MPU9150.h

00001 #ifndef MPU9150_INCLUDE
00002 #define MPU9150_INCLUDE
00003 
00004 #include "mbed.h"
00005 #include "registers.h"
00006 #include "dmpdata.h"
00007 //https://github.com/sparkfun/MPU-9150_Breakout/blob/master/firmware/MPU6050/MPU6050_9Axis_MotionApps41.h
00008 
00009 //extern Serial debug;
00010 
00011 class MPU9150{
00012 public: 
00013     MPU9150(PinName scl, PinName sda, PinName interrupt, bool secondary_addr = false):i2c(sda, scl){
00014         device_address = MPU6050_DEFAULT_ADDRESS;
00015         read_errors = 0;
00016         write_errors = 0;
00017         if(secondary_addr){
00018             device_address = MPU6050_ADDRESS_AD0_HIGH;
00019         }
00020         
00021        // i2c.frequency(400000);
00022         i2c.frequency(100000);
00023     }
00024     ~MPU9150(){}
00025     
00026     bool getBit(char reg_addr, uint8_t bit);
00027     int8_t get8(char reg_addr);
00028     int16_t get16(char reg_addr);
00029     int16_t get16L(char reg_addr);
00030     
00031     bool read(char reg_addr, char* data);
00032     bool read(char reg_addr, char* data, int length);
00033     bool readBit(char reg_addr, uint8_t bit_start, uint8_t *data);
00034     bool readBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t *data);
00035     
00036     bool write(char reg_addr, char data);
00037     bool write(char reg_addr, char* data, int length);
00038     bool writeBit(char reg_addr, uint8_t bit, bool value);
00039     bool writeBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t data);
00040     
00041     uint8_t getDeviceID();
00042     bool isReady();
00043     void initialise();
00044     void initialiseMagnetometer();
00045     void initialiseDMP();
00046     
00047     
00048     //PWR_MGMT_1 Control Register
00049     void reset();
00050     void sleep(bool state);
00051     void cycleMode(bool state);
00052     void disableTemperatureSensor(bool state);
00053     void clockSelect(uint8_t clk);
00054     
00055     //PWR_MGMT_2 Control Register
00056     void setCycleWakeFrequency(uint8_t value);
00057     void setStandbyAccX( bool value );
00058     void setStandbyAccY( bool value );
00059     void setStandbyAccZ( bool value );
00060     void setStandbyGyroX( bool value );
00061     void setStandbyGyroY( bool value );
00062     void setStandbyGyroZ( bool value );
00063     
00064     //SMPRT_DI Sample Rate Divider 
00065     void setSampleRateDivider(uint8_t value);
00066 
00067     //CONFIG
00068     void setExternalFrameSync(uint8_t value);
00069     void setDigitalLowPassFilter(uint8_t value);
00070     
00071     //GYRO_CONFIG
00072     void setGyroSelfTest(bool value);
00073     void setGyroFullScaleRange(uint8_t value);
00074     
00075     //ACCEL_CONFIG
00076     void setAccelSelfTest(bool value);
00077     void setAccelFullScaleRange(uint8_t value);
00078     
00079     //FIFO_EN
00080     void setTemperatureFifo(bool value);
00081     void setGyroFifo(bool value);
00082     void setAccelFifo(bool value);
00083     void setSlave2Fifo(bool value);
00084     void setSlave1Fifo(bool value);
00085     void setSlave0Fifo(bool value);
00086     
00087     //I2C_MST_CTRL
00088     void setMultiMaster(bool value);
00089     void setWaitForExternalSensor(bool value);
00090     void setSlave3Fifo(bool value);
00091     void setMasterStartStop(bool value);
00092     void setI2CMasterClock(uint8_t value);
00093     
00094     //I2C_SLV0_ADDR
00095     void setI2cSlaveRW(uint8_t slave_id, bool value);
00096     void setI2cSlaveAddress(uint8_t slave_id, uint8_t value);
00097     //I2C_SLV0_REG,
00098     void setI2cSlaveRegister(uint8_t slave_id, uint8_t value);
00099     //I2C_SLV0_CTRL
00100     void setI2cSlaveEnable(uint8_t slave_id, bool value);
00101     void setI2cSlaveByteSwap(uint8_t slave_id, bool value);
00102     void setI2cSlaveRegDisable(uint8_t slave_id, bool value);
00103     void setI2cSlaveByteGrouping(uint8_t slave_id, bool value);
00104     void setI2cSlaveTransactionLength(uint8_t slave_id, uint8_t value);
00105     //I2C_SLV0_DO
00106     void setI2cSlaveDataOut(uint8_t slave_id, uint8_t value);
00107     //I2C_MST_DELAY_CTRL
00108     void setI2cSlaveDelay(uint8_t slave_id, uint8_t value);
00109     void setI2cSlaveShadowDelay(uint8_t value)    ;
00110     //Slave4 is different
00111     void setI2cSlave4RW( bool value);
00112     void setI2cSlave4Address( uint8_t value);
00113     void setI2cSlave4Register(uint8_t value);
00114     void setI2cSlave4DataOut(uint8_t value);
00115     void setI2cSlave4Enable(bool value);
00116     void setI2cSlave4IntEnable(bool value);
00117     void setI2cSlave4RegDisable(bool value);
00118     void setI2cMasterDelay(uint8_t value);
00119     uint8_t getI2cSlave4Di();
00120     
00121     //I2C_MST_STATUS
00122     bool setI2cPassthrough();
00123     bool setI2cSlave4Done();
00124     bool setI2cLostArbitration();
00125     bool setI2cSlave0Nack();
00126     bool setI2cSlave1Nack();
00127     bool setI2cSlave2Nack();
00128     bool setI2cSlave3Nack();
00129     bool setI2cSlave4Nack();
00130     
00131     //INT_PIN_CFG
00132     void setInterruptActiveLow(bool value);
00133     void setInterruptOpenDrain(bool value);
00134     void setInterruptLatch(bool value);
00135     void setInterruptAnyReadClear(bool value);
00136     void setFsyncInterruptActiveLow(bool value);
00137     void setFsyncInterruptEnable(bool value);
00138     void setI2cAuxBypassEnable(bool value);
00139     
00140     //INT_ENABLE
00141     void setInterruptFifoOverflowEnable(bool value);
00142     void setInterruptMasterEnable(bool value);
00143     void setInterruptDataReadyEnable(bool value);
00144     
00145     //INT_STATUS
00146     bool getInterruptFifoOverflow();
00147     bool getInterruptMaster();
00148     bool getInterruptDataReady();
00149     uint8_t getInterruptStatus();
00150     
00151     //SIGNAL_PATH_RESET
00152     void resetGyroSignalPath();
00153     void resetAccelSignalPath();
00154     void resetTempSignalPath();
00155     
00156     //USER_CTRL 
00157     void setEnableFifo(bool value);
00158     void setI2cMasterEnable(bool value);
00159     void setFifoReset(bool value);
00160     void setI2cMasterReset(bool value);
00161     void setFullSensorReset(bool value);
00162     
00163     //FIFO_COUNT_H and FIFO_COUNT_L
00164     int16_t getFifoCount();
00165     
00166     //FIFO_R_W
00167     bool getFifoBuffer(char* buffer, int16_t length);
00168     
00169     //UNDOCUMENTED
00170     // XG_OFFS_TC
00171     uint8_t getOTPBankValid();
00172     
00173     //INT_ENABLE 
00174     void setIntPLLReadyEnabled(bool value); 
00175     void setIntDMPEnabled(bool value);
00176     
00177     // INT_STATUS
00178     bool getIntPLLReadyStatus();
00179     bool getIntDMPStatus();
00180     
00181     // USER_CTRL
00182     bool getDMPEnabled();
00183     void setDMPEnabled(bool value);
00184     void resetDMP();
00185     
00186     // BANK_SEL
00187     void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
00188     
00189     // MEM_START_ADDR
00190     void setMemoryStartAddress(uint8_t address);
00191     
00192     // MEM_R_W register
00193     uint8_t readMemoryByte();
00194     void writeMemoryByte(uint8_t value);
00195     void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address);
00196     bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0, bool verify = false);
00197     bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
00198     
00199     // DMP_CFG_1
00200     uint8_t getDMPConfig1();
00201     void setDMPConfig1(uint8_t config);
00202     
00203     // DMP_CFG_2
00204     uint8_t getDMPConfig2();
00205     void setDMPConfig2(uint8_t config);
00206 
00207     I2C i2c;
00208     uint8_t device_address;
00209     uint32_t read_errors;
00210     uint32_t write_errors;
00211 };
00212 
00213 #endif