/* * em7180.h * * Created on: Jan 18, 2021 * Author: Daniel Peter Chokola * * Adapted From: * EM7180_LSM6DSM_LIS2MDL_LPS22HB_Butterfly * by: Kris Winer * 06/29/2017 Copyright Tlera Corporation * * Library may be used freely and without limit with attribution. */ #ifndef EM7180_H_ #define EM7180_H_ /* Includes */ #include // See MS5637-02BA03 Low Voltage Barometric Pressure Sensor Data Sheet #define MS5637_RESET 0x1E #define MS5637_CONVERT_D1 0x40 #define MS5637_CONVERT_D2 0x50 #define MS5637_ADC_READ 0x00 // 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 // EM7180 SENtral register map // see http://www.emdeveloper.com/downloads/7180/EMSentral_EM7180_Register_Map_v1_3.pdf // #define EM7180_QX 0x00 // this is a 32-bit normalized floating point number read from registers 0x00-03 #define EM7180_QY 0x04 // this is a 32-bit normalized floating point number read from registers 0x04-07 #define EM7180_QZ 0x08 // this is a 32-bit normalized floating point number read from registers 0x08-0B #define EM7180_QW 0x0C // this is a 32-bit normalized floating point number read from registers 0x0C-0F #define EM7180_QTIME 0x10 // this is a 16-bit unsigned integer read from registers 0x10-11 #define EM7180_MX 0x12 // int16_t from registers 0x12-13 #define EM7180_MY 0x14 // int16_t from registers 0x14-15 #define EM7180_MZ 0x16 // int16_t from registers 0x16-17 #define EM7180_MTIME 0x18 // uint16_t from registers 0x18-19 #define EM7180_AX 0x1A // int16_t from registers 0x1A-1B #define EM7180_AY 0x1C // int16_t from registers 0x1C-1D #define EM7180_AZ 0x1E // int16_t from registers 0x1E-1F #define EM7180_ATIME 0x20 // uint16_t from registers 0x20-21 #define EM7180_GX 0x22 // int16_t from registers 0x22-23 #define EM7180_GY 0x24 // int16_t from registers 0x24-25 #define EM7180_GZ 0x26 // int16_t from registers 0x26-27 #define EM7180_GTIME 0x28 // uint16_t from registers 0x28-29 #define EM7180_Baro 0x2A // start of two-byte MS5637 pressure data, 16-bit signed interger #define EM7180_BaroTIME 0x2C // start of two-byte MS5637 pressure timestamp, 16-bit unsigned #define EM7180_Temp 0x2E // start of two-byte MS5637 temperature data, 16-bit signed interger #define EM7180_TempTIME 0x30 // start of two-byte MS5637 temperature timestamp, 16-bit unsigned #define EM7180_QRateDivisor 0x32 // uint8_t #define EM7180_EnableEvents 0x33 #define EM7180_HostControl 0x34 #define EM7180_EventStatus 0x35 #define EM7180_SensorStatus 0x36 #define EM7180_SentralStatus 0x37 #define EM7180_AlgorithmStatus 0x38 #define EM7180_FeatureFlags 0x39 #define EM7180_ParamAcknowledge 0x3A #define EM7180_SavedParamByte0 0x3B #define EM7180_SavedParamByte1 0x3C #define EM7180_SavedParamByte2 0x3D #define EM7180_SavedParamByte3 0x3E #define EM7180_ActualMagRate 0x45 #define EM7180_ActualAccelRate 0x46 #define EM7180_ActualGyroRate 0x47 #define EM7180_ActualBaroRate 0x48 #define EM7180_ActualTempRate 0x49 #define EM7180_ErrorRegister 0x50 #define EM7180_AlgorithmControl 0x54 #define EM7180_MagRate 0x55 #define EM7180_AccelRate 0x56 #define EM7180_GyroRate 0x57 #define EM7180_BaroRate 0x58 #define EM7180_TempRate 0x59 #define EM7180_LoadParamByte0 0x60 #define EM7180_LoadParamByte1 0x61 #define EM7180_LoadParamByte2 0x62 #define EM7180_LoadParamByte3 0x63 #define EM7180_ParamRequest 0x64 #define EM7180_ROMVersion1 0x70 #define EM7180_ROMVersion2 0x71 #define EM7180_RAMVersion1 0x72 #define EM7180_RAMVersion2 0x73 #define EM7180_ProductID 0x90 #define EM7180_RevisionID 0x91 #define EM7180_RunStatus 0x92 #define EM7180_UploadAddress 0x94 // uint16_t registers 0x94 (MSB)-5(LSB) #define EM7180_UploadData 0x96 #define EM7180_CRCHost 0x97 // uint32_t from registers 0x97-9A #define EM7180_ResetRequest 0x9B #define EM7180_PassThruStatus 0x9E #define EM7180_PassThruControl 0xA0 #define EM7180_ACC_LPF_BW 0x5B //Register GP36 #define EM7180_GYRO_LPF_BW 0x5C //Register GP37 #define EM7180_BARO_LPF_BW 0x5D //Register GP38 #define EM7180_ADDRESS 0x28 // Address of the EM7180 SENtral sensor hub #define M24512DFM_DATA_ADDRESS 0x50 // Address of the 500 page M24512DFM EEPROM data buffer, 1024 bits (128 8-bit bytes) per page #define M24512DFM_IDPAGE_ADDRESS 0x58 // Address of the single M24512DFM lockable EEPROM ID page #define MPU9250_ADDRESS 0x68 // Device address when ADO = 0 #define AK8963_ADDRESS 0x0C // Address of magnetometer #define MS5637_ADDRESS 0x76 // Address of altimeter #define AFS_2G 0 #define AFS_4G 1 #define AFS_8G 2 #define AFS_16G 3 #define GFS_250DPS 0 #define GFS_500DPS 1 #define GFS_1000DPS 2 #define GFS_2000DPS 3 #define MFS_14BITS 0 // 0.6 mG per LSB #define MFS_16BITS 1 // 0.15 mG per LSB #define ADC_256 0x00 // define pressure and temperature conversion rates #define ADC_512 0x02 #define ADC_1024 0x04 #define ADC_2048 0x06 #define ADC_4096 0x08 #define ADC_8192 0x0A #define ADC_D1 0x40 #define ADC_D2 0x50 class USFS { public: USFS(uint8_t intPin, bool passThru); float getAres(uint8_t Ascale); float getGres(uint8_t Gscale); float getMres(uint8_t Mscale); float uint32_reg_to_float (uint8_t *buf); float int32_reg_to_float (uint8_t *buf); void float_to_bytes (float param_val, uint8_t *buf); void EM7180_set_gyro_FS (uint16_t gyro_fs); void EM7180_set_mag_acc_FS (uint16_t mag_fs, uint16_t acc_fs); void EM7180_set_integer_param (uint8_t param, uint32_t param_val); void EM7180_set_float_param (uint8_t param, float param_val); void readSENtralQuatData(float * destination); void readSENtralAccelData(int16_t * destination); void readSENtralGyroData(int16_t * destination); void readSENtralMagData(int16_t * destination); void readAccelData(int16_t * destination); void readGyroData(int16_t * destination); void readMagData(int16_t * destination); int16_t readTempData(); void initEM7180(uint8_t accBW, uint8_t gyroBW, uint16_t accFS, uint16_t gyroFS, uint16_t magFS, uint8_t QRtDiv, uint8_t magRt, uint8_t accRt, uint8_t gyroRt, uint8_t baroRt); void initAK8963(uint8_t Mscale, uint8_t Mmode, float * destination); void initMPU9250(uint8_t Ascale, uint8_t Gscale); void accelgyrocalMPU9250(float * dest1, float * dest2); void magcalMPU9250(float * dest1, float * dest2); void MPU9250SelfTest(float * destination); int16_t readSENtralBaroData(); int16_t readSENtralTempData(); void SENtralPassThroughMode(); void M24512DFMwriteByte(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t data); void M24512DFMwriteBytes(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t count, uint8_t * dest); uint8_t M24512DFMreadByte(uint8_t device_address, uint8_t data_address1, uint8_t data_address2); void M24512DFMreadBytes(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t count, uint8_t * dest); void MS5637Reset(); void MS5637PromRead(uint16_t * destination); uint32_t MS5637Read(uint8_t CMD, uint8_t OSR); unsigned char MS5637checkCRC(uint16_t * n_prom); void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz); void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz); void getChipID(); void loadfwfromEEPROM(); uint8_t checkEM7180Status(); uint8_t checkEM7180Errors(); void I2Cscan(); void writeByte(uint8_t address, uint8_t subAddress, uint8_t data); uint8_t readByte(uint8_t address, uint8_t subAddress); void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest); private: uint8_t _intPin; bool _passThru; float _aRes; float _gRes; float _mRes; uint8_t _Mmode; float _fuseROMx; float _fuseROMy; float _fuseROMz; float _q[4]; float _beta; float _deltat; float _Kp; float _Ki; }; #endif /* EM7180_H_ */