119 lines
4.0 KiB
C++
119 lines
4.0 KiB
C++
////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// This file is part of RTIMULib
|
|
//
|
|
// Copyright (c) 2014-2015, richards-tech
|
|
//
|
|
// 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.
|
|
|
|
// The MPU-9250 and SPI driver code is based on code generously supplied by
|
|
// staslock@gmail.com (www.clickdrive.io)
|
|
|
|
|
|
#ifndef _RTIMUMPU9250_H
|
|
#define _RTIMUMPU9250_H
|
|
|
|
#include "RTIMU.h"
|
|
|
|
// Define this symbol to use cache mode
|
|
|
|
#define MPU9250_CACHE_MODE
|
|
|
|
// FIFO transfer size
|
|
|
|
#define MPU9250_FIFO_CHUNK_SIZE 12 // gyro and accels take 12 bytes
|
|
|
|
#ifdef MPU9250_CACHE_MODE
|
|
|
|
// Cache mode defines
|
|
|
|
#define MPU9250_CACHE_SIZE 8 // number of chunks in a block
|
|
#define MPU9250_CACHE_BLOCK_COUNT 8 // number of cache blocks
|
|
|
|
typedef struct
|
|
{
|
|
unsigned char data[MPU9250_FIFO_CHUNK_SIZE * MPU9250_CACHE_SIZE];
|
|
int count; // number of chunks in the cache block
|
|
int index; // current index into the cache
|
|
unsigned char compass[8]; // the raw compass readings for the block
|
|
|
|
} MPU9250_CACHE_BLOCK;
|
|
|
|
#endif
|
|
|
|
|
|
class RTIMUMPU9250 : public RTIMU
|
|
{
|
|
public:
|
|
RTIMUMPU9250(RTIMUSettings *settings);
|
|
~RTIMUMPU9250();
|
|
|
|
bool setGyroLpf(unsigned char lpf);
|
|
bool setAccelLpf(unsigned char lpf);
|
|
bool setSampleRate(int rate);
|
|
bool setCompassRate(int rate);
|
|
bool setGyroFsr(unsigned char fsr);
|
|
bool setAccelFsr(unsigned char fsr);
|
|
|
|
virtual const char *IMUName() { return "MPU-9250"; }
|
|
virtual int IMUType() { return RTIMU_TYPE_MPU9250; }
|
|
virtual bool IMUInit();
|
|
virtual bool IMURead();
|
|
virtual int IMUGetPollInterval();
|
|
|
|
protected:
|
|
|
|
RTFLOAT m_compassAdjust[3]; // the compass fuse ROM values converted for use
|
|
|
|
private:
|
|
bool setGyroConfig();
|
|
bool setAccelConfig();
|
|
bool setSampleRate();
|
|
bool compassSetup();
|
|
bool setCompassRate();
|
|
bool resetFifo();
|
|
bool bypassOn();
|
|
bool bypassOff();
|
|
|
|
bool m_firstTime; // if first sample
|
|
|
|
unsigned char m_slaveAddr; // I2C address of MPU9150
|
|
|
|
unsigned char m_gyroLpf; // gyro low pass filter setting
|
|
unsigned char m_accelLpf; // accel low pass filter setting
|
|
int m_compassRate; // compass sample rate in Hz
|
|
unsigned char m_gyroFsr;
|
|
unsigned char m_accelFsr;
|
|
|
|
RTFLOAT m_gyroScale;
|
|
RTFLOAT m_accelScale;
|
|
|
|
|
|
#ifdef MPU9250_CACHE_MODE
|
|
|
|
MPU9250_CACHE_BLOCK m_cache[MPU9250_CACHE_BLOCK_COUNT]; // the cache itself
|
|
int m_cacheIn; // the in index
|
|
int m_cacheOut; // the out index
|
|
int m_cacheCount; // number of used cache blocks
|
|
|
|
#endif
|
|
|
|
};
|
|
|
|
#endif // _RTIMUMPU9250_H
|