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mpu_9250.h
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mpu_9250.h
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/*
*
* Team Id : self_balancing_bot
* Author List : Abhishek Ghogare
* Filename : mpu_9250.h
* Functions : None
* Global Variables : None
*
*/
#ifndef MPU_9250_H_
#define MPU_9250_H_
#include "i2c/i2c.h"
/* MPU9250 Basic Example Code
by: Kris Winer
date: April 1, 2014
license: Beerware - Use this code however you'd like. If you
find it useful you can buy me a beer some time.
Demonstrate basic MPU-9250 functionality including parameterizing the register addresses, initializing the sensor,
getting properly scaled accelerometer, gyroscope, and magnetometer data out. Added display functions to
allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and
Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1.
SDA and SCL should have external pull-up resistors (to 3.3V).
10k resistors are on the EMSENSR-9250 breakout board.
Hardware setup:
MPU9250 Breakout --------- Arduino
VDD ---------------------- 3.3V
VDDI --------------------- 3.3V
SDA ----------------------- A4
SCL ----------------------- A5
GND ---------------------- GND
Note: The MPU9250 is an I2C sensor and uses the Arduino Wire library.
Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1.
We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file.
We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
*/
//#include "inc/hw_i2c.h"
//#include "driverlib/i2c.h"
// Using NOKIA 5110 monochrome 84 x 48 pixel display
// pin 9 - Serial clock out (SCLK)
// pin 8 - Serial data out (DIN)
// pin 7 - Data/Command select (D/C)
// pin 5 - LCD chip select (CS)
// pin 6 - LCD reset (RST)
// Adafruit_PCD8544 display = Adafruit_PCD8544(9, 8, 7, 5, 6);
// 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_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
#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
#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
// Using the MSENSR-9250 breakout board, ADO is set to 0
// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
#define ADO 0
#if ADO
#define MPU9250_ADDRESS 0x69 // Device address when ADO = 1
#else
#define MPU9250_ADDRESS 0x68 // Device address when ADO = 0
#define AK8963_ADDRESS 0x0C // Address of magnetometer
#endif
#endif /* MPU_9250_H_ */