Diff: app/MPU9250Config.h

Revision:

0:f2815503561f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/app/MPU9250Config.h	Wed Jul 06 20:40:36 2016 +0000
@@ -0,0 +1,196 @@
+/**
+ * @file MPU9250Config.h
+ *
+ * @author Adrian
+ * @date 23.05.2016
+ *
+ */
+
+#include <stdint.h>
+
+#ifndef APP_MPU9250CONFIG_H_
+#define APP_MPU9250CONFIG_H_
+
+#define MPU9250_GYRO_FULL_SCALE_250DPS  0b00
+#define MPU9250_GYRO_FULL_SCALE_500DPS  0b01
+#define MPU9250_GYRO_FULL_SCALE_1000DPS 0b10
+#define MPU9250_GYRO_FULL_SCALE_2000DPS 0b11
+
+#define MPU9250_FULL_SCALE_2G           0b00
+#define MPU9250_FULL_SCALE_4G           0b01
+#define MPU9250_FULL_SCALE_8G           0b10
+#define MPU9250_FULL_SCALE_16G          0b11
+
+#define MPU9250_MAG_16_BIT				0b1
+#define MPU9250_MAG_14_BIT				0b0
+
+#define MPU9250_MAG_SINGLE_MEASUREMENT			0b0001
+#define MPU9250_MAG_CONTINUOUS_MEASUREMENT_1	0b0010
+#define MPU9250_MAG_CONTINUOUS_MEASUREMENT_2	0b0110
+
+//INT_PIN_CFG register masks
+#define MPU9250_ACTL_MASK               0x80
+#define MPU9250_OPEN_MASK               0x40
+#define MPU9250_LATCH_INT_EN_MASK       0x20
+#define MPU9250_INT_ANYRD_2CLEAR_MASK   0x10
+#define MPU9250_ACTL_FSYNC_MASK         0x08
+#define MPU9250_FSYNC_INT_MODE_EN_MASK  0x04
+#define MPU9250_BYPASS_EN_MASK          0x02
+
+//INT_ENABLE register masks
+#define MPU9250_WOM_EN_MASK             0x40
+#define MPU9250_FIFO_OFLOW_EN_MASK      0x10
+#define MPU9250_FSYNC_INT_EN_MASK       0x08
+#define MPU9250_RAW_RDY_EN_MASK         0x01
+
+#define MPU9250_WOM_THRESHOLD_1020_MG	0xFF
+#define MPU9250_WOM_THRESHOLD_500_MG	0x7D
+#define MPU9250_WOM_THRESHOLD_250_MG	0xFA
+
+/**
+ * MPU9250 Modes. Modes define Sensor functionality
+ */
+enum MPU9250_MODE{
+	MPU9250_MODE_1,//!< MPU9250_MODE_1
+	MPU9250_MODE_2,//!< MPU9250_MODE_2
+	MPU9250_MODE_3,//!< MPU9250_MODE_3
+	MPU9250_MODE_4 //!< MPU9250_MODE_4
+};
+
+/**
+ * @class MPU9250Config
+ * @brief A configuration container for the MPU9250 Sensor.
+ * All its configuration values are stored an held inside
+ * this Class. Depending on the MPU9250_MODE it sets all the configuration values.
+ */
+class MPU9250Config {
+public:
+	MPU9250Config();
+	virtual ~MPU9250Config();
+
+	/**
+	 * @brief Generates a configuration according to the chosen MPU9250_MODE
+	 * @param desiredMode the mode to build the configuration according to
+	 */
+	void build(MPU9250_MODE desiredMode);
+
+
+	/**
+	 * @brief Gets the Accelerometer Scale from the actual configuration
+	 * @return accelerometer scale
+	 */
+	uint8_t getAccelerometerScale();
+
+	/**
+	 * @brief Gets the Gyroscope Scale from the actual configuration
+	 * @return gyroscope scale
+	 */
+	uint8_t getGyroscopeScale();
+
+	/**
+	 * @brief Gets the Magnetometer bit resolution from the actual configuration
+	 * @return magnetometer bit resolution
+	 */
+	uint8_t getMagnetometerBitResolution();
+
+	/**
+	 * @brief Gets the Magnetometer measure mode  from the actual configuration
+	 * @return magnetometer bit resolution
+	 */
+	uint8_t getMagnetometerMeasureMode();
+
+	/**
+	 * @brief Gets the Acceleration Divider from the actual configuration
+	 * @return acceleration divider
+	 */
+	float getAccelerationDivider();
+
+	/**
+	 * @brief Gets the Gyroscope Divider from the actual configuration
+	 * @return gyroscope divider
+	 */
+	float getGyroDivider();
+
+	/**
+	 * @brief Gets the Tesla Divider from the actual configuration
+	 * @return
+	 */
+	float getTeslaDivider();
+
+
+	/**
+	 * @brief Gets the Interrupt Pin configuration from the actual configuration
+	 * @return interrupt pin configuration
+	 */
+	uint8_t getInterruptPinConfiguration();
+
+	/**
+	 * @brief Gets the Interrupt Enable configuration from the actual configuration
+	 * @return interrupt enable configuration
+	 */
+	uint8_t getInterruptEnableConfiguration();
+
+	/**
+	 * @brief Gets the wake on motion threshold value from the actual configuration
+	 * @return wake on motion threshold value
+	 */
+	uint8_t getWakeOnMotionThreshold();
+
+private:
+	uint8_t gyroscopeScale;
+	uint8_t accelerometerScale;
+	uint8_t magnetometerBitResolution;
+	uint8_t magnetometerMeasureMode;
+
+	uint8_t interruptPinConfiguration;
+	uint8_t interruptEnableConfiguration;
+
+	uint8_t wakeOnMotionThreshold;
+
+
+	/**
+	 * @brief Sets the accelerometer scale of the actual configuration
+	 * @param accelerometerScale
+	 */
+	void setAccelerometerScale(uint8_t accelerometerScale);
+
+	/**
+	 * @brief Sets the gyroscope scale of the actual configuration
+	 * @param gyroscopeScale
+	 */
+	void setGyroscopeScale(uint8_t gyroscopeScale);
+
+	/**
+	 * @brief Sets the magnetometer bit resolution of the actual configuration
+	 * @param magnetometerBitResolution
+	 */
+	void setMagnetometerBitResolution(uint8_t magnetometerBitResolution);
+
+	/**
+	 * @brief Sets the magnetometer measure mode of the actual configuration
+	 * @param magnetometerMeasureMode
+	 */
+	void setMagnetometerMeasureMode(uint8_t meagnetometerMeasureMode);
+
+
+	/**
+	 * @brief Sets the interrupt pin configuration of the actual configuration
+	 * @param interruptPinConfiguration
+	 */
+	void setInterruptPinConfiguration(uint8_t interruptPinConfiguration);
+
+	/**
+	 * @brief Sets the interrupt enable configuration of the actual configuration
+	 * @param interruptEnableConfiguration
+	 */
+	void setInterruptEnableConfiguration(uint8_t interruptEnableConfiguration);
+
+
+	/**
+	 * @brief Sets the wake on motion threshold of the actual configuration
+	 * @param wakeOnMotionThreshold
+	 */
+	void setWakeOnMotionThreshold(uint8_t wakeOnMotionThreshold);
+};
+
+#endif /* APP_MPU9250CONFIG_H_ */