File content as of revision 3:9d4f63fa00c2:

#ifndef MPU9150_INCLUDE
#define MPU9150_INCLUDE

#include "Motor.h"
#include "registers.h"
#include "dmpdata.h"
//https://github.com/sparkfun/MPU-9150_Breakout/blob/master/firmware/MPU6050/MPU6050_9Axis_MotionApps41.h

//extern Serial debug;

class MPU9150{
public: 
    MPU9150(PinName scl, PinName sda, PinName interrupt, bool secondary_addr = false):i2c(sda, scl){
        device_address = MPU6050_DEFAULT_ADDRESS;
        read_errors = 0;
        write_errors = 0;
        if(secondary_addr){
            device_address = MPU6050_ADDRESS_AD0_HIGH;
        }
        
       // i2c.frequency(400000);
        i2c.frequency(100000);
    }
    ~MPU9150(){}
    
    bool getBit(char reg_addr, uint8_t bit);
    int8_t get8(char reg_addr);
    int16_t get16(char reg_addr);
    int16_t get16L(char reg_addr);
    
    bool read(char reg_addr, char* data);
    bool read(char reg_addr, char* data, int length);
    bool readBit(char reg_addr, uint8_t bit_start, uint8_t *data);
    bool readBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t *data);
    
    bool write(char reg_addr, char data);
    bool write(char reg_addr, char* data, int length);
    bool writeBit(char reg_addr, uint8_t bit, bool value);
    bool writeBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t data);
    
    uint8_t getDeviceID();
    bool isReady();
    void initialise();
    void initialiseMagnetometer();
    void initialiseDMP();
    
    
    //PWR_MGMT_1 Control Register
    void reset();
    void sleep(bool state);
    void cycleMode(bool state);
    void disableTemperatureSensor(bool state);
    void clockSelect(uint8_t clk);
    
    //PWR_MGMT_2 Control Register
    void setCycleWakeFrequency(uint8_t value);
    void setStandbyAccX( bool value );
    void setStandbyAccY( bool value );
    void setStandbyAccZ( bool value );
    void setStandbyGyroX( bool value );
    void setStandbyGyroY( bool value );
    void setStandbyGyroZ( bool value );
    
    //SMPRT_DI Sample Rate Divider 
    void setSampleRateDivider(uint8_t value);

    //CONFIG
    void setExternalFrameSync(uint8_t value);
    void setDigitalLowPassFilter(uint8_t value);
    
    //GYRO_CONFIG
    void setGyroSelfTest(bool value);
    void setGyroFullScaleRange(uint8_t value);
    
    //ACCEL_CONFIG
    void setAccelSelfTest(bool value);
    void setAccelFullScaleRange(uint8_t value);
    
    //FIFO_EN
    void setTemperatureFifo(bool value);
    void setGyroFifo(bool value);
    void setAccelFifo(bool value);
    void setSlave2Fifo(bool value);
    void setSlave1Fifo(bool value);
    void setSlave0Fifo(bool value);
    
    //I2C_MST_CTRL
    void setMultiMaster(bool value);
    void setWaitForExternalSensor(bool value);
    void setSlave3Fifo(bool value);
    void setMasterStartStop(bool value);
    void setI2CMasterClock(uint8_t value);
    
    //I2C_SLV0_ADDR
    void setI2cSlaveRW(uint8_t slave_id, bool value);
    void setI2cSlaveAddress(uint8_t slave_id, uint8_t value);
    //I2C_SLV0_REG,
    void setI2cSlaveRegister(uint8_t slave_id, uint8_t value);
    //I2C_SLV0_CTRL
    void setI2cSlaveEnable(uint8_t slave_id, bool value);
    void setI2cSlaveByteSwap(uint8_t slave_id, bool value);
    void setI2cSlaveRegDisable(uint8_t slave_id, bool value);
    void setI2cSlaveByteGrouping(uint8_t slave_id, bool value);
    void setI2cSlaveTransactionLength(uint8_t slave_id, uint8_t value);
    //I2C_SLV0_DO
    void setI2cSlaveDataOut(uint8_t slave_id, uint8_t value);
    //I2C_MST_DELAY_CTRL
    void setI2cSlaveDelay(uint8_t slave_id, uint8_t value);
    void setI2cSlaveShadowDelay(uint8_t value)    ;
    //Slave4 is different
    void setI2cSlave4RW( bool value);
    void setI2cSlave4Address( uint8_t value);
    void setI2cSlave4Register(uint8_t value);
    void setI2cSlave4DataOut(uint8_t value);
    void setI2cSlave4Enable(bool value);
    void setI2cSlave4IntEnable(bool value);
    void setI2cSlave4RegDisable(bool value);
    void setI2cMasterDelay(uint8_t value);
    uint8_t getI2cSlave4Di();
    
    //I2C_MST_STATUS
    bool setI2cPassthrough();
    bool setI2cSlave4Done();
    bool setI2cLostArbitration();
    bool setI2cSlave0Nack();
    bool setI2cSlave1Nack();
    bool setI2cSlave2Nack();
    bool setI2cSlave3Nack();
    bool setI2cSlave4Nack();
    
    //INT_PIN_CFG
    void setInterruptActiveLow(bool value);
    void setInterruptOpenDrain(bool value);
    void setInterruptLatch(bool value);
    void setInterruptAnyReadClear(bool value);
    void setFsyncInterruptActiveLow(bool value);
    void setFsyncInterruptEnable(bool value);
    void setI2cAuxBypassEnable(bool value);
    
    //INT_ENABLE
    void setInterruptFifoOverflowEnable(bool value);
    void setInterruptMasterEnable(bool value);
    void setInterruptDataReadyEnable(bool value);
    
    //INT_STATUS
    bool getInterruptFifoOverflow();
    bool getInterruptMaster();
    bool getInterruptDataReady();
    uint8_t getInterruptStatus();
    
    //SIGNAL_PATH_RESET
    void resetGyroSignalPath();
    void resetAccelSignalPath();
    void resetTempSignalPath();
    
    //USER_CTRL 
    void setEnableFifo(bool value);
    void setI2cMasterEnable(bool value);
    void setFifoReset(bool value);
    void setI2cMasterReset(bool value);
    void setFullSensorReset(bool value);
    
    //FIFO_COUNT_H and FIFO_COUNT_L
    int16_t getFifoCount();
    
    //FIFO_R_W
    bool getFifoBuffer(char* buffer, int16_t length);
    
    //UNDOCUMENTED
    // XG_OFFS_TC
    uint8_t getOTPBankValid();
    
    //INT_ENABLE 
    void setIntPLLReadyEnabled(bool value); 
    void setIntDMPEnabled(bool value);
    
    // INT_STATUS
    bool getIntPLLReadyStatus();
    bool getIntDMPStatus();
    
    // USER_CTRL
    bool getDMPEnabled();
    void setDMPEnabled(bool value);
    void resetDMP();
    
    // BANK_SEL
    void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
    
    // MEM_START_ADDR
    void setMemoryStartAddress(uint8_t address);
    
    // MEM_R_W register
    uint8_t readMemoryByte();
    void writeMemoryByte(uint8_t value);
    void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address);
    bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0, bool verify = false);
    bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
    
    // DMP_CFG_1
    uint8_t getDMPConfig1();
    void setDMPConfig1(uint8_t config);
    
    // DMP_CFG_2
    uint8_t getDMPConfig2();
    void setDMPConfig2(uint8_t config);

    I2C i2c;
    uint8_t device_address;
    uint32_t read_errors;
    uint32_t write_errors;
};

#endif