File content as of revision 0:74f0ae286b03:

#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, &reg_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;
}