Cool-step / MPU9150_DMP2

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Fork of MPU9150_DMP by Chris Pepper

MPU9150.cpp@3:9d4f63fa00c2, 2015-05-15 (annotated)

Committer:
heuristics
Date:
Fri May 15 15:17:20 2015 +0000
Revision:
3:9d4f63fa00c2
Parent:
2:e523a92390b6 
imu + motor + encoder

Who changed what in which revision?

UserRevisionLine numberNew contents of line
p3p 0:74f0ae286b03 1 #include "MPU9150.h"
p3p 0:74f0ae286b03 2
p3p 2:e523a92390b6 3 // Copyright (c) 2014 Chris Pepper
p3p 2:e523a92390b6 4
p3p 2:e523a92390b6 5 //The Firmware upload code was borrowed/modified from the sparkfun repository, which included this copyright
p3p 2:e523a92390b6 6 /* ============================================
p3p 2:e523a92390b6 7 I2Cdev device library code is placed under the MIT license
p3p 2:e523a92390b6 8 Copyright (c) 2012 Jeff Rowberg
p3p 2:e523a92390b6 9
p3p 2:e523a92390b6 10 Permission is hereby granted, free of charge, to any person obtaining a copy
p3p 2:e523a92390b6 11 of this software and associated documentation files (the "Software"), to deal
p3p 2:e523a92390b6 12 in the Software without restriction, including without limitation the rights
p3p 2:e523a92390b6 13 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
p3p 2:e523a92390b6 14 copies of the Software, and to permit persons to whom the Software is
p3p 2:e523a92390b6 15 furnished to do so, subject to the following conditions:
p3p 2:e523a92390b6 16
p3p 2:e523a92390b6 17 The above copyright notice and this permission notice shall be included in
p3p 2:e523a92390b6 18 all copies or substantial portions of the Software.
p3p 2:e523a92390b6 19
p3p 2:e523a92390b6 20 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
p3p 2:e523a92390b6 21 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
p3p 2:e523a92390b6 22 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
p3p 2:e523a92390b6 23 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
p3p 2:e523a92390b6 24 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
p3p 2:e523a92390b6 25 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
p3p 2:e523a92390b6 26 THE SOFTWARE.
p3p 2:e523a92390b6 27 ===============================================
p3p 2:e523a92390b6 28 */
p3p 2:e523a92390b6 29
p3p 2:e523a92390b6 30
p3p 0:74f0ae286b03 31 uint8_t MPU9150::getDeviceID(){
p3p 0:74f0ae286b03 32 uint8_t ret = 0;
p3p 0:74f0ae286b03 33 readBits(MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, &ret);
p3p 0:74f0ae286b03 34 return ret;
p3p 0:74f0ae286b03 35 }
p3p 0:74f0ae286b03 36
p3p 0:74f0ae286b03 37 bool MPU9150::isReady(){
p3p 0:74f0ae286b03 38 return (getDeviceID() == (device_address >> 1));
p3p 0:74f0ae286b03 39 }
p3p 0:74f0ae286b03 40
p3p 0:74f0ae286b03 41 void MPU9150::initialise(){
p3p 0:74f0ae286b03 42 reset();
p3p 0:74f0ae286b03 43 wait_ms(20);//wait for reset
p3p 0:74f0ae286b03 44
p3p 0:74f0ae286b03 45 sleep(false);
p3p 0:74f0ae286b03 46 clockSelect(MPU6050_CLOCK_PLL_XGYRO); //use the gyro clock as its more reliable
p3p 0:74f0ae286b03 47 setGyroFullScaleRange(MPU6050_GYRO_FS_250);
p3p 0:74f0ae286b03 48 setAccelFullScaleRange(MPU6050_ACCEL_FS_2);
p3p 0:74f0ae286b03 49 setStandbyAccX(true);
p3p 0:74f0ae286b03 50 setI2CMasterClock(MPU6050_CLOCK_DIV_400);
p3p 0:74f0ae286b03 51 setDigitalLowPassFilter(MPU6050_DLPF_BW_42);
p3p 0:74f0ae286b03 52 setSampleRateDivider(4);
p3p 0:74f0ae286b03 53
p3p 0:74f0ae286b03 54 initialiseMagnetometer();
p3p 0:74f0ae286b03 55
p3p 0:74f0ae286b03 56 setFifoReset(true);
p3p 0:74f0ae286b03 57
p3p 0:74f0ae286b03 58 setTemperatureFifo(true);
p3p 0:74f0ae286b03 59 setAccelFifo(true);
p3p 0:74f0ae286b03 60 setGyroFifo(true);
p3p 0:74f0ae286b03 61 setSlave0Fifo(true);
p3p 0:74f0ae286b03 62
p3p 0:74f0ae286b03 63 setInterruptDataReadyEnable(true);
p3p 0:74f0ae286b03 64 setEnableFifo(true);
p3p 0:74f0ae286b03 65 }
p3p 0:74f0ae286b03 66
p3p 0:74f0ae286b03 67 void MPU9150::initialiseMagnetometer(){
p3p 0:74f0ae286b03 68 //set up slave 0 to read the magnetometor data
p3p 0:74f0ae286b03 69 setWaitForExternalSensor(true);
p3p 0:74f0ae286b03 70 //read data
p3p 0:74f0ae286b03 71 setI2cSlaveRW(0, true);
p3p 0:74f0ae286b03 72 setI2cSlaveAddress(0, 0x0C);
p3p 0:74f0ae286b03 73 setI2cSlaveRegister(0, 3);
p3p 0:74f0ae286b03 74 setI2cSlaveEnable(0, true);
p3p 0:74f0ae286b03 75 setI2cSlaveTransactionLength(0, 6);
p3p 0:74f0ae286b03 76
p3p 0:74f0ae286b03 77
p3p 0:74f0ae286b03 78 //set up slave 1 to request a new magnetometor reading by writing 0x01 to 0xA
p3p 0:74f0ae286b03 79 setI2cSlaveAddress(1, 0x0C);
p3p 0:74f0ae286b03 80 setI2cSlaveRegister(1, 0x0A);
p3p 0:74f0ae286b03 81 setI2cSlaveTransactionLength(1, 1);
p3p 0:74f0ae286b03 82 setI2cSlaveEnable(1, true);
p3p 0:74f0ae286b03 83 setI2cSlaveDataOut(1, 1);
p3p 0:74f0ae286b03 84
p3p 0:74f0ae286b03 85 //configure update rates
p3p 0:74f0ae286b03 86 setI2cMasterDelay(4);
p3p 0:74f0ae286b03 87 setI2cSlaveDelay(0, true);
p3p 0:74f0ae286b03 88 setI2cSlaveDelay(1, true);
p3p 0:74f0ae286b03 89
p3p 0:74f0ae286b03 90 //Enable the aux i2c bus with MPU9150 as master
p3p 0:74f0ae286b03 91 setI2cMasterEnable(true);
p3p 0:74f0ae286b03 92 }
p3p 0:74f0ae286b03 93
p3p 0:74f0ae286b03 94 void MPU9150::initialiseDMP(){
p3p 0:74f0ae286b03 95 reset();
p3p 0:74f0ae286b03 96 wait_ms(20);
p3p 0:74f0ae286b03 97 sleep(false);
p3p 0:74f0ae286b03 98
p3p 0:74f0ae286b03 99 setMemoryBank(0x10, true, true);
p3p 0:74f0ae286b03 100 setMemoryStartAddress(0x06);
p3p 1:8ff0beb54dd4 101 // debug.printf("Hardware Version: %d\r\n", readMemoryByte());
p3p 0:74f0ae286b03 102
p3p 0:74f0ae286b03 103 setMemoryBank(0);
p3p 0:74f0ae286b03 104 // check OTP bank valid
p3p 0:74f0ae286b03 105 uint8_t otpValid = getOTPBankValid();
p3p 1:8ff0beb54dd4 106 // debug.printf("optValid: %d\r\n", otpValid);
p3p 0:74f0ae286b03 107
p3p 0:74f0ae286b03 108 //Enabling interrupt latch, clear on any read, AUX bypass enabled
p3p 0:74f0ae286b03 109 write(MPU6050_RA_INT_PIN_CFG, 0x32);
p3p 0:74f0ae286b03 110
p3p 0:74f0ae286b03 111 if (writeMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE, 0 ,0, true)) {
p3p 1:8ff0beb54dd4 112 // debug.printf("Success! DMP code written and verified.\r\n");
p3p 0:74f0ae286b03 113 if (writeDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) {
p3p 1:8ff0beb54dd4 114 // debug.printf("Success! DMP configuration written and verified.\r\n");
p3p 0:74f0ae286b03 115 setIntDMPEnabled(true);
p3p 0:74f0ae286b03 116 setInterruptFifoOverflowEnable(true);
p3p 0:74f0ae286b03 117 setSampleRateDivider(4);
p3p 0:74f0ae286b03 118 clockSelect(MPU6050_CLOCK_PLL_XGYRO);
p3p 0:74f0ae286b03 119 setDigitalLowPassFilter(MPU6050_DLPF_BW_42);
p3p 0:74f0ae286b03 120 setGyroFullScaleRange(MPU6050_GYRO_FS_2000);
p3p 0:74f0ae286b03 121
p3p 0:74f0ae286b03 122 setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
p3p 0:74f0ae286b03 123 setDMPConfig1(0x03);
p3p 0:74f0ae286b03 124 setDMPConfig2(0x00);
p3p 0:74f0ae286b03 125
p3p 0:74f0ae286b03 126 unsigned char *update_ptr = (unsigned char*)dmpUpdates;
p3p 0:74f0ae286b03 127 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 128 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 129 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 130
p3p 0:74f0ae286b03 131 setFifoReset(true);
p3p 0:74f0ae286b03 132
p3p 0:74f0ae286b03 133 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 134 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 135 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 136 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 137
p3p 0:74f0ae286b03 138 write(MPU6050_RA_PWR_MGMT_2, 0x00);
p3p 0:74f0ae286b03 139 setInterruptAnyReadClear(true);
p3p 0:74f0ae286b03 140 setInterruptLatch(true);
p3p 0:74f0ae286b03 141
p3p 0:74f0ae286b03 142 setI2cSlaveRW(0, true);
p3p 0:74f0ae286b03 143 setI2cSlaveAddress(0, 0x0C);
p3p 0:74f0ae286b03 144 setI2cSlaveRegister(0, 1);
p3p 0:74f0ae286b03 145 setI2cSlaveEnable(0, true);
p3p 0:74f0ae286b03 146 setI2cSlaveTransactionLength(0, 10);
p3p 0:74f0ae286b03 147
p3p 0:74f0ae286b03 148 //set up slave 1 to request a new magnetometor reading by writing 0x01 to 0xA
p3p 0:74f0ae286b03 149 setI2cSlaveAddress(2, 0x0C);
p3p 0:74f0ae286b03 150 setI2cSlaveRegister(2, 0x0A);
p3p 0:74f0ae286b03 151 setI2cSlaveTransactionLength(2, 1);
p3p 0:74f0ae286b03 152 setI2cSlaveEnable(2, true);
p3p 0:74f0ae286b03 153 setI2cSlaveDataOut(2, 1);
p3p 0:74f0ae286b03 154
p3p 0:74f0ae286b03 155 //configure update rates
p3p 0:74f0ae286b03 156 setI2cMasterDelay(4);
p3p 0:74f0ae286b03 157 setI2cSlaveDelay(0, true);
p3p 0:74f0ae286b03 158 setI2cSlaveDelay(2, true);
p3p 0:74f0ae286b03 159
p3p 0:74f0ae286b03 160 //Enable the aux i2c bus with MPU9150 as master
p3p 0:74f0ae286b03 161 setI2cMasterEnable(true);
p3p 0:74f0ae286b03 162
p3p 0:74f0ae286b03 163 write(MPU6050_RA_INT_PIN_CFG, 0x00);
p3p 0:74f0ae286b03 164
p3p 0:74f0ae286b03 165 // enable I2C master mode and reset DMP/FIFO
p3p 0:74f0ae286b03 166 //DEBUG_PRINTLN(F("Enabling I2C master mode..."));
p3p 0:74f0ae286b03 167 write( MPU6050_RA_USER_CTRL, 0x20);
p3p 0:74f0ae286b03 168 //DEBUG_PRINTLN(F("Resetting FIFO..."));
p3p 0:74f0ae286b03 169 write(MPU6050_RA_USER_CTRL, 0x24);
p3p 0:74f0ae286b03 170 //DEBUG_PRINTLN(F("Rewriting I2C master mode enabled because...I don't know"));
p3p 0:74f0ae286b03 171 write(MPU6050_RA_USER_CTRL, 0x20);
p3p 0:74f0ae286b03 172 //DEBUG_PRINTLN(F("Enabling and resetting DMP/FIFO..."));
p3p 0:74f0ae286b03 173 write(MPU6050_RA_USER_CTRL, 0xE8);
p3p 0:74f0ae286b03 174
p3p 0:74f0ae286b03 175 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 176 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 177 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 178 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 179 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 180 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 181 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 182 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 183 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 184 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 185 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 186 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 187 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 188 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 189
p3p 0:74f0ae286b03 190 //read?
p3p 0:74f0ae286b03 191 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 192 //stalls?
p3p 0:74f0ae286b03 193 //readMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1]);
p3p 0:74f0ae286b03 194
p3p 0:74f0ae286b03 195
p3p 0:74f0ae286b03 196 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 197 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 198 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 199 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 200 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 201 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 202 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 203 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 204 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 205 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 206
p3p 0:74f0ae286b03 207 int fifoCount = 0;
p3p 0:74f0ae286b03 208 while ((fifoCount = getFifoCount()) < 46);
p3p 0:74f0ae286b03 209 uint8_t buffer[128];
p3p 0:74f0ae286b03 210 getFifoBuffer((char *)buffer, fifoCount);
p3p 0:74f0ae286b03 211 getInterruptStatus();
p3p 0:74f0ae286b03 212
p3p 0:74f0ae286b03 213 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 214 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 215
p3p 0:74f0ae286b03 216 fifoCount = 0;
p3p 0:74f0ae286b03 217 while ((fifoCount = getFifoCount()) < 48);
p3p 0:74f0ae286b03 218 getFifoBuffer((char *)buffer, fifoCount);
p3p 0:74f0ae286b03 219 getInterruptStatus();
p3p 0:74f0ae286b03 220 fifoCount = 0;
p3p 0:74f0ae286b03 221 while ((fifoCount = getFifoCount()) < 48);
p3p 0:74f0ae286b03 222 getFifoBuffer((char *)buffer, fifoCount);
p3p 0:74f0ae286b03 223 getInterruptStatus();
p3p 0:74f0ae286b03 224
p3p 0:74f0ae286b03 225 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 226 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 227
p3p 0:74f0ae286b03 228 setDMPEnabled(false);
p3p 0:74f0ae286b03 229
p3p 1:8ff0beb54dd4 230 // debug.printf("finished\r\n");
p3p 0:74f0ae286b03 231
p3p 0:74f0ae286b03 232 }
p3p 0:74f0ae286b03 233 }
p3p 0:74f0ae286b03 234
p3p 0:74f0ae286b03 235
p3p 0:74f0ae286b03 236 }
p3p 0:74f0ae286b03 237
p3p 0:74f0ae286b03 238 //PWR_MGMT_1 Control Register
p3p 0:74f0ae286b03 239 //*****************************/
p3p 0:74f0ae286b03 240 void MPU9150::reset(){
p3p 0:74f0ae286b03 241 writeBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
p3p 0:74f0ae286b03 242 }
p3p 0:74f0ae286b03 243
p3p 0:74f0ae286b03 244 void MPU9150::sleep(bool state){
p3p 0:74f0ae286b03 245 writeBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, state);
p3p 0:74f0ae286b03 246 }
p3p 0:74f0ae286b03 247
p3p 0:74f0ae286b03 248 /*
p3p 0:74f0ae286b03 249 cycle between sleep mode and waking up to take a single sample of data from
p3p 0:74f0ae286b03 250 active sensors at a rate determined by LP_WAKE_CTRL (register 108).
p3p 0:74f0ae286b03 251 */
p3p 0:74f0ae286b03 252 void MPU9150::cycleMode(bool state){
p3p 0:74f0ae286b03 253 writeBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, state);
p3p 0:74f0ae286b03 254 }
p3p 0:74f0ae286b03 255 void MPU9150::disableTemperatureSensor(bool state){
p3p 0:74f0ae286b03 256 writeBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, state);
p3p 0:74f0ae286b03 257 }
p3p 0:74f0ae286b03 258 void MPU9150::clockSelect(uint8_t clk){
p3p 0:74f0ae286b03 259 writeBits(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, clk);
p3p 0:74f0ae286b03 260 }
p3p 0:74f0ae286b03 261
p3p 0:74f0ae286b03 262 //PWR_MGMT_2 Control Register
p3p 0:74f0ae286b03 263 //*****************************/
p3p 0:74f0ae286b03 264 void MPU9150::setCycleWakeFrequency(uint8_t freq){
p3p 0:74f0ae286b03 265 writeBits(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, freq);
p3p 0:74f0ae286b03 266 }
p3p 0:74f0ae286b03 267 void MPU9150::setStandbyAccX(bool value){
p3p 0:74f0ae286b03 268 writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, value);
p3p 0:74f0ae286b03 269 }
p3p 0:74f0ae286b03 270 void MPU9150::setStandbyAccY(bool value){
p3p 0:74f0ae286b03 271 writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, value);
p3p 0:74f0ae286b03 272 }
p3p 0:74f0ae286b03 273 void MPU9150::setStandbyAccZ(bool value){
p3p 0:74f0ae286b03 274 writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, value);
p3p 0:74f0ae286b03 275 }
p3p 0:74f0ae286b03 276 void MPU9150::setStandbyGyroX( bool value){
p3p 0:74f0ae286b03 277 writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, value);
p3p 0:74f0ae286b03 278 }
p3p 0:74f0ae286b03 279 void MPU9150::setStandbyGyroY( bool value){
p3p 0:74f0ae286b03 280 writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, value);
p3p 0:74f0ae286b03 281 }
p3p 0:74f0ae286b03 282 void MPU9150::setStandbyGyroZ( bool value){
p3p 0:74f0ae286b03 283 writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, value);
p3p 0:74f0ae286b03 284 }
p3p 0:74f0ae286b03 285
p3p 0:74f0ae286b03 286 //SMPRT_DIV Sample Rate Divider
p3p 0:74f0ae286b03 287 //*****************************/
p3p 0:74f0ae286b03 288 void MPU9150::setSampleRateDivider(uint8_t value){
p3p 0:74f0ae286b03 289 write(MPU6050_RA_SMPLRT_DIV, value);
p3p 0:74f0ae286b03 290 }
p3p 0:74f0ae286b03 291
p3p 0:74f0ae286b03 292 //CONFIG
p3p 0:74f0ae286b03 293 void MPU9150::setExternalFrameSync(uint8_t value){
p3p 0:74f0ae286b03 294 writeBits(MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, value);
p3p 0:74f0ae286b03 295 }
p3p 0:74f0ae286b03 296 void MPU9150::setDigitalLowPassFilter(uint8_t value){
p3p 0:74f0ae286b03 297 writeBits(MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, value);
p3p 0:74f0ae286b03 298 }
p3p 0:74f0ae286b03 299
p3p 0:74f0ae286b03 300 //GYRO_CONFIG
p3p 0:74f0ae286b03 301 void MPU9150::setGyroSelfTest(bool value){
p3p 0:74f0ae286b03 302 writeBit(MPU6050_RA_GYRO_CONFIG, 7, value); //X
p3p 0:74f0ae286b03 303 writeBit(MPU6050_RA_GYRO_CONFIG, 6, value); //Y
p3p 0:74f0ae286b03 304 writeBit(MPU6050_RA_GYRO_CONFIG, 5, value); //Z
p3p 0:74f0ae286b03 305 }
p3p 0:74f0ae286b03 306
p3p 0:74f0ae286b03 307 void MPU9150::setGyroFullScaleRange(uint8_t value){
p3p 0:74f0ae286b03 308 writeBits(MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, value);
p3p 0:74f0ae286b03 309 }
p3p 0:74f0ae286b03 310
p3p 0:74f0ae286b03 311 //ACCEL_CONFIG
p3p 0:74f0ae286b03 312 void MPU9150::setAccelSelfTest(bool value){
p3p 0:74f0ae286b03 313 writeBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, value);
p3p 0:74f0ae286b03 314 writeBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, value);
p3p 0:74f0ae286b03 315 writeBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, value);
p3p 0:74f0ae286b03 316 }
p3p 0:74f0ae286b03 317 void MPU9150::setAccelFullScaleRange(uint8_t value){
p3p 0:74f0ae286b03 318 writeBits(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT , MPU6050_ACONFIG_AFS_SEL_LENGTH, value);
p3p 0:74f0ae286b03 319 }
p3p 0:74f0ae286b03 320
p3p 0:74f0ae286b03 321 //FIFO_EN
p3p 0:74f0ae286b03 322 void MPU9150::setTemperatureFifo(bool value){
p3p 0:74f0ae286b03 323 writeBit(MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 324 }
p3p 0:74f0ae286b03 325 void MPU9150::setGyroFifo(bool value){
p3p 0:74f0ae286b03 326 writeBit(MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 327 writeBit(MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 328 writeBit(MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 329 }
p3p 0:74f0ae286b03 330 void MPU9150::setAccelFifo(bool value){
p3p 0:74f0ae286b03 331 writeBit(MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 332 }
p3p 0:74f0ae286b03 333 void MPU9150::setSlave2Fifo(bool value){
p3p 0:74f0ae286b03 334 writeBit(MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 335 }
p3p 0:74f0ae286b03 336 void MPU9150::setSlave1Fifo(bool value){
p3p 0:74f0ae286b03 337 writeBit(MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 338 }
p3p 0:74f0ae286b03 339 void MPU9150::setSlave0Fifo(bool value){
p3p 0:74f0ae286b03 340 writeBit(MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 341 }
p3p 0:74f0ae286b03 342
p3p 0:74f0ae286b03 343 //I2C_MST_CTRL
p3p 0:74f0ae286b03 344 void MPU9150::setMultiMaster(bool value){
p3p 0:74f0ae286b03 345 writeBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, value);
p3p 0:74f0ae286b03 346 }
p3p 0:74f0ae286b03 347 void MPU9150::setWaitForExternalSensor(bool value){
p3p 0:74f0ae286b03 348 writeBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, value);
p3p 0:74f0ae286b03 349 }
p3p 0:74f0ae286b03 350 void MPU9150::setSlave3Fifo(bool value){
p3p 0:74f0ae286b03 351 writeBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 352 }
p3p 0:74f0ae286b03 353 void MPU9150::setMasterStartStop(bool value){
p3p 0:74f0ae286b03 354 writeBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, value);
p3p 0:74f0ae286b03 355 }
p3p 0:74f0ae286b03 356 void MPU9150::setI2CMasterClock(uint8_t value){
p3p 0:74f0ae286b03 357 writeBits(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, value);
p3p 0:74f0ae286b03 358 }
p3p 0:74f0ae286b03 359
p3p 0:74f0ae286b03 360 //I2C slaves 0 to 3
p3p 0:74f0ae286b03 361 //I2C_SLV0_ADDR
p3p 0:74f0ae286b03 362 void MPU9150::setI2cSlaveRW(uint8_t slave_id, bool value){
p3p 0:74f0ae286b03 363 if(slave_id > 3)return;
p3p 0:74f0ae286b03 364 writeBit(MPU6050_RA_I2C_SLV0_ADDR + (slave_id * 3), MPU6050_I2C_SLV_RW_BIT, value);
p3p 0:74f0ae286b03 365 }
p3p 0:74f0ae286b03 366 void MPU9150::setI2cSlaveAddress(uint8_t slave_id, uint8_t value){
p3p 0:74f0ae286b03 367 if(slave_id > 3)return;
p3p 0:74f0ae286b03 368 writeBits(MPU6050_RA_I2C_SLV0_ADDR + (slave_id * 3), MPU6050_I2C_SLV_ADDR_BIT, MPU6050_I2C_SLV_ADDR_LENGTH, value);
p3p 0:74f0ae286b03 369 }
p3p 0:74f0ae286b03 370 //I2C_SLV0_REG,
p3p 0:74f0ae286b03 371 void MPU9150::setI2cSlaveRegister(uint8_t slave_id, uint8_t value){
p3p 0:74f0ae286b03 372 if(slave_id > 3)return;
p3p 0:74f0ae286b03 373 write(MPU6050_RA_I2C_SLV0_REG + (slave_id * 3), value);
p3p 0:74f0ae286b03 374 }
p3p 0:74f0ae286b03 375 //I2C_SLV0_CTRL
p3p 0:74f0ae286b03 376 void MPU9150::setI2cSlaveEnable(uint8_t slave_id, bool value){
p3p 0:74f0ae286b03 377 if(slave_id > 3)return;
p3p 0:74f0ae286b03 378 writeBit(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_EN_BIT, value);
p3p 0:74f0ae286b03 379 }
p3p 0:74f0ae286b03 380 void MPU9150::setI2cSlaveByteSwap(uint8_t slave_id, bool value){
p3p 0:74f0ae286b03 381 if(slave_id > 3)return;
p3p 0:74f0ae286b03 382 writeBit(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_BYTE_SW_BIT, value);
p3p 0:74f0ae286b03 383 }
p3p 0:74f0ae286b03 384 void MPU9150::setI2cSlaveRegDisable(uint8_t slave_id, bool value){
p3p 0:74f0ae286b03 385 if(slave_id > 3)return;
p3p 0:74f0ae286b03 386 writeBit(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_REG_DIS_BIT, value);
p3p 0:74f0ae286b03 387 }
p3p 0:74f0ae286b03 388 void MPU9150::setI2cSlaveByteGrouping(uint8_t slave_id, bool value){
p3p 0:74f0ae286b03 389 if(slave_id > 3)return;
p3p 0:74f0ae286b03 390 writeBit(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_GRP_BIT, value);
p3p 0:74f0ae286b03 391 }
p3p 0:74f0ae286b03 392 void MPU9150::setI2cSlaveTransactionLength(uint8_t slave_id, uint8_t value){
p3p 0:74f0ae286b03 393 if(slave_id > 3)return;
p3p 0:74f0ae286b03 394 writeBits(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, value);
p3p 0:74f0ae286b03 395 }
p3p 0:74f0ae286b03 396 //I2C_SLV0_DO
p3p 0:74f0ae286b03 397 void MPU9150::setI2cSlaveDataOut(uint8_t slave_id, uint8_t value){
p3p 0:74f0ae286b03 398 if(slave_id > 3)return;
p3p 0:74f0ae286b03 399 write(MPU6050_RA_I2C_SLV0_DO + slave_id, value);
p3p 0:74f0ae286b03 400 }
p3p 0:74f0ae286b03 401 //I2C_MST_DELAY_CTRL
p3p 0:74f0ae286b03 402 void MPU9150::setI2cSlaveDelay(uint8_t slave_id, uint8_t value){
p3p 0:74f0ae286b03 403 writeBit(MPU6050_RA_I2C_MST_DELAY_CTRL, slave_id, value);
p3p 0:74f0ae286b03 404 }
p3p 0:74f0ae286b03 405 void MPU9150::setI2cSlaveShadowDelay(uint8_t value){
p3p 0:74f0ae286b03 406 writeBit(MPU6050_RA_I2C_MST_DELAY_CTRL, 7, value);
p3p 0:74f0ae286b03 407 }
p3p 0:74f0ae286b03 408
p3p 0:74f0ae286b03 409 //I2C slave4
p3p 0:74f0ae286b03 410 //I2C_SLV4_ADDR
p3p 0:74f0ae286b03 411 void MPU9150::setI2cSlave4RW( bool value){
p3p 0:74f0ae286b03 412 writeBit(MPU6050_RA_I2C_SLV4_ADDR, MPU6050_I2C_SLV4_RW_BIT, value);
p3p 0:74f0ae286b03 413 }
p3p 0:74f0ae286b03 414 void MPU9150::setI2cSlave4Address( uint8_t value){
p3p 0:74f0ae286b03 415 writeBits(MPU6050_RA_I2C_SLV4_ADDR, MPU6050_I2C_SLV4_ADDR_BIT, MPU6050_I2C_SLV4_ADDR_LENGTH, value);
p3p 0:74f0ae286b03 416 }
p3p 0:74f0ae286b03 417 //I2C_SLV4_REG,
p3p 0:74f0ae286b03 418 void MPU9150::setI2cSlave4Register(uint8_t value){
p3p 0:74f0ae286b03 419 write(MPU6050_RA_I2C_SLV4_REG, value);
p3p 0:74f0ae286b03 420 }
p3p 0:74f0ae286b03 421 //I2C_SLV4_DO
p3p 0:74f0ae286b03 422 void MPU9150::setI2cSlave4DataOut(uint8_t value){
p3p 0:74f0ae286b03 423 write(MPU6050_RA_I2C_SLV4_DO, value);
p3p 0:74f0ae286b03 424 }
p3p 0:74f0ae286b03 425
p3p 0:74f0ae286b03 426 //I2C_SLV4_CTRL
p3p 0:74f0ae286b03 427 void MPU9150::setI2cSlave4Enable(bool value){
p3p 0:74f0ae286b03 428 writeBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, value);
p3p 0:74f0ae286b03 429 }
p3p 0:74f0ae286b03 430
p3p 0:74f0ae286b03 431 void MPU9150::setI2cSlave4IntEnable(bool value){
p3p 0:74f0ae286b03 432 writeBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, value);
p3p 0:74f0ae286b03 433 }
p3p 0:74f0ae286b03 434
p3p 0:74f0ae286b03 435 void MPU9150::setI2cSlave4RegDisable(bool value){
p3p 0:74f0ae286b03 436 writeBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, value);
p3p 0:74f0ae286b03 437 }
p3p 0:74f0ae286b03 438
p3p 0:74f0ae286b03 439 void MPU9150::setI2cMasterDelay(uint8_t value){
p3p 0:74f0ae286b03 440 writeBits(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, value);
p3p 0:74f0ae286b03 441 }
p3p 0:74f0ae286b03 442
p3p 0:74f0ae286b03 443 uint8_t MPU9150::getI2cSlave4Di(){
p3p 0:74f0ae286b03 444 return get8(MPU6050_RA_I2C_SLV4_DI);
p3p 0:74f0ae286b03 445 }
p3p 0:74f0ae286b03 446
p3p 0:74f0ae286b03 447 //I2C_MST_STATUS
p3p 0:74f0ae286b03 448 bool MPU9150::setI2cPassthrough(){
p3p 0:74f0ae286b03 449 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT);
p3p 0:74f0ae286b03 450 }
p3p 0:74f0ae286b03 451 bool MPU9150::setI2cSlave4Done(){
p3p 0:74f0ae286b03 452 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT);
p3p 0:74f0ae286b03 453 }
p3p 0:74f0ae286b03 454 bool MPU9150::setI2cLostArbitration(){
p3p 0:74f0ae286b03 455 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT);
p3p 0:74f0ae286b03 456 }
p3p 0:74f0ae286b03 457 bool MPU9150::setI2cSlave0Nack(){
p3p 0:74f0ae286b03 458 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT);
p3p 0:74f0ae286b03 459 }
p3p 0:74f0ae286b03 460 bool MPU9150::setI2cSlave1Nack(){
p3p 0:74f0ae286b03 461 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT);
p3p 0:74f0ae286b03 462 }
p3p 0:74f0ae286b03 463 bool MPU9150::setI2cSlave2Nack(){
p3p 0:74f0ae286b03 464 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT);
p3p 0:74f0ae286b03 465 }
p3p 0:74f0ae286b03 466 bool MPU9150::setI2cSlave3Nack(){
p3p 0:74f0ae286b03 467 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT);
p3p 0:74f0ae286b03 468 }
p3p 0:74f0ae286b03 469 bool MPU9150::setI2cSlave4Nack(){
p3p 0:74f0ae286b03 470 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT);
p3p 0:74f0ae286b03 471 }
p3p 0:74f0ae286b03 472
p3p 0:74f0ae286b03 473 //INT_PIN_CFG
p3p 0:74f0ae286b03 474 void MPU9150::setInterruptActiveLow(bool value){
p3p 0:74f0ae286b03 475 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, value);
p3p 0:74f0ae286b03 476 }
p3p 0:74f0ae286b03 477 void MPU9150::setInterruptOpenDrain(bool value){
p3p 0:74f0ae286b03 478 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, value);
p3p 0:74f0ae286b03 479 }
p3p 0:74f0ae286b03 480 void MPU9150::setInterruptLatch(bool value){
p3p 0:74f0ae286b03 481 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, value);
p3p 0:74f0ae286b03 482 }
p3p 0:74f0ae286b03 483 void MPU9150::setInterruptAnyReadClear(bool value){
p3p 0:74f0ae286b03 484 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, value);
p3p 0:74f0ae286b03 485 }
p3p 0:74f0ae286b03 486 void MPU9150::setFsyncInterruptActiveLow(bool value){
p3p 0:74f0ae286b03 487 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, value);
p3p 0:74f0ae286b03 488 }
p3p 0:74f0ae286b03 489 void MPU9150::setFsyncInterruptEnable(bool value){
p3p 0:74f0ae286b03 490 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, value);
p3p 0:74f0ae286b03 491 }
p3p 0:74f0ae286b03 492 void MPU9150::setI2cAuxBypassEnable(bool value){
p3p 0:74f0ae286b03 493 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, value);
p3p 0:74f0ae286b03 494 }
p3p 0:74f0ae286b03 495
p3p 0:74f0ae286b03 496 //INT_ENABLE
p3p 0:74f0ae286b03 497 void MPU9150::setInterruptFifoOverflowEnable(bool value){
p3p 0:74f0ae286b03 498 writeBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, value);
p3p 0:74f0ae286b03 499 }
p3p 0:74f0ae286b03 500 void MPU9150::setInterruptMasterEnable(bool value){
p3p 0:74f0ae286b03 501 writeBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, value);
p3p 0:74f0ae286b03 502 }
p3p 0:74f0ae286b03 503 void MPU9150::setInterruptDataReadyEnable(bool value){
p3p 0:74f0ae286b03 504 writeBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, value);
p3p 0:74f0ae286b03 505 }
p3p 0:74f0ae286b03 506
p3p 0:74f0ae286b03 507 //INT_STATUS
p3p 0:74f0ae286b03 508 bool MPU9150::getInterruptFifoOverflow(){
p3p 0:74f0ae286b03 509 return getBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT);
p3p 0:74f0ae286b03 510 }
p3p 0:74f0ae286b03 511 bool MPU9150::getInterruptMaster(){
p3p 0:74f0ae286b03 512 return getBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT);
p3p 0:74f0ae286b03 513 }
p3p 0:74f0ae286b03 514 bool MPU9150::getInterruptDataReady(){
p3p 0:74f0ae286b03 515 return getBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT);
p3p 0:74f0ae286b03 516 }
p3p 0:74f0ae286b03 517
p3p 0:74f0ae286b03 518 uint8_t MPU9150::getInterruptStatus(){
p3p 0:74f0ae286b03 519 return get8(MPU6050_RA_INT_STATUS);
p3p 0:74f0ae286b03 520 }
p3p 0:74f0ae286b03 521
p3p 0:74f0ae286b03 522 //SIGNAL_PATH_RESET
p3p 0:74f0ae286b03 523 void MPU9150::resetGyroSignalPath(){
p3p 0:74f0ae286b03 524 writeBit(MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
p3p 0:74f0ae286b03 525 }
p3p 0:74f0ae286b03 526 void MPU9150::resetAccelSignalPath(){
p3p 0:74f0ae286b03 527 writeBit(MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
p3p 0:74f0ae286b03 528 }
p3p 0:74f0ae286b03 529 void MPU9150::resetTempSignalPath(){
p3p 0:74f0ae286b03 530 writeBit(MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
p3p 0:74f0ae286b03 531 }
p3p 0:74f0ae286b03 532
p3p 0:74f0ae286b03 533 //USER_CTRL
p3p 0:74f0ae286b03 534 void MPU9150::setEnableFifo(bool value){
p3p 0:74f0ae286b03 535 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 536 }
p3p 0:74f0ae286b03 537 void MPU9150::setI2cMasterEnable(bool value){
p3p 0:74f0ae286b03 538 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, value);
p3p 0:74f0ae286b03 539 }
p3p 0:74f0ae286b03 540 void MPU9150::setFifoReset(bool value){
p3p 0:74f0ae286b03 541 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, value);
p3p 0:74f0ae286b03 542 }
p3p 0:74f0ae286b03 543 void MPU9150::setI2cMasterReset(bool value){
p3p 0:74f0ae286b03 544 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, value);
p3p 0:74f0ae286b03 545 }
p3p 0:74f0ae286b03 546 void MPU9150::setFullSensorReset(bool value){
p3p 0:74f0ae286b03 547 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, value);
p3p 0:74f0ae286b03 548 }
p3p 0:74f0ae286b03 549
p3p 0:74f0ae286b03 550 //FIFO_COUNT_H and FIFO_COUNT_L
p3p 0:74f0ae286b03 551 int16_t MPU9150::getFifoCount(){
p3p 0:74f0ae286b03 552 return get16(MPU6050_RA_FIFO_COUNTH);
p3p 0:74f0ae286b03 553 }
p3p 0:74f0ae286b03 554
p3p 0:74f0ae286b03 555 //FIFO_R_W
p3p 0:74f0ae286b03 556 bool MPU9150::getFifoBuffer(char* buffer, int16_t length){
p3p 0:74f0ae286b03 557 return read(MPU6050_RA_FIFO_R_W, buffer, length);
p3p 0:74f0ae286b03 558 }
p3p 0:74f0ae286b03 559
p3p 0:74f0ae286b03 560 //UNDOCUMENTED (again reimplemention from sparkfun github) can't find any origional documentation
p3p 0:74f0ae286b03 561 // XG_OFFS_TC
p3p 0:74f0ae286b03 562 uint8_t MPU9150::getOTPBankValid() {
p3p 0:74f0ae286b03 563 return getBit(MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT);
p3p 0:74f0ae286b03 564 }
p3p 0:74f0ae286b03 565
p3p 0:74f0ae286b03 566 //INT_ENABLE
p3p 0:74f0ae286b03 567 void MPU9150::setIntPLLReadyEnabled(bool value) {
p3p 0:74f0ae286b03 568 writeBit( MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, value);
p3p 0:74f0ae286b03 569 }
p3p 0:74f0ae286b03 570 void MPU9150::setIntDMPEnabled(bool value) {
p3p 0:74f0ae286b03 571 writeBit( MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, value);
p3p 0:74f0ae286b03 572 }
p3p 0:74f0ae286b03 573
p3p 0:74f0ae286b03 574 // INT_STATUS
p3p 0:74f0ae286b03 575 bool MPU9150::getIntPLLReadyStatus() {
p3p 0:74f0ae286b03 576 return getBit( MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT);
p3p 0:74f0ae286b03 577 }
p3p 0:74f0ae286b03 578 bool MPU9150::getIntDMPStatus() {
p3p 0:74f0ae286b03 579 return getBit( MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT);
p3p 0:74f0ae286b03 580 }
p3p 0:74f0ae286b03 581
p3p 0:74f0ae286b03 582 // USER_CTRL
p3p 0:74f0ae286b03 583 bool MPU9150::getDMPEnabled() {
p3p 0:74f0ae286b03 584 return getBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT);
p3p 0:74f0ae286b03 585 }
p3p 0:74f0ae286b03 586 void MPU9150::setDMPEnabled(bool value) {
p3p 0:74f0ae286b03 587 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, value);
p3p 0:74f0ae286b03 588 }
p3p 0:74f0ae286b03 589 void MPU9150::resetDMP() {
p3p 0:74f0ae286b03 590 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
p3p 0:74f0ae286b03 591 }
p3p 0:74f0ae286b03 592
p3p 0:74f0ae286b03 593 // BANK_SEL
p3p 0:74f0ae286b03 594 void MPU9150::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
p3p 0:74f0ae286b03 595 bank &= 0x1F;
p3p 0:74f0ae286b03 596 if (userBank){
p3p 0:74f0ae286b03 597 bank |= 0x20;
p3p 0:74f0ae286b03 598 }
p3p 0:74f0ae286b03 599 if (prefetchEnabled){
p3p 0:74f0ae286b03 600 bank |= 0x40;
p3p 0:74f0ae286b03 601 }
p3p 0:74f0ae286b03 602 write( MPU6050_RA_BANK_SEL, bank);
p3p 0:74f0ae286b03 603 }
p3p 0:74f0ae286b03 604
p3p 0:74f0ae286b03 605 // MEM_START_ADDR
p3p 0:74f0ae286b03 606 void MPU9150::setMemoryStartAddress(uint8_t address) {
p3p 0:74f0ae286b03 607 write(MPU6050_RA_MEM_START_ADDR, address);
p3p 0:74f0ae286b03 608 }
p3p 0:74f0ae286b03 609
p3p 0:74f0ae286b03 610 // MEM_R_W
p3p 0:74f0ae286b03 611 uint8_t MPU9150::readMemoryByte() {
p3p 0:74f0ae286b03 612 return get8(MPU6050_RA_MEM_R_W);
p3p 0:74f0ae286b03 613 }
p3p 0:74f0ae286b03 614 void MPU9150::writeMemoryByte(uint8_t value) {
p3p 0:74f0ae286b03 615 write(MPU6050_RA_MEM_R_W, value);
p3p 0:74f0ae286b03 616 }
p3p 0:74f0ae286b03 617 void MPU9150::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
p3p 0:74f0ae286b03 618 setMemoryBank(bank);
p3p 0:74f0ae286b03 619 setMemoryStartAddress(address);
p3p 0:74f0ae286b03 620
p3p 0:74f0ae286b03 621 uint8_t chunkSize;
p3p 0:74f0ae286b03 622 for (uint16_t i = 0; i < dataSize;) {
p3p 0:74f0ae286b03 623 // determine correct chunk size according to bank position and data size
p3p 0:74f0ae286b03 624 chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
p3p 0:74f0ae286b03 625
p3p 0:74f0ae286b03 626 // make sure we don't go past the data size
p3p 0:74f0ae286b03 627 if (i + chunkSize > dataSize) chunkSize = dataSize - i;
p3p 0:74f0ae286b03 628
p3p 0:74f0ae286b03 629 // make sure this chunk doesn't go past the bank boundary (256 bytes)
p3p 0:74f0ae286b03 630 if (chunkSize > 256 - address) chunkSize = 256 - address;
p3p 1:8ff0beb54dd4 631 //debug.printf("reading %d", chunkSize);
p3p 0:74f0ae286b03 632 // read the chunk of data as specified
p3p 0:74f0ae286b03 633 read(MPU6050_RA_MEM_R_W, (char*)(data+i), chunkSize);
p3p 1:8ff0beb54dd4 634 //debug.printf("read");
p3p 0:74f0ae286b03 635 // increase byte index by [chunkSize]
p3p 0:74f0ae286b03 636 i += chunkSize;
p3p 0:74f0ae286b03 637
p3p 0:74f0ae286b03 638 // uint8_t automatically wraps to 0 at 256
p3p 0:74f0ae286b03 639 address += chunkSize;
p3p 0:74f0ae286b03 640
p3p 0:74f0ae286b03 641 // if we aren't done, update bank (if necessary) and address
p3p 0:74f0ae286b03 642 if (i < dataSize) {
p3p 0:74f0ae286b03 643 if (address == 0) bank++;
p3p 0:74f0ae286b03 644 setMemoryBank(bank);
p3p 0:74f0ae286b03 645 setMemoryStartAddress(address);
p3p 0:74f0ae286b03 646 }
p3p 0:74f0ae286b03 647 }
p3p 0:74f0ae286b03 648 }
p3p 0:74f0ae286b03 649 bool MPU9150::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
p3p 0:74f0ae286b03 650 setMemoryBank(bank);
p3p 0:74f0ae286b03 651 setMemoryStartAddress(address);
p3p 0:74f0ae286b03 652 uint8_t chunkSize;
p3p 0:74f0ae286b03 653 uint8_t *verifyBuffer = 0;
p3p 0:74f0ae286b03 654 uint8_t *progBuffer = 0;
p3p 0:74f0ae286b03 655 uint16_t i;
p3p 0:74f0ae286b03 656
p3p 0:74f0ae286b03 657 if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
p3p 0:74f0ae286b03 658 for (i = 0; i < dataSize;) {
p3p 0:74f0ae286b03 659 // determine correct chunk size according to bank position and data size
p3p 0:74f0ae286b03 660 chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
p3p 0:74f0ae286b03 661
p3p 0:74f0ae286b03 662 // make sure we don't go past the data size
p3p 0:74f0ae286b03 663 if (i + chunkSize > dataSize) chunkSize = dataSize - i;
p3p 0:74f0ae286b03 664
p3p 0:74f0ae286b03 665 // make sure this chunk doesn't go past the bank boundary (256 bytes)
p3p 0:74f0ae286b03 666 if (chunkSize > 256 - address) chunkSize = 256 - address;
p3p 0:74f0ae286b03 667
p3p 0:74f0ae286b03 668 progBuffer = (uint8_t *)data + i;
p3p 0:74f0ae286b03 669
p3p 0:74f0ae286b03 670 write(MPU6050_RA_MEM_R_W, (char*)progBuffer, chunkSize);
p3p 0:74f0ae286b03 671
p3p 0:74f0ae286b03 672
p3p 0:74f0ae286b03 673 // verify data if needed
p3p 0:74f0ae286b03 674 if (verify && verifyBuffer) {
p3p 0:74f0ae286b03 675 setMemoryBank(bank);
p3p 0:74f0ae286b03 676 setMemoryStartAddress(address);
p3p 0:74f0ae286b03 677 read(MPU6050_RA_MEM_R_W, (char*)verifyBuffer, chunkSize);
p3p 0:74f0ae286b03 678 if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
p3p 0:74f0ae286b03 679 free(verifyBuffer);
p3p 1:8ff0beb54dd4 680 //debug.printf("invalid(%d, %d)\r\n", bank, read_errors, write_errors);
p3p 0:74f0ae286b03 681 return false; // uh oh.
p3p 0:74f0ae286b03 682 }
p3p 0:74f0ae286b03 683 }
p3p 0:74f0ae286b03 684
p3p 0:74f0ae286b03 685 // increase byte index by [chunkSize]
p3p 0:74f0ae286b03 686 i += chunkSize;
p3p 0:74f0ae286b03 687
p3p 0:74f0ae286b03 688 // uint8_t automatically wraps to 0 at 256
p3p 0:74f0ae286b03 689 address += chunkSize;
p3p 0:74f0ae286b03 690
p3p 0:74f0ae286b03 691 // if we aren't done, update bank (if necessary) and address
p3p 0:74f0ae286b03 692 if (i < dataSize) {
p3p 0:74f0ae286b03 693 if (address == 0) bank++;
p3p 0:74f0ae286b03 694 setMemoryBank(bank);
p3p 0:74f0ae286b03 695 setMemoryStartAddress(address);
p3p 0:74f0ae286b03 696 }
p3p 0:74f0ae286b03 697 }
p3p 0:74f0ae286b03 698 if (verify) free(verifyBuffer);
p3p 0:74f0ae286b03 699 return true;
p3p 0:74f0ae286b03 700 }
p3p 0:74f0ae286b03 701 bool MPU9150::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
p3p 0:74f0ae286b03 702 uint8_t *progBuffer;
p3p 0:74f0ae286b03 703 uint8_t success, special;
p3p 0:74f0ae286b03 704 uint16_t i;
p3p 0:74f0ae286b03 705
p3p 0:74f0ae286b03 706 // config set data is a long string of blocks with the following structure:
p3p 0:74f0ae286b03 707 // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
p3p 0:74f0ae286b03 708 uint8_t bank, offset, length;
p3p 0:74f0ae286b03 709 for (i = 0; i < dataSize;) {
p3p 0:74f0ae286b03 710 bank = data[i++];
p3p 0:74f0ae286b03 711 offset = data[i++];
p3p 0:74f0ae286b03 712 length = data[i++];
p3p 0:74f0ae286b03 713
p3p 0:74f0ae286b03 714 // write data or perform special action
p3p 0:74f0ae286b03 715 if (length > 0) {
p3p 0:74f0ae286b03 716 progBuffer = (uint8_t *)data + i;
p3p 0:74f0ae286b03 717 success = writeMemoryBlock(progBuffer, length, bank, offset, true);
p3p 0:74f0ae286b03 718 i += length;
p3p 0:74f0ae286b03 719 } else {
p3p 0:74f0ae286b03 720 // special instruction
p3p 0:74f0ae286b03 721 // NOTE: this kind of behavior (what and when to do certain things)
p3p 0:74f0ae286b03 722 // is totally undocumented. This code is in here based on observed
p3p 0:74f0ae286b03 723 // behavior only, and exactly why (or even whether) it has to be here
p3p 0:74f0ae286b03 724 // is anybody's guess for now.
p3p 0:74f0ae286b03 725 special = data[i++];
p3p 0:74f0ae286b03 726
p3p 0:74f0ae286b03 727 if (special == 0x01) {
p3p 0:74f0ae286b03 728 // enable DMP-related interrupts
p3p 0:74f0ae286b03 729 //setIntZeroMotionEnabled(true);
p3p 0:74f0ae286b03 730 //setIntFIFOBufferOverflowEnabled(true);
p3p 0:74f0ae286b03 731 //setIntDMPEnabled(true);
p3p 0:74f0ae286b03 732 write(MPU6050_RA_INT_ENABLE, 0x32); // single operation
p3p 0:74f0ae286b03 733 success = true;
p3p 0:74f0ae286b03 734 } else {
p3p 0:74f0ae286b03 735 // unknown special command
p3p 0:74f0ae286b03 736 success = false;
p3p 0:74f0ae286b03 737 }
p3p 0:74f0ae286b03 738 }
p3p 0:74f0ae286b03 739
p3p 0:74f0ae286b03 740 if (!success) {
p3p 0:74f0ae286b03 741 return false;
p3p 0:74f0ae286b03 742 }
p3p 0:74f0ae286b03 743 }
p3p 0:74f0ae286b03 744 return true;
p3p 0:74f0ae286b03 745 }
p3p 0:74f0ae286b03 746 // DMP_CFG_1
p3p 0:74f0ae286b03 747 uint8_t MPU9150::getDMPConfig1() {
p3p 0:74f0ae286b03 748 return get8(MPU6050_RA_DMP_CFG_1);
p3p 0:74f0ae286b03 749
p3p 0:74f0ae286b03 750 }
p3p 0:74f0ae286b03 751 void MPU9150::setDMPConfig1(uint8_t config) {
p3p 0:74f0ae286b03 752 write(MPU6050_RA_DMP_CFG_1, config);
p3p 0:74f0ae286b03 753 }
p3p 0:74f0ae286b03 754
p3p 0:74f0ae286b03 755 // DMP_CFG_2
p3p 0:74f0ae286b03 756 uint8_t MPU9150::getDMPConfig2() {
p3p 0:74f0ae286b03 757 return get8(MPU6050_RA_DMP_CFG_2);
p3p 0:74f0ae286b03 758
p3p 0:74f0ae286b03 759 }
p3p 0:74f0ae286b03 760 void MPU9150::setDMPConfig2(uint8_t config) {
p3p 0:74f0ae286b03 761 write(MPU6050_RA_DMP_CFG_2, config);
p3p 0:74f0ae286b03 762 }
p3p 0:74f0ae286b03 763
p3p 0:74f0ae286b03 764 //Utility Functions
p3p 0:74f0ae286b03 765 bool MPU9150::getBit(char reg_addr, uint8_t bit){
p3p 0:74f0ae286b03 766 uint8_t data = 0;
p3p 0:74f0ae286b03 767 readBit(reg_addr, bit, &data);
p3p 0:74f0ae286b03 768 return (bool)data;
p3p 0:74f0ae286b03 769 }
p3p 0:74f0ae286b03 770
p3p 0:74f0ae286b03 771 int8_t MPU9150::get8(char reg_addr){
p3p 0:74f0ae286b03 772 char data;
p3p 0:74f0ae286b03 773 read(reg_addr, &data);
p3p 0:74f0ae286b03 774 return data;
p3p 0:74f0ae286b03 775 }
p3p 0:74f0ae286b03 776
p3p 0:74f0ae286b03 777 int16_t MPU9150::get16(char reg_addr){
p3p 0:74f0ae286b03 778 char data[2];
p3p 1:8ff0beb54dd4 779 read(reg_addr, data, 2);
p3p 0:74f0ae286b03 780 return (data[0]<<8) + data[1];
p3p 0:74f0ae286b03 781 }
p3p 0:74f0ae286b03 782
p3p 0:74f0ae286b03 783 int16_t MPU9150::get16L(char reg_addr){
p3p 0:74f0ae286b03 784 char data[2];
p3p 0:74f0ae286b03 785 read(reg_addr, data, 2);
p3p 0:74f0ae286b03 786 return (data[1]<<8) + data[0];
p3p 0:74f0ae286b03 787 }
p3p 0:74f0ae286b03 788
p3p 0:74f0ae286b03 789 bool MPU9150::write(char reg_addr, char data){
p3p 0:74f0ae286b03 790 return write(reg_addr, &data, 1);
p3p 0:74f0ae286b03 791 }
p3p 0:74f0ae286b03 792
p3p 0:74f0ae286b03 793 bool MPU9150::write(char reg_addr, char* data, int length){
p3p 0:74f0ae286b03 794 i2c.start();
p3p 0:74f0ae286b03 795 i2c.write(device_address << 1);
p3p 0:74f0ae286b03 796 i2c.write(reg_addr);
p3p 0:74f0ae286b03 797 for(int i = 0; i < length; i++) {
p3p 0:74f0ae286b03 798 if(!i2c.write(data[i])){
p3p 0:74f0ae286b03 799 write_errors++;
p3p 1:8ff0beb54dd4 800 //debug.printf("Write Error %d\r\n", reg_addr);
p3p 0:74f0ae286b03 801 return false;
p3p 0:74f0ae286b03 802 }
p3p 0:74f0ae286b03 803 }
p3p 0:74f0ae286b03 804 i2c.stop();
p3p 0:74f0ae286b03 805 return true;
p3p 0:74f0ae286b03 806 }
p3p 0:74f0ae286b03 807
p3p 0:74f0ae286b03 808 bool MPU9150::writeBit(char reg_addr, uint8_t bit, bool value){
p3p 0:74f0ae286b03 809 return writeBits(reg_addr, bit, 1, (uint8_t)value);
p3p 0:74f0ae286b03 810 }
p3p 0:74f0ae286b03 811
p3p 0:74f0ae286b03 812 bool MPU9150::writeBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t data){
p3p 0:74f0ae286b03 813 char ret;
p3p 0:74f0ae286b03 814
p3p 0:74f0ae286b03 815 if(!read(reg_addr, &ret)){
p3p 0:74f0ae286b03 816 return false;
p3p 0:74f0ae286b03 817 }
p3p 0:74f0ae286b03 818
p3p 0:74f0ae286b03 819 uint8_t mask = ((1 << length) - 1) << (bit_start - length + 1);
p3p 0:74f0ae286b03 820 data <<= (bit_start - length + 1);
p3p 0:74f0ae286b03 821
p3p 0:74f0ae286b03 822 data &= mask;
p3p 0:74f0ae286b03 823 ret &= ~(mask);
p3p 0:74f0ae286b03 824 ret |= data;
p3p 0:74f0ae286b03 825
p3p 0:74f0ae286b03 826 return write(reg_addr, ret);
p3p 0:74f0ae286b03 827 }
p3p 0:74f0ae286b03 828
p3p 0:74f0ae286b03 829 bool MPU9150::read(char reg_addr, char* data){
p3p 0:74f0ae286b03 830 return read(reg_addr, data, 1);
p3p 0:74f0ae286b03 831 }
p3p 0:74f0ae286b03 832
p3p 0:74f0ae286b03 833 bool MPU9150::read(char reg_addr, char* data, int length){
p3p 0:74f0ae286b03 834 if(i2c.write(device_address << 1, &reg_addr, 1, true)){
p3p 0:74f0ae286b03 835 read_errors ++;
p3p 1:8ff0beb54dd4 836 //debug.printf("Read: Address Write Error %d\r\n", reg_addr);
p3p 0:74f0ae286b03 837 return false;
p3p 0:74f0ae286b03 838 }
p3p 0:74f0ae286b03 839 if(i2c.read(device_address << 1, data, length)){
p3p 0:74f0ae286b03 840 read_errors ++;
p3p 1:8ff0beb54dd4 841 //debug.printf("Read: Error %d\r\n", reg_addr);
p3p 0:74f0ae286b03 842 return false;
p3p 0:74f0ae286b03 843 }
p3p 0:74f0ae286b03 844 return true;
p3p 0:74f0ae286b03 845 }
p3p 0:74f0ae286b03 846
p3p 0:74f0ae286b03 847
p3p 0:74f0ae286b03 848 bool MPU9150::readBit(char reg_addr, uint8_t bit_start, uint8_t *data){
p3p 0:74f0ae286b03 849 return readBits(reg_addr, bit_start, 1, data);
p3p 0:74f0ae286b03 850 }
p3p 0:74f0ae286b03 851
p3p 0:74f0ae286b03 852 bool MPU9150::readBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t *data){
p3p 0:74f0ae286b03 853 char ret;
p3p 0:74f0ae286b03 854
p3p 0:74f0ae286b03 855 if(!read(reg_addr, &ret)){
p3p 0:74f0ae286b03 856 return false;
p3p 0:74f0ae286b03 857 }
p3p 0:74f0ae286b03 858
p3p 0:74f0ae286b03 859 uint8_t mask = ((1 << length) - 1) << (bit_start - length + 1);
p3p 0:74f0ae286b03 860 ret &= mask;
p3p 0:74f0ae286b03 861 ret >>= (bit_start - length + 1);
p3p 0:74f0ae286b03 862 *data = ret;
p3p 0:74f0ae286b03 863
p3p 0:74f0ae286b03 864 return true;
p3p 0:74f0ae286b03 865 }