mpu9250

package
v0.0.0-...-c0701d1 Latest Latest
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 Go to latest Published: Aug 13, 2019 License: MIT Imports: 8 Imported by: 1

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Constants

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const (
	// Supported IMUs.
	MPU9250 IMUChipType = iota
	ICM20948

	// WHO_AM_I values to differentiate between the different IMUs.
	MPUREG_WHO_AM_I     = 0x75
	MPUREG_WHO_AM_I_VAL = 0x71 // Expected value.
	ICMREG_WHO_AM_I     = 0x00
	ICMREG_WHO_AM_I_VAL = 0xEA // Expected value.

	MPU_ADDRESS               = 0x68
	MPUREG_XG_OFFS_TC         = 0x00
	MPUREG_YG_OFFS_TC         = 0x01
	MPUREG_ZG_OFFS_TC         = 0x02
	MPUREG_X_FINE_GAIN        = 0x03
	MPUREG_Y_FINE_GAIN        = 0x04
	MPUREG_Z_FINE_GAIN        = 0x05
	MPUREG_XA_OFFS_H          = 0x06
	MPUREG_XA_OFFS_L          = 0x07
	MPUREG_YA_OFFS_H          = 0x08
	MPUREG_YA_OFFS_L          = 0x09
	MPUREG_ZA_OFFS_H          = 0x0A
	MPUREG_ZA_OFFS_L          = 0x0B
	MPUREG_PRODUCT_ID         = 0x0C
	MPUREG_SELF_TEST_X        = 0x0D
	MPUREG_SELF_TEST_Y        = 0x0E
	MPUREG_SELF_TEST_Z        = 0x0F
	MPUREG_SELF_TEST_A        = 0x10
	MPUREG_XG_OFFS_USRH       = 0x13
	MPUREG_XG_OFFS_USRL       = 0x14
	MPUREG_YG_OFFS_USRH       = 0x15
	MPUREG_YG_OFFS_USRL       = 0x16
	MPUREG_ZG_OFFS_USRH       = 0x17
	MPUREG_ZG_OFFS_USRL       = 0x18
	MPUREG_SMPLRT_DIV         = 0x19
	MPUREG_CONFIG             = 0x1A
	MPUREG_GYRO_CONFIG        = 0x1B
	MPUREG_ACCEL_CONFIG       = 0x1C
	MPUREG_ACCEL_CONFIG_2     = 0x1D
	MPUREG_LP_ACCEL_ODR       = 0x1E
	MPUREG_MOT_THR            = 0x1F
	MPUREG_FIFO_EN            = 0x23
	MPUREG_I2C_MST_CTRL       = 0x24
	MPUREG_I2C_SLV0_ADDR      = 0x25
	MPUREG_I2C_SLV0_REG       = 0x26
	MPUREG_I2C_SLV0_CTRL      = 0x27
	MPUREG_I2C_SLV1_ADDR      = 0x28
	MPUREG_I2C_SLV1_REG       = 0x29
	MPUREG_I2C_SLV1_CTRL      = 0x2A
	MPUREG_I2C_SLV2_ADDR      = 0x2B
	MPUREG_I2C_SLV2_REG       = 0x2C
	MPUREG_I2C_SLV2_CTRL      = 0x2D
	MPUREG_I2C_SLV3_ADDR      = 0x2E
	MPUREG_I2C_SLV3_REG       = 0x2F
	MPUREG_I2C_SLV3_CTRL      = 0x30
	MPUREG_I2C_SLV4_ADDR      = 0x31
	MPUREG_I2C_SLV4_REG       = 0x32
	MPUREG_I2C_SLV4_DO        = 0x33
	MPUREG_I2C_SLV4_CTRL      = 0x34
	MPUREG_I2C_SLV4_DI        = 0x35
	MPUREG_I2C_MST_STATUS     = 0x36
	MPUREG_INT_PIN_CFG        = 0x37
	MPUREG_INT_ENABLE         = 0x38
	MPUREG_ACCEL_XOUT_H       = 0x3B
	MPUREG_ACCEL_XOUT_L       = 0x3C
	MPUREG_ACCEL_YOUT_H       = 0x3D
	MPUREG_ACCEL_YOUT_L       = 0x3E
	MPUREG_ACCEL_ZOUT_H       = 0x3F
	MPUREG_ACCEL_ZOUT_L       = 0x40
	MPUREG_TEMP_OUT_H         = 0x41
	MPUREG_TEMP_OUT_L         = 0x42
	MPUREG_GYRO_XOUT_H        = 0x43
	MPUREG_GYRO_XOUT_L        = 0x44
	MPUREG_GYRO_YOUT_H        = 0x45
	MPUREG_GYRO_YOUT_L        = 0x46
	MPUREG_GYRO_ZOUT_H        = 0x47
	MPUREG_GYRO_ZOUT_L        = 0x48
	MPUREG_EXT_SENS_DATA_00   = 0x49
	MPUREG_EXT_SENS_DATA_01   = 0x4A
	MPUREG_EXT_SENS_DATA_02   = 0x4B
	MPUREG_EXT_SENS_DATA_03   = 0x4C
	MPUREG_EXT_SENS_DATA_04   = 0x4D
	MPUREG_EXT_SENS_DATA_05   = 0x4E
	MPUREG_EXT_SENS_DATA_06   = 0x4F
	MPUREG_EXT_SENS_DATA_07   = 0x50
	MPUREG_EXT_SENS_DATA_08   = 0x51
	MPUREG_EXT_SENS_DATA_09   = 0x52
	MPUREG_EXT_SENS_DATA_10   = 0x53
	MPUREG_EXT_SENS_DATA_11   = 0x54
	MPUREG_EXT_SENS_DATA_12   = 0x55
	MPUREG_EXT_SENS_DATA_13   = 0x56
	MPUREG_EXT_SENS_DATA_14   = 0x57
	MPUREG_EXT_SENS_DATA_15   = 0x58
	MPUREG_EXT_SENS_DATA_16   = 0x59
	MPUREG_EXT_SENS_DATA_17   = 0x5A
	MPUREG_EXT_SENS_DATA_18   = 0x5B
	MPUREG_EXT_SENS_DATA_19   = 0x5C
	MPUREG_EXT_SENS_DATA_20   = 0x5D
	MPUREG_EXT_SENS_DATA_21   = 0x5E
	MPUREG_EXT_SENS_DATA_22   = 0x5F
	MPUREG_EXT_SENS_DATA_23   = 0x60
	MPUREG_I2C_SLV0_DO        = 0x63
	MPUREG_I2C_SLV1_DO        = 0x64
	MPUREG_I2C_SLV2_DO        = 0x65
	MPUREG_I2C_SLV3_DO        = 0x66
	MPUREG_I2C_MST_DELAY_CTRL = 0x67
	MPUREG_SIGNAL_PATH_RESET  = 0x68
	MPUREG_MOT_DETECT_CTRL    = 0x69
	MPUREG_USER_CTRL          = 0x6A
	MPUREG_PWR_MGMT_1         = 0x6B
	MPUREG_PWR_MGMT_2         = 0x6C
	MPUREG_BANK_SEL           = 0x6D
	MPUREG_MEM_START_ADDR     = 0x6E
	MPUREG_MEM_R_W            = 0x6F
	MPUREG_DMP_CFG_1          = 0x70
	MPUREG_DMP_CFG_2          = 0x71
	MPUREG_FIFO_COUNTH        = 0x72
	MPUREG_FIFO_COUNTL        = 0x73
	MPUREG_FIFO_R_W           = 0x74
	MPUREG_WHOAMI             = 0x75
	MPUREG_XA_OFFSET_H        = 0x77
	MPUREG_XA_OFFSET_L        = 0x78
	MPUREG_YA_OFFSET_H        = 0x7A
	MPUREG_YA_OFFSET_L        = 0x7B
	MPUREG_ZA_OFFSET_H        = 0x7D
	MPUREG_ZA_OFFSET_L        = 0x7E
	/* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */
	AK8963_I2C_ADDR        = 0x0C //0x18
	AK8963_Device_ID       = 0x48
	AK8963_MAX_SAMPLE_RATE = 0x64 // 100 Hz
	// Read-only Reg
	AK8963_WIA  = 0x00
	AK8963_INFO = 0x01
	AK8963_ST1  = 0x02
	AK8963_HXL  = 0x03
	AK8963_HXH  = 0x04
	AK8963_HYL  = 0x05
	AK8963_HYH  = 0x06
	AK8963_HZL  = 0x07
	AK8963_HZH  = 0x08
	AK8963_ST2  = 0x09
	// Write/Read Reg
	AK8963_CNTL1  = 0x0A
	AK8963_CNTL2  = 0x0B
	AK8963_ASTC   = 0x0C
	AK8963_TS1    = 0x0D
	AK8963_TS2    = 0x0E
	AK8963_I2CDIS = 0x0F
	// Read-only Reg ( ROM )
	AK8963_ASAX = 0x10
	AK8963_ASAY = 0x11
	AK8963_ASAZ = 0x12
	// Configuration bits mpu9250
	BIT_SLEEP                  = 0x40
	BIT_H_RESET                = 0x80
	BITS_CLKSEL                = 0x07
	MPU_CLK_SEL_PLLGYROX       = 0x01
	MPU_CLK_SEL_PLLGYROZ       = 0x03
	MPU_EXT_SYNC_GYROX         = 0x02
	BITS_FS_250DPS             = 0x00
	BITS_FS_500DPS             = 0x08
	BITS_FS_1000DPS            = 0x10
	BITS_FS_2000DPS            = 0x18
	BITS_FS_2G                 = 0x00
	BITS_FS_4G                 = 0x08
	BITS_FS_8G                 = 0x10
	BITS_FS_16G                = 0x18
	BITS_FS_MASK               = 0x18
	BITS_DLPF_CFG_256HZ_NOLPF2 = 0x00
	BITS_DLPF_CFG_188HZ        = 0x01
	BITS_DLPF_CFG_98HZ         = 0x02
	BITS_DLPF_CFG_42HZ         = 0x03
	BITS_DLPF_CFG_20HZ         = 0x04
	BITS_DLPF_CFG_10HZ         = 0x05
	BITS_DLPF_CFG_5HZ          = 0x06
	BITS_DLPF_CFG_2100HZ_NOLPF = 0x07
	BITS_DLPF_CFG_MASK         = 0x07
	BIT_INT_ANYRD_2CLEAR       = 0x10
	BIT_RAW_RDY_EN             = 0x01
	BIT_I2C_IF_DIS             = 0x10

	// Misc
	READ_FLAG                    = 0x80
	MPU_BANK_SIZE                = 0xFF
	CFG_MOTION_BIAS              = 0x4B8 // Enable/disable gyro bias compensation
	BIT_FIFO_SIZE_1024           = 0x40  // FIFO buffer size
	BIT_AUX_IF_EN          uint8 = 0x20
	BIT_BYPASS_EN                = 0x02
	AKM_POWER_DOWN               = 0x00
	BIT_I2C_READ                 = 0x80
	BIT_SLAVE_EN                 = 0x80
	AKM_SINGLE_MEASUREMENT       = 0x01
	INV_CLK_PLL                  = 0x01
	AK89xx_FSR                   = 9830
	AKM_DATA_READY               = 0x01
	AKM_DATA_OVERRUN             = 0x02
	AKM_OVERFLOW                 = 0x80

	MPU9250M_4800uT                       = 0.6            // 0.6 uT/LSB
	MPU9250T_85degC                       = 0.002995177763 // 0.002995177763 degC/LSB
	Magnetometer_Sensitivity_Scale_Factor = 0.15
)

Variables

This section is empty.

Functions

This section is empty.

Types

type IMUChipType 

type IMUChipType int

type MPU9250 

type MPU9250 struct {
	C    <-chan *MPUData // Current instantaneous sensor values
	CAvg <-chan *MPUData // Average sensor values (since CAvg last read)
	CBuf <-chan *MPUData // Buffer of instantaneous sensor values
	// contains filtered or unexported fields
}

MPU9250 represents an InvenSense MPU9250 9DoF chip. All communication is via channels.

func NewMPU9250 

func NewMPU9250(i2cbus *embd.I2CBus, sensitivityGyro, sensitivityAccel, sampleRate int, enableMag bool, applyHWOffsets bool) (*MPU9250, error)

NewMPU9250 creates a new MPU9250 object according to the supplied parameters. If there is no MPU9250 available or there is an error creating the object, an error is returned.

func (*MPU9250) CloseMPU 

func (mpu *MPU9250) CloseMPU()

CloseMPU stops the driver from reading the MPU. TODO westphae: need a way to start it going again!

func (*MPU9250) EnableGyroBiasCal 

func (mpu *MPU9250) EnableGyroBiasCal(enable bool) error

EnableGyroBiasCal enables or disables motion bias compensation for the gyro. For flying we generally do not want this!

func (*MPU9250) MagEnabled 

func (mpu *MPU9250) MagEnabled() bool

MagEnabled returns whether or not the magnetometer is being read.

func (*MPU9250) ReadAccelBias 

func (mpu *MPU9250) ReadAccelBias(sensitivityAccel int) error

ReadAccelBias reads the bias accelerometer value stored on the chip. These values are set at the factory.

func (*MPU9250) ReadGyroBias 

func (mpu *MPU9250) ReadGyroBias(sensitivityGyro int) error

ReadGyroBias reads the bias gyro value stored on the chip. These values are set at the factory.

func (*MPU9250) ReadMagCalibration 

func (mpu *MPU9250) ReadMagCalibration() error

ReadMagCalibration reads the magnetometer bias values stored on the chpi. These values are set at the factory.

func (*MPU9250) SampleRate 

func (mpu *MPU9250) SampleRate() int

SampleRate returns the current sample rate of the MPU9250, in Hz.

func (*MPU9250) SetAccelLPF 

func (mpu *MPU9250) SetAccelLPF(rate byte) (err error)

SetAccelLPF sets the low pass filter for the accelerometer.

func (*MPU9250) SetAccelSensitivity 

func (mpu *MPU9250) SetAccelSensitivity(sensitivityAccel int) (err error)

SetAccelSensitivity sets the accelerometer sensitivity of the MPU9250; it must be one of the following values: 2, 4, 8, 16, all in G (gravity).

func (*MPU9250) SetGyroLPF 

func (mpu *MPU9250) SetGyroLPF(rate byte) (err error)

SetGyroLPF sets the low pass filter for the gyro.

func (*MPU9250) SetGyroSensitivity 

func (mpu *MPU9250) SetGyroSensitivity(sensitivityGyro int) (err error)

SetGyroSensitivity sets the gyro sensitivity of the MPU9250; it must be one of the following values: 250, 500, 1000, 2000 (all in °/s).

func (*MPU9250) SetSampleRate 

func (mpu *MPU9250) SetSampleRate(rate byte) (err error)

SetSampleRate changes the sampling rate of the MPU.

type MPUData 

type MPUData struct {
	G1, G2, G3        float64
	A1, A2, A3        float64
	M1, M2, M3        float64
	Temp              float64
	GAError, MagError error
	N, NM             int
	T, TM             time.Time
	DT, DTM           time.Duration
}

MPUData contains all the values measured by an MPU9250.

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