Matthias Grob / Mbed 2 deprecated FlyBed3

Successful acro and level mode now! Relying on MPU9250 as base sensor. I'm working continuously on tuning and features :) NEWEST VERSION ON: https://github.com/MaEtUgR/FlyBed (CODE 100% compatible/copyable)

Dependencies:   mbed

IMU/MPU9250/MPU9250.h@8:609a2ad4c30e, 2015-11-19 (annotated)

Committer:
maetugr
Date:
Thu Nov 19 18:47:27 2015 +0000
Revision:
8:609a2ad4c30e
Parent:
0:37f0c1e8fa66 
made I2C-Sensors working in parallel, added rolling buffer for PID derivative, played with the PID and frequency parameters in main

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:37f0c1e8fa66 1 // by MaEtUgR (Matthias Grob) 2015
maetugr 0:37f0c1e8fa66 2
maetugr 0:37f0c1e8fa66 3 #ifndef MPU9250_H
maetugr 0:37f0c1e8fa66 4 #define MPU9250_H
maetugr 0:37f0c1e8fa66 5
maetugr 0:37f0c1e8fa66 6 #include "mbed.h"
maetugr 0:37f0c1e8fa66 7
maetugr 0:37f0c1e8fa66 8 class MPU9250 {
maetugr 0:37f0c1e8fa66 9 public:
maetugr 0:37f0c1e8fa66 10 MPU9250(PinName MOSI, PinName MISO, PinName SCLK, PinName CS); // constructor, uses SPI class
maetugr 0:37f0c1e8fa66 11
maetugr 0:37f0c1e8fa66 12 // Device API
maetugr 0:37f0c1e8fa66 13 uint8_t getWhoami(); // get the Who am I Register (should be 0x71 = 113)
maetugr 0:37f0c1e8fa66 14 float getTemperature(); // get a temperature measurement in °C
maetugr 0:37f0c1e8fa66 15
maetugr 0:37f0c1e8fa66 16 void readGyro(); // read measurement data from gyrsocope
maetugr 0:37f0c1e8fa66 17 float Gyro[3]; // where gyrsocope measurement data is stored
maetugr 0:37f0c1e8fa66 18 void readAcc(); // read measurement data from accelerometer
maetugr 0:37f0c1e8fa66 19 float Acc[3]; // where accelerometer measurement data is stored
maetugr 0:37f0c1e8fa66 20
maetugr 8:609a2ad4c30e 21 //private:
maetugr 0:37f0c1e8fa66 22
maetugr 0:37f0c1e8fa66 23 // SPI Inteface
maetugr 0:37f0c1e8fa66 24 SPI spi; // SPI Bus
maetugr 0:37f0c1e8fa66 25 DigitalOut cs; // Slave selector for SPI-Bus (needed to start and end SPI transactions)
maetugr 0:37f0c1e8fa66 26
maetugr 0:37f0c1e8fa66 27 uint8_t readRegister8(uint8_t reg); // expressive methods to read or write the number of bits written in the name
maetugr 0:37f0c1e8fa66 28 uint16_t readRegister16(uint8_t reg);
maetugr 0:37f0c1e8fa66 29 void readRegister48(uint8_t reg, int16_t *buffer);
maetugr 0:37f0c1e8fa66 30 void writeRegister8(uint8_t reg, uint8_t buffer);
maetugr 0:37f0c1e8fa66 31
maetugr 0:37f0c1e8fa66 32 void readRegister(uint8_t reg, uint8_t *buffer, int length); // reads length bytes of the slave registers into buffer memory
maetugr 0:37f0c1e8fa66 33 void writeRegister(uint8_t reg, uint8_t *buffer, int length); // writes length bytes to the slave registers from buffer memory
maetugr 0:37f0c1e8fa66 34 void select(); // selects the slave for a transaction
maetugr 0:37f0c1e8fa66 35 void deselect(); // deselects the slave after transaction
maetugr 0:37f0c1e8fa66 36 };
maetugr 0:37f0c1e8fa66 37
maetugr 0:37f0c1e8fa66 38 // --------------------- Register Addresses ----------------------------------------------
maetugr 0:37f0c1e8fa66 39 // Mnemonic Address Description
maetugr 0:37f0c1e8fa66 40 #define MPU9250_SELF_TEST_X_GYRO 0x00 // Gyroscope Self-Test Registers
maetugr 0:37f0c1e8fa66 41 #define MPU9250_SELF_TEST_Y_GYRO 0x01 //
maetugr 0:37f0c1e8fa66 42 #define MPU9250_SELF_TEST_Z_GYRO 0x02 //
maetugr 0:37f0c1e8fa66 43 #define MPU9250_SELF_TEST_X_ACCEL 0x0D // Accelerometer Self-Test Registers
maetugr 0:37f0c1e8fa66 44 #define MPU9250_SELF_TEST_Y_ACCEL 0x0E //
maetugr 0:37f0c1e8fa66 45 #define MPU9250_SELF_TEST_Z_ACCEL 0x0F //
maetugr 0:37f0c1e8fa66 46 #define MPU9250_XG_OFFSET_H 0x13 // Gyro Offset Registers
maetugr 0:37f0c1e8fa66 47 #define MPU9250_XG_OFFSET_L 0x14 //
maetugr 0:37f0c1e8fa66 48 #define MPU9250_YG_OFFSET_H 0x15 //
maetugr 0:37f0c1e8fa66 49 #define MPU9250_YG_OFFSET_L 0x16 //
maetugr 0:37f0c1e8fa66 50 #define MPU9250_ZG_OFFSET_H 0x17 //
maetugr 0:37f0c1e8fa66 51 #define MPU9250_ZG_OFFSET_L 0x18 //
maetugr 0:37f0c1e8fa66 52 #define MPU9250_SMPLRT_DIV 0x19 // Sample Rate Divider
maetugr 0:37f0c1e8fa66 53 #define MPU9250_CONFIG 0x1A // Configuration
maetugr 0:37f0c1e8fa66 54 #define MPU9250_GYRO_CONFIG 0x1B // Gyroscope Configuration
maetugr 0:37f0c1e8fa66 55 #define MPU9250_ACCEL_CONFIG 0x1C // Accelerometer Configuration
maetugr 0:37f0c1e8fa66 56 #define MPU9250_ACCEL_CONFIG_2 0x1D // Accelerometer Configuration 2
maetugr 0:37f0c1e8fa66 57 #define MPU9250_LP_ACCEL_ODR 0x1E // Low Power Accelerometer ODR Control
maetugr 0:37f0c1e8fa66 58 #define MPU9250_WOM_THR 0x1F // Wake-on Motion Threshold
maetugr 0:37f0c1e8fa66 59 #define MPU9250_FIFO_EN 0x23 // FIFO Enable
maetugr 0:37f0c1e8fa66 60
maetugr 0:37f0c1e8fa66 61 #define MPU9250_I2C_MST_CTRL 0x24 // I2C Master Control
maetugr 0:37f0c1e8fa66 62 #define MPU9250_I2C_SLV0_ADDR 0x25 // I2C Slave 0 Control
maetugr 0:37f0c1e8fa66 63 #define MPU9250_I2C_SLV0_REG 0x26 //
maetugr 0:37f0c1e8fa66 64 #define MPU9250_I2C_SLV0_CTRL 0x27 //
maetugr 0:37f0c1e8fa66 65 #define MPU9250_I2C_SLV1_ADDR 0x28 // I2C Slave 1 Control
maetugr 0:37f0c1e8fa66 66 #define MPU9250_I2C_SLV1_REG 0x29 //
maetugr 0:37f0c1e8fa66 67 #define MPU9250_I2C_SLV1_CTRL 0x2A //
maetugr 0:37f0c1e8fa66 68 #define MPU9250_I2C_SLV2_ADDR 0x2B // I2C Slave 2 Control
maetugr 0:37f0c1e8fa66 69 #define MPU9250_I2C_SLV2_REG 0x2C //
maetugr 0:37f0c1e8fa66 70 #define MPU9250_I2C_SLV2_CTRL 0x2D //
maetugr 0:37f0c1e8fa66 71 #define MPU9250_I2C_SLV3_ADDR 0x2E // I2C Slave 3 Control
maetugr 0:37f0c1e8fa66 72 #define MPU9250_I2C_SLV3_REG 0x2F //
maetugr 0:37f0c1e8fa66 73 #define MPU9250_I2C_SLV3_CTRL 0x30 //
maetugr 0:37f0c1e8fa66 74 #define MPU9250_I2C_SLV4_ADDR 0x31 // I2C Slave 4 Control
maetugr 0:37f0c1e8fa66 75 #define MPU9250_I2C_SLV4_REG 0x32 //
maetugr 0:37f0c1e8fa66 76 #define MPU9250_I2C_SLV4_DO 0x33 //
maetugr 0:37f0c1e8fa66 77 #define MPU9250_I2C_SLV4_CTRL 0x34 //
maetugr 0:37f0c1e8fa66 78 #define MPU9250_I2C_SLV4_DI 0x35 //
maetugr 0:37f0c1e8fa66 79 #define MPU9250_I2C_MST_STATUS 0x36 // I2C Master Status
maetugr 0:37f0c1e8fa66 80
maetugr 0:37f0c1e8fa66 81 #define MPU9250_INT_PIN_CFG 0x37 // INT Pin / Bypass Enable Configuration
maetugr 0:37f0c1e8fa66 82 #define MPU9250_INT_ENABLE 0x38 // Interrupt Enable
maetugr 0:37f0c1e8fa66 83 #define MPU9250_INT_STATUS 0x3A // Interrupt Status
maetugr 0:37f0c1e8fa66 84
maetugr 0:37f0c1e8fa66 85 #define MPU9250_ACCEL_XOUT_H 0x3B // Accelerometer Measurements
maetugr 0:37f0c1e8fa66 86 #define MPU9250_ACCEL_XOUT_L 0x3C //
maetugr 0:37f0c1e8fa66 87 #define MPU9250_ACCEL_YOUT_H 0x3D //
maetugr 0:37f0c1e8fa66 88 #define MPU9250_ACCEL_YOUT_L 0x3E //
maetugr 0:37f0c1e8fa66 89 #define MPU9250_ACCEL_ZOUT_H 0x3F //
maetugr 0:37f0c1e8fa66 90 #define MPU9250_ACCEL_ZOUT_L 0x40 //
maetugr 0:37f0c1e8fa66 91 #define MPU9250_TEMP_OUT_H 0x41 // Temperature Measurement
maetugr 0:37f0c1e8fa66 92 #define MPU9250_TEMP_OUT_L 0x42 //
maetugr 0:37f0c1e8fa66 93 #define MPU9250_GYRO_XOUT_H 0x43 // Gyroscope Measurements
maetugr 0:37f0c1e8fa66 94 #define MPU9250_GYRO_XOUT_L 0x44 //
maetugr 0:37f0c1e8fa66 95 #define MPU9250_GYRO_YOUT_H 0x45 //
maetugr 0:37f0c1e8fa66 96 #define MPU9250_GYRO_YOUT_L 0x46 //
maetugr 0:37f0c1e8fa66 97 #define MPU9250_GYRO_ZOUT_H 0x47 //
maetugr 0:37f0c1e8fa66 98 #define MPU9250_GYRO_ZOUT_L 0x48 //
maetugr 0:37f0c1e8fa66 99
maetugr 0:37f0c1e8fa66 100 #define MPU9250_EXT_SENS_DATA_00 0x49 // External Sensor Data
maetugr 0:37f0c1e8fa66 101 #define MPU9250_EXT_SENS_DATA_01 0x4A //
maetugr 0:37f0c1e8fa66 102 #define MPU9250_EXT_SENS_DATA_02 0x4B //
maetugr 0:37f0c1e8fa66 103 #define MPU9250_EXT_SENS_DATA_03 0x4C //
maetugr 0:37f0c1e8fa66 104 #define MPU9250_EXT_SENS_DATA_04 0x4D //
maetugr 0:37f0c1e8fa66 105 #define MPU9250_EXT_SENS_DATA_05 0x4E //
maetugr 0:37f0c1e8fa66 106 #define MPU9250_EXT_SENS_DATA_06 0x4F //
maetugr 0:37f0c1e8fa66 107 #define MPU9250_EXT_SENS_DATA_07 0x50 //
maetugr 0:37f0c1e8fa66 108 #define MPU9250_EXT_SENS_DATA_08 0x51 //
maetugr 0:37f0c1e8fa66 109 #define MPU9250_EXT_SENS_DATA_09 0x52 //
maetugr 0:37f0c1e8fa66 110 #define MPU9250_EXT_SENS_DATA_10 0x53 //
maetugr 0:37f0c1e8fa66 111 #define MPU9250_EXT_SENS_DATA_11 0x54 //
maetugr 0:37f0c1e8fa66 112 #define MPU9250_EXT_SENS_DATA_12 0x55 //
maetugr 0:37f0c1e8fa66 113 #define MPU9250_EXT_SENS_DATA_13 0x56 //
maetugr 0:37f0c1e8fa66 114 #define MPU9250_EXT_SENS_DATA_14 0x57 //
maetugr 0:37f0c1e8fa66 115 #define MPU9250_EXT_SENS_DATA_15 0x58 //
maetugr 0:37f0c1e8fa66 116 #define MPU9250_EXT_SENS_DATA_16 0x59 //
maetugr 0:37f0c1e8fa66 117 #define MPU9250_EXT_SENS_DATA_17 0x5A //
maetugr 0:37f0c1e8fa66 118 #define MPU9250_EXT_SENS_DATA_18 0x5B //
maetugr 0:37f0c1e8fa66 119 #define MPU9250_EXT_SENS_DATA_19 0x5C //
maetugr 0:37f0c1e8fa66 120 #define MPU9250_EXT_SENS_DATA_20 0x5D //
maetugr 0:37f0c1e8fa66 121 #define MPU9250_EXT_SENS_DATA_21 0x5E //
maetugr 0:37f0c1e8fa66 122 #define MPU9250_EXT_SENS_DATA_22 0x5F //
maetugr 0:37f0c1e8fa66 123 #define MPU9250_EXT_SENS_DATA_23 0x60 //
maetugr 0:37f0c1e8fa66 124
maetugr 0:37f0c1e8fa66 125 #define MPU9250_I2C_SLV0_DO 0x63 // I2C Slave 0 Data Out
maetugr 0:37f0c1e8fa66 126 #define MPU9250_I2C_SLV1_DO 0x64 // I2C Slave 1 Data Out
maetugr 0:37f0c1e8fa66 127 #define MPU9250_I2C_SLV2_DO 0x65 // I2C Slave 2 Data Out
maetugr 0:37f0c1e8fa66 128 #define MPU9250_I2C_SLV3_DO 0x66 // I2C Slave 3 Data Out
maetugr 0:37f0c1e8fa66 129 #define MPU9250_I2C_MST_DELAY_CTRL 0x67 // I2C Master Delay Control
maetugr 0:37f0c1e8fa66 130 #define MPU9250_SIGNAL_PATH_RESET 0x68 // Signal Path Reset
maetugr 0:37f0c1e8fa66 131 #define MPU9250_MOT_DETECT_CTRL 0x69 // Accelerometer Interrupt Control
maetugr 0:37f0c1e8fa66 132 #define MPU9250_USER_CTRL 0x6A // User Control
maetugr 0:37f0c1e8fa66 133 #define MPU9250_PWR_MGMT_1 0x6B // Power Management 1
maetugr 0:37f0c1e8fa66 134 #define MPU9250_PWR_MGMT_2 0x6C // Power Management 2
maetugr 0:37f0c1e8fa66 135 #define MPU9250_FIFO_COUNTH 0x72 // FIFO Count Registers
maetugr 0:37f0c1e8fa66 136 #define MPU9250_FIFO_COUNTL 0x73 //
maetugr 0:37f0c1e8fa66 137 #define MPU9250_FIFO_R_W 0x74 // FIFO Read Write
maetugr 0:37f0c1e8fa66 138 #define MPU9250_WHO_AM_I 0x75 // Who Am I
maetugr 0:37f0c1e8fa66 139 #define MPU9250_XA_OFFSET_H 0x77 // Accelerometer Offset Registers
maetugr 0:37f0c1e8fa66 140 #define MPU9250_XA_OFFSET_L 0x78 //
maetugr 0:37f0c1e8fa66 141 #define MPU9250_YA_OFFSET_H 0x7A //
maetugr 0:37f0c1e8fa66 142 #define MPU9250_YA_OFFSET_L 0x7B //
maetugr 0:37f0c1e8fa66 143 #define MPU9250_ZA_OFFSET_H 0x7D //
maetugr 0:37f0c1e8fa66 144 #define MPU9250_ZA_OFFSET_L 0x7E //
maetugr 0:37f0c1e8fa66 145
maetugr 0:37f0c1e8fa66 146 #endif