Akash Vibhute / MPU9150_DMP_Nucleo

Modified I2C write / read methods for ST nucleo platforms. Library and code now works with Nucleo F411. Should also work with Nucleo F401.

Dependents:   MPU9150_nucleo_noni2cdev MPU9150_nucleo_noni2cdev_F401 JPEGCamera_SIM808_MPU9150_STM32F401RE

Fork of MPU9150_DMP by Chris Pepper

MPU9150.cpp@0:74f0ae286b03, 2014-08-31 (annotated)

Committer:
p3p
Date:
Sun Aug 31 12:52:29 2014 +0000
Revision:
0:74f0ae286b03
Child:
1:8ff0beb54dd4
MPU9150 api using its DMP for quaternions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
p3p 0:74f0ae286b03 1 #include "MPU9150.h"
p3p 0:74f0ae286b03 2
p3p 0:74f0ae286b03 3 uint8_t MPU9150::getDeviceID(){
p3p 0:74f0ae286b03 4 uint8_t ret = 0;
p3p 0:74f0ae286b03 5 readBits(MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, &ret);
p3p 0:74f0ae286b03 6 return ret;
p3p 0:74f0ae286b03 7 }
p3p 0:74f0ae286b03 8
p3p 0:74f0ae286b03 9 bool MPU9150::isReady(){
p3p 0:74f0ae286b03 10 return (getDeviceID() == (device_address >> 1));
p3p 0:74f0ae286b03 11 }
p3p 0:74f0ae286b03 12
p3p 0:74f0ae286b03 13 void MPU9150::initialise(){
p3p 0:74f0ae286b03 14 reset();
p3p 0:74f0ae286b03 15 wait_ms(20);//wait for reset
p3p 0:74f0ae286b03 16
p3p 0:74f0ae286b03 17 sleep(false);
p3p 0:74f0ae286b03 18 clockSelect(MPU6050_CLOCK_PLL_XGYRO); //use the gyro clock as its more reliable
p3p 0:74f0ae286b03 19 setGyroFullScaleRange(MPU6050_GYRO_FS_250);
p3p 0:74f0ae286b03 20 setAccelFullScaleRange(MPU6050_ACCEL_FS_2);
p3p 0:74f0ae286b03 21 setStandbyAccX(true);
p3p 0:74f0ae286b03 22 setI2CMasterClock(MPU6050_CLOCK_DIV_400);
p3p 0:74f0ae286b03 23 setDigitalLowPassFilter(MPU6050_DLPF_BW_42);
p3p 0:74f0ae286b03 24 setSampleRateDivider(4);
p3p 0:74f0ae286b03 25
p3p 0:74f0ae286b03 26 initialiseMagnetometer();
p3p 0:74f0ae286b03 27
p3p 0:74f0ae286b03 28 setFifoReset(true);
p3p 0:74f0ae286b03 29
p3p 0:74f0ae286b03 30 setTemperatureFifo(true);
p3p 0:74f0ae286b03 31 setAccelFifo(true);
p3p 0:74f0ae286b03 32 setGyroFifo(true);
p3p 0:74f0ae286b03 33 setSlave0Fifo(true);
p3p 0:74f0ae286b03 34
p3p 0:74f0ae286b03 35 setInterruptDataReadyEnable(true);
p3p 0:74f0ae286b03 36 setEnableFifo(true);
p3p 0:74f0ae286b03 37 }
p3p 0:74f0ae286b03 38
p3p 0:74f0ae286b03 39 void MPU9150::initialiseMagnetometer(){
p3p 0:74f0ae286b03 40 //set up slave 0 to read the magnetometor data
p3p 0:74f0ae286b03 41 setWaitForExternalSensor(true);
p3p 0:74f0ae286b03 42 //read data
p3p 0:74f0ae286b03 43 setI2cSlaveRW(0, true);
p3p 0:74f0ae286b03 44 setI2cSlaveAddress(0, 0x0C);
p3p 0:74f0ae286b03 45 setI2cSlaveRegister(0, 3);
p3p 0:74f0ae286b03 46 setI2cSlaveEnable(0, true);
p3p 0:74f0ae286b03 47 setI2cSlaveTransactionLength(0, 6);
p3p 0:74f0ae286b03 48
p3p 0:74f0ae286b03 49
p3p 0:74f0ae286b03 50 //set up slave 1 to request a new magnetometor reading by writing 0x01 to 0xA
p3p 0:74f0ae286b03 51 setI2cSlaveAddress(1, 0x0C);
p3p 0:74f0ae286b03 52 setI2cSlaveRegister(1, 0x0A);
p3p 0:74f0ae286b03 53 setI2cSlaveTransactionLength(1, 1);
p3p 0:74f0ae286b03 54 setI2cSlaveEnable(1, true);
p3p 0:74f0ae286b03 55 setI2cSlaveDataOut(1, 1);
p3p 0:74f0ae286b03 56
p3p 0:74f0ae286b03 57 //configure update rates
p3p 0:74f0ae286b03 58 setI2cMasterDelay(4);
p3p 0:74f0ae286b03 59 setI2cSlaveDelay(0, true);
p3p 0:74f0ae286b03 60 setI2cSlaveDelay(1, true);
p3p 0:74f0ae286b03 61
p3p 0:74f0ae286b03 62 //Enable the aux i2c bus with MPU9150 as master
p3p 0:74f0ae286b03 63 setI2cMasterEnable(true);
p3p 0:74f0ae286b03 64 }
p3p 0:74f0ae286b03 65
p3p 0:74f0ae286b03 66 void MPU9150::initialiseDMP(){
p3p 0:74f0ae286b03 67 reset();
p3p 0:74f0ae286b03 68 wait_ms(20);
p3p 0:74f0ae286b03 69 sleep(false);
p3p 0:74f0ae286b03 70
p3p 0:74f0ae286b03 71 //does this exist in the 9150?
p3p 0:74f0ae286b03 72 char product[6] = {0,0,0,0,0,0};
p3p 0:74f0ae286b03 73 read(0x77, product, 6 );
p3p 0:74f0ae286b03 74 int rev = ((product[5] & 0x01) << 2) | ((product[3] & 0x01) << 1) |
p3p 0:74f0ae286b03 75 (product[1] & 0x01);
p3p 0:74f0ae286b03 76 debug.printf("%02X, %02X, %02X, %02X, %02X, %02X\r\n", product[0], product[1], product[2], product[3], product[4], product[5]);
p3p 0:74f0ae286b03 77 debug.printf("Product Revision: %d\r\n", rev);
p3p 0:74f0ae286b03 78
p3p 0:74f0ae286b03 79
p3p 0:74f0ae286b03 80 setMemoryBank(0x10, true, true);
p3p 0:74f0ae286b03 81 setMemoryStartAddress(0x06);
p3p 0:74f0ae286b03 82 debug.printf("Hardware Version: %d\r\n", readMemoryByte());
p3p 0:74f0ae286b03 83
p3p 0:74f0ae286b03 84 setMemoryBank(0);
p3p 0:74f0ae286b03 85 // check OTP bank valid
p3p 0:74f0ae286b03 86 uint8_t otpValid = getOTPBankValid();
p3p 0:74f0ae286b03 87 debug.printf("optValid: %d\r\n", otpValid);
p3p 0:74f0ae286b03 88
p3p 0:74f0ae286b03 89 //Enabling interrupt latch, clear on any read, AUX bypass enabled
p3p 0:74f0ae286b03 90 write(MPU6050_RA_INT_PIN_CFG, 0x32);
p3p 0:74f0ae286b03 91
p3p 0:74f0ae286b03 92 if (writeMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE, 0 ,0, true)) {
p3p 0:74f0ae286b03 93 debug.printf("Success! DMP code written and verified.\r\n");
p3p 0:74f0ae286b03 94 if (writeDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) {
p3p 0:74f0ae286b03 95 debug.printf("Success! DMP configuration written and verified.\r\n");
p3p 0:74f0ae286b03 96 setIntDMPEnabled(true);
p3p 0:74f0ae286b03 97 setInterruptFifoOverflowEnable(true);
p3p 0:74f0ae286b03 98 setSampleRateDivider(4);
p3p 0:74f0ae286b03 99 clockSelect(MPU6050_CLOCK_PLL_XGYRO);
p3p 0:74f0ae286b03 100 setDigitalLowPassFilter(MPU6050_DLPF_BW_42);
p3p 0:74f0ae286b03 101 setGyroFullScaleRange(MPU6050_GYRO_FS_2000);
p3p 0:74f0ae286b03 102
p3p 0:74f0ae286b03 103 setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
p3p 0:74f0ae286b03 104 setDMPConfig1(0x03);
p3p 0:74f0ae286b03 105 setDMPConfig2(0x00);
p3p 0:74f0ae286b03 106
p3p 0:74f0ae286b03 107 unsigned char *update_ptr = (unsigned char*)dmpUpdates;
p3p 0:74f0ae286b03 108 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 109 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 110 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 111
p3p 0:74f0ae286b03 112 setFifoReset(true);
p3p 0:74f0ae286b03 113
p3p 0:74f0ae286b03 114 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 115 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 116 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 117 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 118
p3p 0:74f0ae286b03 119 write(MPU6050_RA_PWR_MGMT_2, 0x00);
p3p 0:74f0ae286b03 120 setInterruptAnyReadClear(true);
p3p 0:74f0ae286b03 121 setInterruptLatch(true);
p3p 0:74f0ae286b03 122
p3p 0:74f0ae286b03 123 setI2cSlaveRW(0, true);
p3p 0:74f0ae286b03 124 setI2cSlaveAddress(0, 0x0C);
p3p 0:74f0ae286b03 125 setI2cSlaveRegister(0, 1);
p3p 0:74f0ae286b03 126 setI2cSlaveEnable(0, true);
p3p 0:74f0ae286b03 127 setI2cSlaveTransactionLength(0, 10);
p3p 0:74f0ae286b03 128
p3p 0:74f0ae286b03 129 //set up slave 1 to request a new magnetometor reading by writing 0x01 to 0xA
p3p 0:74f0ae286b03 130 setI2cSlaveAddress(2, 0x0C);
p3p 0:74f0ae286b03 131 setI2cSlaveRegister(2, 0x0A);
p3p 0:74f0ae286b03 132 setI2cSlaveTransactionLength(2, 1);
p3p 0:74f0ae286b03 133 setI2cSlaveEnable(2, true);
p3p 0:74f0ae286b03 134 setI2cSlaveDataOut(2, 1);
p3p 0:74f0ae286b03 135
p3p 0:74f0ae286b03 136 //configure update rates
p3p 0:74f0ae286b03 137 setI2cMasterDelay(4);
p3p 0:74f0ae286b03 138 setI2cSlaveDelay(0, true);
p3p 0:74f0ae286b03 139 setI2cSlaveDelay(2, true);
p3p 0:74f0ae286b03 140
p3p 0:74f0ae286b03 141 //Enable the aux i2c bus with MPU9150 as master
p3p 0:74f0ae286b03 142 setI2cMasterEnable(true);
p3p 0:74f0ae286b03 143
p3p 0:74f0ae286b03 144 write(MPU6050_RA_INT_PIN_CFG, 0x00);
p3p 0:74f0ae286b03 145
p3p 0:74f0ae286b03 146 // enable I2C master mode and reset DMP/FIFO
p3p 0:74f0ae286b03 147 //DEBUG_PRINTLN(F("Enabling I2C master mode..."));
p3p 0:74f0ae286b03 148 write( MPU6050_RA_USER_CTRL, 0x20);
p3p 0:74f0ae286b03 149 //DEBUG_PRINTLN(F("Resetting FIFO..."));
p3p 0:74f0ae286b03 150 write(MPU6050_RA_USER_CTRL, 0x24);
p3p 0:74f0ae286b03 151 //DEBUG_PRINTLN(F("Rewriting I2C master mode enabled because...I don't know"));
p3p 0:74f0ae286b03 152 write(MPU6050_RA_USER_CTRL, 0x20);
p3p 0:74f0ae286b03 153 //DEBUG_PRINTLN(F("Enabling and resetting DMP/FIFO..."));
p3p 0:74f0ae286b03 154 write(MPU6050_RA_USER_CTRL, 0xE8);
p3p 0:74f0ae286b03 155
p3p 0:74f0ae286b03 156 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 157 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 158 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 159 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 160 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 161 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 162 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 163 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 164 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 165 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 166 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 167 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 168 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 169 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 170
p3p 0:74f0ae286b03 171 //read?
p3p 0:74f0ae286b03 172 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 173 //stalls?
p3p 0:74f0ae286b03 174 //readMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1]);
p3p 0:74f0ae286b03 175
p3p 0:74f0ae286b03 176
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
p3p 0:74f0ae286b03 188 int fifoCount = 0;
p3p 0:74f0ae286b03 189 while ((fifoCount = getFifoCount()) < 46);
p3p 0:74f0ae286b03 190 uint8_t buffer[128];
p3p 0:74f0ae286b03 191 getFifoBuffer((char *)buffer, fifoCount);
p3p 0:74f0ae286b03 192 getInterruptStatus();
p3p 0:74f0ae286b03 193
p3p 0:74f0ae286b03 194 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 195 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 196
p3p 0:74f0ae286b03 197 fifoCount = 0;
p3p 0:74f0ae286b03 198 while ((fifoCount = getFifoCount()) < 48);
p3p 0:74f0ae286b03 199 getFifoBuffer((char *)buffer, fifoCount);
p3p 0:74f0ae286b03 200 getInterruptStatus();
p3p 0:74f0ae286b03 201 fifoCount = 0;
p3p 0:74f0ae286b03 202 while ((fifoCount = getFifoCount()) < 48);
p3p 0:74f0ae286b03 203 getFifoBuffer((char *)buffer, fifoCount);
p3p 0:74f0ae286b03 204 getInterruptStatus();
p3p 0:74f0ae286b03 205
p3p 0:74f0ae286b03 206 update_ptr += update_ptr[2] + 3;
p3p 0:74f0ae286b03 207 writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
p3p 0:74f0ae286b03 208
p3p 0:74f0ae286b03 209 setDMPEnabled(false);
p3p 0:74f0ae286b03 210
p3p 0:74f0ae286b03 211 debug.printf("finished\r\n");
p3p 0:74f0ae286b03 212
p3p 0:74f0ae286b03 213 }
p3p 0:74f0ae286b03 214 }
p3p 0:74f0ae286b03 215
p3p 0:74f0ae286b03 216
p3p 0:74f0ae286b03 217 }
p3p 0:74f0ae286b03 218
p3p 0:74f0ae286b03 219 //PWR_MGMT_1 Control Register
p3p 0:74f0ae286b03 220 //*****************************/
p3p 0:74f0ae286b03 221 void MPU9150::reset(){
p3p 0:74f0ae286b03 222 writeBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
p3p 0:74f0ae286b03 223 }
p3p 0:74f0ae286b03 224
p3p 0:74f0ae286b03 225 void MPU9150::sleep(bool state){
p3p 0:74f0ae286b03 226 writeBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, state);
p3p 0:74f0ae286b03 227 }
p3p 0:74f0ae286b03 228
p3p 0:74f0ae286b03 229 /*
p3p 0:74f0ae286b03 230 cycle between sleep mode and waking up to take a single sample of data from
p3p 0:74f0ae286b03 231 active sensors at a rate determined by LP_WAKE_CTRL (register 108).
p3p 0:74f0ae286b03 232 */
p3p 0:74f0ae286b03 233 void MPU9150::cycleMode(bool state){
p3p 0:74f0ae286b03 234 writeBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, state);
p3p 0:74f0ae286b03 235 }
p3p 0:74f0ae286b03 236 void MPU9150::disableTemperatureSensor(bool state){
p3p 0:74f0ae286b03 237 writeBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, state);
p3p 0:74f0ae286b03 238 }
p3p 0:74f0ae286b03 239 void MPU9150::clockSelect(uint8_t clk){
p3p 0:74f0ae286b03 240 writeBits(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, clk);
p3p 0:74f0ae286b03 241 }
p3p 0:74f0ae286b03 242
p3p 0:74f0ae286b03 243 //PWR_MGMT_2 Control Register
p3p 0:74f0ae286b03 244 //*****************************/
p3p 0:74f0ae286b03 245 void MPU9150::setCycleWakeFrequency(uint8_t freq){
p3p 0:74f0ae286b03 246 writeBits(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, freq);
p3p 0:74f0ae286b03 247 }
p3p 0:74f0ae286b03 248 void MPU9150::setStandbyAccX(bool value){
p3p 0:74f0ae286b03 249 writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, value);
p3p 0:74f0ae286b03 250 }
p3p 0:74f0ae286b03 251 void MPU9150::setStandbyAccY(bool value){
p3p 0:74f0ae286b03 252 writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, value);
p3p 0:74f0ae286b03 253 }
p3p 0:74f0ae286b03 254 void MPU9150::setStandbyAccZ(bool value){
p3p 0:74f0ae286b03 255 writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, value);
p3p 0:74f0ae286b03 256 }
p3p 0:74f0ae286b03 257 void MPU9150::setStandbyGyroX( bool value){
p3p 0:74f0ae286b03 258 writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, value);
p3p 0:74f0ae286b03 259 }
p3p 0:74f0ae286b03 260 void MPU9150::setStandbyGyroY( bool value){
p3p 0:74f0ae286b03 261 writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, value);
p3p 0:74f0ae286b03 262 }
p3p 0:74f0ae286b03 263 void MPU9150::setStandbyGyroZ( bool value){
p3p 0:74f0ae286b03 264 writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, value);
p3p 0:74f0ae286b03 265 }
p3p 0:74f0ae286b03 266
p3p 0:74f0ae286b03 267 //SMPRT_DIV Sample Rate Divider
p3p 0:74f0ae286b03 268 //*****************************/
p3p 0:74f0ae286b03 269 void MPU9150::setSampleRateDivider(uint8_t value){
p3p 0:74f0ae286b03 270 write(MPU6050_RA_SMPLRT_DIV, value);
p3p 0:74f0ae286b03 271 }
p3p 0:74f0ae286b03 272
p3p 0:74f0ae286b03 273 //CONFIG
p3p 0:74f0ae286b03 274 void MPU9150::setExternalFrameSync(uint8_t value){
p3p 0:74f0ae286b03 275 writeBits(MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, value);
p3p 0:74f0ae286b03 276 }
p3p 0:74f0ae286b03 277 void MPU9150::setDigitalLowPassFilter(uint8_t value){
p3p 0:74f0ae286b03 278 writeBits(MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, value);
p3p 0:74f0ae286b03 279 }
p3p 0:74f0ae286b03 280
p3p 0:74f0ae286b03 281 //GYRO_CONFIG
p3p 0:74f0ae286b03 282 void MPU9150::setGyroSelfTest(bool value){
p3p 0:74f0ae286b03 283 writeBit(MPU6050_RA_GYRO_CONFIG, 7, value); //X
p3p 0:74f0ae286b03 284 writeBit(MPU6050_RA_GYRO_CONFIG, 6, value); //Y
p3p 0:74f0ae286b03 285 writeBit(MPU6050_RA_GYRO_CONFIG, 5, value); //Z
p3p 0:74f0ae286b03 286 }
p3p 0:74f0ae286b03 287
p3p 0:74f0ae286b03 288 void MPU9150::setGyroFullScaleRange(uint8_t value){
p3p 0:74f0ae286b03 289 writeBits(MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, value);
p3p 0:74f0ae286b03 290 }
p3p 0:74f0ae286b03 291
p3p 0:74f0ae286b03 292 //ACCEL_CONFIG
p3p 0:74f0ae286b03 293 void MPU9150::setAccelSelfTest(bool value){
p3p 0:74f0ae286b03 294 writeBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, value);
p3p 0:74f0ae286b03 295 writeBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, value);
p3p 0:74f0ae286b03 296 writeBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, value);
p3p 0:74f0ae286b03 297 }
p3p 0:74f0ae286b03 298 void MPU9150::setAccelFullScaleRange(uint8_t value){
p3p 0:74f0ae286b03 299 writeBits(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT , MPU6050_ACONFIG_AFS_SEL_LENGTH, value);
p3p 0:74f0ae286b03 300 }
p3p 0:74f0ae286b03 301
p3p 0:74f0ae286b03 302 //FIFO_EN
p3p 0:74f0ae286b03 303 void MPU9150::setTemperatureFifo(bool value){
p3p 0:74f0ae286b03 304 writeBit(MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 305 }
p3p 0:74f0ae286b03 306 void MPU9150::setGyroFifo(bool value){
p3p 0:74f0ae286b03 307 writeBit(MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 308 writeBit(MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 309 writeBit(MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 310 }
p3p 0:74f0ae286b03 311 void MPU9150::setAccelFifo(bool value){
p3p 0:74f0ae286b03 312 writeBit(MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 313 }
p3p 0:74f0ae286b03 314 void MPU9150::setSlave2Fifo(bool value){
p3p 0:74f0ae286b03 315 writeBit(MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 316 }
p3p 0:74f0ae286b03 317 void MPU9150::setSlave1Fifo(bool value){
p3p 0:74f0ae286b03 318 writeBit(MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 319 }
p3p 0:74f0ae286b03 320 void MPU9150::setSlave0Fifo(bool value){
p3p 0:74f0ae286b03 321 writeBit(MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 322 }
p3p 0:74f0ae286b03 323
p3p 0:74f0ae286b03 324 //I2C_MST_CTRL
p3p 0:74f0ae286b03 325 void MPU9150::setMultiMaster(bool value){
p3p 0:74f0ae286b03 326 writeBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, value);
p3p 0:74f0ae286b03 327 }
p3p 0:74f0ae286b03 328 void MPU9150::setWaitForExternalSensor(bool value){
p3p 0:74f0ae286b03 329 writeBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, value);
p3p 0:74f0ae286b03 330 }
p3p 0:74f0ae286b03 331 void MPU9150::setSlave3Fifo(bool value){
p3p 0:74f0ae286b03 332 writeBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 333 }
p3p 0:74f0ae286b03 334 void MPU9150::setMasterStartStop(bool value){
p3p 0:74f0ae286b03 335 writeBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, value);
p3p 0:74f0ae286b03 336 }
p3p 0:74f0ae286b03 337 void MPU9150::setI2CMasterClock(uint8_t value){
p3p 0:74f0ae286b03 338 writeBits(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, value);
p3p 0:74f0ae286b03 339 }
p3p 0:74f0ae286b03 340
p3p 0:74f0ae286b03 341 //I2C slaves 0 to 3
p3p 0:74f0ae286b03 342 //I2C_SLV0_ADDR
p3p 0:74f0ae286b03 343 void MPU9150::setI2cSlaveRW(uint8_t slave_id, bool value){
p3p 0:74f0ae286b03 344 if(slave_id > 3)return;
p3p 0:74f0ae286b03 345 writeBit(MPU6050_RA_I2C_SLV0_ADDR + (slave_id * 3), MPU6050_I2C_SLV_RW_BIT, value);
p3p 0:74f0ae286b03 346 }
p3p 0:74f0ae286b03 347 void MPU9150::setI2cSlaveAddress(uint8_t slave_id, uint8_t value){
p3p 0:74f0ae286b03 348 if(slave_id > 3)return;
p3p 0:74f0ae286b03 349 writeBits(MPU6050_RA_I2C_SLV0_ADDR + (slave_id * 3), MPU6050_I2C_SLV_ADDR_BIT, MPU6050_I2C_SLV_ADDR_LENGTH, value);
p3p 0:74f0ae286b03 350 }
p3p 0:74f0ae286b03 351 //I2C_SLV0_REG,
p3p 0:74f0ae286b03 352 void MPU9150::setI2cSlaveRegister(uint8_t slave_id, uint8_t value){
p3p 0:74f0ae286b03 353 if(slave_id > 3)return;
p3p 0:74f0ae286b03 354 write(MPU6050_RA_I2C_SLV0_REG + (slave_id * 3), value);
p3p 0:74f0ae286b03 355 }
p3p 0:74f0ae286b03 356 //I2C_SLV0_CTRL
p3p 0:74f0ae286b03 357 void MPU9150::setI2cSlaveEnable(uint8_t slave_id, bool value){
p3p 0:74f0ae286b03 358 if(slave_id > 3)return;
p3p 0:74f0ae286b03 359 writeBit(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_EN_BIT, value);
p3p 0:74f0ae286b03 360 }
p3p 0:74f0ae286b03 361 void MPU9150::setI2cSlaveByteSwap(uint8_t slave_id, bool value){
p3p 0:74f0ae286b03 362 if(slave_id > 3)return;
p3p 0:74f0ae286b03 363 writeBit(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_BYTE_SW_BIT, value);
p3p 0:74f0ae286b03 364 }
p3p 0:74f0ae286b03 365 void MPU9150::setI2cSlaveRegDisable(uint8_t slave_id, bool value){
p3p 0:74f0ae286b03 366 if(slave_id > 3)return;
p3p 0:74f0ae286b03 367 writeBit(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_REG_DIS_BIT, value);
p3p 0:74f0ae286b03 368 }
p3p 0:74f0ae286b03 369 void MPU9150::setI2cSlaveByteGrouping(uint8_t slave_id, bool value){
p3p 0:74f0ae286b03 370 if(slave_id > 3)return;
p3p 0:74f0ae286b03 371 writeBit(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_GRP_BIT, value);
p3p 0:74f0ae286b03 372 }
p3p 0:74f0ae286b03 373 void MPU9150::setI2cSlaveTransactionLength(uint8_t slave_id, uint8_t value){
p3p 0:74f0ae286b03 374 if(slave_id > 3)return;
p3p 0:74f0ae286b03 375 writeBits(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, value);
p3p 0:74f0ae286b03 376 }
p3p 0:74f0ae286b03 377 //I2C_SLV0_DO
p3p 0:74f0ae286b03 378 void MPU9150::setI2cSlaveDataOut(uint8_t slave_id, uint8_t value){
p3p 0:74f0ae286b03 379 if(slave_id > 3)return;
p3p 0:74f0ae286b03 380 write(MPU6050_RA_I2C_SLV0_DO + slave_id, value);
p3p 0:74f0ae286b03 381 }
p3p 0:74f0ae286b03 382 //I2C_MST_DELAY_CTRL
p3p 0:74f0ae286b03 383 void MPU9150::setI2cSlaveDelay(uint8_t slave_id, uint8_t value){
p3p 0:74f0ae286b03 384 writeBit(MPU6050_RA_I2C_MST_DELAY_CTRL, slave_id, value);
p3p 0:74f0ae286b03 385 }
p3p 0:74f0ae286b03 386 void MPU9150::setI2cSlaveShadowDelay(uint8_t value){
p3p 0:74f0ae286b03 387 writeBit(MPU6050_RA_I2C_MST_DELAY_CTRL, 7, value);
p3p 0:74f0ae286b03 388 }
p3p 0:74f0ae286b03 389
p3p 0:74f0ae286b03 390 //I2C slave4
p3p 0:74f0ae286b03 391 //I2C_SLV4_ADDR
p3p 0:74f0ae286b03 392 void MPU9150::setI2cSlave4RW( bool value){
p3p 0:74f0ae286b03 393 writeBit(MPU6050_RA_I2C_SLV4_ADDR, MPU6050_I2C_SLV4_RW_BIT, value);
p3p 0:74f0ae286b03 394 }
p3p 0:74f0ae286b03 395 void MPU9150::setI2cSlave4Address( uint8_t value){
p3p 0:74f0ae286b03 396 writeBits(MPU6050_RA_I2C_SLV4_ADDR, MPU6050_I2C_SLV4_ADDR_BIT, MPU6050_I2C_SLV4_ADDR_LENGTH, value);
p3p 0:74f0ae286b03 397 }
p3p 0:74f0ae286b03 398 //I2C_SLV4_REG,
p3p 0:74f0ae286b03 399 void MPU9150::setI2cSlave4Register(uint8_t value){
p3p 0:74f0ae286b03 400 write(MPU6050_RA_I2C_SLV4_REG, value);
p3p 0:74f0ae286b03 401 }
p3p 0:74f0ae286b03 402 //I2C_SLV4_DO
p3p 0:74f0ae286b03 403 void MPU9150::setI2cSlave4DataOut(uint8_t value){
p3p 0:74f0ae286b03 404 write(MPU6050_RA_I2C_SLV4_DO, value);
p3p 0:74f0ae286b03 405 }
p3p 0:74f0ae286b03 406
p3p 0:74f0ae286b03 407 //I2C_SLV4_CTRL
p3p 0:74f0ae286b03 408 void MPU9150::setI2cSlave4Enable(bool value){
p3p 0:74f0ae286b03 409 writeBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, value);
p3p 0:74f0ae286b03 410 }
p3p 0:74f0ae286b03 411
p3p 0:74f0ae286b03 412 void MPU9150::setI2cSlave4IntEnable(bool value){
p3p 0:74f0ae286b03 413 writeBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, value);
p3p 0:74f0ae286b03 414 }
p3p 0:74f0ae286b03 415
p3p 0:74f0ae286b03 416 void MPU9150::setI2cSlave4RegDisable(bool value){
p3p 0:74f0ae286b03 417 writeBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, value);
p3p 0:74f0ae286b03 418 }
p3p 0:74f0ae286b03 419
p3p 0:74f0ae286b03 420 void MPU9150::setI2cMasterDelay(uint8_t value){
p3p 0:74f0ae286b03 421 writeBits(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, value);
p3p 0:74f0ae286b03 422 }
p3p 0:74f0ae286b03 423
p3p 0:74f0ae286b03 424 uint8_t MPU9150::getI2cSlave4Di(){
p3p 0:74f0ae286b03 425 return get8(MPU6050_RA_I2C_SLV4_DI);
p3p 0:74f0ae286b03 426 }
p3p 0:74f0ae286b03 427
p3p 0:74f0ae286b03 428 //I2C_MST_STATUS
p3p 0:74f0ae286b03 429 bool MPU9150::setI2cPassthrough(){
p3p 0:74f0ae286b03 430 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT);
p3p 0:74f0ae286b03 431 }
p3p 0:74f0ae286b03 432 bool MPU9150::setI2cSlave4Done(){
p3p 0:74f0ae286b03 433 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT);
p3p 0:74f0ae286b03 434 }
p3p 0:74f0ae286b03 435 bool MPU9150::setI2cLostArbitration(){
p3p 0:74f0ae286b03 436 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT);
p3p 0:74f0ae286b03 437 }
p3p 0:74f0ae286b03 438 bool MPU9150::setI2cSlave0Nack(){
p3p 0:74f0ae286b03 439 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT);
p3p 0:74f0ae286b03 440 }
p3p 0:74f0ae286b03 441 bool MPU9150::setI2cSlave1Nack(){
p3p 0:74f0ae286b03 442 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT);
p3p 0:74f0ae286b03 443 }
p3p 0:74f0ae286b03 444 bool MPU9150::setI2cSlave2Nack(){
p3p 0:74f0ae286b03 445 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT);
p3p 0:74f0ae286b03 446 }
p3p 0:74f0ae286b03 447 bool MPU9150::setI2cSlave3Nack(){
p3p 0:74f0ae286b03 448 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT);
p3p 0:74f0ae286b03 449 }
p3p 0:74f0ae286b03 450 bool MPU9150::setI2cSlave4Nack(){
p3p 0:74f0ae286b03 451 return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT);
p3p 0:74f0ae286b03 452 }
p3p 0:74f0ae286b03 453
p3p 0:74f0ae286b03 454 //INT_PIN_CFG
p3p 0:74f0ae286b03 455 void MPU9150::setInterruptActiveLow(bool value){
p3p 0:74f0ae286b03 456 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, value);
p3p 0:74f0ae286b03 457 }
p3p 0:74f0ae286b03 458 void MPU9150::setInterruptOpenDrain(bool value){
p3p 0:74f0ae286b03 459 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, value);
p3p 0:74f0ae286b03 460 }
p3p 0:74f0ae286b03 461 void MPU9150::setInterruptLatch(bool value){
p3p 0:74f0ae286b03 462 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, value);
p3p 0:74f0ae286b03 463 }
p3p 0:74f0ae286b03 464 void MPU9150::setInterruptAnyReadClear(bool value){
p3p 0:74f0ae286b03 465 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, value);
p3p 0:74f0ae286b03 466 }
p3p 0:74f0ae286b03 467 void MPU9150::setFsyncInterruptActiveLow(bool value){
p3p 0:74f0ae286b03 468 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, value);
p3p 0:74f0ae286b03 469 }
p3p 0:74f0ae286b03 470 void MPU9150::setFsyncInterruptEnable(bool value){
p3p 0:74f0ae286b03 471 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, value);
p3p 0:74f0ae286b03 472 }
p3p 0:74f0ae286b03 473 void MPU9150::setI2cAuxBypassEnable(bool value){
p3p 0:74f0ae286b03 474 writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, value);
p3p 0:74f0ae286b03 475 }
p3p 0:74f0ae286b03 476
p3p 0:74f0ae286b03 477 //INT_ENABLE
p3p 0:74f0ae286b03 478 void MPU9150::setInterruptFifoOverflowEnable(bool value){
p3p 0:74f0ae286b03 479 writeBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, value);
p3p 0:74f0ae286b03 480 }
p3p 0:74f0ae286b03 481 void MPU9150::setInterruptMasterEnable(bool value){
p3p 0:74f0ae286b03 482 writeBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, value);
p3p 0:74f0ae286b03 483 }
p3p 0:74f0ae286b03 484 void MPU9150::setInterruptDataReadyEnable(bool value){
p3p 0:74f0ae286b03 485 writeBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, value);
p3p 0:74f0ae286b03 486 }
p3p 0:74f0ae286b03 487
p3p 0:74f0ae286b03 488 //INT_STATUS
p3p 0:74f0ae286b03 489 bool MPU9150::getInterruptFifoOverflow(){
p3p 0:74f0ae286b03 490 return getBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT);
p3p 0:74f0ae286b03 491 }
p3p 0:74f0ae286b03 492 bool MPU9150::getInterruptMaster(){
p3p 0:74f0ae286b03 493 return getBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT);
p3p 0:74f0ae286b03 494 }
p3p 0:74f0ae286b03 495 bool MPU9150::getInterruptDataReady(){
p3p 0:74f0ae286b03 496 return getBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT);
p3p 0:74f0ae286b03 497 }
p3p 0:74f0ae286b03 498
p3p 0:74f0ae286b03 499 uint8_t MPU9150::getInterruptStatus(){
p3p 0:74f0ae286b03 500 return get8(MPU6050_RA_INT_STATUS);
p3p 0:74f0ae286b03 501 }
p3p 0:74f0ae286b03 502
p3p 0:74f0ae286b03 503 //SIGNAL_PATH_RESET
p3p 0:74f0ae286b03 504 void MPU9150::resetGyroSignalPath(){
p3p 0:74f0ae286b03 505 writeBit(MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
p3p 0:74f0ae286b03 506 }
p3p 0:74f0ae286b03 507 void MPU9150::resetAccelSignalPath(){
p3p 0:74f0ae286b03 508 writeBit(MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
p3p 0:74f0ae286b03 509 }
p3p 0:74f0ae286b03 510 void MPU9150::resetTempSignalPath(){
p3p 0:74f0ae286b03 511 writeBit(MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
p3p 0:74f0ae286b03 512 }
p3p 0:74f0ae286b03 513
p3p 0:74f0ae286b03 514 //USER_CTRL
p3p 0:74f0ae286b03 515 void MPU9150::setEnableFifo(bool value){
p3p 0:74f0ae286b03 516 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, value);
p3p 0:74f0ae286b03 517 }
p3p 0:74f0ae286b03 518 void MPU9150::setI2cMasterEnable(bool value){
p3p 0:74f0ae286b03 519 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, value);
p3p 0:74f0ae286b03 520 }
p3p 0:74f0ae286b03 521 void MPU9150::setFifoReset(bool value){
p3p 0:74f0ae286b03 522 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, value);
p3p 0:74f0ae286b03 523 }
p3p 0:74f0ae286b03 524 void MPU9150::setI2cMasterReset(bool value){
p3p 0:74f0ae286b03 525 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, value);
p3p 0:74f0ae286b03 526 }
p3p 0:74f0ae286b03 527 void MPU9150::setFullSensorReset(bool value){
p3p 0:74f0ae286b03 528 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, value);
p3p 0:74f0ae286b03 529 }
p3p 0:74f0ae286b03 530
p3p 0:74f0ae286b03 531 //FIFO_COUNT_H and FIFO_COUNT_L
p3p 0:74f0ae286b03 532 int16_t MPU9150::getFifoCount(){
p3p 0:74f0ae286b03 533 return get16(MPU6050_RA_FIFO_COUNTH);
p3p 0:74f0ae286b03 534 }
p3p 0:74f0ae286b03 535
p3p 0:74f0ae286b03 536 //FIFO_R_W
p3p 0:74f0ae286b03 537 bool MPU9150::getFifoBuffer(char* buffer, int16_t length){
p3p 0:74f0ae286b03 538 return read(MPU6050_RA_FIFO_R_W, buffer, length);
p3p 0:74f0ae286b03 539 }
p3p 0:74f0ae286b03 540
p3p 0:74f0ae286b03 541 //UNDOCUMENTED (again reimplemention from sparkfun github) can't find any origional documentation
p3p 0:74f0ae286b03 542 // XG_OFFS_TC
p3p 0:74f0ae286b03 543 uint8_t MPU9150::getOTPBankValid() {
p3p 0:74f0ae286b03 544 return getBit(MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT);
p3p 0:74f0ae286b03 545 }
p3p 0:74f0ae286b03 546
p3p 0:74f0ae286b03 547 //INT_ENABLE
p3p 0:74f0ae286b03 548 void MPU9150::setIntPLLReadyEnabled(bool value) {
p3p 0:74f0ae286b03 549 writeBit( MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, value);
p3p 0:74f0ae286b03 550 }
p3p 0:74f0ae286b03 551 void MPU9150::setIntDMPEnabled(bool value) {
p3p 0:74f0ae286b03 552 writeBit( MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, value);
p3p 0:74f0ae286b03 553 }
p3p 0:74f0ae286b03 554
p3p 0:74f0ae286b03 555 // INT_STATUS
p3p 0:74f0ae286b03 556 bool MPU9150::getIntPLLReadyStatus() {
p3p 0:74f0ae286b03 557 return getBit( MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT);
p3p 0:74f0ae286b03 558 }
p3p 0:74f0ae286b03 559 bool MPU9150::getIntDMPStatus() {
p3p 0:74f0ae286b03 560 return getBit( MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT);
p3p 0:74f0ae286b03 561 }
p3p 0:74f0ae286b03 562
p3p 0:74f0ae286b03 563 // USER_CTRL
p3p 0:74f0ae286b03 564 bool MPU9150::getDMPEnabled() {
p3p 0:74f0ae286b03 565 return getBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT);
p3p 0:74f0ae286b03 566 }
p3p 0:74f0ae286b03 567 void MPU9150::setDMPEnabled(bool value) {
p3p 0:74f0ae286b03 568 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, value);
p3p 0:74f0ae286b03 569 }
p3p 0:74f0ae286b03 570 void MPU9150::resetDMP() {
p3p 0:74f0ae286b03 571 writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
p3p 0:74f0ae286b03 572 }
p3p 0:74f0ae286b03 573
p3p 0:74f0ae286b03 574 // BANK_SEL
p3p 0:74f0ae286b03 575 void MPU9150::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
p3p 0:74f0ae286b03 576 bank &= 0x1F;
p3p 0:74f0ae286b03 577 if (userBank){
p3p 0:74f0ae286b03 578 bank |= 0x20;
p3p 0:74f0ae286b03 579 }
p3p 0:74f0ae286b03 580 if (prefetchEnabled){
p3p 0:74f0ae286b03 581 bank |= 0x40;
p3p 0:74f0ae286b03 582 }
p3p 0:74f0ae286b03 583 write( MPU6050_RA_BANK_SEL, bank);
p3p 0:74f0ae286b03 584 }
p3p 0:74f0ae286b03 585
p3p 0:74f0ae286b03 586 // MEM_START_ADDR
p3p 0:74f0ae286b03 587 void MPU9150::setMemoryStartAddress(uint8_t address) {
p3p 0:74f0ae286b03 588 write(MPU6050_RA_MEM_START_ADDR, address);
p3p 0:74f0ae286b03 589 }
p3p 0:74f0ae286b03 590
p3p 0:74f0ae286b03 591 // MEM_R_W
p3p 0:74f0ae286b03 592 uint8_t MPU9150::readMemoryByte() {
p3p 0:74f0ae286b03 593 return get8(MPU6050_RA_MEM_R_W);
p3p 0:74f0ae286b03 594 }
p3p 0:74f0ae286b03 595 void MPU9150::writeMemoryByte(uint8_t value) {
p3p 0:74f0ae286b03 596 write(MPU6050_RA_MEM_R_W, value);
p3p 0:74f0ae286b03 597 }
p3p 0:74f0ae286b03 598 void MPU9150::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
p3p 0:74f0ae286b03 599 setMemoryBank(bank);
p3p 0:74f0ae286b03 600 setMemoryStartAddress(address);
p3p 0:74f0ae286b03 601
p3p 0:74f0ae286b03 602 uint8_t chunkSize;
p3p 0:74f0ae286b03 603 for (uint16_t i = 0; i < dataSize;) {
p3p 0:74f0ae286b03 604 // determine correct chunk size according to bank position and data size
p3p 0:74f0ae286b03 605 chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
p3p 0:74f0ae286b03 606
p3p 0:74f0ae286b03 607 // make sure we don't go past the data size
p3p 0:74f0ae286b03 608 if (i + chunkSize > dataSize) chunkSize = dataSize - i;
p3p 0:74f0ae286b03 609
p3p 0:74f0ae286b03 610 // make sure this chunk doesn't go past the bank boundary (256 bytes)
p3p 0:74f0ae286b03 611 if (chunkSize > 256 - address) chunkSize = 256 - address;
p3p 0:74f0ae286b03 612 debug.printf("reading %d", chunkSize);
p3p 0:74f0ae286b03 613 // read the chunk of data as specified
p3p 0:74f0ae286b03 614 read(MPU6050_RA_MEM_R_W, (char*)(data+i), chunkSize);
p3p 0:74f0ae286b03 615 debug.printf("read");
p3p 0:74f0ae286b03 616 // increase byte index by [chunkSize]
p3p 0:74f0ae286b03 617 i += chunkSize;
p3p 0:74f0ae286b03 618
p3p 0:74f0ae286b03 619 // uint8_t automatically wraps to 0 at 256
p3p 0:74f0ae286b03 620 address += chunkSize;
p3p 0:74f0ae286b03 621
p3p 0:74f0ae286b03 622 // if we aren't done, update bank (if necessary) and address
p3p 0:74f0ae286b03 623 if (i < dataSize) {
p3p 0:74f0ae286b03 624 if (address == 0) bank++;
p3p 0:74f0ae286b03 625 setMemoryBank(bank);
p3p 0:74f0ae286b03 626 setMemoryStartAddress(address);
p3p 0:74f0ae286b03 627 }
p3p 0:74f0ae286b03 628 }
p3p 0:74f0ae286b03 629 }
p3p 0:74f0ae286b03 630 bool MPU9150::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
p3p 0:74f0ae286b03 631 setMemoryBank(bank);
p3p 0:74f0ae286b03 632 setMemoryStartAddress(address);
p3p 0:74f0ae286b03 633 uint8_t chunkSize;
p3p 0:74f0ae286b03 634 uint8_t *verifyBuffer = 0;
p3p 0:74f0ae286b03 635 uint8_t *progBuffer = 0;
p3p 0:74f0ae286b03 636 uint16_t i;
p3p 0:74f0ae286b03 637
p3p 0:74f0ae286b03 638 if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
p3p 0:74f0ae286b03 639 for (i = 0; i < dataSize;) {
p3p 0:74f0ae286b03 640 // determine correct chunk size according to bank position and data size
p3p 0:74f0ae286b03 641 chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
p3p 0:74f0ae286b03 642
p3p 0:74f0ae286b03 643 // make sure we don't go past the data size
p3p 0:74f0ae286b03 644 if (i + chunkSize > dataSize) chunkSize = dataSize - i;
p3p 0:74f0ae286b03 645
p3p 0:74f0ae286b03 646 // make sure this chunk doesn't go past the bank boundary (256 bytes)
p3p 0:74f0ae286b03 647 if (chunkSize > 256 - address) chunkSize = 256 - address;
p3p 0:74f0ae286b03 648
p3p 0:74f0ae286b03 649 progBuffer = (uint8_t *)data + i;
p3p 0:74f0ae286b03 650
p3p 0:74f0ae286b03 651 write(MPU6050_RA_MEM_R_W, (char*)progBuffer, chunkSize);
p3p 0:74f0ae286b03 652
p3p 0:74f0ae286b03 653
p3p 0:74f0ae286b03 654 // verify data if needed
p3p 0:74f0ae286b03 655 if (verify && verifyBuffer) {
p3p 0:74f0ae286b03 656 setMemoryBank(bank);
p3p 0:74f0ae286b03 657 setMemoryStartAddress(address);
p3p 0:74f0ae286b03 658 read(MPU6050_RA_MEM_R_W, (char*)verifyBuffer, chunkSize);
p3p 0:74f0ae286b03 659 if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
p3p 0:74f0ae286b03 660 free(verifyBuffer);
p3p 0:74f0ae286b03 661 debug.printf("invalid(%d, %d)\r\n", bank, read_errors, write_errors);
p3p 0:74f0ae286b03 662 return false; // uh oh.
p3p 0:74f0ae286b03 663 }
p3p 0:74f0ae286b03 664 }
p3p 0:74f0ae286b03 665
p3p 0:74f0ae286b03 666 // increase byte index by [chunkSize]
p3p 0:74f0ae286b03 667 i += chunkSize;
p3p 0:74f0ae286b03 668
p3p 0:74f0ae286b03 669 // uint8_t automatically wraps to 0 at 256
p3p 0:74f0ae286b03 670 address += chunkSize;
p3p 0:74f0ae286b03 671
p3p 0:74f0ae286b03 672 // if we aren't done, update bank (if necessary) and address
p3p 0:74f0ae286b03 673 if (i < dataSize) {
p3p 0:74f0ae286b03 674 if (address == 0) bank++;
p3p 0:74f0ae286b03 675 setMemoryBank(bank);
p3p 0:74f0ae286b03 676 setMemoryStartAddress(address);
p3p 0:74f0ae286b03 677 }
p3p 0:74f0ae286b03 678 }
p3p 0:74f0ae286b03 679 if (verify) free(verifyBuffer);
p3p 0:74f0ae286b03 680 return true;
p3p 0:74f0ae286b03 681 }
p3p 0:74f0ae286b03 682 bool MPU9150::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
p3p 0:74f0ae286b03 683 uint8_t *progBuffer;
p3p 0:74f0ae286b03 684 uint8_t success, special;
p3p 0:74f0ae286b03 685 uint16_t i;
p3p 0:74f0ae286b03 686
p3p 0:74f0ae286b03 687 // config set data is a long string of blocks with the following structure:
p3p 0:74f0ae286b03 688 // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
p3p 0:74f0ae286b03 689 uint8_t bank, offset, length;
p3p 0:74f0ae286b03 690 for (i = 0; i < dataSize;) {
p3p 0:74f0ae286b03 691 bank = data[i++];
p3p 0:74f0ae286b03 692 offset = data[i++];
p3p 0:74f0ae286b03 693 length = data[i++];
p3p 0:74f0ae286b03 694
p3p 0:74f0ae286b03 695 // write data or perform special action
p3p 0:74f0ae286b03 696 if (length > 0) {
p3p 0:74f0ae286b03 697 progBuffer = (uint8_t *)data + i;
p3p 0:74f0ae286b03 698 success = writeMemoryBlock(progBuffer, length, bank, offset, true);
p3p 0:74f0ae286b03 699 i += length;
p3p 0:74f0ae286b03 700 } else {
p3p 0:74f0ae286b03 701 // special instruction
p3p 0:74f0ae286b03 702 // NOTE: this kind of behavior (what and when to do certain things)
p3p 0:74f0ae286b03 703 // is totally undocumented. This code is in here based on observed
p3p 0:74f0ae286b03 704 // behavior only, and exactly why (or even whether) it has to be here
p3p 0:74f0ae286b03 705 // is anybody's guess for now.
p3p 0:74f0ae286b03 706 special = data[i++];
p3p 0:74f0ae286b03 707
p3p 0:74f0ae286b03 708 if (special == 0x01) {
p3p 0:74f0ae286b03 709 // enable DMP-related interrupts
p3p 0:74f0ae286b03 710 //setIntZeroMotionEnabled(true);
p3p 0:74f0ae286b03 711 //setIntFIFOBufferOverflowEnabled(true);
p3p 0:74f0ae286b03 712 //setIntDMPEnabled(true);
p3p 0:74f0ae286b03 713 write(MPU6050_RA_INT_ENABLE, 0x32); // single operation
p3p 0:74f0ae286b03 714 success = true;
p3p 0:74f0ae286b03 715 } else {
p3p 0:74f0ae286b03 716 // unknown special command
p3p 0:74f0ae286b03 717 success = false;
p3p 0:74f0ae286b03 718 }
p3p 0:74f0ae286b03 719 }
p3p 0:74f0ae286b03 720
p3p 0:74f0ae286b03 721 if (!success) {
p3p 0:74f0ae286b03 722 return false;
p3p 0:74f0ae286b03 723 }
p3p 0:74f0ae286b03 724 }
p3p 0:74f0ae286b03 725 return true;
p3p 0:74f0ae286b03 726 }
p3p 0:74f0ae286b03 727 // DMP_CFG_1
p3p 0:74f0ae286b03 728 uint8_t MPU9150::getDMPConfig1() {
p3p 0:74f0ae286b03 729 return get8(MPU6050_RA_DMP_CFG_1);
p3p 0:74f0ae286b03 730
p3p 0:74f0ae286b03 731 }
p3p 0:74f0ae286b03 732 void MPU9150::setDMPConfig1(uint8_t config) {
p3p 0:74f0ae286b03 733 write(MPU6050_RA_DMP_CFG_1, config);
p3p 0:74f0ae286b03 734 }
p3p 0:74f0ae286b03 735
p3p 0:74f0ae286b03 736 // DMP_CFG_2
p3p 0:74f0ae286b03 737 uint8_t MPU9150::getDMPConfig2() {
p3p 0:74f0ae286b03 738 return get8(MPU6050_RA_DMP_CFG_2);
p3p 0:74f0ae286b03 739
p3p 0:74f0ae286b03 740 }
p3p 0:74f0ae286b03 741 void MPU9150::setDMPConfig2(uint8_t config) {
p3p 0:74f0ae286b03 742 write(MPU6050_RA_DMP_CFG_2, config);
p3p 0:74f0ae286b03 743 }
p3p 0:74f0ae286b03 744
p3p 0:74f0ae286b03 745 //Utility Functions
p3p 0:74f0ae286b03 746 bool MPU9150::getBit(char reg_addr, uint8_t bit){
p3p 0:74f0ae286b03 747 uint8_t data = 0;
p3p 0:74f0ae286b03 748 readBit(reg_addr, bit, &data);
p3p 0:74f0ae286b03 749 return (bool)data;
p3p 0:74f0ae286b03 750 }
p3p 0:74f0ae286b03 751
p3p 0:74f0ae286b03 752 int8_t MPU9150::get8(char reg_addr){
p3p 0:74f0ae286b03 753 char data;
p3p 0:74f0ae286b03 754 read(reg_addr, &data);
p3p 0:74f0ae286b03 755 return data;
p3p 0:74f0ae286b03 756 }
p3p 0:74f0ae286b03 757
p3p 0:74f0ae286b03 758 int16_t MPU9150::get16(char reg_addr){
p3p 0:74f0ae286b03 759 char data[2];
p3p 0:74f0ae286b03 760 if(!read(reg_addr, data, 2))debug.printf("get16: read fail:%02X\r\n", reg_addr);
p3p 0:74f0ae286b03 761 return (data[0]<<8) + data[1];
p3p 0:74f0ae286b03 762 }
p3p 0:74f0ae286b03 763
p3p 0:74f0ae286b03 764 int16_t MPU9150::get16L(char reg_addr){
p3p 0:74f0ae286b03 765 char data[2];
p3p 0:74f0ae286b03 766 read(reg_addr, data, 2);
p3p 0:74f0ae286b03 767 return (data[1]<<8) + data[0];
p3p 0:74f0ae286b03 768 }
p3p 0:74f0ae286b03 769
p3p 0:74f0ae286b03 770 bool MPU9150::write(char reg_addr, char data){
p3p 0:74f0ae286b03 771 return write(reg_addr, &data, 1);
p3p 0:74f0ae286b03 772 }
p3p 0:74f0ae286b03 773
p3p 0:74f0ae286b03 774 bool MPU9150::write(char reg_addr, char* data, int length){
p3p 0:74f0ae286b03 775 i2c.start();
p3p 0:74f0ae286b03 776 i2c.write(device_address << 1);
p3p 0:74f0ae286b03 777 i2c.write(reg_addr);
p3p 0:74f0ae286b03 778 for(int i = 0; i < length; i++) {
p3p 0:74f0ae286b03 779 if(!i2c.write(data[i])){
p3p 0:74f0ae286b03 780 write_errors++;
p3p 0:74f0ae286b03 781 debug.printf("Write Error %d\r\n", reg_addr);
p3p 0:74f0ae286b03 782 return false;
p3p 0:74f0ae286b03 783 }
p3p 0:74f0ae286b03 784 }
p3p 0:74f0ae286b03 785 i2c.stop();
p3p 0:74f0ae286b03 786 return true;
p3p 0:74f0ae286b03 787 }
p3p 0:74f0ae286b03 788
p3p 0:74f0ae286b03 789 bool MPU9150::writeBit(char reg_addr, uint8_t bit, bool value){
p3p 0:74f0ae286b03 790 return writeBits(reg_addr, bit, 1, (uint8_t)value);
p3p 0:74f0ae286b03 791 }
p3p 0:74f0ae286b03 792
p3p 0:74f0ae286b03 793 bool MPU9150::writeBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t data){
p3p 0:74f0ae286b03 794 char ret;
p3p 0:74f0ae286b03 795
p3p 0:74f0ae286b03 796 if(!read(reg_addr, &ret)){
p3p 0:74f0ae286b03 797 return false;
p3p 0:74f0ae286b03 798 }
p3p 0:74f0ae286b03 799
p3p 0:74f0ae286b03 800 uint8_t mask = ((1 << length) - 1) << (bit_start - length + 1);
p3p 0:74f0ae286b03 801 data <<= (bit_start - length + 1);
p3p 0:74f0ae286b03 802
p3p 0:74f0ae286b03 803 data &= mask;
p3p 0:74f0ae286b03 804 ret &= ~(mask);
p3p 0:74f0ae286b03 805 ret |= data;
p3p 0:74f0ae286b03 806
p3p 0:74f0ae286b03 807 return write(reg_addr, ret);
p3p 0:74f0ae286b03 808 }
p3p 0:74f0ae286b03 809
p3p 0:74f0ae286b03 810 bool MPU9150::read(char reg_addr, char* data){
p3p 0:74f0ae286b03 811 return read(reg_addr, data, 1);
p3p 0:74f0ae286b03 812 }
p3p 0:74f0ae286b03 813
p3p 0:74f0ae286b03 814 bool MPU9150::read(char reg_addr, char* data, int length){
p3p 0:74f0ae286b03 815 if(i2c.write(device_address << 1, &reg_addr, 1, true)){
p3p 0:74f0ae286b03 816 read_errors ++;
p3p 0:74f0ae286b03 817 debug.printf("Read: Address Write Error %d\r\n", reg_addr);
p3p 0:74f0ae286b03 818 return false;
p3p 0:74f0ae286b03 819 }
p3p 0:74f0ae286b03 820 if(i2c.read(device_address << 1, data, length)){
p3p 0:74f0ae286b03 821 read_errors ++;
p3p 0:74f0ae286b03 822 debug.printf("Read: Error %d\r\n", reg_addr);
p3p 0:74f0ae286b03 823 return false;
p3p 0:74f0ae286b03 824 }
p3p 0:74f0ae286b03 825 return true;
p3p 0:74f0ae286b03 826 }
p3p 0:74f0ae286b03 827
p3p 0:74f0ae286b03 828
p3p 0:74f0ae286b03 829 bool MPU9150::readBit(char reg_addr, uint8_t bit_start, uint8_t *data){
p3p 0:74f0ae286b03 830 return readBits(reg_addr, bit_start, 1, data);
p3p 0:74f0ae286b03 831 }
p3p 0:74f0ae286b03 832
p3p 0:74f0ae286b03 833 bool MPU9150::readBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t *data){
p3p 0:74f0ae286b03 834 char ret;
p3p 0:74f0ae286b03 835
p3p 0:74f0ae286b03 836 if(!read(reg_addr, &ret)){
p3p 0:74f0ae286b03 837 return false;
p3p 0:74f0ae286b03 838 }
p3p 0:74f0ae286b03 839
p3p 0:74f0ae286b03 840 uint8_t mask = ((1 << length) - 1) << (bit_start - length + 1);
p3p 0:74f0ae286b03 841 ret &= mask;
p3p 0:74f0ae286b03 842 ret >>= (bit_start - length + 1);
p3p 0:74f0ae286b03 843 *data = ret;
p3p 0:74f0ae286b03 844
p3p 0:74f0ae286b03 845 return true;
p3p 0:74f0ae286b03 846 }