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328 lines
13 KiB
328 lines
13 KiB
#ifndef USFS_h |
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#define USFSh_h |
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#include "Arduino.h" |
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#include "Wire.h" |
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// See MS5637-02BA03 Low Voltage Barometric Pressure Sensor Data Sheet |
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#define MS5637_RESET 0x1E |
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#define MS5637_CONVERT_D1 0x40 |
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#define MS5637_CONVERT_D2 0x50 |
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#define MS5637_ADC_READ 0x00 |
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// 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 |
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// above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map |
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// |
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//Magnetometer Registers |
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#define AK8963_ADDRESS 0x0C |
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#define WHO_AM_I_AK8963 0x00 // should return 0x48 |
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#define INFO 0x01 |
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#define AK8963_ST1 0x02 // data ready status bit 0 |
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#define AK8963_XOUT_L 0x03 // data |
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#define AK8963_XOUT_H 0x04 |
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#define AK8963_YOUT_L 0x05 |
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#define AK8963_YOUT_H 0x06 |
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#define AK8963_ZOUT_L 0x07 |
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#define AK8963_ZOUT_H 0x08 |
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#define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2 |
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#define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0 |
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#define AK8963_ASTC 0x0C // Self test control |
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#define AK8963_I2CDIS 0x0F // I2C disable |
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#define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value |
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#define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value |
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#define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value |
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#define SELF_TEST_X_GYRO 0x00 |
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#define SELF_TEST_Y_GYRO 0x01 |
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#define SELF_TEST_Z_GYRO 0x02 |
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/*#define X_FINE_GAIN 0x03 // [7:0] fine gain |
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#define Y_FINE_GAIN 0x04 |
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#define Z_FINE_GAIN 0x05 |
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#define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer |
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#define XA_OFFSET_L_TC 0x07 |
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#define YA_OFFSET_H 0x08 |
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#define YA_OFFSET_L_TC 0x09 |
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#define ZA_OFFSET_H 0x0A |
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#define ZA_OFFSET_L_TC 0x0B */ |
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#define SELF_TEST_X_ACCEL 0x0D |
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#define SELF_TEST_Y_ACCEL 0x0E |
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#define SELF_TEST_Z_ACCEL 0x0F |
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#define SELF_TEST_A 0x10 |
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#define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope |
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#define XG_OFFSET_L 0x14 |
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#define YG_OFFSET_H 0x15 |
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#define YG_OFFSET_L 0x16 |
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#define ZG_OFFSET_H 0x17 |
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#define ZG_OFFSET_L 0x18 |
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#define SMPLRT_DIV 0x19 |
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#define CONFIG 0x1A |
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#define GYRO_CONFIG 0x1B |
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#define ACCEL_CONFIG 0x1C |
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#define ACCEL_CONFIG2 0x1D |
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#define LP_ACCEL_ODR 0x1E |
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#define WOM_THR 0x1F |
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#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms |
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#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] |
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#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms |
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#define FIFO_EN 0x23 |
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#define I2C_MST_CTRL 0x24 |
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#define I2C_SLV0_ADDR 0x25 |
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#define I2C_SLV0_REG 0x26 |
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#define I2C_SLV0_CTRL 0x27 |
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#define I2C_SLV1_ADDR 0x28 |
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#define I2C_SLV1_REG 0x29 |
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#define I2C_SLV1_CTRL 0x2A |
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#define I2C_SLV2_ADDR 0x2B |
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#define I2C_SLV2_REG 0x2C |
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#define I2C_SLV2_CTRL 0x2D |
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#define I2C_SLV3_ADDR 0x2E |
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#define I2C_SLV3_REG 0x2F |
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#define I2C_SLV3_CTRL 0x30 |
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#define I2C_SLV4_ADDR 0x31 |
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#define I2C_SLV4_REG 0x32 |
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#define I2C_SLV4_DO 0x33 |
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#define I2C_SLV4_CTRL 0x34 |
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#define I2C_SLV4_DI 0x35 |
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#define I2C_MST_STATUS 0x36 |
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#define INT_PIN_CFG 0x37 |
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#define INT_ENABLE 0x38 |
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#define DMP_INT_STATUS 0x39 // Check DMP interrupt |
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#define INT_STATUS 0x3A |
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#define ACCEL_XOUT_H 0x3B |
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#define ACCEL_XOUT_L 0x3C |
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#define ACCEL_YOUT_H 0x3D |
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#define ACCEL_YOUT_L 0x3E |
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#define ACCEL_ZOUT_H 0x3F |
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#define ACCEL_ZOUT_L 0x40 |
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#define TEMP_OUT_H 0x41 |
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#define TEMP_OUT_L 0x42 |
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#define GYRO_XOUT_H 0x43 |
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#define GYRO_XOUT_L 0x44 |
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#define GYRO_YOUT_H 0x45 |
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#define GYRO_YOUT_L 0x46 |
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#define GYRO_ZOUT_H 0x47 |
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#define GYRO_ZOUT_L 0x48 |
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#define EXT_SENS_DATA_00 0x49 |
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#define EXT_SENS_DATA_01 0x4A |
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#define EXT_SENS_DATA_02 0x4B |
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#define EXT_SENS_DATA_03 0x4C |
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#define EXT_SENS_DATA_04 0x4D |
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#define EXT_SENS_DATA_05 0x4E |
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#define EXT_SENS_DATA_06 0x4F |
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#define EXT_SENS_DATA_07 0x50 |
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#define EXT_SENS_DATA_08 0x51 |
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#define EXT_SENS_DATA_09 0x52 |
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#define EXT_SENS_DATA_10 0x53 |
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#define EXT_SENS_DATA_11 0x54 |
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#define EXT_SENS_DATA_12 0x55 |
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#define EXT_SENS_DATA_13 0x56 |
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#define EXT_SENS_DATA_14 0x57 |
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#define EXT_SENS_DATA_15 0x58 |
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#define EXT_SENS_DATA_16 0x59 |
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#define EXT_SENS_DATA_17 0x5A |
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#define EXT_SENS_DATA_18 0x5B |
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#define EXT_SENS_DATA_19 0x5C |
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#define EXT_SENS_DATA_20 0x5D |
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#define EXT_SENS_DATA_21 0x5E |
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#define EXT_SENS_DATA_22 0x5F |
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#define EXT_SENS_DATA_23 0x60 |
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#define MOT_DETECT_STATUS 0x61 |
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#define I2C_SLV0_DO 0x63 |
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#define I2C_SLV1_DO 0x64 |
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#define I2C_SLV2_DO 0x65 |
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#define I2C_SLV3_DO 0x66 |
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#define I2C_MST_DELAY_CTRL 0x67 |
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#define SIGNAL_PATH_RESET 0x68 |
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#define MOT_DETECT_CTRL 0x69 |
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#define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP |
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#define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode |
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#define PWR_MGMT_2 0x6C |
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#define DMP_BANK 0x6D // Activates a specific bank in the DMP |
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#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank |
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#define DMP_REG 0x6F // Register in DMP from which to read or to which to write |
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#define DMP_REG_1 0x70 |
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#define DMP_REG_2 0x71 |
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#define FIFO_COUNTH 0x72 |
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#define FIFO_COUNTL 0x73 |
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#define FIFO_R_W 0x74 |
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#define WHO_AM_I_MPU9250 0x75 // Should return 0x71 |
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#define XA_OFFSET_H 0x77 |
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#define XA_OFFSET_L 0x78 |
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#define YA_OFFSET_H 0x7A |
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#define YA_OFFSET_L 0x7B |
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#define ZA_OFFSET_H 0x7D |
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#define ZA_OFFSET_L 0x7E |
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// EM7180 SENtral register map |
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// see http://www.emdeveloper.com/downloads/7180/EMSentral_EM7180_Register_Map_v1_3.pdf |
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// |
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#define EM7180_QX 0x00 // this is a 32-bit normalized floating point number read from registers 0x00-03 |
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#define EM7180_QY 0x04 // this is a 32-bit normalized floating point number read from registers 0x04-07 |
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#define EM7180_QZ 0x08 // this is a 32-bit normalized floating point number read from registers 0x08-0B |
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#define EM7180_QW 0x0C // this is a 32-bit normalized floating point number read from registers 0x0C-0F |
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#define EM7180_QTIME 0x10 // this is a 16-bit unsigned integer read from registers 0x10-11 |
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#define EM7180_MX 0x12 // int16_t from registers 0x12-13 |
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#define EM7180_MY 0x14 // int16_t from registers 0x14-15 |
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#define EM7180_MZ 0x16 // int16_t from registers 0x16-17 |
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#define EM7180_MTIME 0x18 // uint16_t from registers 0x18-19 |
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#define EM7180_AX 0x1A // int16_t from registers 0x1A-1B |
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#define EM7180_AY 0x1C // int16_t from registers 0x1C-1D |
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#define EM7180_AZ 0x1E // int16_t from registers 0x1E-1F |
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#define EM7180_ATIME 0x20 // uint16_t from registers 0x20-21 |
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#define EM7180_GX 0x22 // int16_t from registers 0x22-23 |
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#define EM7180_GY 0x24 // int16_t from registers 0x24-25 |
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#define EM7180_GZ 0x26 // int16_t from registers 0x26-27 |
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#define EM7180_GTIME 0x28 // uint16_t from registers 0x28-29 |
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#define EM7180_Baro 0x2A // start of two-byte MS5637 pressure data, 16-bit signed interger |
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#define EM7180_BaroTIME 0x2C // start of two-byte MS5637 pressure timestamp, 16-bit unsigned |
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#define EM7180_Temp 0x2E // start of two-byte MS5637 temperature data, 16-bit signed interger |
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#define EM7180_TempTIME 0x30 // start of two-byte MS5637 temperature timestamp, 16-bit unsigned |
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#define EM7180_QRateDivisor 0x32 // uint8_t |
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#define EM7180_EnableEvents 0x33 |
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#define EM7180_HostControl 0x34 |
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#define EM7180_EventStatus 0x35 |
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#define EM7180_SensorStatus 0x36 |
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#define EM7180_SentralStatus 0x37 |
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#define EM7180_AlgorithmStatus 0x38 |
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#define EM7180_FeatureFlags 0x39 |
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#define EM7180_ParamAcknowledge 0x3A |
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#define EM7180_SavedParamByte0 0x3B |
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#define EM7180_SavedParamByte1 0x3C |
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#define EM7180_SavedParamByte2 0x3D |
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#define EM7180_SavedParamByte3 0x3E |
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#define EM7180_ActualMagRate 0x45 |
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#define EM7180_ActualAccelRate 0x46 |
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#define EM7180_ActualGyroRate 0x47 |
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#define EM7180_ActualBaroRate 0x48 |
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#define EM7180_ActualTempRate 0x49 |
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#define EM7180_ErrorRegister 0x50 |
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#define EM7180_AlgorithmControl 0x54 |
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#define EM7180_MagRate 0x55 |
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#define EM7180_AccelRate 0x56 |
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#define EM7180_GyroRate 0x57 |
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#define EM7180_BaroRate 0x58 |
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#define EM7180_TempRate 0x59 |
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#define EM7180_LoadParamByte0 0x60 |
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#define EM7180_LoadParamByte1 0x61 |
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#define EM7180_LoadParamByte2 0x62 |
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#define EM7180_LoadParamByte3 0x63 |
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#define EM7180_ParamRequest 0x64 |
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#define EM7180_ROMVersion1 0x70 |
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#define EM7180_ROMVersion2 0x71 |
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#define EM7180_RAMVersion1 0x72 |
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#define EM7180_RAMVersion2 0x73 |
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#define EM7180_ProductID 0x90 |
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#define EM7180_RevisionID 0x91 |
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#define EM7180_RunStatus 0x92 |
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#define EM7180_UploadAddress 0x94 // uint16_t registers 0x94 (MSB)-5(LSB) |
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#define EM7180_UploadData 0x96 |
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#define EM7180_CRCHost 0x97 // uint32_t from registers 0x97-9A |
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#define EM7180_ResetRequest 0x9B |
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#define EM7180_PassThruStatus 0x9E |
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#define EM7180_PassThruControl 0xA0 |
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#define EM7180_ACC_LPF_BW 0x5B //Register GP36 |
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#define EM7180_GYRO_LPF_BW 0x5C //Register GP37 |
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#define EM7180_BARO_LPF_BW 0x5D //Register GP38 |
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#define EM7180_ADDRESS 0x28 // Address of the EM7180 SENtral sensor hub |
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#define M24512DFM_DATA_ADDRESS 0x50 // Address of the 500 page M24512DFM EEPROM data buffer, 1024 bits (128 8-bit bytes) per page |
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#define M24512DFM_IDPAGE_ADDRESS 0x58 // Address of the single M24512DFM lockable EEPROM ID page |
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#define MPU9250_ADDRESS 0x68 // Device address when ADO = 0 |
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#define AK8963_ADDRESS 0x0C // Address of magnetometer |
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#define MS5637_ADDRESS 0x76 // Address of altimeter |
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#define AFS_2G 0 |
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#define AFS_4G 1 |
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#define AFS_8G 2 |
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#define AFS_16G 3 |
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#define GFS_250DPS 0 |
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#define GFS_500DPS 1 |
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#define GFS_1000DPS 2 |
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#define GFS_2000DPS 3 |
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#define MFS_14BITS 0 // 0.6 mG per LSB |
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#define MFS_16BITS 1 // 0.15 mG per LSB |
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#define ADC_256 0x00 // define pressure and temperature conversion rates |
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#define ADC_512 0x02 |
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#define ADC_1024 0x04 |
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#define ADC_2048 0x06 |
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#define ADC_4096 0x08 |
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#define ADC_8192 0x0A |
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#define ADC_D1 0x40 |
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#define ADC_D2 0x50 |
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class USFS |
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{ |
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public: |
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USFS(uint8_t intPin, bool passThru); |
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float getAres(uint8_t Ascale); |
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float getGres(uint8_t Gscale); |
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float getMres(uint8_t Mscale); |
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float uint32_reg_to_float (uint8_t *buf); |
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float int32_reg_to_float (uint8_t *buf); |
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void float_to_bytes (float param_val, uint8_t *buf); |
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void EM7180_set_gyro_FS (uint16_t gyro_fs); |
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void EM7180_set_mag_acc_FS (uint16_t mag_fs, uint16_t acc_fs); |
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void EM7180_set_integer_param (uint8_t param, uint32_t param_val); |
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void EM7180_set_float_param (uint8_t param, float param_val); |
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void readSENtralQuatData(float * destination); |
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void readSENtralAccelData(int16_t * destination); |
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void readSENtralGyroData(int16_t * destination); |
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void readSENtralMagData(int16_t * destination); |
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void readAccelData(int16_t * destination); |
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void readGyroData(int16_t * destination); |
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void readMagData(int16_t * destination); |
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int16_t readTempData(); |
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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); |
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void initAK8963(uint8_t Mscale, uint8_t Mmode, float * destination); |
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void initMPU9250(uint8_t Ascale, uint8_t Gscale); |
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void accelgyrocalMPU9250(float * dest1, float * dest2); |
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void magcalMPU9250(float * dest1, float * dest2); |
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void MPU9250SelfTest(float * destination); |
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int16_t readSENtralBaroData(); |
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int16_t readSENtralTempData(); |
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void SENtralPassThroughMode(); |
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void M24512DFMwriteByte(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t data); |
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void M24512DFMwriteBytes(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t count, uint8_t * dest); |
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uint8_t M24512DFMreadByte(uint8_t device_address, uint8_t data_address1, uint8_t data_address2); |
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void M24512DFMreadBytes(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t count, uint8_t * dest); |
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void MS5637Reset(); |
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void MS5637PromRead(uint16_t * destination); |
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uint32_t MS5637Read(uint8_t CMD, uint8_t OSR); |
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unsigned char MS5637checkCRC(uint16_t * n_prom); |
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void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz); |
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void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz); |
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void getChipID(); |
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void loadfwfromEEPROM(); |
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uint8_t checkEM7180Status(); |
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uint8_t checkEM7180Errors(); |
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void I2Cscan(); |
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void writeByte(uint8_t address, uint8_t subAddress, uint8_t data); |
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uint8_t readByte(uint8_t address, uint8_t subAddress); |
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void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest); |
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private: |
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uint8_t _intPin; |
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bool _passThru; |
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float _aRes; |
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float _gRes; |
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float _mRes; |
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uint8_t _Mmode; |
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float _fuseROMx; |
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float _fuseROMy; |
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float _fuseROMz; |
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float _q[4]; |
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float _beta; |
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float _deltat; |
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float _Kp; |
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float _Ki; |
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}; |
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#endif
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