EM7180.h

00001 #ifndef EM7180_H
00002 #define EM7180_H
00003  
00004 //#include "mbed.h"
00005 
00006 // EM7180 SENtral register map
00007 // see http://www.emdeveloper.com/downloads/7180/EMSentral_EM7180_Register_Map_v1_3.pdf
00008 //
00009 #define EM7180_QX                 0x00  // this is a 32-bit normalized floating point number read from registers 0x00-03
00010 #define EM7180_QY                 0x04  // this is a 32-bit normalized floating point number read from registers 0x04-07
00011 #define EM7180_QZ                 0x08  // this is a 32-bit normalized floating point number read from registers 0x08-0B
00012 #define EM7180_QW                 0x0C  // this is a 32-bit normalized floating point number read from registers 0x0C-0F
00013 #define EM7180_QTIME              0x10  // this is a 16-bit unsigned integer read from registers 0x10-11
00014 #define EM7180_MX                 0x12  // int16_t from registers 0x12-13
00015 #define EM7180_MY                 0x14  // int16_t from registers 0x14-15
00016 #define EM7180_MZ                 0x16  // int16_t from registers 0x16-17
00017 #define EM7180_MTIME              0x18  // uint16_t from registers 0x18-19
00018 #define EM7180_AX                 0x1A  // int16_t from registers 0x1A-1B
00019 #define EM7180_AY                 0x1C  // int16_t from registers 0x1C-1D
00020 #define EM7180_AZ                 0x1E  // int16_t from registers 0x1E-1F
00021 #define EM7180_ATIME              0x20  // uint16_t from registers 0x20-21
00022 #define EM7180_GX                 0x22  // int16_t from registers 0x22-23
00023 #define EM7180_GY                 0x24  // int16_t from registers 0x24-25
00024 #define EM7180_GZ                 0x26  // int16_t from registers 0x26-27
00025 #define EM7180_GTIME              0x28  // uint16_t from registers 0x28-29
00026 #define EM7180_Baro               0x2A  // start of two-byte MS5637 pressure data, 16-bit signed interger
00027 #define EM7180_BaroTIME           0x2C  // start of two-byte MS5637 pressure timestamp, 16-bit unsigned
00028 #define EM7180_Temp               0x2E  // start of two-byte MS5637 temperature data, 16-bit signed interger
00029 #define EM7180_TempTIME           0x30  // start of two-byte MS5637 temperature timestamp, 16-bit unsigned
00030 #define EM7180_QRateDivisor       0x32  // uint8_t 
00031 #define EM7180_EnableEvents       0x33
00032 #define EM7180_HostControl        0x34
00033 #define EM7180_EventStatus        0x35
00034 #define EM7180_SensorStatus       0x36
00035 #define EM7180_SentralStatus      0x37
00036 #define EM7180_AlgorithmStatus    0x38
00037 #define EM7180_FeatureFlags       0x39
00038 #define EM7180_ParamAcknowledge   0x3A
00039 #define EM7180_SavedParamByte0    0x3B
00040 #define EM7180_SavedParamByte1    0x3C
00041 #define EM7180_SavedParamByte2    0x3D
00042 #define EM7180_SavedParamByte3    0x3E
00043 #define EM7180_ActualMagRate      0x45
00044 #define EM7180_ActualAccelRate    0x46
00045 #define EM7180_ActualGyroRate     0x47
00046 #define EM7180_ActualBaroRate     0x48
00047 #define EM7180_ActualTempRate     0x49
00048 #define EM7180_ErrorRegister      0x50
00049 #define EM7180_AlgorithmControl   0x54
00050 #define EM7180_MagRate            0x55
00051 #define EM7180_AccelRate          0x56
00052 #define EM7180_GyroRate           0x57
00053 #define EM7180_BaroRate           0x58
00054 #define EM7180_TempRate           0x59
00055 #define EM7180_LoadParamByte0     0x60
00056 #define EM7180_LoadParamByte1     0x61
00057 #define EM7180_LoadParamByte2     0x62
00058 #define EM7180_LoadParamByte3     0x63
00059 #define EM7180_ParamRequest       0x64
00060 #define EM7180_ROMVersion1        0x70
00061 #define EM7180_ROMVersion2        0x71
00062 #define EM7180_RAMVersion1        0x72
00063 #define EM7180_RAMVersion2        0x73
00064 #define EM7180_ProductID          0x90
00065 #define EM7180_RevisionID         0x91
00066 #define EM7180_RunStatus          0x92
00067 #define EM7180_UploadAddress      0x94 // uint16_t registers 0x94 (MSB)-5(LSB)
00068 #define EM7180_UploadData         0x96  
00069 #define EM7180_CRCHost            0x97  // uint32_t from registers 0x97-9A
00070 #define EM7180_ResetRequest       0x9B   
00071 #define EM7180_PassThruStatus     0x9E   
00072 #define EM7180_PassThruControl    0xA0
00073 #define EM7180_ACC_LPF_BW         0x5B  //Register GP36
00074 #define EM7180_GYRO_LPF_BW        0x5C  //Register GP37
00075 #define EM7180_BARO_LPF_BW        0x5D  //Register GP38
00076 
00077 #define EM7180_ADDRESS           0x28<<1   // Address of the EM7180 SENtral sensor hub
00078 
00079 
00080 class EM7180 {
00081  
00082     protected:
00083  
00084     public:
00085   //===================================================================================================================
00086 //====== Set of useful function to access pressure and temperature data
00087 //===================================================================================================================
00088 
00089     
00090     void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
00091 {
00092    char data_write[2];
00093    data_write[0] = subAddress;
00094    data_write[1] = data;
00095    i2c.write(address, data_write, 2, 0);
00096 }
00097 
00098     char readByte(uint8_t address, uint8_t subAddress)
00099 {
00100     char data[1]; // `data` will store the register data     
00101     char data_write[1];
00102     data_write[0] = subAddress;
00103     i2c.write(address, data_write, 1, 1); // no stop
00104     i2c.read(address, data, 1, 0); 
00105     return data[0]; 
00106 }
00107 
00108     void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
00109 {     
00110     char data[24];
00111     char data_write[1];
00112     data_write[0] = subAddress;
00113     i2c.write(address, data_write, 1, 1); // no stop
00114     i2c.read(address, data, count, 0); 
00115     for(int ii = 0; ii < count; ii++) {
00116      dest[ii] = data[ii];
00117     }
00118 } 
00119  
00120 
00121 
00122  
00123   };
00124 #endif