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MPU9250.cpp
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/*
MPU9250.cpp
Brian R Taylor
2017-01-04
Copyright (c) 2016 Bolder Flight Systems
Permission is hereby granted, free of charge, to any person obtaining a copy of this software
and associated documentation files (the "Software"), to deal in the Software without restriction,
including without limitation the rights to use, copy, modify, merge, publish, distribute,
sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or
substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
// Teensy 3.0 || Teensy 3.1/3.2 || Teensy 3.5 || Teensy 3.6 || Teensy LC
#if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || \
defined(__MK66FX1M0__) || defined(__MKL26Z64__)
#include "Arduino.h"
#include "MPU9250.h"
#include "i2c_t3.h" // I2C library
#include "SPI.h" // SPI Library
/* MPU9250 object, input the I2C address and I2C bus */
MPU9250::MPU9250(uint8_t address, uint8_t bus){
_address = address; // I2C address
_bus = bus; // I2C bus
_userDefI2C = false; // automatic I2C setup
_useSPI = false; // set to use I2C instead of SPI
}
/* MPU9250 object, input the I2C address, I2C bus, and I2C pins */
MPU9250::MPU9250(uint8_t address, uint8_t bus, i2c_pins pins){
_address = address; // I2C address
_bus = bus; // I2C bus
_pins = pins; // I2C pins
_pullups = I2C_PULLUP_EXT; // I2C pullups
_userDefI2C = true; // user defined I2C
_useSPI = false; // set to use I2C instead of SPI
}
/* MPU9250 object, input the I2C address, I2C bus, I2C pins, and I2C pullups */
MPU9250::MPU9250(uint8_t address, uint8_t bus, i2c_pins pins, i2c_pullup pullups){
_address = address; // I2C address
_bus = bus; // I2C bus
_pins = pins; // I2C pins
_pullups = pullups; // I2C pullups
_userDefI2C = true; // user defined I2C
_useSPI = false; // set to use I2C instead of SPI
}
/* MPU9250 object, input the SPI CS Pin */
MPU9250::MPU9250(uint8_t csPin){
_csPin = csPin; // SPI CS Pin
_mosiPin = MOSI_PIN_11; // SPI MOSI Pin, set to default
_useSPI = true; // set to use SPI instead of I2C
_useSPIHS = false; // defaul to low speed SPI transactions until data reads start to occur
}
/* MPU9250 object, input the SPI CS Pin and MOSI Pin */
MPU9250::MPU9250(uint8_t csPin, spi_mosi_pin pin){
_csPin = csPin; // SPI CS Pin
_mosiPin = pin; // SPI MOSI Pin
_useSPI = true; // set to use SPI instead of I2C
_useSPIHS = false; // defaul to low speed SPI transactions until data reads start to occur
}
/* starts I2C communication and sets up the MPU-9250 */
int MPU9250::begin(mpu9250_accel_range accelRange, mpu9250_gyro_range gyroRange){
uint8_t buff[3];
uint8_t data[7];
if( _useSPI ){ // using SPI for communication
// setting CS pin to output
pinMode(_csPin,OUTPUT);
// setting CS pin high
digitalWriteFast(_csPin,HIGH);
// Teensy 3.0 || Teensy 3.1/3.2
#if defined(__MK20DX128__) || defined(__MK20DX256__)
// configure and begin the SPI
switch( _mosiPin ){
case MOSI_PIN_7: // SPI bus 0 alternate 1
SPI.setMOSI(7);
SPI.setMISO(8);
SPI.setSCK(14);
SPI.begin();
break;
case MOSI_PIN_11: // SPI bus 0 default
SPI.setMOSI(11);
SPI.setMISO(12);
SPI.setSCK(13);
SPI.begin();
break;
}
#endif
// Teensy 3.5 || Teensy 3.6
#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
// configure and begin the SPI
switch( _mosiPin ){
case MOSI_PIN_0: // SPI bus 1 default
SPI1.setMOSI(0);
SPI1.setMISO(1);
SPI1.setSCK(32);
SPI1.begin();
break;
case MOSI_PIN_7: // SPI bus 0 alternate 1
SPI.setMOSI(7);
SPI.setMISO(8);
SPI.setSCK(14);
SPI.begin();
break;
case MOSI_PIN_11: // SPI bus 0 default
SPI.setMOSI(11);
SPI.setMISO(12);
SPI.setSCK(13);
SPI.begin();
break;
case MOSI_PIN_21: // SPI bus 1 alternate
SPI1.setMOSI(21);
SPI1.setMISO(5);
SPI1.setSCK(20);
SPI1.begin();
break;
case MOSI_PIN_28: // SPI bus 0 alternate 2
SPI.setMOSI(28);
SPI.setMISO(39);
SPI.setSCK(27);
SPI.begin();
break;
case MOSI_PIN_44: // SPI bus 2 default
SPI2.setMOSI(44);
SPI2.setMISO(45);
SPI2.setSCK(46);
SPI2.begin();
break;
case MOSI_PIN_52: // SPI bus 2 alternate
SPI2.setMOSI(52);
SPI2.setMISO(51);
SPI2.setSCK(53);
SPI2.begin();
break;
}
#endif
// Teensy LC
#if defined(__MKL26Z64__)
// configure and begin the SPI
switch( _mosiPin ){
case MOSI_PIN_0: // SPI bus 1 default
SPI1.setMOSI(0);
SPI1.setMISO(1);
SPI1.setSCK(20);
SPI1.begin();
break;
case MOSI_PIN_7: // SPI bus 0 alternate 1
SPI.setMOSI(7);
SPI.setMISO(8);
SPI.setSCK(14);
SPI.begin();
break;
case MOSI_PIN_11: // SPI bus 0 default
SPI.setMOSI(11);
SPI.setMISO(12);
SPI.setSCK(13);
SPI.begin();
break;
case MOSI_PIN_21: // SPI bus 1 alternate
SPI1.setMOSI(21);
SPI1.setMISO(5);
SPI1.setSCK(20);
SPI1.begin();
break;
}
#endif
}
else{ // using I2C for communication
if( !_userDefI2C ) { // setup the I2C pins and pullups based on bus number if not defined by user
/* setting the I2C pins, pullups, and protecting against _bus out of range */
_pullups = I2C_PULLUP_EXT; // default to external pullups
#if defined(__MK20DX128__) // Teensy 3.0
_pins = I2C_PINS_18_19;
_bus = 0;
#endif
#if defined(__MK20DX256__) // Teensy 3.1/3.2
if(_bus == 1) {
_pins = I2C_PINS_29_30;
}
else{
_pins = I2C_PINS_18_19;
_bus = 0;
}
#endif
#if defined(__MK64FX512__) // Teensy 3.5
if(_bus == 2) {
_pins = I2C_PINS_3_4;
}
else if(_bus == 1) {
_pins = I2C_PINS_37_38;
}
else{
_pins = I2C_PINS_18_19;
_bus = 0;
}
#endif
#if defined(__MK66FX1M0__) // Teensy 3.6
if(_bus == 3) {
_pins = I2C_PINS_56_57;
}
else if(_bus == 2) {
_pins = I2C_PINS_3_4;
}
else if(_bus == 1) {
_pins = I2C_PINS_37_38;
}
else{
_pins = I2C_PINS_18_19;
_bus = 0;
}
#endif
#if defined(__MKL26Z64__) // Teensy LC
if(_bus == 1) {
_pins = I2C_PINS_22_23;
}
else{
_pins = I2C_PINS_18_19;
_bus = 0;
}
#endif
}
// starting the I2C bus
i2c_t3(_bus).begin(I2C_MASTER, 0, _pins, _pullups, _i2cRate);
}
// select clock source to gyro
if( !writeRegister(PWR_MGMNT_1,CLOCK_SEL_PLL) ){
return -1;
}
// enable I2C master mode
if( !writeRegister(USER_CTRL,I2C_MST_EN) ){
return -1;
}
// set the I2C bus speed to 400 kHz
if( !writeRegister(I2C_MST_CTRL,I2C_MST_CLK) ){
return -1;
}
// set AK8963 to Power Down
if( !writeAK8963Register(AK8963_CNTL1,AK8963_PWR_DOWN) ){
return -1;
}
// reset the MPU9250
writeRegister(PWR_MGMNT_1,PWR_RESET);
// wait for MPU-9250 to come back up
delay(1);
// reset the AK8963
writeAK8963Register(AK8963_CNTL2,AK8963_RESET);
// select clock source to gyro
if( !writeRegister(PWR_MGMNT_1,CLOCK_SEL_PLL) ){
return -1;
}
// check the WHO AM I byte, expected value is 0x71 (decimal 113)
if( whoAmI() != 113 ){
return -1;
}
// enable accelerometer and gyro
if( !writeRegister(PWR_MGMNT_2,SEN_ENABLE) ){
return -1;
}
/* setup the accel and gyro ranges */
switch(accelRange) {
case ACCEL_RANGE_2G:
// setting the accel range to 2G
if( !writeRegister(ACCEL_CONFIG,ACCEL_FS_SEL_2G) ){
return -1;
}
_accelScale = G * 2.0f/32767.5f; // setting the accel scale to 2G
break;
case ACCEL_RANGE_4G:
// setting the accel range to 4G
if( !writeRegister(ACCEL_CONFIG,ACCEL_FS_SEL_4G) ){
return -1;
}
_accelScale = G * 4.0f/32767.5f; // setting the accel scale to 4G
break;
case ACCEL_RANGE_8G:
// setting the accel range to 8G
if( !writeRegister(ACCEL_CONFIG,ACCEL_FS_SEL_8G) ){
return -1;
}
_accelScale = G * 8.0f/32767.5f; // setting the accel scale to 8G
break;
case ACCEL_RANGE_16G:
// setting the accel range to 16G
if( !writeRegister(ACCEL_CONFIG,ACCEL_FS_SEL_16G) ){
return -1;
}
_accelScale = G * 16.0f/32767.5f; // setting the accel scale to 16G
break;
}
switch(gyroRange) {
case GYRO_RANGE_250DPS:
// setting the gyro range to 250DPS
if( !writeRegister(GYRO_CONFIG,GYRO_FS_SEL_250DPS) ){
return -1;
}
_gyroScale = 250.0f/32767.5f * _d2r; // setting the gyro scale to 250DPS
break;
case GYRO_RANGE_500DPS:
// setting the gyro range to 500DPS
if( !writeRegister(GYRO_CONFIG,GYRO_FS_SEL_500DPS) ){
return -1;
}
_gyroScale = 500.0f/32767.5f * _d2r; // setting the gyro scale to 500DPS
break;
case GYRO_RANGE_1000DPS:
// setting the gyro range to 1000DPS
if( !writeRegister(GYRO_CONFIG,GYRO_FS_SEL_1000DPS) ){
return -1;
}
_gyroScale = 1000.0f/32767.5f * _d2r; // setting the gyro scale to 1000DPS
break;
case GYRO_RANGE_2000DPS:
// setting the gyro range to 2000DPS
if( !writeRegister(GYRO_CONFIG,GYRO_FS_SEL_2000DPS) ){
return -1;
}
_gyroScale = 2000.0f/32767.5f * _d2r; // setting the gyro scale to 2000DPS
break;
}
// enable I2C master mode
if( !writeRegister(USER_CTRL,I2C_MST_EN) ){
return -1;
}
// set the I2C bus speed to 400 kHz
if( !writeRegister(I2C_MST_CTRL,I2C_MST_CLK) ){
return -1;
}
// check AK8963 WHO AM I register, expected value is 0x48 (decimal 72)
if( whoAmIAK8963() != 72 ){
return -1;
}
/* get the magnetometer calibration */
// set AK8963 to Power Down
if( !writeAK8963Register(AK8963_CNTL1,AK8963_PWR_DOWN) ){
return -1;
}
delay(100); // long wait between AK8963 mode changes
// set AK8963 to FUSE ROM access
if( !writeAK8963Register(AK8963_CNTL1,AK8963_FUSE_ROM) ){
return -1;
}
delay(100); // long wait between AK8963 mode changes
// read the AK8963 ASA registers and compute magnetometer scale factors
readAK8963Registers(AK8963_ASA,sizeof(buff),&buff[0]);
_magScaleX = ((((float)buff[0]) - 128.0f)/(256.0f) + 1.0f) * 4912.0f / 32760.0f; // micro Tesla
_magScaleY = ((((float)buff[1]) - 128.0f)/(256.0f) + 1.0f) * 4912.0f / 32760.0f; // micro Tesla
_magScaleZ = ((((float)buff[2]) - 128.0f)/(256.0f) + 1.0f) * 4912.0f / 32760.0f; // micro Tesla
// set AK8963 to Power Down
if( !writeAK8963Register(AK8963_CNTL1,AK8963_PWR_DOWN) ){
return -1;
}
delay(100); // long wait between AK8963 mode changes
// set AK8963 to 16 bit resolution, 100 Hz update rate
if( !writeAK8963Register(AK8963_CNTL1,AK8963_CNT_MEAS2) ){
return -1;
}
delay(100); // long wait between AK8963 mode changes
// select clock source to gyro
if( !writeRegister(PWR_MGMNT_1,CLOCK_SEL_PLL) ){
return -1;
}
// instruct the MPU9250 to get 7 bytes of data from the AK8963 at the sample rate
readAK8963Registers(AK8963_HXL,sizeof(data),&data[0]);
// successful init, return 0
return 0;
}
/* sets the DLPF and interrupt settings */
int MPU9250::setFilt(mpu9250_dlpf_bandwidth bandwidth, uint8_t SRD){
uint8_t data[7];
switch(bandwidth) {
case DLPF_BANDWIDTH_184HZ:
if( !writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_184) ){ // setting accel bandwidth to 184Hz
return -1;
}
if( !writeRegister(CONFIG,GYRO_DLPF_184) ){ // setting gyro bandwidth to 184Hz
return -1;
}
break;
case DLPF_BANDWIDTH_92HZ:
if( !writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_92) ){ // setting accel bandwidth to 92Hz
return -1;
}
if( !writeRegister(CONFIG,GYRO_DLPF_92) ){ // setting gyro bandwidth to 92Hz
return -1;
}
break;
case DLPF_BANDWIDTH_41HZ:
if( !writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_41) ){ // setting accel bandwidth to 41Hz
return -1;
}
if( !writeRegister(CONFIG,GYRO_DLPF_41) ){ // setting gyro bandwidth to 41Hz
return -1;
}
break;
case DLPF_BANDWIDTH_20HZ:
if( !writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_20) ){ // setting accel bandwidth to 20Hz
return -1;
}
if( !writeRegister(CONFIG,GYRO_DLPF_20) ){ // setting gyro bandwidth to 20Hz
return -1;
}
break;
case DLPF_BANDWIDTH_10HZ:
if( !writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_10) ){ // setting accel bandwidth to 10Hz
return -1;
}
if( !writeRegister(CONFIG,GYRO_DLPF_10) ){ // setting gyro bandwidth to 10Hz
return -1;
}
break;
case DLPF_BANDWIDTH_5HZ:
if( !writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_5) ){ // setting accel bandwidth to 5Hz
return -1;
}
if( !writeRegister(CONFIG,GYRO_DLPF_5) ){ // setting gyro bandwidth to 5Hz
return -1;
}
break;
}
/* setting the sample rate divider */
if( !writeRegister(SMPDIV,SRD) ){ // setting the sample rate divider
return -1;
}
if(SRD > 9){
// set AK8963 to Power Down
if( !writeAK8963Register(AK8963_CNTL1,AK8963_PWR_DOWN) ){
return -1;
}
delay(100); // long wait between AK8963 mode changes
// set AK8963 to 16 bit resolution, 8 Hz update rate
if( !writeAK8963Register(AK8963_CNTL1,AK8963_CNT_MEAS1) ){
return -1;
}
delay(100); // long wait between AK8963 mode changes
// instruct the MPU9250 to get 7 bytes of data from the AK8963 at the sample rate
readAK8963Registers(AK8963_HXL,sizeof(data),&data[0]);
}
/* setting the interrupt */
if( !writeRegister(INT_PIN_CFG,INT_PULSE_50US) ){ // setup interrupt, 50 us pulse
return -1;
}
if( !writeRegister(INT_ENABLE,INT_RAW_RDY_EN) ){ // set to data ready
return -1;
}
// successful filter setup, return 0
return 0;
}
/* enables and disables the interrupt */
int MPU9250::enableInt(bool enable){
if(enable){
/* setting the interrupt */
if( !writeRegister(INT_PIN_CFG,INT_PULSE_50US) ){ // setup interrupt, 50 us pulse
return -1;
}
if( !writeRegister(INT_ENABLE,INT_RAW_RDY_EN) ){ // set to data ready
return -1;
}
}
else{
if( !writeRegister(INT_ENABLE,INT_DISABLE) ){ // disable interrupt
return -1;
}
}
// successful interrupt setup, return 0
return 0;
}
/* get accelerometer data given pointers to store the three values, return data as counts */
void MPU9250::getAccelCounts(int16_t* ax, int16_t* ay, int16_t* az){
uint8_t buff[6];
int16_t axx, ayy, azz;
_useSPIHS = true; // use the high speed SPI for data readout
readRegisters(ACCEL_OUT, sizeof(buff), &buff[0]); // grab the data from the MPU9250
axx = (((int16_t)buff[0]) << 8) | buff[1]; // combine into 16 bit values
ayy = (((int16_t)buff[2]) << 8) | buff[3];
azz = (((int16_t)buff[4]) << 8) | buff[5];
*ax = tX[0]*axx + tX[1]*ayy + tX[2]*azz; // transform axes
*ay = tY[0]*axx + tY[1]*ayy + tY[2]*azz;
*az = tZ[0]*axx + tZ[1]*ayy + tZ[2]*azz;
}
/* get accelerometer data given pointers to store the three values */
void MPU9250::getAccel(float* ax, float* ay, float* az){
int16_t accel[3];
getAccelCounts(&accel[0], &accel[1], &accel[2]);
*ax = ((float) accel[0]) * _accelScale; // typecast and scale to values
*ay = ((float) accel[1]) * _accelScale;
*az = ((float) accel[2]) * _accelScale;
}
/* get gyro data given pointers to store the three values, return data as counts */
void MPU9250::getGyroCounts(int16_t* gx, int16_t* gy, int16_t* gz){
uint8_t buff[6];
int16_t gxx, gyy, gzz;
_useSPIHS = true; // use the high speed SPI for data readout
readRegisters(GYRO_OUT, sizeof(buff), &buff[0]); // grab the data from the MPU9250
gxx = (((int16_t)buff[0]) << 8) | buff[1]; // combine into 16 bit values
gyy = (((int16_t)buff[2]) << 8) | buff[3];
gzz = (((int16_t)buff[4]) << 8) | buff[5];
*gx = tX[0]*gxx + tX[1]*gyy + tX[2]*gzz; // transform axes
*gy = tY[0]*gxx + tY[1]*gyy + tY[2]*gzz;
*gz = tZ[0]*gxx + tZ[1]*gyy + tZ[2]*gzz;
}
/* get gyro data given pointers to store the three values */
void MPU9250::getGyro(float* gx, float* gy, float* gz){
int16_t gyro[3];
getGyroCounts(&gyro[0], &gyro[1], &gyro[2]);
*gx = ((float) gyro[0]) * _gyroScale; // typecast and scale to values
*gy = ((float) gyro[1]) * _gyroScale;
*gz = ((float) gyro[2]) * _gyroScale;
}
/* get magnetometer data given pointers to store the three values, return data as counts */
void MPU9250::getMagCounts(int16_t* hx, int16_t* hy, int16_t* hz){
uint8_t buff[7];
_useSPIHS = true; // use the high speed SPI for data readout
// read the magnetometer data off the external sensor buffer
readRegisters(EXT_SENS_DATA_00,sizeof(buff),&buff[0]);
if( buff[6] == 0x10 ) { // check for overflow
*hx = (((int16_t)buff[1]) << 8) | buff[0]; // combine into 16 bit values
*hy = (((int16_t)buff[3]) << 8) | buff[2];
*hz = (((int16_t)buff[5]) << 8) | buff[4];
}
else{
*hx = 0;
*hy = 0;
*hz = 0;
}
}
/* get magnetometer data given pointers to store the three values */
void MPU9250::getMag(float* hx, float* hy, float* hz){
int16_t mag[3];
getMagCounts(&mag[0], &mag[1], &mag[2]);
*hx = ((float) mag[0]) * _magScaleX; // typecast and scale to values
*hy = ((float) mag[1]) * _magScaleY;
*hz = ((float) mag[2]) * _magScaleZ;
}
/* get temperature data given pointer to store the value, return data as counts */
void MPU9250::getTempCounts(int16_t* t){
uint8_t buff[2];
_useSPIHS = true; // use the high speed SPI for data readout
readRegisters(TEMP_OUT, sizeof(buff), &buff[0]); // grab the data from the MPU9250
*t = (((int16_t)buff[0]) << 8) | buff[1]; // combine into 16 bit value and return
}
/* get temperature data given pointer to store the values */
void MPU9250::getTemp(float* t){
int16_t tempCount;
getTempCounts(&tempCount);
*t = (( ((float) tempCount) - _tempOffset )/_tempScale) + _tempOffset;
}
/* get accelerometer and gyro data given pointers to store values, return data as counts */
void MPU9250::getMotion6Counts(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz){
uint8_t buff[14];
int16_t axx, ayy, azz, gxx, gyy, gzz;
_useSPIHS = true; // use the high speed SPI for data readout
readRegisters(ACCEL_OUT, sizeof(buff), &buff[0]); // grab the data from the MPU9250
axx = (((int16_t)buff[0]) << 8) | buff[1]; // combine into 16 bit values
ayy = (((int16_t)buff[2]) << 8) | buff[3];
azz = (((int16_t)buff[4]) << 8) | buff[5];
gxx = (((int16_t)buff[8]) << 8) | buff[9];
gyy = (((int16_t)buff[10]) << 8) | buff[11];
gzz = (((int16_t)buff[12]) << 8) | buff[13];
*ax = tX[0]*axx + tX[1]*ayy + tX[2]*azz; // transform axes
*ay = tY[0]*axx + tY[1]*ayy + tY[2]*azz;
*az = tZ[0]*axx + tZ[1]*ayy + tZ[2]*azz;
*gx = tX[0]*gxx + tX[1]*gyy + tX[2]*gzz;
*gy = tY[0]*gxx + tY[1]*gyy + tY[2]*gzz;
*gz = tZ[0]*gxx + tZ[1]*gyy + tZ[2]*gzz;
}
/* get accelerometer and gyro data given pointers to store values */
void MPU9250::getMotion6(float* ax, float* ay, float* az, float* gx, float* gy, float* gz){
int16_t accel[3];
int16_t gyro[3];
getMotion6Counts(&accel[0], &accel[1], &accel[2], &gyro[0], &gyro[1], &gyro[2]);
*ax = ((float) accel[0]) * _accelScale; // typecast and scale to values
*ay = ((float) accel[1]) * _accelScale;
*az = ((float) accel[2]) * _accelScale;
*gx = ((float) gyro[0]) * _gyroScale;
*gy = ((float) gyro[1]) * _gyroScale;
*gz = ((float) gyro[2]) * _gyroScale;
}
/* get accelerometer, gyro and temperature data given pointers to store values, return data as counts */
void MPU9250::getMotion7Counts(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* t){
uint8_t buff[14];
int16_t axx, ayy, azz, gxx, gyy, gzz;
_useSPIHS = true; // use the high speed SPI for data readout
readRegisters(ACCEL_OUT, sizeof(buff), &buff[0]); // grab the data from the MPU9250
axx = (((int16_t)buff[0]) << 8) | buff[1]; // combine into 16 bit values
ayy = (((int16_t)buff[2]) << 8) | buff[3];
azz = (((int16_t)buff[4]) << 8) | buff[5];
*t = (((int16_t)buff[6]) << 8) | buff[7];
gxx = (((int16_t)buff[8]) << 8) | buff[9];
gyy = (((int16_t)buff[10]) << 8) | buff[11];
gzz = (((int16_t)buff[12]) << 8) | buff[13];
*ax = tX[0]*axx + tX[1]*ayy + tX[2]*azz; // transform axes
*ay = tY[0]*axx + tY[1]*ayy + tY[2]*azz;
*az = tZ[0]*axx + tZ[1]*ayy + tZ[2]*azz;
*gx = tX[0]*gxx + tX[1]*gyy + tX[2]*gzz;
*gy = tY[0]*gxx + tY[1]*gyy + tY[2]*gzz;
*gz = tZ[0]*gxx + tZ[1]*gyy + tZ[2]*gzz;
}
/* get accelerometer, gyro, and temperature data given pointers to store values */
void MPU9250::getMotion7(float* ax, float* ay, float* az, float* gx, float* gy, float* gz, float* t){
int16_t accel[3];
int16_t gyro[3];
int16_t tempCount;
getMotion7Counts(&accel[0], &accel[1], &accel[2], &gyro[0], &gyro[1], &gyro[2], &tempCount);
*ax = ((float) accel[0]) * _accelScale; // typecast and scale to values
*ay = ((float) accel[1]) * _accelScale;
*az = ((float) accel[2]) * _accelScale;
*gx = ((float) gyro[0]) * _gyroScale;
*gy = ((float) gyro[1]) * _gyroScale;
*gz = ((float) gyro[2]) * _gyroScale;
*t = (( ((float) tempCount) - _tempOffset )/_tempScale) + _tempOffset;
}
/* get accelerometer, gyro and magnetometer data given pointers to store values, return data as counts */
void MPU9250::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){
uint8_t buff[21];
int16_t axx, ayy, azz, gxx, gyy, gzz;
_useSPIHS = true; // use the high speed SPI for data readout
readRegisters(ACCEL_OUT, sizeof(buff), &buff[0]); // grab the data from the MPU9250
axx = (((int16_t)buff[0]) << 8) | buff[1]; // combine into 16 bit values
ayy = (((int16_t)buff[2]) << 8) | buff[3];
azz = (((int16_t)buff[4]) << 8) | buff[5];
gxx = (((int16_t)buff[8]) << 8) | buff[9];
gyy = (((int16_t)buff[10]) << 8) | buff[11];
gzz = (((int16_t)buff[12]) << 8) | buff[13];
*hx = (((int16_t)buff[15]) << 8) | buff[14];
*hy = (((int16_t)buff[17]) << 8) | buff[16];
*hz = (((int16_t)buff[19]) << 8) | buff[18];
*ax = tX[0]*axx + tX[1]*ayy + tX[2]*azz; // transform axes
*ay = tY[0]*axx + tY[1]*ayy + tY[2]*azz;
*az = tZ[0]*axx + tZ[1]*ayy + tZ[2]*azz;
*gx = tX[0]*gxx + tX[1]*gyy + tX[2]*gzz;
*gy = tY[0]*gxx + tY[1]*gyy + tY[2]*gzz;
*gz = tZ[0]*gxx + tZ[1]*gyy + tZ[2]*gzz;
}
/* get accelerometer, gyro, and magnetometer data given pointers to store values */
void MPU9250::getMotion9(float* ax, float* ay, float* az, float* gx, float* gy, float* gz, float* hx, float* hy, float* hz){
int16_t accel[3];
int16_t gyro[3];
int16_t mag[3];
getMotion9Counts(&accel[0], &accel[1], &accel[2], &gyro[0], &gyro[1], &gyro[2], &mag[0], &mag[1], &mag[2]);
*ax = ((float) accel[0]) * _accelScale; // typecast and scale to values
*ay = ((float) accel[1]) * _accelScale;
*az = ((float) accel[2]) * _accelScale;
*gx = ((float) gyro[0]) * _gyroScale;
*gy = ((float) gyro[1]) * _gyroScale;
*gz = ((float) gyro[2]) * _gyroScale;
*hx = ((float) mag[0]) * _magScaleX;
*hy = ((float) mag[1]) * _magScaleY;
*hz = ((float) mag[2]) * _magScaleZ;
}
/* get accelerometer, magnetometer, and temperature data given pointers to store values, return data as counts */
void MPU9250::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){
uint8_t buff[21];
int16_t axx, ayy, azz, gxx, gyy, gzz;
_useSPIHS = true; // use the high speed SPI for data readout
readRegisters(ACCEL_OUT, sizeof(buff), &buff[0]); // grab the data from the MPU9250
axx = (((int16_t)buff[0]) << 8) | buff[1]; // combine into 16 bit values
ayy = (((int16_t)buff[2]) << 8) | buff[3];
azz = (((int16_t)buff[4]) << 8) | buff[5];
*t = (((int16_t)buff[6]) << 8) | buff[7];
gxx = (((int16_t)buff[8]) << 8) | buff[9];
gyy = (((int16_t)buff[10]) << 8) | buff[11];
gzz = (((int16_t)buff[12]) << 8) | buff[13];
*hx = (((int16_t)buff[15]) << 8) | buff[14];
*hy = (((int16_t)buff[17]) << 8) | buff[16];
*hz = (((int16_t)buff[19]) << 8) | buff[18];
*ax = tX[0]*axx + tX[1]*ayy + tX[2]*azz; // transform axes
*ay = tY[0]*axx + tY[1]*ayy + tY[2]*azz;
*az = tZ[0]*axx + tZ[1]*ayy + tZ[2]*azz;
*gx = tX[0]*gxx + tX[1]*gyy + tX[2]*gzz;
*gy = tY[0]*gxx + tY[1]*gyy + tY[2]*gzz;
*gz = tZ[0]*gxx + tZ[1]*gyy + tZ[2]*gzz;
}
void MPU9250::getMotion10(float* ax, float* ay, float* az, float* gx, float* gy, float* gz, float* hx, float* hy, float* hz, float* t){
int16_t accel[3];
int16_t gyro[3];
int16_t mag[3];
int16_t tempCount;
getMotion10Counts(&accel[0], &accel[1], &accel[2], &gyro[0], &gyro[1], &gyro[2], &mag[0], &mag[1], &mag[2], &tempCount);
*ax = ((float) accel[0]) * _accelScale; // typecast and scale to values
*ay = ((float) accel[1]) * _accelScale;
*az = ((float) accel[2]) * _accelScale;
*gx = ((float) gyro[0]) * _gyroScale;
*gy = ((float) gyro[1]) * _gyroScale;
*gz = ((float) gyro[2]) * _gyroScale;
*hx = ((float) mag[0]) * _magScaleX;
*hy = ((float) mag[1]) * _magScaleY;
*hz = ((float) mag[2]) * _magScaleZ;
*t = (( ((float) tempCount) - _tempOffset )/_tempScale) + _tempOffset;
}
/* writes a byte to MPU9250 register given a register address and data */
bool MPU9250::writeRegister(uint8_t subAddress, uint8_t data){
uint8_t buff[1];
/* write data to device */
if( _useSPI ){
// Teensy 3.0 || Teensy 3.1/3.2
#if defined(__MK20DX128__) || defined(__MK20DX256__)
if((_mosiPin == MOSI_PIN_11)||(_mosiPin == MOSI_PIN_7)){
SPI.beginTransaction(SPISettings(SPI_LS_CLOCK, MSBFIRST, SPI_MODE3)); // begin the transaction
digitalWriteFast(_csPin,LOW); // select the MPU9250 chip
SPI.transfer(subAddress); // write the register address
SPI.transfer(data); // write the data
digitalWriteFast(_csPin,HIGH); // deselect the MPU9250 chip
SPI.endTransaction(); // end the transaction
}
#endif
// Teensy 3.5 || Teensy 3.6
#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
if((_mosiPin == MOSI_PIN_11)||(_mosiPin == MOSI_PIN_7)||(_mosiPin == MOSI_PIN_28)){
SPI.beginTransaction(SPISettings(SPI_LS_CLOCK, MSBFIRST, SPI_MODE3)); // begin the transaction
digitalWriteFast(_csPin,LOW); // select the MPU9250 chip
SPI.transfer(subAddress); // write the register address
SPI.transfer(data); // write the data
digitalWriteFast(_csPin,HIGH); // deselect the MPU9250 chip
SPI.endTransaction(); // end the transaction
}
else if((_mosiPin == MOSI_PIN_0)||(_mosiPin == MOSI_PIN_21)){
SPI1.beginTransaction(SPISettings(SPI_LS_CLOCK, MSBFIRST, SPI_MODE3)); // begin the transaction
digitalWriteFast(_csPin,LOW); // select the MPU9250 chip
SPI1.transfer(subAddress); // write the register address
SPI1.transfer(data); // write the data
digitalWriteFast(_csPin,HIGH); // deselect the MPU9250 chip
SPI1.endTransaction(); // end the transaction
}
else if((_mosiPin == MOSI_PIN_44)||(_mosiPin == MOSI_PIN_52)){
SPI2.beginTransaction(SPISettings(SPI_LS_CLOCK, MSBFIRST, SPI_MODE3)); // begin the transaction
digitalWriteFast(_csPin,LOW); // select the MPU9250 chip
SPI2.transfer(subAddress); // write the register address
SPI2.transfer(data); // write the data
digitalWriteFast(_csPin,HIGH); // deselect the MPU9250 chip
SPI2.endTransaction(); // end the transaction
}
#endif
// Teensy LC
#if defined(__MKL26Z64__)
if((_mosiPin == MOSI_PIN_11)||(_mosiPin == MOSI_PIN_7)){
SPI.beginTransaction(SPISettings(SPI_LS_CLOCK, MSBFIRST, SPI_MODE3)); // begin the transaction
digitalWriteFast(_csPin,LOW); // select the MPU9250 chip
SPI.transfer(subAddress); // write the register address
SPI.transfer(data); // write the data
digitalWriteFast(_csPin,HIGH); // deselect the MPU9250 chip
SPI.endTransaction(); // end the transaction
}
else if((_mosiPin == MOSI_PIN_0)||(_mosiPin == MOSI_PIN_21)){
SPI1.beginTransaction(SPISettings(SPI_LS_CLOCK, MSBFIRST, SPI_MODE3)); // begin the transaction
digitalWriteFast(_csPin,LOW); // select the MPU9250 chip
SPI1.transfer(subAddress); // write the register address
SPI1.transfer(data); // write the data
digitalWriteFast(_csPin,HIGH); // deselect the MPU9250 chip
SPI1.endTransaction(); // end the transaction
}
#endif
}
else{
i2c_t3(_bus).beginTransmission(_address); // open the device
i2c_t3(_bus).write(subAddress); // write the register address
i2c_t3(_bus).write(data); // write the data
i2c_t3(_bus).endTransmission();
}
delay(10); // need to slow down how fast I write to MPU9250
/* read back the register */
readRegisters(subAddress,sizeof(buff),&buff[0]);
/* check the read back register against the written register */
if(buff[0] == data) {
return true;
}
else{
return false;
}
}
/* reads registers from MPU9250 given a starting register address, number of bytes, and a pointer to store data */
void MPU9250::readRegisters(uint8_t subAddress, uint8_t count, uint8_t* dest){
if( _useSPI ){
// Teensy 3.0 || Teensy 3.1/3.2
#if defined(__MK20DX128__) || defined(__MK20DX256__)
if((_mosiPin == MOSI_PIN_11)||(_mosiPin == MOSI_PIN_7)){
// begin the transaction
if(_useSPIHS){
SPI.beginTransaction(SPISettings(SPI_HS_CLOCK, MSBFIRST, SPI_MODE3));
}
else{
SPI.beginTransaction(SPISettings(SPI_LS_CLOCK, MSBFIRST, SPI_MODE3));
}
digitalWriteFast(_csPin,LOW); // select the MPU9250 chip
SPI.transfer(subAddress | SPI_READ); // specify the starting register address
digitalWriteFast(_csPin,HIGH); // deselect the MPU9250 chip
delayMicroseconds(1);
digitalWriteFast(_csPin,LOW); // select the MPU9250 chip
SPI.transfer(subAddress | SPI_READ); // specify the starting register address
for(uint8_t i = 0; i < count; i++){
dest[i] = SPI.transfer(0x00); // read the data
}
digitalWriteFast(_csPin,HIGH); // deselect the MPU9250 chip
SPI.endTransaction(); // end the transaction
}
#endif
// Teensy 3.5 || Teensy 3.6
#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
if((_mosiPin == MOSI_PIN_11)||(_mosiPin == MOSI_PIN_7)||(_mosiPin == MOSI_PIN_28)){
// begin the transaction
if(_useSPIHS){
SPI.beginTransaction(SPISettings(SPI_HS_CLOCK, MSBFIRST, SPI_MODE3));
}
else{
SPI.beginTransaction(SPISettings(SPI_LS_CLOCK, MSBFIRST, SPI_MODE3));
}
digitalWriteFast(_csPin,LOW); // select the MPU9250 chip
SPI.transfer(subAddress | SPI_READ); // specify the starting register address