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Add support for mpu9250 gyro/acc/mag chip #20

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Add support for mpu9250 gyro/acc/mag chip #20

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4ec8f83
add MPU9250 support
sserrano44 Apr 17, 2016
c59ae2e
fix silly bug
sserrano44 Apr 17, 2016
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92 changes: 89 additions & 3 deletions Sensors.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -980,7 +980,7 @@ void Mag_init() {
delay(100);
}

#if !defined(MPU6050_I2C_AUX_MASTER)
#if !defined(MPU6050_I2C_AUX_MASTER || MPU9250)
void Device_Mag_getADC() {
i2c_getSixRawADC(MAG_ADDRESS,MAG_DATA_REGISTER);
MAG_ORIENTATION( ((rawADC[0]<<8) | rawADC[1]) ,
Expand Down Expand Up @@ -1063,7 +1063,7 @@ static void Mag_init() {
delay(100);
}

#if !defined(MPU6050_I2C_AUX_MASTER)
#if !defined(MPU6050_I2C_AUX_MASTER || MPU9250)
static void Device_Mag_getADC() {
getADC();
}
Expand Down Expand Up @@ -1303,6 +1303,92 @@ void Gyro_getADC () {
// End Of I2C Gyroscope and Accelerometer LSM330
// ************************************************************************************************************

// ************************************************************************************************************
// I2C Gyroscope/Accelerometer/Compass MPU9250
// ************************************************************************************************************
#if defined(MPU9250)

#if !defined(MPU9250_ADDRESS)
#define MPU9250_ADDRESS 0x68 // address pin AD0 low (GND), default for FreeIMU v0.4 and InvenSense evaluation board
//#define MPU9250_ADDRESS 0x69 // address pin AD0 high (VCC)
//The MAG acquisition
#define MAG_ADDRESS 0x0C
#define MAG_DATA_REGISTER 0x03
#endif


////////////////////////////////////
// Gyro start //
////////////////////////////////////

void Gyro_init() {
TWBR = ((F_CPU / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz
i2c_writeReg(MPU9250_ADDRESS, 0x6B, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
delay(5);
i2c_writeReg(MPU9250_ADDRESS, 0x6B, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
i2c_writeReg(MPU9250_ADDRESS, 0x1A, GYRO_DLPF_CFG); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
i2c_writeReg(MPU9250_ADDRESS, 0x1B, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
// enable I2C bypass for AUX I2C, allways on because we have a magnetometer on board
i2c_writeReg(MPU9250_ADDRESS, 0x37, 0x02); //INT_PIN_CFG -- INT_LEVEL=0 ; INT_OPEN=0 ; LATCH_INT_EN=0 ; INT_RD_CLEAR=0 ; FSYNC_INT_LEVEL=0 ; FSYNC_INT_EN=0 ; I2C_BYPASS_EN=1 ; CLKOUT_EN=0
}

void Gyro_getADC () {
i2c_getSixRawADC(MPU9250_ADDRESS, 0x43);
GYRO_ORIENTATION( ((rawADC[0]<<8) | rawADC[1])/4 , // range: +/- 8192; +/- 2000 deg/sec
((rawADC[2]<<8) | rawADC[3])/4 ,
((rawADC[4]<<8) | rawADC[5])/4 );
GYRO_Common();
}

////////////////////////////////////
// Gyro end //
////////////////////////////////////


////////////////////////////////////
// ACC start //
////////////////////////////////////
void ACC_init () {
i2c_writeReg(MPU9250_ADDRESS, 0x1C, 0x10);
}

void ACC_getADC () {
i2c_getSixRawADC(MPU9250_ADDRESS, 0x3B);
ACC_ORIENTATION( ((rawADC[0]<<8) | rawADC[1])/8 ,
((rawADC[2]<<8) | rawADC[3])/8 ,
((rawADC[4]<<8) | rawADC[5])/8 );
ACC_Common();
}

////////////////////////////////////
// ACC end //
////////////////////////////////////


////////////////////////////////////
// MAG start //
////////////////////////////////////
void Mag_init() {
delay(100);
i2c_writeReg(MAG_ADDRESS,0x0a,0x01); //Start the first conversion
delay(100);
}
void Device_Mag_getADC() {
i2c_getSixRawADC(MAG_ADDRESS, 0x03);
MAG_ORIENTATION( ((rawADC[1]<<8) | rawADC[0]) ,
((rawADC[3]<<8) | rawADC[2]) ,
((rawADC[5]<<8) | rawADC[4]) );
//Start another meassurement
i2c_writeReg(MAG_ADDRESS,0x0a,0x01);
}
////////////////////////////////////
// MAG end //
////////////////////////////////////

#endif
// ************************************************************************************************************
// End Of I2C Gyroscope/Accelerometer/Compass MPU9250
// ************************************************************************************************************

#if defined(WMP)
// ************************************************************************************************************
Expand Down Expand Up @@ -1536,4 +1622,4 @@ void initSensors() {
initS();
if (i2c_errors_count == 0) break; // no error during init => init ok
}
}
}
6 changes: 3 additions & 3 deletions Sensors.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ void i2c_read_reg_to_buf(uint8_t add, uint8_t reg, uint8_t *buf, uint8_t size);
#if defined(ADCACC)
#define ACC_1G 75
#endif
#if defined(MPU6050)
#if defined(MPU6050) || defined(MPU9250)
#if defined(FREEIMUv04)
#define ACC_1G 255
#else
Expand All @@ -54,7 +54,7 @@ void i2c_read_reg_to_buf(uint8_t add, uint8_t reg, uint8_t *buf, uint8_t size);
#if defined(ITG3050)
#define GYRO_SCALE (4 / 16.0 * PI / 180.0 / 1000000.0) //16.4 LSB = 1 deg/s -- 16.0 apparently gives beter results than 16.4 (empirical)
#endif
#if defined(MPU6050) || defined(MPU3050)
#if defined(MPU6050) || defined(MPU3050) || defined(MPU9250)
#define GYRO_SCALE (4 / 16.4 * PI / 180.0 / 1000000.0) //16.4 LSB = 1 deg/s
#endif
#if defined(ITG3200)
Expand All @@ -67,4 +67,4 @@ void i2c_read_reg_to_buf(uint8_t add, uint8_t reg, uint8_t *buf, uint8_t size);
#define GYRO_SCALE (1.0f/200e6f)
#endif

#endif /* SENSORS_H_ */
#endif /* SENSORS_H_ */
3 changes: 2 additions & 1 deletion config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -170,6 +170,7 @@
//#define MPU3050
//#define L3G4200D
//#define MPU6050 //combo + ACC
//#define MPU9250
//#define LSM330 //combo + ACC

/* I2C accelerometer */
Expand Down Expand Up @@ -1228,4 +1229,4 @@ Also note, that maqgnetic declination changes with time, so recheck your value e
/*************************************************************************************************/

#endif /* CONFIG_H_ */

8 changes: 4 additions & 4 deletions def.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1668,19 +1668,19 @@
/*************** Sensor Type definitions ********************/
/**************************************************************************************/

#if defined(ADXL345) || defined(BMA020) || defined(BMA180) || defined(BMA280) || defined(MMA7455) || defined(ADCACC) || defined(LIS3LV02) || defined(LSM303DLx_ACC) || defined(MPU6050) || defined(LSM330) || defined(MMA8451Q)
#if defined(ADXL345) || defined(BMA020) || defined(BMA180) || defined(BMA280) || defined(MMA7455) || defined(ADCACC) || defined(LIS3LV02) || defined(LSM303DLx_ACC) || defined(MPU6050) || defined(LSM330) || defined(MMA8451Q) || defined(MPU9250)
#define ACC 1
#else
#define ACC 0
#endif

#if defined(HMC5883) || defined(HMC5843) || defined(AK8975) || defined(MAG3110)
#if defined(HMC5883) || defined(HMC5843) || defined(AK8975) || defined(MAG3110) || defined(MPU9250)
#define MAG 1
#else
#define MAG 0
#endif

#if defined(ITG3200) || defined(ITG3050) || defined(L3G4200D) || defined(MPU6050) || defined(LSM330) || defined(MPU3050) || defined(WMP)
#if defined(ITG3200) || defined(ITG3050) || defined(L3G4200D) || defined(MPU6050) || defined(LSM330) || defined(MPU3050) || defined(WMP) || defined(MPU9250)
#define GYRO 1
#else
#define GYRO 0
Expand Down Expand Up @@ -2029,4 +2029,4 @@
#error "you use one feature that is no longer supported or has undergone a name change"
#endif

#endif /* DEF_H_ */
#endif /* DEF_H_ */