MPU9150.cpp

00001 // Check methods that write bit fields
00002 #include "MPU9150.h"
00003 #include "mbed.h"
00004 
00005 MPU9150::MPU9150() : i2c_(I2C_SDA, I2C_SCL) {
00006     address_ = MPU9150_ADDRESS_DEFAULT;
00007     
00008     accelRange_ = 0;
00009     gyroRange_ = 0;
00010 }
00011 
00012 MPU9150::MPU9150(const bool AD0) : i2c_(I2C_SDA, I2C_SCL) {
00013     if(AD0) {
00014         address_ = MPU9150_ADDRESS_AD0_HIGH;
00015     } else {
00016         address_ = MPU9150_ADDRESS_AD0_LOW;
00017     }
00018     
00019     accelRange_ = 0;
00020     gyroRange_ = 0;
00021 }
00022 
00023 MPU9150::MPU9150(const PinName sda, const PinName scl, const bool AD0) : i2c_(sda, scl) {
00024     if(AD0) {
00025         address_ = MPU9150_ADDRESS_AD0_HIGH;
00026     } else {
00027         address_ = MPU9150_ADDRESS_AD0_LOW;
00028     }
00029     
00030     accelRange_ = 0;
00031     gyroRange_ = 0;
00032 }
00033 
00034 void MPU9150::initialize() {
00035     i2c_.setFrequency(100000);  // Set frequency to 400 kHz
00036     setClockSource(MPU9150_PWR_MGMT_CLOCK_GYRO_X);
00037     setGyroFullScaleRange(MPU9150_GYRO_FS_250);
00038     setAccelFullScaleRange(MPU9150_ACCEL_FS_2);
00039     setSleepEnabled(false);
00040 }
00041 
00042 bool MPU9150::test() {
00043     return getDeviceID() == 0x34;
00044 }
00045 
00046 uint8_t MPU9150::getSampleRateDivider() {
00047     uint8_t buf = 0xFF;
00048     i2c_.readByte(address_, MPU9150_RA_SMPRT_DIV, &buf);
00049     return buf;
00050 }
00051 void MPU9150::setSampleRateDivider(const uint8_t divider) {
00052     i2c_.writeByte(address_, MPU9150_RA_SMPRT_DIV, divider);
00053 }
00054 
00055 uint8_t MPU9150::getExternalFrameSync() {
00056     uint8_t buf = 0xFF;
00057     i2c_.readBits(address_, MPU9150_RA_CONFIG, 5, 3, &buf);
00058     return buf;
00059 }
00060 void MPU9150::setExternalFrameSync(const uint8_t sync) {
00061     i2c_.writeBits(address_, MPU9150_RA_CONFIG, 5, 3, sync);
00062 }
00063 uint8_t MPU9150::getDLPFBandwidth() {
00064     uint8_t buf = 0xFF;
00065     i2c_.readBits(address_, MPU9150_RA_CONFIG, 2, 3, &buf);
00066     return buf;
00067 }
00068 void MPU9150::setDLPFBandwidth(const uint8_t bandwidth) {
00069     i2c_.writeBits(address_, MPU9150_RA_CONFIG, 2, 3, bandwidth);
00070 }
00071 
00072 uint8_t MPU9150::getGyroFullScaleRange() {
00073     uint8_t buf = 0xFF;
00074     i2c_.readBits(address_, MPU9150_RA_GYRO_CONFIG, 4, 2, &buf);
00075     return buf;
00076 }
00077 void MPU9150::setGyroFullScaleRange(const uint8_t range) {
00078     i2c_.writeBits(address_, MPU9150_RA_GYRO_CONFIG, 4, 2, range);
00079 }
00080 
00081 uint8_t MPU9150::getAccelFullScaleRange() {
00082     uint8_t buf = 0xFF;
00083     i2c_.readBits(address_, MPU9150_RA_ACCEL_CONFIG, 4, 2, &buf);
00084     return buf;
00085 }
00086 void MPU9150::setAccelFullScaleRange(const uint8_t range) {
00087     i2c_.writeBits(address_, MPU9150_RA_ACCEL_CONFIG, 4, 2, range);
00088 }
00089 
00090 int16_t MPU9150::getAccelX() {
00091     uint16_t buf = 0xFFFF;
00092     i2c_.readWord(address_, MPU9150_RA_ACCEL_XOUT_H, &buf);
00093     return (int16_t)buf;
00094 }
00095 int16_t MPU9150::getAccelY() {
00096     uint16_t buf = 0xFFFF;
00097     i2c_.readWord(address_, MPU9150_RA_ACCEL_YOUT_H, &buf);
00098     return (int16_t)buf;
00099 }
00100 int16_t MPU9150::getAccelZ() {
00101     uint16_t buf = 0xFFFF;
00102     i2c_.readWord(address_, MPU9150_RA_ACCEL_ZOUT_H, &buf);
00103     return (int16_t)buf;
00104 }
00105 
00106 int16_t MPU9150::getTemp() {
00107     uint16_t buf = 0xFFFF;
00108     i2c_.readWord(address_, MPU9150_RA_TEMP_OUT_H, &buf);
00109     return (int16_t)buf;
00110 }
00111 
00112 int16_t MPU9150::getGyroX() {
00113     uint16_t buf = 0xFFFF;
00114     i2c_.readWord(address_, MPU9150_RA_GYRO_XOUT_H, &buf);
00115     return (int16_t)buf;
00116 }
00117 int16_t MPU9150::getGyroY() {
00118     uint16_t buf = 0xFFFF;
00119     i2c_.readWord(address_, MPU9150_RA_GYRO_YOUT_H, &buf);
00120     return (int16_t)buf;
00121 }
00122 int16_t MPU9150::getGyroZ() {
00123     uint16_t buf = 0xFFFF;
00124     i2c_.readWord(address_, MPU9150_RA_GYRO_ZOUT_H, &buf);
00125     return (int16_t)buf;
00126 }
00127 
00128 void MPU9150::resetGyroPath() {
00129     i2c_.writeBit(address_, MPU9150_RA_SIGNAL_PATH_RESET, 2, 0x01);
00130 }
00131 void MPU9150::resetAccelPath() {
00132     i2c_.writeBit(address_, MPU9150_RA_SIGNAL_PATH_RESET, 1, 0x01);
00133 }
00134 void MPU9150::resetTempPath() {
00135     i2c_.writeBit(address_, MPU9150_RA_SIGNAL_PATH_RESET, 0, 0x01);
00136 }
00137 
00138 bool MPU9150::getFifoEnabled() {
00139     uint8_t buf = 0xFF;
00140     i2c_.readBit(address_, MPU9150_RA_USER_CTRL, 6, &buf);
00141     return (bool)buf;
00142 }
00143 void MPU9150::setFifoEnabled(const bool fifo) {
00144     i2c_.writeBit(address_, MPU9150_RA_USER_CTRL, 6, fifo);
00145 }
00146 bool MPU9150::getI2CMasterEnabled() {
00147     uint8_t buf = 0xFF;
00148     i2c_.readBit(address_, MPU9150_RA_USER_CTRL, 5, &buf);
00149     return (bool)buf;
00150 }
00151 void MPU9150::setI2CMasterEnabled(const bool master) {
00152     i2c_.writeBit(address_, MPU9150_RA_USER_CTRL, 5, master);
00153 }
00154 void MPU9150::resetFifo() {
00155     i2c_.writeBit(address_, MPU9150_RA_USER_CTRL, 2, 0x01);
00156 }
00157 void MPU9150::resetI2CMaster() {
00158     i2c_.writeBit(address_, MPU9150_RA_USER_CTRL, 1, 0x01);
00159 }
00160 void MPU9150::resetSensors() {
00161     i2c_.writeBit(address_, MPU9150_RA_USER_CTRL, 0, 0x01);
00162 }
00163 
00164 void MPU9150::reset() {
00165     i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_1, 7, 0x01);
00166 }
00167 bool MPU9150::getSleepEnabled() {
00168     uint8_t buf = 0xFF;
00169     i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_1, 6, &buf);
00170     return (bool)buf;
00171 }
00172 void MPU9150::setSleepEnabled(const bool sleep) {
00173     i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_1, 6, sleep);
00174 }
00175 bool MPU9150::getCycleEnabled() {
00176     uint8_t buf = 0xFF;
00177     i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_1, 5, &buf);
00178     return (bool)buf;
00179 }
00180 void MPU9150::setCycleEnabled(const bool cycle) {
00181     i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_1, 5, cycle);
00182 }
00183 bool MPU9150::getTempEnabled() {
00184     uint8_t buf = 0xFF;
00185     i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_1, 3, &buf);
00186     return (bool)buf;
00187 }
00188 void MPU9150::setTempEnabled(const bool temp) {
00189     i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_1, 3, temp);
00190 }
00191 uint8_t MPU9150::getClockSource() {
00192     uint8_t buf = 0xFF;
00193     i2c_.readBits(address_, MPU9150_RA_PWR_MGMT_1, 2, 3, &buf);
00194     return buf;
00195 }
00196 void MPU9150::setClockSource(const uint8_t source) {
00197     i2c_.writeBits(address_, MPU9150_RA_PWR_MGMT_1, 2, 3, source);
00198 }
00199 
00200 uint8_t MPU9150::getCycleFrequency() {
00201     uint8_t buf = 0xFF;
00202     i2c_.readBits(address_, MPU9150_RA_PWR_MGMT_2, 7, 2, &buf);
00203     return buf;
00204 }
00205 void MPU9150::setCycleFrequency(const uint8_t frequency) {
00206     i2c_.writeBits(address_, MPU9150_RA_PWR_MGMT_2, 7, 2, frequency);
00207 }
00208 bool MPU9150::getStandbyAccelXEnabled() {
00209     uint8_t buf = 0xFF;
00210     i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_2, 5, &buf);
00211     return (bool)buf;
00212 }
00213 void MPU9150::setStandbyAccelXEnabled(const bool enabled) {
00214     i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_2, 5, enabled);
00215 }
00216 bool MPU9150::getStandbyAccelYEnabled() {
00217     uint8_t buf = 0xFF;
00218     i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_2, 4, &buf);
00219     return (bool)buf;
00220 }
00221 void MPU9150::setStandbyAccelYEnabled(const bool enabled) {
00222     i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_2, 4, enabled);
00223 }
00224 bool MPU9150::getStandbyAccelZEnabled() {
00225     uint8_t buf = 0xFF;
00226     i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_2, 3, &buf);
00227     return (bool)buf;
00228 }
00229 void MPU9150::setStandbyAccelZEnabled(const bool enabled) {
00230     i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_2, 3, enabled);
00231 }
00232 bool MPU9150::getStandbyGyroXEnabled() {
00233     uint8_t buf = 0xFF;
00234     i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_2, 2, &buf);
00235     return (bool)buf;
00236 }
00237 void MPU9150::setStandbyGyroXEnabled(const bool enabled) {
00238     i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_2, 2, enabled);
00239 }
00240 bool MPU9150::getStandbyGyroYEnabled() {
00241     uint8_t buf = 0xFF;
00242     i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_2, 1, &buf);
00243     return (bool)buf;
00244 }
00245 void MPU9150::setStandbyGyroYEnabled(const bool enabled) {
00246     i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_2, 1, enabled);
00247 }
00248 bool MPU9150::getStandbyGyroZEnabled() {
00249     uint8_t buf = 0xFF;
00250     i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_2, 0, &buf);
00251     return (bool)buf;
00252 }
00253 void MPU9150::setStandbyGyroZEnabled(const bool enabled) {
00254     i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_2, 0, enabled);
00255 }
00256 
00257 uint8_t MPU9150::getDeviceID() {
00258     uint8_t buf = 0xFF;
00259     i2c_.readBits(address_, MPU9150_RA_WHO_AM_I, 6, 6, &buf);
00260     return buf;
00261 }