涂 桂旺
1.updata mbed os 5. 2.restore I2C SDA lock low.
Fork of
MPU9150_DMP_Nucleo
by 
Akash Vibhute
Diff: MPU9150.cpp
- Revision:
- 0:74f0ae286b03
- Child:
- 1:8ff0beb54dd4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9150.cpp Sun Aug 31 12:52:29 2014 +0000
@@ -0,0 +1,846 @@
+#include "MPU9150.h"
+
+uint8_t MPU9150::getDeviceID(){
+ uint8_t ret = 0;
+ readBits(MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, &ret);
+ return ret;
+}
+
+bool MPU9150::isReady(){
+ return (getDeviceID() == (device_address >> 1));
+}
+
+void MPU9150::initialise(){
+ reset();
+ wait_ms(20);//wait for reset
+
+ sleep(false);
+ clockSelect(MPU6050_CLOCK_PLL_XGYRO); //use the gyro clock as its more reliable
+ setGyroFullScaleRange(MPU6050_GYRO_FS_250);
+ setAccelFullScaleRange(MPU6050_ACCEL_FS_2);
+ setStandbyAccX(true);
+ setI2CMasterClock(MPU6050_CLOCK_DIV_400);
+ setDigitalLowPassFilter(MPU6050_DLPF_BW_42);
+ setSampleRateDivider(4);
+
+ initialiseMagnetometer();
+
+ setFifoReset(true);
+
+ setTemperatureFifo(true);
+ setAccelFifo(true);
+ setGyroFifo(true);
+ setSlave0Fifo(true);
+
+ setInterruptDataReadyEnable(true);
+ setEnableFifo(true);
+}
+
+void MPU9150::initialiseMagnetometer(){
+ //set up slave 0 to read the magnetometor data
+ setWaitForExternalSensor(true);
+ //read data
+ setI2cSlaveRW(0, true);
+ setI2cSlaveAddress(0, 0x0C);
+ setI2cSlaveRegister(0, 3);
+ setI2cSlaveEnable(0, true);
+ setI2cSlaveTransactionLength(0, 6);
+
+
+ //set up slave 1 to request a new magnetometor reading by writing 0x01 to 0xA
+ setI2cSlaveAddress(1, 0x0C);
+ setI2cSlaveRegister(1, 0x0A);
+ setI2cSlaveTransactionLength(1, 1);
+ setI2cSlaveEnable(1, true);
+ setI2cSlaveDataOut(1, 1);
+
+ //configure update rates
+ setI2cMasterDelay(4);
+ setI2cSlaveDelay(0, true);
+ setI2cSlaveDelay(1, true);
+
+ //Enable the aux i2c bus with MPU9150 as master
+ setI2cMasterEnable(true);
+}
+
+void MPU9150::initialiseDMP(){
+ reset();
+ wait_ms(20);
+ sleep(false);
+
+//does this exist in the 9150?
+ char product[6] = {0,0,0,0,0,0};
+ read(0x77, product, 6 );
+ int rev = ((product[5] & 0x01) << 2) | ((product[3] & 0x01) << 1) |
+ (product[1] & 0x01);
+ debug.printf("%02X, %02X, %02X, %02X, %02X, %02X\r\n", product[0], product[1], product[2], product[3], product[4], product[5]);
+ debug.printf("Product Revision: %d\r\n", rev);
+
+
+ setMemoryBank(0x10, true, true);
+ setMemoryStartAddress(0x06);
+ debug.printf("Hardware Version: %d\r\n", readMemoryByte());
+
+ setMemoryBank(0);
+ // check OTP bank valid
+ uint8_t otpValid = getOTPBankValid();
+ debug.printf("optValid: %d\r\n", otpValid);
+
+ //Enabling interrupt latch, clear on any read, AUX bypass enabled
+ write(MPU6050_RA_INT_PIN_CFG, 0x32);
+
+ if (writeMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE, 0 ,0, true)) {
+ debug.printf("Success! DMP code written and verified.\r\n");
+ if (writeDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) {
+ debug.printf("Success! DMP configuration written and verified.\r\n");
+ setIntDMPEnabled(true);
+ setInterruptFifoOverflowEnable(true);
+ setSampleRateDivider(4);
+ clockSelect(MPU6050_CLOCK_PLL_XGYRO);
+ setDigitalLowPassFilter(MPU6050_DLPF_BW_42);
+ setGyroFullScaleRange(MPU6050_GYRO_FS_2000);
+
+ setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
+ setDMPConfig1(0x03);
+ setDMPConfig2(0x00);
+
+ unsigned char *update_ptr = (unsigned char*)dmpUpdates;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+
+ setFifoReset(true);
+
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+
+ write(MPU6050_RA_PWR_MGMT_2, 0x00);
+ setInterruptAnyReadClear(true);
+ setInterruptLatch(true);
+
+ setI2cSlaveRW(0, true);
+ setI2cSlaveAddress(0, 0x0C);
+ setI2cSlaveRegister(0, 1);
+ setI2cSlaveEnable(0, true);
+ setI2cSlaveTransactionLength(0, 10);
+
+ //set up slave 1 to request a new magnetometor reading by writing 0x01 to 0xA
+ setI2cSlaveAddress(2, 0x0C);
+ setI2cSlaveRegister(2, 0x0A);
+ setI2cSlaveTransactionLength(2, 1);
+ setI2cSlaveEnable(2, true);
+ setI2cSlaveDataOut(2, 1);
+
+ //configure update rates
+ setI2cMasterDelay(4);
+ setI2cSlaveDelay(0, true);
+ setI2cSlaveDelay(2, true);
+
+ //Enable the aux i2c bus with MPU9150 as master
+ setI2cMasterEnable(true);
+
+ write(MPU6050_RA_INT_PIN_CFG, 0x00);
+
+ // enable I2C master mode and reset DMP/FIFO
+ //DEBUG_PRINTLN(F("Enabling I2C master mode..."));
+ write( MPU6050_RA_USER_CTRL, 0x20);
+ //DEBUG_PRINTLN(F("Resetting FIFO..."));
+ write(MPU6050_RA_USER_CTRL, 0x24);
+ //DEBUG_PRINTLN(F("Rewriting I2C master mode enabled because...I don't know"));
+ write(MPU6050_RA_USER_CTRL, 0x20);
+ //DEBUG_PRINTLN(F("Enabling and resetting DMP/FIFO..."));
+ write(MPU6050_RA_USER_CTRL, 0xE8);
+
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+
+ //read?
+ update_ptr += update_ptr[2] + 3;
+ //stalls?
+ //readMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1]);
+
+
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+
+ int fifoCount = 0;
+ while ((fifoCount = getFifoCount()) < 46);
+ uint8_t buffer[128];
+ getFifoBuffer((char *)buffer, fifoCount);
+ getInterruptStatus();
+
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+
+ fifoCount = 0;
+ while ((fifoCount = getFifoCount()) < 48);
+ getFifoBuffer((char *)buffer, fifoCount);
+ getInterruptStatus();
+ fifoCount = 0;
+ while ((fifoCount = getFifoCount()) < 48);
+ getFifoBuffer((char *)buffer, fifoCount);
+ getInterruptStatus();
+
+ update_ptr += update_ptr[2] + 3;
+ writeMemoryBlock(update_ptr + 3, update_ptr[2], update_ptr[0], update_ptr[1], true);
+
+ setDMPEnabled(false);
+
+ debug.printf("finished\r\n");
+
+ }
+ }
+
+
+}
+
+//PWR_MGMT_1 Control Register
+//*****************************/
+void MPU9150::reset(){
+ writeBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
+}
+
+void MPU9150::sleep(bool state){
+ writeBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, state);
+}
+
+/*
+cycle between sleep mode and waking up to take a single sample of data from
+active sensors at a rate determined by LP_WAKE_CTRL (register 108).
+*/
+void MPU9150::cycleMode(bool state){
+ writeBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, state);
+}
+void MPU9150::disableTemperatureSensor(bool state){
+ writeBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, state);
+}
+void MPU9150::clockSelect(uint8_t clk){
+ writeBits(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, clk);
+}
+
+//PWR_MGMT_2 Control Register
+//*****************************/
+void MPU9150::setCycleWakeFrequency(uint8_t freq){
+ writeBits(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, freq);
+}
+void MPU9150::setStandbyAccX(bool value){
+ writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, value);
+}
+void MPU9150::setStandbyAccY(bool value){
+ writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, value);
+}
+void MPU9150::setStandbyAccZ(bool value){
+ writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, value);
+}
+void MPU9150::setStandbyGyroX( bool value){
+ writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, value);
+}
+void MPU9150::setStandbyGyroY( bool value){
+ writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, value);
+}
+void MPU9150::setStandbyGyroZ( bool value){
+ writeBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, value);
+}
+
+//SMPRT_DIV Sample Rate Divider
+//*****************************/
+void MPU9150::setSampleRateDivider(uint8_t value){
+ write(MPU6050_RA_SMPLRT_DIV, value);
+}
+
+//CONFIG
+void MPU9150::setExternalFrameSync(uint8_t value){
+ writeBits(MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, value);
+}
+void MPU9150::setDigitalLowPassFilter(uint8_t value){
+ writeBits(MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, value);
+}
+
+//GYRO_CONFIG
+void MPU9150::setGyroSelfTest(bool value){
+ writeBit(MPU6050_RA_GYRO_CONFIG, 7, value); //X
+ writeBit(MPU6050_RA_GYRO_CONFIG, 6, value); //Y
+ writeBit(MPU6050_RA_GYRO_CONFIG, 5, value); //Z
+}
+
+void MPU9150::setGyroFullScaleRange(uint8_t value){
+ writeBits(MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, value);
+}
+
+//ACCEL_CONFIG
+void MPU9150::setAccelSelfTest(bool value){
+ writeBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, value);
+ writeBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, value);
+ writeBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, value);
+}
+void MPU9150::setAccelFullScaleRange(uint8_t value){
+ writeBits(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT , MPU6050_ACONFIG_AFS_SEL_LENGTH, value);
+}
+
+//FIFO_EN
+void MPU9150::setTemperatureFifo(bool value){
+ writeBit(MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, value);
+}
+void MPU9150::setGyroFifo(bool value){
+ writeBit(MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, value);
+ writeBit(MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, value);
+ writeBit(MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, value);
+}
+void MPU9150::setAccelFifo(bool value){
+ writeBit(MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, value);
+}
+void MPU9150::setSlave2Fifo(bool value){
+ writeBit(MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, value);
+}
+void MPU9150::setSlave1Fifo(bool value){
+ writeBit(MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, value);
+}
+void MPU9150::setSlave0Fifo(bool value){
+ writeBit(MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, value);
+}
+
+//I2C_MST_CTRL
+void MPU9150::setMultiMaster(bool value){
+ writeBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, value);
+}
+void MPU9150::setWaitForExternalSensor(bool value){
+ writeBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, value);
+}
+void MPU9150::setSlave3Fifo(bool value){
+ writeBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, value);
+}
+void MPU9150::setMasterStartStop(bool value){
+ writeBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, value);
+}
+void MPU9150::setI2CMasterClock(uint8_t value){
+ writeBits(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, value);
+}
+
+//I2C slaves 0 to 3
+//I2C_SLV0_ADDR
+void MPU9150::setI2cSlaveRW(uint8_t slave_id, bool value){
+ if(slave_id > 3)return;
+ writeBit(MPU6050_RA_I2C_SLV0_ADDR + (slave_id * 3), MPU6050_I2C_SLV_RW_BIT, value);
+}
+void MPU9150::setI2cSlaveAddress(uint8_t slave_id, uint8_t value){
+ if(slave_id > 3)return;
+ writeBits(MPU6050_RA_I2C_SLV0_ADDR + (slave_id * 3), MPU6050_I2C_SLV_ADDR_BIT, MPU6050_I2C_SLV_ADDR_LENGTH, value);
+}
+//I2C_SLV0_REG,
+void MPU9150::setI2cSlaveRegister(uint8_t slave_id, uint8_t value){
+ if(slave_id > 3)return;
+ write(MPU6050_RA_I2C_SLV0_REG + (slave_id * 3), value);
+}
+//I2C_SLV0_CTRL
+void MPU9150::setI2cSlaveEnable(uint8_t slave_id, bool value){
+ if(slave_id > 3)return;
+ writeBit(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_EN_BIT, value);
+}
+void MPU9150::setI2cSlaveByteSwap(uint8_t slave_id, bool value){
+ if(slave_id > 3)return;
+ writeBit(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_BYTE_SW_BIT, value);
+}
+void MPU9150::setI2cSlaveRegDisable(uint8_t slave_id, bool value){
+ if(slave_id > 3)return;
+ writeBit(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_REG_DIS_BIT, value);
+}
+void MPU9150::setI2cSlaveByteGrouping(uint8_t slave_id, bool value){
+ if(slave_id > 3)return;
+ writeBit(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_GRP_BIT, value);
+}
+void MPU9150::setI2cSlaveTransactionLength(uint8_t slave_id, uint8_t value){
+ if(slave_id > 3)return;
+ writeBits(MPU6050_RA_I2C_SLV0_CTRL + (slave_id * 3), MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, value);
+}
+//I2C_SLV0_DO
+void MPU9150::setI2cSlaveDataOut(uint8_t slave_id, uint8_t value){
+ if(slave_id > 3)return;
+ write(MPU6050_RA_I2C_SLV0_DO + slave_id, value);
+}
+//I2C_MST_DELAY_CTRL
+void MPU9150::setI2cSlaveDelay(uint8_t slave_id, uint8_t value){
+ writeBit(MPU6050_RA_I2C_MST_DELAY_CTRL, slave_id, value);
+}
+void MPU9150::setI2cSlaveShadowDelay(uint8_t value){
+ writeBit(MPU6050_RA_I2C_MST_DELAY_CTRL, 7, value);
+}
+
+//I2C slave4
+//I2C_SLV4_ADDR
+void MPU9150::setI2cSlave4RW( bool value){
+ writeBit(MPU6050_RA_I2C_SLV4_ADDR, MPU6050_I2C_SLV4_RW_BIT, value);
+}
+void MPU9150::setI2cSlave4Address( uint8_t value){
+ writeBits(MPU6050_RA_I2C_SLV4_ADDR, MPU6050_I2C_SLV4_ADDR_BIT, MPU6050_I2C_SLV4_ADDR_LENGTH, value);
+}
+//I2C_SLV4_REG,
+void MPU9150::setI2cSlave4Register(uint8_t value){
+ write(MPU6050_RA_I2C_SLV4_REG, value);
+}
+//I2C_SLV4_DO
+void MPU9150::setI2cSlave4DataOut(uint8_t value){
+ write(MPU6050_RA_I2C_SLV4_DO, value);
+}
+
+//I2C_SLV4_CTRL
+void MPU9150::setI2cSlave4Enable(bool value){
+ writeBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, value);
+}
+
+void MPU9150::setI2cSlave4IntEnable(bool value){
+ writeBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, value);
+}
+
+void MPU9150::setI2cSlave4RegDisable(bool value){
+ writeBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, value);
+}
+
+void MPU9150::setI2cMasterDelay(uint8_t value){
+ writeBits(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, value);
+}
+
+uint8_t MPU9150::getI2cSlave4Di(){
+ return get8(MPU6050_RA_I2C_SLV4_DI);
+}
+
+//I2C_MST_STATUS
+bool MPU9150::setI2cPassthrough(){
+ return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT);
+}
+bool MPU9150::setI2cSlave4Done(){
+ return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT);
+}
+bool MPU9150::setI2cLostArbitration(){
+ return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT);
+}
+bool MPU9150::setI2cSlave0Nack(){
+ return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT);
+}
+bool MPU9150::setI2cSlave1Nack(){
+ return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT);
+}
+bool MPU9150::setI2cSlave2Nack(){
+ return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT);
+}
+bool MPU9150::setI2cSlave3Nack(){
+ return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT);
+}
+bool MPU9150::setI2cSlave4Nack(){
+ return getBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT);
+}
+
+//INT_PIN_CFG
+void MPU9150::setInterruptActiveLow(bool value){
+ writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, value);
+}
+void MPU9150::setInterruptOpenDrain(bool value){
+ writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, value);
+}
+void MPU9150::setInterruptLatch(bool value){
+ writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, value);
+}
+void MPU9150::setInterruptAnyReadClear(bool value){
+ writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, value);
+}
+void MPU9150::setFsyncInterruptActiveLow(bool value){
+ writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, value);
+}
+void MPU9150::setFsyncInterruptEnable(bool value){
+ writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, value);
+}
+void MPU9150::setI2cAuxBypassEnable(bool value){
+ writeBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, value);
+}
+
+//INT_ENABLE
+void MPU9150::setInterruptFifoOverflowEnable(bool value){
+ writeBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, value);
+}
+void MPU9150::setInterruptMasterEnable(bool value){
+ writeBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, value);
+}
+void MPU9150::setInterruptDataReadyEnable(bool value){
+ writeBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, value);
+}
+
+//INT_STATUS
+bool MPU9150::getInterruptFifoOverflow(){
+ return getBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT);
+}
+bool MPU9150::getInterruptMaster(){
+ return getBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT);
+}
+bool MPU9150::getInterruptDataReady(){
+ return getBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT);
+}
+
+uint8_t MPU9150::getInterruptStatus(){
+ return get8(MPU6050_RA_INT_STATUS);
+}
+
+//SIGNAL_PATH_RESET
+void MPU9150::resetGyroSignalPath(){
+ writeBit(MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
+}
+void MPU9150::resetAccelSignalPath(){
+ writeBit(MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
+}
+void MPU9150::resetTempSignalPath(){
+ writeBit(MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
+}
+
+//USER_CTRL
+void MPU9150::setEnableFifo(bool value){
+ writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, value);
+}
+void MPU9150::setI2cMasterEnable(bool value){
+ writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, value);
+}
+void MPU9150::setFifoReset(bool value){
+ writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, value);
+}
+void MPU9150::setI2cMasterReset(bool value){
+ writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, value);
+}
+void MPU9150::setFullSensorReset(bool value){
+ writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, value);
+}
+
+//FIFO_COUNT_H and FIFO_COUNT_L
+int16_t MPU9150::getFifoCount(){
+ return get16(MPU6050_RA_FIFO_COUNTH);
+}
+
+//FIFO_R_W
+bool MPU9150::getFifoBuffer(char* buffer, int16_t length){
+ return read(MPU6050_RA_FIFO_R_W, buffer, length);
+}
+
+//UNDOCUMENTED (again reimplemention from sparkfun github) can't find any origional documentation
+// XG_OFFS_TC
+uint8_t MPU9150::getOTPBankValid() {
+ return getBit(MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT);
+}
+
+//INT_ENABLE
+void MPU9150::setIntPLLReadyEnabled(bool value) {
+ writeBit( MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, value);
+}
+void MPU9150::setIntDMPEnabled(bool value) {
+ writeBit( MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, value);
+}
+
+// INT_STATUS
+bool MPU9150::getIntPLLReadyStatus() {
+ return getBit( MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT);
+}
+bool MPU9150::getIntDMPStatus() {
+ return getBit( MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT);
+}
+
+// USER_CTRL
+bool MPU9150::getDMPEnabled() {
+ return getBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT);
+}
+void MPU9150::setDMPEnabled(bool value) {
+ writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, value);
+}
+void MPU9150::resetDMP() {
+ writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
+}
+
+// BANK_SEL
+void MPU9150::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
+ bank &= 0x1F;
+ if (userBank){
+ bank |= 0x20;
+ }
+ if (prefetchEnabled){
+ bank |= 0x40;
+ }
+ write( MPU6050_RA_BANK_SEL, bank);
+}
+
+// MEM_START_ADDR
+void MPU9150::setMemoryStartAddress(uint8_t address) {
+ write(MPU6050_RA_MEM_START_ADDR, address);
+}
+
+// MEM_R_W
+uint8_t MPU9150::readMemoryByte() {
+ return get8(MPU6050_RA_MEM_R_W);
+}
+void MPU9150::writeMemoryByte(uint8_t value) {
+ write(MPU6050_RA_MEM_R_W, value);
+}
+void MPU9150::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
+ setMemoryBank(bank);
+ setMemoryStartAddress(address);
+
+ uint8_t chunkSize;
+ for (uint16_t i = 0; i < dataSize;) {
+ // determine correct chunk size according to bank position and data size
+ chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
+
+ // make sure we don't go past the data size
+ if (i + chunkSize > dataSize) chunkSize = dataSize - i;
+
+ // make sure this chunk doesn't go past the bank boundary (256 bytes)
+ if (chunkSize > 256 - address) chunkSize = 256 - address;
+ debug.printf("reading %d", chunkSize);
+ // read the chunk of data as specified
+ read(MPU6050_RA_MEM_R_W, (char*)(data+i), chunkSize);
+ debug.printf("read");
+ // increase byte index by [chunkSize]
+ i += chunkSize;
+
+ // uint8_t automatically wraps to 0 at 256
+ address += chunkSize;
+
+ // if we aren't done, update bank (if necessary) and address
+ if (i < dataSize) {
+ if (address == 0) bank++;
+ setMemoryBank(bank);
+ setMemoryStartAddress(address);
+ }
+ }
+}
+bool MPU9150::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
+ setMemoryBank(bank);
+ setMemoryStartAddress(address);
+ uint8_t chunkSize;
+ uint8_t *verifyBuffer = 0;
+ uint8_t *progBuffer = 0;
+ uint16_t i;
+
+ if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
+ for (i = 0; i < dataSize;) {
+ // determine correct chunk size according to bank position and data size
+ chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
+
+ // make sure we don't go past the data size
+ if (i + chunkSize > dataSize) chunkSize = dataSize - i;
+
+ // make sure this chunk doesn't go past the bank boundary (256 bytes)
+ if (chunkSize > 256 - address) chunkSize = 256 - address;
+
+ progBuffer = (uint8_t *)data + i;
+
+ write(MPU6050_RA_MEM_R_W, (char*)progBuffer, chunkSize);
+
+
+ // verify data if needed
+ if (verify && verifyBuffer) {
+ setMemoryBank(bank);
+ setMemoryStartAddress(address);
+ read(MPU6050_RA_MEM_R_W, (char*)verifyBuffer, chunkSize);
+ if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
+ free(verifyBuffer);
+ debug.printf("invalid(%d, %d)\r\n", bank, read_errors, write_errors);
+ return false; // uh oh.
+ }
+ }
+
+ // increase byte index by [chunkSize]
+ i += chunkSize;
+
+ // uint8_t automatically wraps to 0 at 256
+ address += chunkSize;
+
+ // if we aren't done, update bank (if necessary) and address
+ if (i < dataSize) {
+ if (address == 0) bank++;
+ setMemoryBank(bank);
+ setMemoryStartAddress(address);
+ }
+ }
+ if (verify) free(verifyBuffer);
+ return true;
+}
+bool MPU9150::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
+ uint8_t *progBuffer;
+ uint8_t success, special;
+ uint16_t i;
+
+ // config set data is a long string of blocks with the following structure:
+ // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
+ uint8_t bank, offset, length;
+ for (i = 0; i < dataSize;) {
+ bank = data[i++];
+ offset = data[i++];
+ length = data[i++];
+
+ // write data or perform special action
+ if (length > 0) {
+ progBuffer = (uint8_t *)data + i;
+ success = writeMemoryBlock(progBuffer, length, bank, offset, true);
+ i += length;
+ } else {
+ // special instruction
+ // NOTE: this kind of behavior (what and when to do certain things)
+ // is totally undocumented. This code is in here based on observed
+ // behavior only, and exactly why (or even whether) it has to be here
+ // is anybody's guess for now.
+ special = data[i++];
+
+ if (special == 0x01) {
+ // enable DMP-related interrupts
+ //setIntZeroMotionEnabled(true);
+ //setIntFIFOBufferOverflowEnabled(true);
+ //setIntDMPEnabled(true);
+ write(MPU6050_RA_INT_ENABLE, 0x32); // single operation
+ success = true;
+ } else {
+ // unknown special command
+ success = false;
+ }
+ }
+
+ if (!success) {
+ return false;
+ }
+ }
+ return true;
+}
+// DMP_CFG_1
+uint8_t MPU9150::getDMPConfig1() {
+ return get8(MPU6050_RA_DMP_CFG_1);
+
+}
+void MPU9150::setDMPConfig1(uint8_t config) {
+ write(MPU6050_RA_DMP_CFG_1, config);
+}
+
+// DMP_CFG_2
+uint8_t MPU9150::getDMPConfig2() {
+ return get8(MPU6050_RA_DMP_CFG_2);
+
+}
+void MPU9150::setDMPConfig2(uint8_t config) {
+ write(MPU6050_RA_DMP_CFG_2, config);
+}
+
+//Utility Functions
+bool MPU9150::getBit(char reg_addr, uint8_t bit){
+ uint8_t data = 0;
+ readBit(reg_addr, bit, &data);
+ return (bool)data;
+}
+
+int8_t MPU9150::get8(char reg_addr){
+ char data;
+ read(reg_addr, &data);
+ return data;
+}
+
+int16_t MPU9150::get16(char reg_addr){
+ char data[2];
+ if(!read(reg_addr, data, 2))debug.printf("get16: read fail:%02X\r\n", reg_addr);
+ return (data[0]<<8) + data[1];
+}
+
+int16_t MPU9150::get16L(char reg_addr){
+ char data[2];
+ read(reg_addr, data, 2);
+ return (data[1]<<8) + data[0];
+}
+
+bool MPU9150::write(char reg_addr, char data){
+ return write(reg_addr, &data, 1);
+}
+
+bool MPU9150::write(char reg_addr, char* data, int length){
+ i2c.start();
+ i2c.write(device_address << 1);
+ i2c.write(reg_addr);
+ for(int i = 0; i < length; i++) {
+ if(!i2c.write(data[i])){
+ write_errors++;
+ debug.printf("Write Error %d\r\n", reg_addr);
+ return false;
+ }
+ }
+ i2c.stop();
+ return true;
+}
+
+bool MPU9150::writeBit(char reg_addr, uint8_t bit, bool value){
+ return writeBits(reg_addr, bit, 1, (uint8_t)value);
+}
+
+bool MPU9150::writeBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t data){
+ char ret;
+
+ if(!read(reg_addr, &ret)){
+ return false;
+ }
+
+ uint8_t mask = ((1 << length) - 1) << (bit_start - length + 1);
+ data <<= (bit_start - length + 1);
+
+ data &= mask;
+ ret &= ~(mask);
+ ret |= data;
+
+ return write(reg_addr, ret);
+}
+
+bool MPU9150::read(char reg_addr, char* data){
+ return read(reg_addr, data, 1);
+}
+
+bool MPU9150::read(char reg_addr, char* data, int length){
+ if(i2c.write(device_address << 1, ®_addr, 1, true)){
+ read_errors ++;
+ debug.printf("Read: Address Write Error %d\r\n", reg_addr);
+ return false;
+ }
+ if(i2c.read(device_address << 1, data, length)){
+ read_errors ++;
+ debug.printf("Read: Error %d\r\n", reg_addr);
+ return false;
+ }
+ return true;
+}
+
+
+bool MPU9150::readBit(char reg_addr, uint8_t bit_start, uint8_t *data){
+ return readBits(reg_addr, bit_start, 1, data);
+}
+
+bool MPU9150::readBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t *data){
+ char ret;
+
+ if(!read(reg_addr, &ret)){
+ return false;
+ }
+
+ uint8_t mask = ((1 << length) - 1) << (bit_start - length + 1);
+ ret &= mask;
+ ret >>= (bit_start - length + 1);
+ *data = ret;
+
+ return true;
+}
\ No newline at end of file