MPU9250.h

MPU9250.h

#ifndef MPU9250_h
#define MPU9250_h

#include "Arduino.h"
#include "SPI.h"     // SPI library

enum mpu9250_gyro_range
{
    GYRO_RANGE_250DPS,
    GYRO_RANGE_500DPS,
    GYRO_RANGE_1000DPS,
    GYRO_RANGE_2000DPS
};

enum mpu9250_accel_range
{
    ACCEL_RANGE_2G,
    ACCEL_RANGE_4G,
    ACCEL_RANGE_8G,
    ACCEL_RANGE_16G    
};

enum mpu9250_dlpf_bandwidth
{
    DLPF_BANDWIDTH_184HZ,
    DLPF_BANDWIDTH_92HZ,
    DLPF_BANDWIDTH_41HZ,
    DLPF_BANDWIDTH_20HZ,
    DLPF_BANDWIDTH_10HZ,
    DLPF_BANDWIDTH_5HZ
};

class MPU9250{
    public:
        MPU9250(uint8_t csPin);
        MPU9250(uint8_t csPin, SPIClass *Spi);
        int begin(mpu9250_accel_range accelRange, mpu9250_gyro_range gyroRange);
        int setFilt(mpu9250_dlpf_bandwidth bandwidth, uint8_t SRD);
        int enableInt(bool enable);
        void getAccel(float* ax, float* ay, float* az);
        void getGyro(float* gx, float* gy, float* gz);
        void getMag(float* hx, float* hy, float* hz);
        void getTemp(float *t);
        void getMotion6(float* ax, float* ay, float* az, float* gx, float* gy, float* gz);
        void getMotion7(float* ax, float* ay, float* az, float* gx, float* gy, float* gz, float* t);
        void getMotion9(float* ax, float* ay, float* az, float* gx, float* gy, float* gz, float* hx, float* hy, float* hz);
        void getMotion10(float* ax, float* ay, float* az, float* gx, float* gy, float* gz, float* hx, float* hy, float* hz, float* t);

        void getAccelCounts(int16_t* ax, int16_t* ay, int16_t* az);
        void getGyroCounts(int16_t* gx, int16_t* gy, int16_t* gz);
        void getMagCounts(int16_t* hx, int16_t* hy, int16_t* hz);
        void getTempCounts(int16_t* t);
        void getMotion6Counts(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
        void getMotion7Counts(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* t);
        void getMotion9Counts(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* hx, int16_t* hy, int16_t* hz);
        void getMotion10Counts(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* hx, int16_t* hy, int16_t* hz, int16_t* t);
    private:
        uint8_t _csPin;
        SPIClass *_spi;
        bool _useSPIHS;
        float _accelScale;
        float _gyroScale;
        float _magScaleX, _magScaleY, _magScaleZ;
        const float _tempScale = 333.87f;
        const float _tempOffset = 21.0f;

        const uint8_t SPI_READ = 0x80;
        const uint32_t SPI_LS_CLOCK = 1000000; // 1 MHz
        const uint32_t SPI_HS_CLOCK = 20000000; // 20 MHz

        // constants
        const float G = 9.807f;
        const float _d2r = 3.14159265359f/180.0f;

        // MPU9250 registers
        const uint8_t ACCEL_OUT = 0x3B;
        const uint8_t GYRO_OUT = 0x43;
        const uint8_t TEMP_OUT = 0x41;
        const uint8_t EXT_SENS_DATA_00 = 0x49;

        const uint8_t ACCEL_CONFIG = 0x1C;
        const uint8_t ACCEL_FS_SEL_2G = 0x00;
        const uint8_t ACCEL_FS_SEL_4G = 0x08;
        const uint8_t ACCEL_FS_SEL_8G = 0x10;
        const uint8_t ACCEL_FS_SEL_16G = 0x18;

        const uint8_t GYRO_CONFIG = 0x1B;
        const uint8_t GYRO_FS_SEL_250DPS = 0x00;
        const uint8_t GYRO_FS_SEL_500DPS = 0x08;
        const uint8_t GYRO_FS_SEL_1000DPS = 0x10;
        const uint8_t GYRO_FS_SEL_2000DPS = 0x18;

        const uint8_t ACCEL_CONFIG2 = 0x1D;
        const uint8_t ACCEL_DLPF_184 = 0x01;
        const uint8_t ACCEL_DLPF_92 = 0x02;
        const uint8_t ACCEL_DLPF_41 = 0x03;
        const uint8_t ACCEL_DLPF_20 = 0x04;
        const uint8_t ACCEL_DLPF_10 = 0x05;
        const uint8_t ACCEL_DLPF_5 = 0x06;

        const uint8_t CONFIG = 0x1A;
        const uint8_t GYRO_DLPF_184 = 0x01;
        const uint8_t GYRO_DLPF_92 = 0x02;
        const uint8_t GYRO_DLPF_41 = 0x03;
        const uint8_t GYRO_DLPF_20 = 0x04;
        const uint8_t GYRO_DLPF_10 = 0x05;
        const uint8_t GYRO_DLPF_5 = 0x06;

        const uint8_t SMPDIV = 0x19;

        const uint8_t INT_PIN_CFG = 0x37;
        const uint8_t INT_ENABLE = 0x38;
        const uint8_t INT_DISABLE = 0x00;
        const uint8_t INT_PULSE_50US = 0x00;
        const uint8_t INT_RAW_RDY_EN = 0x01;

        const uint8_t PWR_MGMNT_1 = 0x6B;
        const uint8_t PWR_RESET = 0x80;
        const uint8_t CLOCK_SEL_PLL = 0x01;

        const uint8_t PWR_MGMNT_2 = 0x6C;
        const uint8_t SEN_ENABLE = 0x00;

        const uint8_t USER_CTRL = 0x6A;

        const uint8_t WHO_AM_I = 0x75;

        // transformation matrix
        /* transform the accel and gyro axes to match the magnetometer axes */
        const int16_t tX[3] = {0,  1,  0}; 
        const int16_t tY[3] = {1,  0,  0};
        const int16_t tZ[3] = {0,  0, -1};

        bool writeRegister(uint8_t subAddress, uint8_t data);
        void readRegisters(uint8_t subAddress, uint8_t count, uint8_t* dest);
        uint8_t whoAmI();
};

#endif