194 lines
8.5 KiB
C
194 lines
8.5 KiB
C
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/*----------------------------------------------------------------------------/
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/ LED include file (C)ChaN, 2019
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/----------------------------------------------------------------------------*/
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#ifndef _DEF_MPU9250_H_
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#define _DEF_MPU9250_H_
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/*---------------------------------------------------------------------------*/
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/* System Configurations */
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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//#define M_PI 3.14159265358979323846F /*定义pi*/
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#define GYRO_SCALE 0.06103515625
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#define ACC_SCALE 0.00006103515625
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/* ---- MPU9250 Reg In MPU9250 ---------------------------------------------- */
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#define MPU9250_I2C_ADDR ((unsigned char)0xD0)
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#define MPU9250_Device_ID ((unsigned char)0x71) // In MPU9250
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#define MPU9250_SELF_TEST_XG ((unsigned char)0x00)
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#define MPU9250_SELF_TEST_YG ((unsigned char)0x01)
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#define MPU9250_SELF_TEST_ZG ((unsigned char)0x02)
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#define MPU9250_SELF_TEST_XA ((unsigned char)0x0D)
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#define MPU9250_SELF_TEST_YA ((unsigned char)0x0E)
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#define MPU9250_SELF_TEST_ZA ((unsigned char)0x0F)
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#define MPU9250_XG_OFFSET_H ((unsigned char)0x13)
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#define MPU9250_XG_OFFSET_L ((unsigned char)0x14)
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#define MPU9250_YG_OFFSET_H ((unsigned char)0x15)
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#define MPU9250_YG_OFFSET_L ((unsigned char)0x16)
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#define MPU9250_ZG_OFFSET_H ((unsigned char)0x17)
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#define MPU9250_ZG_OFFSET_L ((unsigned char)0x18)
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#define MPU9250_SMPLRT_DIV ((unsigned char)0x19)
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#define MPU9250_CONFIG ((unsigned char)0x1A)
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#define MPU9250_GYRO_CONFIG ((unsigned char)0x1B)
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#define MPU9250_ACCEL_CONFIG ((unsigned char)0x1C)
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#define MPU9250_ACCEL_CONFIG_2 ((unsigned char)0x1D)
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#define MPU9250_LP_ACCEL_ODR ((unsigned char)0x1E)
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#define MPU9250_MOT_THR ((unsigned char)0x1F)
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#define MPU9250_FIFO_EN ((unsigned char)0x23)
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#define MPU9250_I2C_MST_CTRL ((unsigned char)0x24)
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#define MPU9250_I2C_SLV0_ADDR ((unsigned char)0x25)
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#define MPU9250_I2C_SLV0_REG ((unsigned char)0x26)
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#define MPU9250_I2C_SLV0_CTRL ((unsigned char)0x27)
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#define MPU9250_I2C_SLV1_ADDR ((unsigned char)0x28)
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#define MPU9250_I2C_SLV1_REG ((unsigned char)0x29)
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#define MPU9250_I2C_SLV1_CTRL ((unsigned char)0x2A)
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#define MPU9250_I2C_SLV2_ADDR ((unsigned char)0x2B)
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#define MPU9250_I2C_SLV2_REG ((unsigned char)0x2C)
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#define MPU9250_I2C_SLV2_CTRL ((unsigned char)0x2D)
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#define MPU9250_I2C_SLV3_ADDR ((unsigned char)0x2E)
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#define MPU9250_I2C_SLV3_REG ((unsigned char)0x2F)
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#define MPU9250_I2C_SLV3_CTRL ((unsigned char)0x30)
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#define MPU9250_I2C_SLV4_ADDR ((unsigned char)0x31)
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#define MPU9250_I2C_SLV4_REG ((unsigned char)0x32)
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#define MPU9250_I2C_SLV4_DO ((unsigned char)0x33)
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#define MPU9250_I2C_SLV4_CTRL ((unsigned char)0x34)
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#define MPU9250_I2C_SLV4_DI ((unsigned char)0x35)
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#define MPU9250_I2C_MST_STATUS ((unsigned char)0x36)
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#define MPU9250_INT_PIN_CFG ((unsigned char)0x37)
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#define MPU9250_INT_ENABLE ((unsigned char)0x38)
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#define MPU9250_INT_STATUS ((unsigned char)0x3A)
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#define MPU9250_ACCEL_XOUT_H ((unsigned char)0x3B)
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#define MPU9250_ACCEL_XOUT_L ((unsigned char)0x3C)
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#define MPU9250_ACCEL_YOUT_H ((unsigned char)0x3D)
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#define MPU9250_ACCEL_YOUT_L ((unsigned char)0x3E)
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#define MPU9250_ACCEL_ZOUT_H ((unsigned char)0x3F)
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#define MPU9250_ACCEL_ZOUT_L ((unsigned char)0x40)
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#define MPU9250_TEMP_OUT_H ((unsigned char)0x41)
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#define MPU9250_TEMP_OUT_L ((unsigned char)0x42)
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#define MPU9250_GYRO_XOUT_H ((unsigned char)0x43)
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#define MPU9250_GYRO_XOUT_L ((unsigned char)0x44)
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#define MPU9250_GYRO_YOUT_H ((unsigned char)0x45)
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#define MPU9250_GYRO_YOUT_L ((unsigned char)0x46)
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#define MPU9250_GYRO_ZOUT_H ((unsigned char)0x47)
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#define MPU9250_GYRO_ZOUT_L ((unsigned char)0x48)
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#define MPU9250_EXT_SENS_DATA_00 ((unsigned char)0x49)
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#define MPU9250_EXT_SENS_DATA_01 ((unsigned char)0x4A)
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#define MPU9250_EXT_SENS_DATA_02 ((unsigned char)0x4B)
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#define MPU9250_EXT_SENS_DATA_03 ((unsigned char)0x4C)
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#define MPU9250_EXT_SENS_DATA_04 ((unsigned char)0x4D)
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#define MPU9250_EXT_SENS_DATA_05 ((unsigned char)0x4E)
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#define MPU9250_EXT_SENS_DATA_06 ((unsigned char)0x4F)
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#define MPU9250_EXT_SENS_DATA_07 ((unsigned char)0x50)
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#define MPU9250_EXT_SENS_DATA_08 ((unsigned char)0x51)
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#define MPU9250_EXT_SENS_DATA_09 ((unsigned char)0x52)
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#define MPU9250_EXT_SENS_DATA_10 ((unsigned char)0x53)
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#define MPU9250_EXT_SENS_DATA_11 ((unsigned char)0x54)
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#define MPU9250_EXT_SENS_DATA_12 ((unsigned char)0x55)
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#define MPU9250_EXT_SENS_DATA_13 ((unsigned char)0x56)
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#define MPU9250_EXT_SENS_DATA_14 ((unsigned char)0x57)
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#define MPU9250_EXT_SENS_DATA_15 ((unsigned char)0x58)
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#define MPU9250_EXT_SENS_DATA_16 ((unsigned char)0x59)
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#define MPU9250_EXT_SENS_DATA_17 ((unsigned char)0x5A)
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#define MPU9250_EXT_SENS_DATA_18 ((unsigned char)0x5B)
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#define MPU9250_EXT_SENS_DATA_19 ((unsigned char)0x5C)
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#define MPU9250_EXT_SENS_DATA_20 ((unsigned char)0x5D)
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#define MPU9250_EXT_SENS_DATA_21 ((unsigned char)0x5E)
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#define MPU9250_EXT_SENS_DATA_22 ((unsigned char)0x5F)
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#define MPU9250_EXT_SENS_DATA_23 ((unsigned char)0x60)
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#define MPU9250_I2C_SLV0_DO ((unsigned char)0x63)
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#define MPU9250_I2C_SLV1_DO ((unsigned char)0x64)
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#define MPU9250_I2C_SLV2_DO ((unsigned char)0x65)
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#define MPU9250_I2C_SLV3_DO ((unsigned char)0x66)
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#define MPU9250_I2C_MST_DELAY_CTRL ((unsigned char)0x67)
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#define MPU9250_SIGNAL_PATH_RESET ((unsigned char)0x68)
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#define MPU9250_MOT_DETECT_CTRL ((unsigned char)0x69)
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#define MPU9250_USER_CTRL ((unsigned char)0x6A)
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#define MPU9250_PWR_MGMT_1 ((unsigned char)0x6B)
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#define MPU9250_PWR_MGMT_2 ((unsigned char)0x6C)
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#define MPU9250_FIFO_COUNTH ((unsigned char)0x72)
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#define MPU9250_FIFO_COUNTL ((unsigned char)0x73)
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#define MPU9250_FIFO_R_W ((unsigned char)0x74)
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#define MPU9250_WHO_AM_I ((unsigned char)0x75) // ID = 0x71 In MPU9250
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#define MPU9250_XA_OFFSET_H ((unsigned char)0x77)
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#define MPU9250_XA_OFFSET_L ((unsigned char)0x78)
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#define MPU9250_YA_OFFSET_H ((unsigned char)0x7A)
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#define MPU9250_YA_OFFSET_L ((unsigned char)0x7B)
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#define MPU9250_ZA_OFFSET_H ((unsigned char)0x7D)
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#define MPU9250_ZA_OFFSET_L ((unsigned char)0x7E)
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/* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */
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#define AK8963_I2C_ADDR ((unsigned char)0x18)
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#define AK8963_Device_ID ((unsigned char)0x48)
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// Read-only Reg
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#define AK8963_WIA ((unsigned char)0x00)
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#define AK8963_INFO ((unsigned char)0x01)
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#define AK8963_ST1 ((unsigned char)0x02)
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#define AK8963_ST1_DOR 0x02
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#define AK8963_ST1_DRDY 0x01 //Data Ready
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#define AK8963_HXL ((unsigned char)0x03)
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#define AK8963_HXH ((unsigned char)0x04)
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#define AK8963_HYL ((unsigned char)0x05)
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#define AK8963_HYH ((unsigned char)0x06)
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#define AK8963_HZL ((unsigned char)0x07)
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#define AK8963_HZH ((unsigned char)0x08)
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#define AK8963_ST2 ((unsigned char)0x09)
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#define AK8963_ST2_HOFL ((unsigned char)0x08)
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// Write/Read Reg
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#define AK8963_CNTL1 ((unsigned char)0x0A)
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#define AK8963_CNTL2 ((unsigned char)0x0B)
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#define AK8963_ASTC ((unsigned char)0x0C)
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#define AK8963_TS1 ((unsigned char)0x0D)
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#define AK8963_TS2 ((unsigned char)0x0E)
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#define AK8963_I2CDIS ((unsigned char)0x0F)
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// Read-only Reg ( ROM )
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#define AK8963_ASAX ((unsigned char)0x10)
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#define AK8963_ASAY ((unsigned char)0x11)
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#define AK8963_ASAZ ((unsigned char)0x12)
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typedef struct MPU
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{
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int16_t ax;
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int16_t ay;
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int16_t az;
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int16_t temp;
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int16_t gx;
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int16_t gy;
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int16_t gz;
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int16_t mag_x;
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int16_t mag_y;
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int16_t mag_z;
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float acc[3];
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float gyr[3];
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float yaw;
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float roll;
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float pitch;
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float q[4];
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}MPU;
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void MPU9250_Init(void);
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void Init_Quaternion(void);
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void MPU9250_GetData(float* ax, float* ay, float* az,
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float* gx, float* gy, float* gz,
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float* temp);
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void AHRSUpdate(float gx, float gy, float gz,
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float ax, float ay, float az);
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void MPU9250_GetEulerAngles(float* yaw,float* roll, float* pitch);
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#ifdef __cplusplus
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}
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#endif
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#endif /* MPU9250 */
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