FreematicsMEMS.h
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/*************************************************************************
* Freematics MPU6050 helper class
* Distributed under BSD license
* Visit http://freematics.com for more information
* (C)2016-2018 Stanley Huang <stanley@freematics.com.au>
*************************************************************************/
#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