Kris Winer / MPU9250AHRS_nRF52832

Added mag calibration and interrupt-based data ready

Dependencies:   BLE_API mbed-src nRF51822

EM7180.h@4:8d11bfc7cac0, 2016-09-22 (annotated)

Committer:
onehorse
Date:
Thu Sep 22 01:21:24 2016 +0000
Revision:
4:8d11bfc7cac0
Added mag calibration and interrupt-based data ready

Who changed what in which revision?

UserRevisionLine numberNew contents of line
onehorse 4:8d11bfc7cac0 1 #ifndef EM7180_H
onehorse 4:8d11bfc7cac0 2 #define EM7180_H
onehorse 4:8d11bfc7cac0 3
onehorse 4:8d11bfc7cac0 4 //#include "mbed.h"
onehorse 4:8d11bfc7cac0 5
onehorse 4:8d11bfc7cac0 6 // EM7180 SENtral register map
onehorse 4:8d11bfc7cac0 7 // see http://www.emdeveloper.com/downloads/7180/EMSentral_EM7180_Register_Map_v1_3.pdf
onehorse 4:8d11bfc7cac0 8 //
onehorse 4:8d11bfc7cac0 9 #define EM7180_QX 0x00 // this is a 32-bit normalized floating point number read from registers 0x00-03
onehorse 4:8d11bfc7cac0 10 #define EM7180_QY 0x04 // this is a 32-bit normalized floating point number read from registers 0x04-07
onehorse 4:8d11bfc7cac0 11 #define EM7180_QZ 0x08 // this is a 32-bit normalized floating point number read from registers 0x08-0B
onehorse 4:8d11bfc7cac0 12 #define EM7180_QW 0x0C // this is a 32-bit normalized floating point number read from registers 0x0C-0F
onehorse 4:8d11bfc7cac0 13 #define EM7180_QTIME 0x10 // this is a 16-bit unsigned integer read from registers 0x10-11
onehorse 4:8d11bfc7cac0 14 #define EM7180_MX 0x12 // int16_t from registers 0x12-13
onehorse 4:8d11bfc7cac0 15 #define EM7180_MY 0x14 // int16_t from registers 0x14-15
onehorse 4:8d11bfc7cac0 16 #define EM7180_MZ 0x16 // int16_t from registers 0x16-17
onehorse 4:8d11bfc7cac0 17 #define EM7180_MTIME 0x18 // uint16_t from registers 0x18-19
onehorse 4:8d11bfc7cac0 18 #define EM7180_AX 0x1A // int16_t from registers 0x1A-1B
onehorse 4:8d11bfc7cac0 19 #define EM7180_AY 0x1C // int16_t from registers 0x1C-1D
onehorse 4:8d11bfc7cac0 20 #define EM7180_AZ 0x1E // int16_t from registers 0x1E-1F
onehorse 4:8d11bfc7cac0 21 #define EM7180_ATIME 0x20 // uint16_t from registers 0x20-21
onehorse 4:8d11bfc7cac0 22 #define EM7180_GX 0x22 // int16_t from registers 0x22-23
onehorse 4:8d11bfc7cac0 23 #define EM7180_GY 0x24 // int16_t from registers 0x24-25
onehorse 4:8d11bfc7cac0 24 #define EM7180_GZ 0x26 // int16_t from registers 0x26-27
onehorse 4:8d11bfc7cac0 25 #define EM7180_GTIME 0x28 // uint16_t from registers 0x28-29
onehorse 4:8d11bfc7cac0 26 #define EM7180_Baro 0x2A // start of two-byte MS5637 pressure data, 16-bit signed interger
onehorse 4:8d11bfc7cac0 27 #define EM7180_BaroTIME 0x2C // start of two-byte MS5637 pressure timestamp, 16-bit unsigned
onehorse 4:8d11bfc7cac0 28 #define EM7180_Temp 0x2E // start of two-byte MS5637 temperature data, 16-bit signed interger
onehorse 4:8d11bfc7cac0 29 #define EM7180_TempTIME 0x30 // start of two-byte MS5637 temperature timestamp, 16-bit unsigned
onehorse 4:8d11bfc7cac0 30 #define EM7180_QRateDivisor 0x32 // uint8_t
onehorse 4:8d11bfc7cac0 31 #define EM7180_EnableEvents 0x33
onehorse 4:8d11bfc7cac0 32 #define EM7180_HostControl 0x34
onehorse 4:8d11bfc7cac0 33 #define EM7180_EventStatus 0x35
onehorse 4:8d11bfc7cac0 34 #define EM7180_SensorStatus 0x36
onehorse 4:8d11bfc7cac0 35 #define EM7180_SentralStatus 0x37
onehorse 4:8d11bfc7cac0 36 #define EM7180_AlgorithmStatus 0x38
onehorse 4:8d11bfc7cac0 37 #define EM7180_FeatureFlags 0x39
onehorse 4:8d11bfc7cac0 38 #define EM7180_ParamAcknowledge 0x3A
onehorse 4:8d11bfc7cac0 39 #define EM7180_SavedParamByte0 0x3B
onehorse 4:8d11bfc7cac0 40 #define EM7180_SavedParamByte1 0x3C
onehorse 4:8d11bfc7cac0 41 #define EM7180_SavedParamByte2 0x3D
onehorse 4:8d11bfc7cac0 42 #define EM7180_SavedParamByte3 0x3E
onehorse 4:8d11bfc7cac0 43 #define EM7180_ActualMagRate 0x45
onehorse 4:8d11bfc7cac0 44 #define EM7180_ActualAccelRate 0x46
onehorse 4:8d11bfc7cac0 45 #define EM7180_ActualGyroRate 0x47
onehorse 4:8d11bfc7cac0 46 #define EM7180_ActualBaroRate 0x48
onehorse 4:8d11bfc7cac0 47 #define EM7180_ActualTempRate 0x49
onehorse 4:8d11bfc7cac0 48 #define EM7180_ErrorRegister 0x50
onehorse 4:8d11bfc7cac0 49 #define EM7180_AlgorithmControl 0x54
onehorse 4:8d11bfc7cac0 50 #define EM7180_MagRate 0x55
onehorse 4:8d11bfc7cac0 51 #define EM7180_AccelRate 0x56
onehorse 4:8d11bfc7cac0 52 #define EM7180_GyroRate 0x57
onehorse 4:8d11bfc7cac0 53 #define EM7180_BaroRate 0x58
onehorse 4:8d11bfc7cac0 54 #define EM7180_TempRate 0x59
onehorse 4:8d11bfc7cac0 55 #define EM7180_LoadParamByte0 0x60
onehorse 4:8d11bfc7cac0 56 #define EM7180_LoadParamByte1 0x61
onehorse 4:8d11bfc7cac0 57 #define EM7180_LoadParamByte2 0x62
onehorse 4:8d11bfc7cac0 58 #define EM7180_LoadParamByte3 0x63
onehorse 4:8d11bfc7cac0 59 #define EM7180_ParamRequest 0x64
onehorse 4:8d11bfc7cac0 60 #define EM7180_ROMVersion1 0x70
onehorse 4:8d11bfc7cac0 61 #define EM7180_ROMVersion2 0x71
onehorse 4:8d11bfc7cac0 62 #define EM7180_RAMVersion1 0x72
onehorse 4:8d11bfc7cac0 63 #define EM7180_RAMVersion2 0x73
onehorse 4:8d11bfc7cac0 64 #define EM7180_ProductID 0x90
onehorse 4:8d11bfc7cac0 65 #define EM7180_RevisionID 0x91
onehorse 4:8d11bfc7cac0 66 #define EM7180_RunStatus 0x92
onehorse 4:8d11bfc7cac0 67 #define EM7180_UploadAddress 0x94 // uint16_t registers 0x94 (MSB)-5(LSB)
onehorse 4:8d11bfc7cac0 68 #define EM7180_UploadData 0x96
onehorse 4:8d11bfc7cac0 69 #define EM7180_CRCHost 0x97 // uint32_t from registers 0x97-9A
onehorse 4:8d11bfc7cac0 70 #define EM7180_ResetRequest 0x9B
onehorse 4:8d11bfc7cac0 71 #define EM7180_PassThruStatus 0x9E
onehorse 4:8d11bfc7cac0 72 #define EM7180_PassThruControl 0xA0
onehorse 4:8d11bfc7cac0 73 #define EM7180_ACC_LPF_BW 0x5B //Register GP36
onehorse 4:8d11bfc7cac0 74 #define EM7180_GYRO_LPF_BW 0x5C //Register GP37
onehorse 4:8d11bfc7cac0 75 #define EM7180_BARO_LPF_BW 0x5D //Register GP38
onehorse 4:8d11bfc7cac0 76
onehorse 4:8d11bfc7cac0 77 #define EM7180_ADDRESS 0x28<<1 // Address of the EM7180 SENtral sensor hub
onehorse 4:8d11bfc7cac0 78
onehorse 4:8d11bfc7cac0 79
onehorse 4:8d11bfc7cac0 80 class EM7180 {
onehorse 4:8d11bfc7cac0 81
onehorse 4:8d11bfc7cac0 82 protected:
onehorse 4:8d11bfc7cac0 83
onehorse 4:8d11bfc7cac0 84 public:
onehorse 4:8d11bfc7cac0 85 //===================================================================================================================
onehorse 4:8d11bfc7cac0 86 //====== Set of useful function to access pressure and temperature data
onehorse 4:8d11bfc7cac0 87 //===================================================================================================================
onehorse 4:8d11bfc7cac0 88
onehorse 4:8d11bfc7cac0 89
onehorse 4:8d11bfc7cac0 90 void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
onehorse 4:8d11bfc7cac0 91 {
onehorse 4:8d11bfc7cac0 92 char data_write[2];
onehorse 4:8d11bfc7cac0 93 data_write[0] = subAddress;
onehorse 4:8d11bfc7cac0 94 data_write[1] = data;
onehorse 4:8d11bfc7cac0 95 i2c.write(address, data_write, 2, 0);
onehorse 4:8d11bfc7cac0 96 }
onehorse 4:8d11bfc7cac0 97
onehorse 4:8d11bfc7cac0 98 char readByte(uint8_t address, uint8_t subAddress)
onehorse 4:8d11bfc7cac0 99 {
onehorse 4:8d11bfc7cac0 100 char data[1]; // `data` will store the register data
onehorse 4:8d11bfc7cac0 101 char data_write[1];
onehorse 4:8d11bfc7cac0 102 data_write[0] = subAddress;
onehorse 4:8d11bfc7cac0 103 i2c.write(address, data_write, 1, 1); // no stop
onehorse 4:8d11bfc7cac0 104 i2c.read(address, data, 1, 0);
onehorse 4:8d11bfc7cac0 105 return data[0];
onehorse 4:8d11bfc7cac0 106 }
onehorse 4:8d11bfc7cac0 107
onehorse 4:8d11bfc7cac0 108 void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
onehorse 4:8d11bfc7cac0 109 {
onehorse 4:8d11bfc7cac0 110 char data[24];
onehorse 4:8d11bfc7cac0 111 char data_write[1];
onehorse 4:8d11bfc7cac0 112 data_write[0] = subAddress;
onehorse 4:8d11bfc7cac0 113 i2c.write(address, data_write, 1, 1); // no stop
onehorse 4:8d11bfc7cac0 114 i2c.read(address, data, count, 0);
onehorse 4:8d11bfc7cac0 115 for(int ii = 0; ii < count; ii++) {
onehorse 4:8d11bfc7cac0 116 dest[ii] = data[ii];
onehorse 4:8d11bfc7cac0 117 }
onehorse 4:8d11bfc7cac0 118 }
onehorse 4:8d11bfc7cac0 119
onehorse 4:8d11bfc7cac0 120
onehorse 4:8d11bfc7cac0 121
onehorse 4:8d11bfc7cac0 122
onehorse 4:8d11bfc7cac0 123 };
onehorse 4:8d11bfc7cac0 124 #endif