Chris Pepper / MPU9150_DMP

The MPU9150s biggest selling point was its internal Motion Processor to offload the sensor fusion from the host processor, this library uploads the firmware to generate quaternions from the sensors. The API needs work but as other libraries don't support the DMP supplying as is.

Dependents:   MPU9150_Example CANSAT_COMBINED MPU9150_Example mbed_rifletool

MPU9150.h@0:74f0ae286b03, 2014-08-31 (annotated)

Committer:
p3p
Date:
Sun Aug 31 12:52:29 2014 +0000
Revision:
0:74f0ae286b03
Child:
1:8ff0beb54dd4
MPU9150 api using its DMP for quaternions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
p3p 0:74f0ae286b03 1 #ifndef MPU9150_INCLUDE
p3p 0:74f0ae286b03 2 #define MPU9150_INCLUDE
p3p 0:74f0ae286b03 3
p3p 0:74f0ae286b03 4 #include "mbed.h"
p3p 0:74f0ae286b03 5 #include "registers.h"
p3p 0:74f0ae286b03 6 #include "dmpdata.h"
p3p 0:74f0ae286b03 7 //https://github.com/sparkfun/MPU-9150_Breakout/blob/master/firmware/MPU6050/MPU6050_9Axis_MotionApps41.h
p3p 0:74f0ae286b03 8 extern Serial debug;
p3p 0:74f0ae286b03 9
p3p 0:74f0ae286b03 10 class MPU9150{
p3p 0:74f0ae286b03 11 public:
p3p 0:74f0ae286b03 12 MPU9150(PinName scl, PinName sda, PinName interrupt, bool secondary_addr = false):i2c(sda, scl){
p3p 0:74f0ae286b03 13 device_address = MPU6050_DEFAULT_ADDRESS;
p3p 0:74f0ae286b03 14 read_errors = 0;
p3p 0:74f0ae286b03 15 write_errors = 0;
p3p 0:74f0ae286b03 16 if(secondary_addr){
p3p 0:74f0ae286b03 17 device_address = MPU6050_ADDRESS_AD0_HIGH;
p3p 0:74f0ae286b03 18 }
p3p 0:74f0ae286b03 19
p3p 0:74f0ae286b03 20 // i2c.frequency(400000);
p3p 0:74f0ae286b03 21 i2c.frequency(100000);
p3p 0:74f0ae286b03 22 }
p3p 0:74f0ae286b03 23 ~MPU9150(){}
p3p 0:74f0ae286b03 24
p3p 0:74f0ae286b03 25 bool getBit(char reg_addr, uint8_t bit);
p3p 0:74f0ae286b03 26 int8_t get8(char reg_addr);
p3p 0:74f0ae286b03 27 int16_t get16(char reg_addr);
p3p 0:74f0ae286b03 28 int16_t get16L(char reg_addr);
p3p 0:74f0ae286b03 29
p3p 0:74f0ae286b03 30 bool read(char reg_addr, char* data);
p3p 0:74f0ae286b03 31 bool read(char reg_addr, char* data, int length);
p3p 0:74f0ae286b03 32 bool readBit(char reg_addr, uint8_t bit_start, uint8_t *data);
p3p 0:74f0ae286b03 33 bool readBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t *data);
p3p 0:74f0ae286b03 34
p3p 0:74f0ae286b03 35 bool write(char reg_addr, char data);
p3p 0:74f0ae286b03 36 bool write(char reg_addr, char* data, int length);
p3p 0:74f0ae286b03 37 bool writeBit(char reg_addr, uint8_t bit, bool value);
p3p 0:74f0ae286b03 38 bool writeBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t data);
p3p 0:74f0ae286b03 39
p3p 0:74f0ae286b03 40 uint8_t getDeviceID();
p3p 0:74f0ae286b03 41 bool isReady();
p3p 0:74f0ae286b03 42 void initialise();
p3p 0:74f0ae286b03 43 void initialiseMagnetometer();
p3p 0:74f0ae286b03 44 void initialiseDMP();
p3p 0:74f0ae286b03 45
p3p 0:74f0ae286b03 46
p3p 0:74f0ae286b03 47 //PWR_MGMT_1 Control Register
p3p 0:74f0ae286b03 48 void reset();
p3p 0:74f0ae286b03 49 void sleep(bool state);
p3p 0:74f0ae286b03 50 void cycleMode(bool state);
p3p 0:74f0ae286b03 51 void disableTemperatureSensor(bool state);
p3p 0:74f0ae286b03 52 void clockSelect(uint8_t clk);
p3p 0:74f0ae286b03 53
p3p 0:74f0ae286b03 54 //PWR_MGMT_2 Control Register
p3p 0:74f0ae286b03 55 void setCycleWakeFrequency(uint8_t value);
p3p 0:74f0ae286b03 56 void setStandbyAccX( bool value );
p3p 0:74f0ae286b03 57 void setStandbyAccY( bool value );
p3p 0:74f0ae286b03 58 void setStandbyAccZ( bool value );
p3p 0:74f0ae286b03 59 void setStandbyGyroX( bool value );
p3p 0:74f0ae286b03 60 void setStandbyGyroY( bool value );
p3p 0:74f0ae286b03 61 void setStandbyGyroZ( bool value );
p3p 0:74f0ae286b03 62
p3p 0:74f0ae286b03 63 //SMPRT_DI Sample Rate Divider
p3p 0:74f0ae286b03 64 void setSampleRateDivider(uint8_t value);
p3p 0:74f0ae286b03 65
p3p 0:74f0ae286b03 66 //CONFIG
p3p 0:74f0ae286b03 67 void setExternalFrameSync(uint8_t value);
p3p 0:74f0ae286b03 68 void setDigitalLowPassFilter(uint8_t value);
p3p 0:74f0ae286b03 69
p3p 0:74f0ae286b03 70 //GYRO_CONFIG
p3p 0:74f0ae286b03 71 void setGyroSelfTest(bool value);
p3p 0:74f0ae286b03 72 void setGyroFullScaleRange(uint8_t value);
p3p 0:74f0ae286b03 73
p3p 0:74f0ae286b03 74 //ACCEL_CONFIG
p3p 0:74f0ae286b03 75 void setAccelSelfTest(bool value);
p3p 0:74f0ae286b03 76 void setAccelFullScaleRange(uint8_t value);
p3p 0:74f0ae286b03 77
p3p 0:74f0ae286b03 78 //FIFO_EN
p3p 0:74f0ae286b03 79 void setTemperatureFifo(bool value);
p3p 0:74f0ae286b03 80 void setGyroFifo(bool value);
p3p 0:74f0ae286b03 81 void setAccelFifo(bool value);
p3p 0:74f0ae286b03 82 void setSlave2Fifo(bool value);
p3p 0:74f0ae286b03 83 void setSlave1Fifo(bool value);
p3p 0:74f0ae286b03 84 void setSlave0Fifo(bool value);
p3p 0:74f0ae286b03 85
p3p 0:74f0ae286b03 86 //I2C_MST_CTRL
p3p 0:74f0ae286b03 87 void setMultiMaster(bool value);
p3p 0:74f0ae286b03 88 void setWaitForExternalSensor(bool value);
p3p 0:74f0ae286b03 89 void setSlave3Fifo(bool value);
p3p 0:74f0ae286b03 90 void setMasterStartStop(bool value);
p3p 0:74f0ae286b03 91 void setI2CMasterClock(uint8_t value);
p3p 0:74f0ae286b03 92
p3p 0:74f0ae286b03 93 //I2C_SLV0_ADDR
p3p 0:74f0ae286b03 94 void setI2cSlaveRW(uint8_t slave_id, bool value);
p3p 0:74f0ae286b03 95 void setI2cSlaveAddress(uint8_t slave_id, uint8_t value);
p3p 0:74f0ae286b03 96 //I2C_SLV0_REG,
p3p 0:74f0ae286b03 97 void setI2cSlaveRegister(uint8_t slave_id, uint8_t value);
p3p 0:74f0ae286b03 98 //I2C_SLV0_CTRL
p3p 0:74f0ae286b03 99 void setI2cSlaveEnable(uint8_t slave_id, bool value);
p3p 0:74f0ae286b03 100 void setI2cSlaveByteSwap(uint8_t slave_id, bool value);
p3p 0:74f0ae286b03 101 void setI2cSlaveRegDisable(uint8_t slave_id, bool value);
p3p 0:74f0ae286b03 102 void setI2cSlaveByteGrouping(uint8_t slave_id, bool value);
p3p 0:74f0ae286b03 103 void setI2cSlaveTransactionLength(uint8_t slave_id, uint8_t value);
p3p 0:74f0ae286b03 104 //I2C_SLV0_DO
p3p 0:74f0ae286b03 105 void setI2cSlaveDataOut(uint8_t slave_id, uint8_t value);
p3p 0:74f0ae286b03 106 //I2C_MST_DELAY_CTRL
p3p 0:74f0ae286b03 107 void setI2cSlaveDelay(uint8_t slave_id, uint8_t value);
p3p 0:74f0ae286b03 108 void setI2cSlaveShadowDelay(uint8_t value) ;
p3p 0:74f0ae286b03 109 //Slave4 is different
p3p 0:74f0ae286b03 110 void setI2cSlave4RW( bool value);
p3p 0:74f0ae286b03 111 void setI2cSlave4Address( uint8_t value);
p3p 0:74f0ae286b03 112 void setI2cSlave4Register(uint8_t value);
p3p 0:74f0ae286b03 113 void setI2cSlave4DataOut(uint8_t value);
p3p 0:74f0ae286b03 114 void setI2cSlave4Enable(bool value);
p3p 0:74f0ae286b03 115 void setI2cSlave4IntEnable(bool value);
p3p 0:74f0ae286b03 116 void setI2cSlave4RegDisable(bool value);
p3p 0:74f0ae286b03 117 void setI2cMasterDelay(uint8_t value);
p3p 0:74f0ae286b03 118 uint8_t getI2cSlave4Di();
p3p 0:74f0ae286b03 119
p3p 0:74f0ae286b03 120 //I2C_MST_STATUS
p3p 0:74f0ae286b03 121 bool setI2cPassthrough();
p3p 0:74f0ae286b03 122 bool setI2cSlave4Done();
p3p 0:74f0ae286b03 123 bool setI2cLostArbitration();
p3p 0:74f0ae286b03 124 bool setI2cSlave0Nack();
p3p 0:74f0ae286b03 125 bool setI2cSlave1Nack();
p3p 0:74f0ae286b03 126 bool setI2cSlave2Nack();
p3p 0:74f0ae286b03 127 bool setI2cSlave3Nack();
p3p 0:74f0ae286b03 128 bool setI2cSlave4Nack();
p3p 0:74f0ae286b03 129
p3p 0:74f0ae286b03 130 //INT_PIN_CFG
p3p 0:74f0ae286b03 131 void setInterruptActiveLow(bool value);
p3p 0:74f0ae286b03 132 void setInterruptOpenDrain(bool value);
p3p 0:74f0ae286b03 133 void setInterruptLatch(bool value);
p3p 0:74f0ae286b03 134 void setInterruptAnyReadClear(bool value);
p3p 0:74f0ae286b03 135 void setFsyncInterruptActiveLow(bool value);
p3p 0:74f0ae286b03 136 void setFsyncInterruptEnable(bool value);
p3p 0:74f0ae286b03 137 void setI2cAuxBypassEnable(bool value);
p3p 0:74f0ae286b03 138
p3p 0:74f0ae286b03 139 //INT_ENABLE
p3p 0:74f0ae286b03 140 void setInterruptFifoOverflowEnable(bool value);
p3p 0:74f0ae286b03 141 void setInterruptMasterEnable(bool value);
p3p 0:74f0ae286b03 142 void setInterruptDataReadyEnable(bool value);
p3p 0:74f0ae286b03 143
p3p 0:74f0ae286b03 144 //INT_STATUS
p3p 0:74f0ae286b03 145 bool getInterruptFifoOverflow();
p3p 0:74f0ae286b03 146 bool getInterruptMaster();
p3p 0:74f0ae286b03 147 bool getInterruptDataReady();
p3p 0:74f0ae286b03 148 uint8_t getInterruptStatus();
p3p 0:74f0ae286b03 149
p3p 0:74f0ae286b03 150 //SIGNAL_PATH_RESET
p3p 0:74f0ae286b03 151 void resetGyroSignalPath();
p3p 0:74f0ae286b03 152 void resetAccelSignalPath();
p3p 0:74f0ae286b03 153 void resetTempSignalPath();
p3p 0:74f0ae286b03 154
p3p 0:74f0ae286b03 155 //USER_CTRL
p3p 0:74f0ae286b03 156 void setEnableFifo(bool value);
p3p 0:74f0ae286b03 157 void setI2cMasterEnable(bool value);
p3p 0:74f0ae286b03 158 void setFifoReset(bool value);
p3p 0:74f0ae286b03 159 void setI2cMasterReset(bool value);
p3p 0:74f0ae286b03 160 void setFullSensorReset(bool value);
p3p 0:74f0ae286b03 161
p3p 0:74f0ae286b03 162 //FIFO_COUNT_H and FIFO_COUNT_L
p3p 0:74f0ae286b03 163 int16_t getFifoCount();
p3p 0:74f0ae286b03 164
p3p 0:74f0ae286b03 165 //FIFO_R_W
p3p 0:74f0ae286b03 166 bool getFifoBuffer(char* buffer, int16_t length);
p3p 0:74f0ae286b03 167
p3p 0:74f0ae286b03 168 //UNDOCUMENTED
p3p 0:74f0ae286b03 169 // XG_OFFS_TC
p3p 0:74f0ae286b03 170 uint8_t getOTPBankValid();
p3p 0:74f0ae286b03 171
p3p 0:74f0ae286b03 172 //INT_ENABLE
p3p 0:74f0ae286b03 173 void setIntPLLReadyEnabled(bool value);
p3p 0:74f0ae286b03 174 void setIntDMPEnabled(bool value);
p3p 0:74f0ae286b03 175
p3p 0:74f0ae286b03 176 // INT_STATUS
p3p 0:74f0ae286b03 177 bool getIntPLLReadyStatus();
p3p 0:74f0ae286b03 178 bool getIntDMPStatus();
p3p 0:74f0ae286b03 179
p3p 0:74f0ae286b03 180 // USER_CTRL
p3p 0:74f0ae286b03 181 bool getDMPEnabled();
p3p 0:74f0ae286b03 182 void setDMPEnabled(bool value);
p3p 0:74f0ae286b03 183 void resetDMP();
p3p 0:74f0ae286b03 184
p3p 0:74f0ae286b03 185 // BANK_SEL
p3p 0:74f0ae286b03 186 void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
p3p 0:74f0ae286b03 187
p3p 0:74f0ae286b03 188 // MEM_START_ADDR
p3p 0:74f0ae286b03 189 void setMemoryStartAddress(uint8_t address);
p3p 0:74f0ae286b03 190
p3p 0:74f0ae286b03 191 // MEM_R_W register
p3p 0:74f0ae286b03 192 uint8_t readMemoryByte();
p3p 0:74f0ae286b03 193 void writeMemoryByte(uint8_t value);
p3p 0:74f0ae286b03 194 void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address);
p3p 0:74f0ae286b03 195 bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0, bool verify = false);
p3p 0:74f0ae286b03 196 bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
p3p 0:74f0ae286b03 197
p3p 0:74f0ae286b03 198 // DMP_CFG_1
p3p 0:74f0ae286b03 199 uint8_t getDMPConfig1();
p3p 0:74f0ae286b03 200 void setDMPConfig1(uint8_t config);
p3p 0:74f0ae286b03 201
p3p 0:74f0ae286b03 202 // DMP_CFG_2
p3p 0:74f0ae286b03 203 uint8_t getDMPConfig2();
p3p 0:74f0ae286b03 204 void setDMPConfig2(uint8_t config);
p3p 0:74f0ae286b03 205
p3p 0:74f0ae286b03 206 I2C i2c;
p3p 0:74f0ae286b03 207 uint8_t device_address;
p3p 0:74f0ae286b03 208 uint32_t read_errors;
p3p 0:74f0ae286b03 209 uint32_t write_errors;
p3p 0:74f0ae286b03 210 };
p3p 0:74f0ae286b03 211
p3p 0:74f0ae286b03 212 #endif