
Gaku0606 5:92d3913dcaee 138 * @param a_range _2G, _4G, _8G, _16Gの中から選択
Gaku0606 5:92d3913dcaee 139 * @note 引数無しで±4Gになる
Gaku0606 5:92d3913dcaee 140 */
Gaku0606 1:6a4c2f84180b 141 void setAcc(ACC_RANGE a_range = _4G);
Gaku0606 5:92d3913dcaee 142
Gaku0606 5:92d3913dcaee 143 /**
Gaku0606 5:92d3913dcaee 144 * @bref 角速度センサのレンジ設定
Gaku0606 5:92d3913dcaee 145 * @param g_range _250DPS, _500DPS, _1000DPS, _2000DPSの中から選択
Gaku0606 5:92d3913dcaee 146 * @note 引数無しで±500DPS
Gaku0606 5:92d3913dcaee 147 */
Gaku0606 1:6a4c2f84180b 148 void setGyro(GYRO_RANGE g_range = _500DPS);
Gaku0606 5:92d3913dcaee 149
Gaku0606 5:92d3913dcaee 150 /**
Gaku0606 5:92d3913dcaee 151 * @bref 地磁気センサのデータレート設定
Gaku0606 5:92d3913dcaee 152 * @param rate _8HZ か _100HZを選択
Gaku0606 5:92d3913dcaee 153 * @note あえて8Hzにする必要は無いと思います．
Gaku0606 5:92d3913dcaee 154 */
Gaku0606 1:6a4c2f84180b 155 void setMag(MAG_RATE rate = _100HZ);
Gaku0606 5:92d3913dcaee 156
Gaku0606 0:d36bfb8300a2 157 void init();
Gaku0606 5:92d3913dcaee 158
Gaku0606 5:92d3913dcaee 159
Gaku0606 5:92d3913dcaee 160 /**
Gaku0606 5:92d3913dcaee 161 * @bref I2Cの通信速度を変更できます．余程のことがない限り使用しなくていいです・
Gaku0606 5:92d3913dcaee 162 */
Gaku0606 0:d36bfb8300a2 163 void frequency(int Hz);
Gaku0606 5:92d3913dcaee 164
Gaku0606 5:92d3913dcaee 165 /**
Gaku0606 5:92d3913dcaee 166 * @bref mpu9250のデジタルローパスフィルタの設定
Gaku0606 5:92d3913dcaee 167 * @param band NO_USE, _460HZ, _184HZ, _92HZ, _41HZ, _20HZ, _10HZ, _5HZから選択
Gaku0606 5:92d3913dcaee 168 * @note カットオフ周波数なのかサンプルレートなのかよく分かりません．正直効果が見られません
Gaku0606 5:92d3913dcaee 169 */
Gaku0606 0:d36bfb8300a2 170 void setAccLPF(A_BAND_WIDTH band);
Gaku0606 5:92d3913dcaee 171
Gaku0606 5:92d3913dcaee 172 /**
Gaku0606 5:92d3913dcaee 173 * @bref ゼロ点のずれを補正するオフセット値を設定する
Gaku0606 5:92d3913dcaee 174 * @param ax,ay,az 加速度のオフセット
Gaku0606 5:92d3913dcaee 175 * @param gx,gy,gz 角速度のオフセット
Gaku0606 5:92d3913dcaee 176 * @param mx,my,mz 地磁気のオフセット
Gaku0606 5:92d3913dcaee 177 * @note とても重要です．地磁気は定期的にキャリブレーションをしてください．ちなみに，これらの値は測定値より引かれています．
Gaku0606 5:92d3913dcaee 178 */
Gaku0606 0:d36bfb8300a2 179 void setOffset(double ax, double ay, double az,
Gaku0606 0:d36bfb8300a2 180 double gx, double gy, double gz,
Gaku0606 0:d36bfb8300a2 181 double mx, double my, double mz);
Gaku0606 5:92d3913dcaee 182
Gaku0606 5:92d3913dcaee 183 /**
Gaku0606 5:92d3913dcaee 184 * @bref 加速度を取得します．
Gaku0606 5:92d3913dcaee 185 * @param ax x軸方向の加速度[G]
Gaku0606 5:92d3913dcaee 186 * @param ay y軸方向の加速度[G]
Gaku0606 5:92d3913dcaee 187 * @param az z軸方向の加速度[G]
Gaku0606 5:92d3913dcaee 188 * @note 型はfloat でも doubleでも構いません．
Gaku0606 5:92d3913dcaee 189 */
Gaku0606 1:6a4c2f84180b 190 template<typename T>void getAcc(T *ax, T *ay, T *az);
Gaku0606 5:92d3913dcaee 191
Gaku0606 5:92d3913dcaee 192 /**
Gaku0606 5:92d3913dcaee 193 * @bref 加速度を取得します．
Gaku0606 5:92d3913dcaee 194 * @param acc 各軸方向の加速度[G]，x,y,zの順
Gaku0606 5:92d3913dcaee 195 * @note 型はfloat でも doubleでも構いません．
Gaku0606 5:92d3913dcaee 196 */
Gaku0606 1:6a4c2f84180b 197 template<typename T>void getAcc(T *acc);
Gaku0606 5:92d3913dcaee 198
Gaku0606 5:92d3913dcaee 199 /**
Gaku0606 5:92d3913dcaee 200 * @bref 角速度を取得します．
Gaku0606 5:92d3913dcaee 201 * @param gx x軸方向の角速度[degree/s]
Gaku0606 5:92d3913dcaee 202 * @param gy y軸方向の角速度[degree/s]
Gaku0606 5:92d3913dcaee 203 * @param gz z軸方向の角速度[degree/s]
Gaku0606 5:92d3913dcaee 204 * @note 型はfloat でも doubleでも構いません．
Gaku0606 5:92d3913dcaee 205 */
Gaku0606 1:6a4c2f84180b 206 template<typename T>void getGyro(T *gx, T *gy, T *gz);
Gaku0606 5:92d3913dcaee 207
Gaku0606 5:92d3913dcaee 208 /**
Gaku0606 5:92d3913dcaee 209 * @bref 角速度を取得します．
Gaku0606 5:92d3913dcaee 210 * @param gyro 各軸方向の角速度[degree/s], x,y,zの順
Gaku0606 5:92d3913dcaee 211 * @note 型はfloat でも doubleでも構いません．
Gaku0606 5:92d3913dcaee 212 */
Gaku0606 1:6a4c2f84180b 213 template<typename T>void getGyro(T *gyro);
Gaku0606 5:92d3913dcaee 214
Gaku0606 5:92d3913dcaee 215 /**
Gaku0606 5:92d3913dcaee 216 * @bref 磁束密度を取得します．
Gaku0606 5:92d3913dcaee 217 * @param mx x軸方向の磁束密度[uT]
Gaku0606 5:92d3913dcaee 218 * @param my y軸方向の磁束密度[uT]
Gaku0606 5:92d3913dcaee 219 * @param mz z軸方向の磁束密度[uT]
Gaku0606 5:92d3913dcaee 220 * @note 型はfloat でも doubleでも構いません．
Gaku0606 5:92d3913dcaee 221 */
Gaku0606 1:6a4c2f84180b 222 template<typename T>void getMag(T *mx, T *my, T *mz);
Gaku0606 5:92d3913dcaee 223
Gaku0606 0:d36bfb8300a2 224
Gaku0606 5:92d3913dcaee 225 /**
Gaku0606 5:92d3913dcaee 226 * @bref 磁束密度を取得します．
Gaku0606 5:92d3913dcaee 227 * @param mag 各軸方向の磁束密度[uT]，x,y,zの順
Gaku0606 5:92d3913dcaee 228 * @note 型はfloat でも doubleでも構いません．
Gaku0606 5:92d3913dcaee 229 */
Gaku0606 5:92d3913dcaee 230 template<typename T>void getMag(T *mag);
Gaku0606 5:92d3913dcaee 231
Gaku0606 5:92d3913dcaee 232 /**
Gaku0606 5:92d3913dcaee 233 * @bref 角速度と加速度を同時に取得します．
Gaku0606 5:92d3913dcaee 234 * @param imu データを入れる配列，角速度[degree/s],加速度[G]の順
Gaku0606 5:92d3913dcaee 235 * @note 配列数は6以上で
Gaku0606 5:92d3913dcaee 236 */
Gaku0606 1:6a4c2f84180b 237 template<typename T>void getGyroAcc(T *imu);//gx,gy,gz,ax,ay,az
Gaku0606 0:d36bfb8300a2 238
Gaku0606 1:6a4c2f84180b 239 private:
Gaku0606 0:d36bfb8300a2 240 static char _addr;
Gaku0606 0:d36bfb8300a2 241 static double acc_coef;//coefficient
Gaku0606 0:d36bfb8300a2 242 static double gyro_coef;
Gaku0606 0:d36bfb8300a2 243 static double mag_coef;
Gaku0606 0:d36bfb8300a2 244 static double acc_offset[3];
Gaku0606 0:d36bfb8300a2 245 static double gyro_offset[3];
Gaku0606 0:d36bfb8300a2 246 static double mag_offset[3];
Gaku0606 0:d36bfb8300a2 247 };
Gaku0606 0:d36bfb8300a2 248
Gaku0606 0:d36bfb8300a2 249
Gaku0606 0:d36bfb8300a2 250
Gaku0606 5:92d3913dcaee 251 inline void mpu9250::writeReg(char addr, char data)
Gaku0606 5:92d3913dcaee 252 {
Gaku0606 0:d36bfb8300a2 253 _nine->write( addr | WRITE_FLAG, &data, 1, false);
Gaku0606 0:d36bfb8300a2 254 }
Gaku0606 5:92d3913dcaee 255 inline void mpu9250::writeReg(char addr, char reg, char data)
Gaku0606 5:92d3913dcaee 256 {
Gaku0606 0:d36bfb8300a2 257 char temp[2] = { reg, data};
Gaku0606 0:d36bfb8300a2 258 _nine->write(addr | WRITE_FLAG, temp, 2, false);
Gaku0606 0:d36bfb8300a2 259 }
Gaku0606 5:92d3913dcaee 260 inline char mpu9250::readReg(char addr, char reg)
Gaku0606 5:92d3913dcaee 261 {
Gaku0606 0:d36bfb8300a2 262 char buff[1];
Gaku0606 0:d36bfb8300a2 263 writeReg(addr, reg);
Gaku0606 0:d36bfb8300a2 264 _nine->read(addr | READ_FLAG, buff, 1, true);
Gaku0606 5:92d3913dcaee 265 return buff[0];
Gaku0606 0:d36bfb8300a2 266 }
Gaku0606 5:92d3913dcaee 267 inline void mpu9250::readReg(char addr, char start_reg, char* buff, char num)
Gaku0606 5:92d3913dcaee 268 {
Gaku0606 0:d36bfb8300a2 269 writeReg(addr, start_reg);
Gaku0606 5:92d3913dcaee 270 _nine->read(addr | READ_FLAG, buff, num, true);
Gaku0606 0:d36bfb8300a2 271 }
Gaku0606 0:d36bfb8300a2 272
Gaku0606 0:d36bfb8300a2 273 #endif