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/***************************************************************************** * * * Copyright 2018 Simon M. Werner * * * * Licensed under the Apache License, Version 2.0 (the "License"); * * you may not use this file except in compliance with the License. * * You may obtain a copy of the License at * * * * http://www.apache.org/licenses/LICENSE-2.0 * * * * Unless required by applicable law or agreed to in writing, software * * distributed under the License is distributed on an "AS IS" BASIS, * * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * * See the License for the specific language governing permissions and * * limitations under the License. * * * *****************************************************************************/ //! # mpu9250-i2c //! //! MPU9250 driver for embedded devices and Linux written in Rust. //! //! A platform agnostic driver to interface with the MPU9250 over i2c. //! This driver can access the following components of the MPU9250: //! //! - 3-axis gyroscope //! - 3-axis compass (magenetometer) //! - 3-axis accelerometer //! - Temperature device //! //! This driver was built using [`embedded-hal`] traits. //! //! [`embedded-hal`]: https://docs.rs/embedded-hal/ //! //! ## Examples //! //! Example code can be found in the /src/bin folder, this samples work //! in Linux devices with an i2c bus, like the Raspberry Pi and BeagleBone. //! The sample includes: //! //! - calibrate.rs - code to calibrate the MPU9250 device. //! - mpu9250.rs - basic example that reads all data from the device. //! - ahrs.rs - Fully functional AHRS algorithm, uses the Magwick filter. //! //! ## Linux Example //! //! ``` //! extern crate linux_embedded_hal as hal; //! extern crate mpu9250_i2c as mpu9250_i2c; //! use hal::{Delay, I2cdev}; //! use mpu9250::{calibration::Calibration, Mpu9250}; //! //! fn main() { //! //! // Linux device //! let dev = I2cdev::new("/dev/i2c-2").unwrap(); //! //! // Set the calibration to the default setting. This can //! // be set to a custom value specific for the device. //! let cal = Calibration { //! ..Default::default() //! }; //! //! let mpu9250 = &mut Mpu9250::new(dev, Delay, cal).unwrap(); //! //! // Initialise with default settings //! mpu9250.init().unwrap(); //! //! // Probe the temperature //! let temp = mpu9250.get_temperature_celcius().unwrap(); //! } //! ``` //! //! ## Calibration //! //! The technology used in these devices is very noisy. Each component //! requires a different calibration method. Compile the `calibrate.rs` //! file which will produce a executable called `calibrate`. //! When run, `calibrate` will give you instructions on how to calibrate. //! Then after the calibration step for each component the calibration //! settings unique for that device are printed to the console. These //! values can be used in your code. //! The calibration is temperature sensitive. Hence if you want to be //! very precise you should repeat the calibration at different temperatures. //! At a high-level the calibration does the following: //! //! - Gyroscope: the average value is taken, this is called the bias. //! - Accelerometer: the scale of the accelerometer at rest should //! range from -1.0g to 1.0g, where g is the 9.81 m/s. The //! calibration will take this into account. As well as //! the noise on orthogonal axes. //! - Magnetometer: this component can be very different for each device. //! This calibration will ensure that it's extremeties are //! discovered. You will need to rotate the device around //! in all directions. //! //! ## MPU9250 documentation //! //! https://www.invensense.com/products/motion-tracking/9-axis/mpu-9250/ //! //! https://www.invensense.com/wp-content/uploads/2015/02/MPU-9250-Datasheet.pdf //! //! https://www.invensense.com/wp-content/uploads/2015/02/MPU-9250-Register-Map.pdf //! //! ## License //! //! Copyright 2018 Simon M. Werner //! //! Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file //! except in compliance with the License. //! You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0. Unless //! required by applicable law or agreed to in writing, software distributed under the License //! is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either //! express or implied. See the License for the specific language governing permissions and //! limitations under the License. #![no_std] #![deny(missing_docs)] extern crate embedded_hal; mod i2c_tools; mod mag; /// Calibration module required to calibrate devices pub mod calibration; /// The MPU9250 accelerometer and gyroscope register values pub mod mpu9250; /// Simple Vector pub mod vector; use self::embedded_hal::blocking::delay::DelayMs; use self::embedded_hal::blocking::i2c::{Read, Write, WriteRead}; use calibration::Calibration; use i2c_tools::I2CTools; use vector::Vector; /// The MPU9250, this is where all the work is done. pub struct Mpu9250<I, D> { /// The i2c driver, depends on platform i2c: I2CTools<I>, /// The delay component, depends on platform. delay: D, /// The Accerometer scale factor accel_inv_scale: f32, /// The Gyroscope scale factor gyro_inv_scale: f32, /// The calibration settings cal: Calibration, /// The Magenetomer sensitivity adjustment values asa: Vector<f32>, } #[allow(dead_code)] impl<I, D, E> Mpu9250<I, D> where I: Read<Error = E> + Write<Error = E> + WriteRead<Error = E>, D: DelayMs<u8>, { /// Creates a new driver for the MPU 9250. pub fn new(dev: I, delay: D, cal: Calibration) -> Result<Self, E> { Ok(Self { i2c: I2CTools::new(dev)?, delay, accel_inv_scale: 1.0, gyro_inv_scale: 1.0, cal, asa: Vector { x: 0.0, y: 0.0, z: 0.0, }, }) } /// Initialise the device with by performing the following /// - a soft reset /// - setting the clock source /// - setting the Accelerometer and Gyroscope Full Scale ranges /// - Enabling the magenetometer pub fn init(&mut self) -> Result<(), E> { // soft reset the device self.soft_reset()?; // Set to 400 kHz self.i2c.write_byte( mpu9250::ADDRESS, mpu9250::Register::I2C_MST_CTRL.addr(), 0x0d, )?; // define clock source self.set_clock_source(mpu9250::RegPwrMgmt1::CLKSEL_1.addr())?; // define gyro range self.set_full_scale_gyro_range(mpu9250::GyroConfig::GYRO_FS_SEL_250)?; // define accel range self.set_full_scale_accel_range(mpu9250::AccelConfig::ACCEL_FS_SEL_2g)?; self.enable_magnetometer()?; Ok(()) } /// Wait for the given amount of time in milliseconds. pub fn wait(&mut self, ms: u8) { self.delay.delay_ms(ms); } /// Get the update rate in milliseconds pub fn get_accel_gyro_rate_ms(&mut self) -> u64 { 4 // FIXME: time in milliseconds between reads, may be dependant on clock settings } /// Perform a soft reset fn soft_reset(&mut self) -> Result<(), E> { self.i2c.write_byte( mpu9250::ADDRESS, mpu9250::Register::PWR_MGMT_1.addr(), mpu9250::RegPwrMgmt1::H_RESET.addr(), )?; self.delay.delay_ms(10); Ok(()) } /// Set the clock source pub fn set_clock_source(&mut self, src: u8) -> Result<(), E> { self .i2c .write_byte(mpu9250::ADDRESS, mpu9250::Register::PWR_MGMT_1.addr(), src) } /// Get the clock source pub fn get_clock_source(&mut self) -> Result<u8, E> { let byte = self .i2c .read_byte(mpu9250::ADDRESS, mpu9250::Register::PWR_MGMT_1.addr())?; Ok(byte & 0x07) } /// Set the inverse scale factor. We set it once as an inverse such that we don't /// need to calcualte it all the time. fn set_gyro_inv_scale(&mut self, scale_factor: mpu9250::GyroConfig) { self.gyro_inv_scale = match scale_factor { mpu9250::GyroConfig::GYRO_FS_SEL_250 => 1.0 / 131.0, mpu9250::GyroConfig::GYRO_FS_SEL_500 => 1.0 / 65.5, mpu9250::GyroConfig::GYRO_FS_SEL_1000 => 1.0 / 32.8, mpu9250::GyroConfig::GYRO_FS_SEL_2000 => 1.0 / 16.4, _ => 1.0, }; } /// Set the Full Scale range and calculate the scale factor pub fn set_full_scale_gyro_range(&mut self, scale_factor: mpu9250::GyroConfig) -> Result<(), E> { self.set_gyro_inv_scale(scale_factor); self.i2c.write_byte( mpu9250::ADDRESS, mpu9250::Register::GYRO_CONFIG.addr(), scale_factor.addr(), ) } /// Read the Full Scale range for the gyro from the device pub fn get_full_scale_gyro_range(&mut self) -> Result<(u8), E> { let mut byte = self .i2c .read_byte(mpu9250::ADDRESS, mpu9250::Register::GYRO_CONFIG.addr())?; byte &= 0b0001_1000; byte >>= 3; Ok(byte) } /// Set the inverse scale factor. We set it once as an inverse such that we don't /// need to calcualte it all the time. fn set_accel_inv_scale(&mut self, scale_factor: mpu9250::AccelConfig) { self.accel_inv_scale = match scale_factor { mpu9250::AccelConfig::ACCEL_FS_SEL_2g => 1.0 / 16384.0, mpu9250::AccelConfig::ACCEL_FS_SEL_4g => 1.0 / 8192.0, mpu9250::AccelConfig::ACCEL_FS_SEL_8g => 1.0 / 4096.0, mpu9250::AccelConfig::ACCEL_FS_SEL_16g => 1.0 / 2048.0, _ => 1.0, } } /// Set the Full Scale range and calculate the scale factor pub fn set_full_scale_accel_range( &mut self, scale_factor: mpu9250::AccelConfig, ) -> Result<(), E> { self.set_accel_inv_scale(scale_factor); self.i2c.write_byte( mpu9250::ADDRESS, mpu9250::Register::ACCEL_CONFIG_1.addr(), scale_factor.addr(), ) } /// Read the Full Scale range for the accelerometer from the device pub fn get_full_scale_accel_range(&mut self) -> Result<(u8), E> { let mut byte = self .i2c .read_byte(mpu9250::ADDRESS, mpu9250::Register::ACCEL_CONFIG_1.addr())?; byte &= 0b0001_1000; byte >>= 3; Ok(byte) } /// Set the sleep enabled byte, read MPU9250 hardware docs for more details pub fn set_sleep_enabled(&mut self) -> Result<(), E> { self.i2c.write_byte( mpu9250::ADDRESS, mpu9250::Register::PWR_MGMT_1.addr(), mpu9250::RegPwrMgmt1::SLEEP.addr(), ) } /// Get the sleep enabled byte. pub fn get_sleep_enabled(&mut self) -> Result<bool, E> { let byte = self .i2c .read_byte(mpu9250::ADDRESS, mpu9250::Register::PWR_MGMT_1.addr())?; Ok(byte & mpu9250::RegPwrMgmt1::SLEEP.addr() != 0) } /// Put the device into i2c master mode. pub fn set_i2c_master_mode(&mut self) -> Result<(), E> { self.i2c.write_byte( mpu9250::ADDRESS, mpu9250::Register::USER_CTRL.addr(), mpu9250::RegUserCtrl::I2C_MST_EN.addr(), ) } /// Returns `true` if the device is in i2c master mode pub fn get_i2c_master_mode(&mut self) -> Result<bool, E> { let byte = self .i2c .read_byte(mpu9250::ADDRESS, mpu9250::Register::USER_CTRL.addr())?; Ok(byte & mpu9250::RegUserCtrl::I2C_MST_EN.addr() != 0) } /// Get the power management settings for the gyroscope pub fn get_gyro_power_settings(&mut self) -> Result<Vector<bool>, E> { let mut byte = self .i2c .read_byte(mpu9250::ADDRESS, mpu9250::Register::PWR_MGMT_2.addr())?; byte &= 0x07; Ok(Vector { x: (byte >> 2) & 0x01 == 0x00, y: (byte >> 1) & 0x01 == 0x00, z: byte & 0x01 == 0x00, }) } /// Get the power management settings for the accelerometer pub fn get_accel_power_settings(&mut self) -> Result<Vector<bool>, E> { let mut byte = self .i2c .read_byte(mpu9250::ADDRESS, mpu9250::Register::PWR_MGMT_2.addr())?; byte &= 0x38; Ok(Vector { x: (byte >> 5) & 0x01 == 0x00, y: (byte >> 4) & 0x01 == 0x00, z: (byte >> 3) & 0x01 == 0x00, }) } /// Apply the calibration to the accelerometer fn accel_apply_calibration(&self, value: f32, offset: f32, scale_lo: f32, scale_hi: f32) -> f32 { if value < 0.0 { -(value * self.accel_inv_scale - offset) / (scale_lo - offset) } else { (value * self.accel_inv_scale - offset) / (scale_hi - offset) } } /// Read the raw accel data and convert it to a Vector fn align_accel(&self, bytes: &mut [u8]) -> Vector<f32> { let xi: i16 = self.i2c.u8_to_i16_be(bytes, 0); let yi: i16 = self.i2c.u8_to_i16_be(bytes, 2); let zi: i16 = self.i2c.u8_to_i16_be(bytes, 4); Vector { x: self.accel_apply_calibration( f32::from(xi), self.cal.accel_offset.x, self.cal.accel_scale_lo.x, self.cal.accel_scale_hi.x, ), y: self.accel_apply_calibration( f32::from(yi), self.cal.accel_offset.y, self.cal.accel_scale_lo.y, self.cal.accel_scale_hi.y, ), z: self.accel_apply_calibration( f32::from(zi), self.cal.accel_offset.z, self.cal.accel_scale_lo.z, self.cal.accel_scale_hi.z, ), } } /// Get the accelerometer data. /// /// Returns a vector and the units are in g. pub fn get_accel(&mut self) -> Result<Vector<f32>, E> { let bytes: &mut [u8] = &mut [0; 6]; self.i2c.read_bytes( mpu9250::ADDRESS, mpu9250::Register::ACCEL_XOUT_H.addr(), bytes, )?; Ok(self.align_accel(bytes)) } fn align_gyro(&self, bytes: &mut [u8], offset: usize) -> Vector<f32> { let xi: i16 = self.i2c.u8_to_i16_be(bytes, offset); let yi: i16 = self.i2c.u8_to_i16_be(bytes, 2 + offset); let zi: i16 = self.i2c.u8_to_i16_be(bytes, 4 + offset); Vector { x: f32::from(xi) * self.gyro_inv_scale + self.cal.gyro_bias_offset.x, y: f32::from(yi) * self.gyro_inv_scale + self.cal.gyro_bias_offset.y, z: f32::from(zi) * self.gyro_inv_scale + self.cal.gyro_bias_offset.z, } } /// Get the gyroscope data. /// /// Returns a vector and the units are in degrees / second. pub fn get_gyro(&mut self) -> Result<Vector<f32>, E> { let bytes: &mut [u8] = &mut [0; 6]; self.i2c.read_bytes( mpu9250::ADDRESS, mpu9250::Register::GYRO_XOUT_H.addr(), bytes, )?; Ok(self.align_gyro(bytes, 0)) } /// Get the accelerometer and gyroscope data. This is more efficient /// than reading the accelerometer and gyroscope individually. /// /// The results are written into the two vectors proviced `va` and `vg`. pub fn get_accel_gyro(&mut self) -> Result<(Vector<f32>, Vector<f32>), E> { let bytes: &mut [u8] = &mut [0; 14]; self.i2c.read_bytes( mpu9250::ADDRESS, mpu9250::Register::ACCEL_XOUT_H.addr(), bytes, )?; // Accelerometer - bytes 0:5 let mut v = self.align_accel(bytes); let va = Vector { x: v.x, y: v.y, z: v.z, }; // Skip Temperature - bytes 6:7 // Gyroscope - bytes 8:13 v = self.align_gyro(bytes, 8); let vg = Vector { x: v.x, y: v.y, z: v.z, }; Ok((va, vg)) } /// Get the raw temperature data pub fn get_temperature_raw(&mut self) -> Result<i16, E> { let bytes: &mut [u8] = &mut [0; 2]; self.i2c.read_bytes( mpu9250::ADDRESS, mpu9250::Register::TEMP_OUT_H.addr(), bytes, )?; Ok(self.i2c.u8_to_i16_be(bytes, 0)) } /// Get the temperature in degrees Celcius pub fn get_temperature_celsius(&mut self) -> Result<f32, E> { let raw_temp = self.get_temperature_raw()?; Ok(f32::from(raw_temp) / 333.87 + 21.0) } /// Get the device id pub fn get_device_id(&mut self) -> Result<u8, E> { self .i2c .read_byte(mpu9250::ADDRESS, mpu9250::Register::WHO_AM_I.addr()) } /// enable bypass, read the MPU9250 docs. pub fn set_bypass_enabled(&mut self, state: bool) -> Result<(), E> { self.i2c.write_byte( mpu9250::ADDRESS, mpu9250::Register::INT_PIN_CFG.addr(), if state { mpu9250::IntCfg::BYPASS_EN.addr() } else { 0x00 }, ) } /// Check if bypass is enabled pub fn get_bypass_enabled(&mut self) -> Result<bool, E> { let byte = self .i2c .read_byte(mpu9250::ADDRESS, mpu9250::Register::INT_PIN_CFG.addr())?; Ok(byte & mpu9250::IntCfg::BYPASS_EN.addr() != 0) } /// Enable the magnetometer. This will set the bypass, then run `ak8963_init()`. pub fn enable_magnetometer(&mut self) -> Result<(bool), E> { self.set_bypass_enabled(true)?; self.delay.delay_ms(10); self.ak8963_init()?; if self.get_bypass_enabled()? { self.ak8963_init()?; Ok(true) } else { Ok(false) } } /// Initialise the magnetometer pub fn ak8963_init(&mut self) -> Result<(), E> { self.ak8963_update_sensitivity_adjustment_values()?; self.delay.delay_ms(10); // 100 Hz continuous measurement, 16-bit self.ak8963_set_cntl(mag::Ctnl1::MODE_CONTINUE_MEASURE_2) } /// Get the magnetomter device Id pub fn ak8963_get_device_id(&mut self) -> Result<(u8), E> { self .i2c .read_byte(mag::ADDRESS, mag::Register::WHO_AM_I.addr()) } /// Get and update the magnetometer sensitivity adjustment values pub fn ak8963_update_sensitivity_adjustment_values(&mut self) -> Result<(), E> { // Need to set to Fuse mode to get valid values from this. let current_mode = self.ak8963_get_cntl()?; self.ak8963_set_cntl(mag::Ctnl1::MODE_FUSE_ROM_ACCESS)?; self.delay.delay_ms(20); let x = self .i2c .read_byte(mag::ADDRESS, mag::Register::ASA_X.addr())?; let y = self .i2c .read_byte(mag::ADDRESS, mag::Register::ASA_Y.addr())?; let z = self .i2c .read_byte(mag::ADDRESS, mag::Register::ASA_Z.addr())?; // Get the ASA* values self.asa.x = ((f32::from(x) - 128.0) * 0.5) / 128.0 + 1.0; self.asa.y = ((f32::from(y) - 128.0) * 0.5) / 128.0 + 1.0; self.asa.z = ((f32::from(z) - 128.0) * 0.5) / 128.0 + 1.0; self.ak8963_set_cntl(current_mode) } /// Get the magnetometer data. Returns values in degrees per second. /// /// Note, this will align the orientation of the magnetometer's reference /// frame to the same as the accelerometer and gyroscope. Read the "Orientation of Axes" /// section of the Mpu9250 vendor documentation. pub fn get_mag(&mut self) -> Result<Vector<f32>, E> { let bytes: &mut [u8] = &mut [0; 6]; self.ak8963_get_mag_raw(bytes)?; let xi = f32::from(self.i2c.u8_to_i16_le(bytes, 0)); let yi = f32::from(self.i2c.u8_to_i16_le(bytes, 2)); let zi = f32::from(self.i2c.u8_to_i16_le(bytes, 4)); // Orientate the magnetometer to the same reference frame as the accelerometer // and gyroscope. let (xi, yi, zi) = (yi, xi, -zi); Ok(Vector { x: (xi * self.asa.x - self.cal.mag_offset.x) * self.cal.mag_scale.x, y: (yi * self.asa.y - self.cal.mag_offset.y) * self.cal.mag_scale.y, z: (zi * self.asa.z - self.cal.mag_offset.z) * self.cal.mag_scale.z, }) } /// Get the raw magnetometer data /// This function has an intentional delay of 1 millisecond. pub fn ak8963_get_mag_raw(&mut self, bytes: &mut [u8]) -> Result<(), E> { self .i2c .read_bytes(mag::ADDRESS, mag::Register::XOUT_L.addr(), bytes)?; // For some reason when we read ST2 (Status 2) just after reading byte, this ensures the // next reading is fresh. If we do it before without a pause, only 1 in 15 readings will // be fresh. The setTimeout ensures this read goes to the back of the queue, once all other // computation is done. self.delay.delay_ms(1); self .i2c .read_byte(mag::ADDRESS, mag::Register::ST2.addr())?; Ok(()) } /// Get the magnetometer control details pub fn ak8963_get_cntl(&mut self) -> Result<(mag::Ctnl1), E> { Ok(mag::Ctnl1::from( self .i2c .read_byte(mag::ADDRESS, mag::Register::CNTL.addr())?, )) } /// Set the magnetometer control details pub fn ak8963_set_cntl(&mut self, mode: mag::Ctnl1) -> Result<(), E> { self .i2c .write_byte(mag::ADDRESS, mag::Register::CNTL.addr(), mode.addr()) } /// Set the currently used calibration values pub fn get_calibration(&mut self) -> Calibration { Calibration::copy(&self.cal) } /// Get the sensitivity adjustment values pub fn ak8963_get_asa(&mut self) -> Vector<f32> { Vector::copy(&self.asa) } /// Get the accelometer scale factor pub fn get_accel_inv_scale(&mut self) -> f32 { self.accel_inv_scale } /// Get the gyrscope scale factor pub fn get_gyro_inv_scale(&mut self) -> f32 { self.gyro_inv_scale } }