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@2:e523a92390b6, 2014-09-01 (annotated)

Committer:
p3p
Date:
Mon Sep 01 14:25:06 2014 +0000
Revision:
2:e523a92390b6
Parent:
1:8ff0beb54dd4 
Fix Copyright

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 1:8ff0beb54dd4 8
p3p 1:8ff0beb54dd4 9 //extern Serial debug;
p3p 0:74f0ae286b03 10
p3p 0:74f0ae286b03 11 class MPU9150{
p3p 0:74f0ae286b03 12 public:
p3p 0:74f0ae286b03 13 MPU9150(PinName scl, PinName sda, PinName interrupt, bool secondary_addr = false):i2c(sda, scl){
p3p 0:74f0ae286b03 14 device_address = MPU6050_DEFAULT_ADDRESS;
p3p 0:74f0ae286b03 15 read_errors = 0;
p3p 0:74f0ae286b03 16 write_errors = 0;
p3p 0:74f0ae286b03 17 if(secondary_addr){
p3p 0:74f0ae286b03 18 device_address = MPU6050_ADDRESS_AD0_HIGH;
p3p 0:74f0ae286b03 19 }
p3p 0:74f0ae286b03 20
p3p 0:74f0ae286b03 21 // i2c.frequency(400000);
p3p 0:74f0ae286b03 22 i2c.frequency(100000);
p3p 0:74f0ae286b03 23 }
p3p 0:74f0ae286b03 24 ~MPU9150(){}
p3p 0:74f0ae286b03 25
p3p 0:74f0ae286b03 26 bool getBit(char reg_addr, uint8_t bit);
p3p 0:74f0ae286b03 27 int8_t get8(char reg_addr);
p3p 0:74f0ae286b03 28 int16_t get16(char reg_addr);
p3p 0:74f0ae286b03 29 int16_t get16L(char reg_addr);
p3p 0:74f0ae286b03 30
p3p 0:74f0ae286b03 31 bool read(char reg_addr, char* data);
p3p 0:74f0ae286b03 32 bool read(char reg_addr, char* data, int length);
p3p 0:74f0ae286b03 33 bool readBit(char reg_addr, uint8_t bit_start, uint8_t *data);
p3p 0:74f0ae286b03 34 bool readBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t *data);
p3p 0:74f0ae286b03 35
p3p 0:74f0ae286b03 36 bool write(char reg_addr, char data);
p3p 0:74f0ae286b03 37 bool write(char reg_addr, char* data, int length);
p3p 0:74f0ae286b03 38 bool writeBit(char reg_addr, uint8_t bit, bool value);
p3p 0:74f0ae286b03 39 bool writeBits(char reg_addr, uint8_t bit_start, uint8_t length, uint8_t data);
p3p 0:74f0ae286b03 40
p3p 0:74f0ae286b03 41 uint8_t getDeviceID();
p3p 0:74f0ae286b03 42 bool isReady();
p3p 0:74f0ae286b03 43 void initialise();
p3p 0:74f0ae286b03 44 void initialiseMagnetometer();
p3p 0:74f0ae286b03 45 void initialiseDMP();
p3p 0:74f0ae286b03 46
p3p 0:74f0ae286b03 47
p3p 0:74f0ae286b03 48 //PWR_MGMT_1 Control Register
p3p 0:74f0ae286b03 49 void reset();
p3p 0:74f0ae286b03 50 void sleep(bool state);
p3p 0:74f0ae286b03 51 void cycleMode(bool state);
p3p 0:74f0ae286b03 52 void disableTemperatureSensor(bool state);
p3p 0:74f0ae286b03 53 void clockSelect(uint8_t clk);
p3p 0:74f0ae286b03 54
p3p 0:74f0ae286b03 55 //PWR_MGMT_2 Control Register
p3p 0:74f0ae286b03 56 void setCycleWakeFrequency(uint8_t value);
p3p 0:74f0ae286b03 57 void setStandbyAccX( bool value );
p3p 0:74f0ae286b03 58 void setStandbyAccY( bool value );
p3p 0:74f0ae286b03 59 void setStandbyAccZ( bool value );
p3p 0:74f0ae286b03 60 void setStandbyGyroX( bool value );
p3p 0:74f0ae286b03 61 void setStandbyGyroY( bool value );
p3p 0:74f0ae286b03 62 void setStandbyGyroZ( bool value );
p3p 0:74f0ae286b03 63
p3p 0:74f0ae286b03 64 //SMPRT_DI Sample Rate Divider
p3p 0:74f0ae286b03 65 void setSampleRateDivider(uint8_t value);
p3p 0:74f0ae286b03 66
p3p 0:74f0ae286b03 67 //CONFIG
p3p 0:74f0ae286b03 68 void setExternalFrameSync(uint8_t value);
p3p 0:74f0ae286b03 69 void setDigitalLowPassFilter(uint8_t value);
p3p 0:74f0ae286b03 70
p3p 0:74f0ae286b03 71 //GYRO_CONFIG
p3p 0:74f0ae286b03 72 void setGyroSelfTest(bool value);
p3p 0:74f0ae286b03 73 void setGyroFullScaleRange(uint8_t value);
p3p 0:74f0ae286b03 74
p3p 0:74f0ae286b03 75 //ACCEL_CONFIG
p3p 0:74f0ae286b03 76 void setAccelSelfTest(bool value);
p3p 0:74f0ae286b03 77 void setAccelFullScaleRange(uint8_t value);
p3p 0:74f0ae286b03 78
p3p 0:74f0ae286b03 79 //FIFO_EN
p3p 0:74f0ae286b03 80 void setTemperatureFifo(bool value);
p3p 0:74f0ae286b03 81 void setGyroFifo(bool value);
p3p 0:74f0ae286b03 82 void setAccelFifo(bool value);
p3p 0:74f0ae286b03 83 void setSlave2Fifo(bool value);
p3p 0:74f0ae286b03 84 void setSlave1Fifo(bool value);
p3p 0:74f0ae286b03 85 void setSlave0Fifo(bool value);
p3p 0:74f0ae286b03 86
p3p 0:74f0ae286b03 87 //I2C_MST_CTRL
p3p 0:74f0ae286b03 88 void setMultiMaster(bool value);
p3p 0:74f0ae286b03 89 void setWaitForExternalSensor(bool value);
p3p 0:74f0ae286b03 90 void setSlave3Fifo(bool value);
p3p 0:74f0ae286b03 91 void setMasterStartStop(bool value);
p3p 0:74f0ae286b03 92 void setI2CMasterClock(uint8_t value);
p3p 0:74f0ae286b03 93
p3p 0:74f0ae286b03 94 //I2C_SLV0_ADDR
p3p 0:74f0ae286b03 95 void setI2cSlaveRW(uint8_t slave_id, bool value);
p3p 0:74f0ae286b03 96 void setI2cSlaveAddress(uint8_t slave_id, uint8_t value);
p3p 0:74f0ae286b03 97 //I2C_SLV0_REG,
p3p 0:74f0ae286b03 98 void setI2cSlaveRegister(uint8_t slave_id, uint8_t value);
p3p 0:74f0ae286b03 99 //I2C_SLV0_CTRL
p3p 0:74f0ae286b03 100 void setI2cSlaveEnable(uint8_t slave_id, bool value);
p3p 0:74f0ae286b03 101 void setI2cSlaveByteSwap(uint8_t slave_id, bool value);
p3p 0:74f0ae286b03 102 void setI2cSlaveRegDisable(uint8_t slave_id, bool value);
p3p 0:74f0ae286b03 103 void setI2cSlaveByteGrouping(uint8_t slave_id, bool value);
p3p 0:74f0ae286b03 104 void setI2cSlaveTransactionLength(uint8_t slave_id, uint8_t value);
p3p 0:74f0ae286b03 105 //I2C_SLV0_DO
p3p 0:74f0ae286b03 106 void setI2cSlaveDataOut(uint8_t slave_id, uint8_t value);
p3p 0:74f0ae286b03 107 //I2C_MST_DELAY_CTRL
p3p 0:74f0ae286b03 108 void setI2cSlaveDelay(uint8_t slave_id, uint8_t value);
p3p 0:74f0ae286b03 109 void setI2cSlaveShadowDelay(uint8_t value) ;
p3p 0:74f0ae286b03 110 //Slave4 is different
p3p 0:74f0ae286b03 111 void setI2cSlave4RW( bool value);
p3p 0:74f0ae286b03 112 void setI2cSlave4Address( uint8_t value);
p3p 0:74f0ae286b03 113 void setI2cSlave4Register(uint8_t value);
p3p 0:74f0ae286b03 114 void setI2cSlave4DataOut(uint8_t value);
p3p 0:74f0ae286b03 115 void setI2cSlave4Enable(bool value);
p3p 0:74f0ae286b03 116 void setI2cSlave4IntEnable(bool value);
p3p 0:74f0ae286b03 117 void setI2cSlave4RegDisable(bool value);
p3p 0:74f0ae286b03 118 void setI2cMasterDelay(uint8_t value);
p3p 0:74f0ae286b03 119 uint8_t getI2cSlave4Di();
p3p 0:74f0ae286b03 120
p3p 0:74f0ae286b03 121 //I2C_MST_STATUS
p3p 0:74f0ae286b03 122 bool setI2cPassthrough();
p3p 0:74f0ae286b03 123 bool setI2cSlave4Done();
p3p 0:74f0ae286b03 124 bool setI2cLostArbitration();
p3p 0:74f0ae286b03 125 bool setI2cSlave0Nack();
p3p 0:74f0ae286b03 126 bool setI2cSlave1Nack();
p3p 0:74f0ae286b03 127 bool setI2cSlave2Nack();
p3p 0:74f0ae286b03 128 bool setI2cSlave3Nack();
p3p 0:74f0ae286b03 129 bool setI2cSlave4Nack();
p3p 0:74f0ae286b03 130
p3p 0:74f0ae286b03 131 //INT_PIN_CFG
p3p 0:74f0ae286b03 132 void setInterruptActiveLow(bool value);
p3p 0:74f0ae286b03 133 void setInterruptOpenDrain(bool value);
p3p 0:74f0ae286b03 134 void setInterruptLatch(bool value);
p3p 0:74f0ae286b03 135 void setInterruptAnyReadClear(bool value);
p3p 0:74f0ae286b03 136 void setFsyncInterruptActiveLow(bool value);
p3p 0:74f0ae286b03 137 void setFsyncInterruptEnable(bool value);
p3p 0:74f0ae286b03 138 void setI2cAuxBypassEnable(bool value);
p3p 0:74f0ae286b03 139
p3p 0:74f0ae286b03 140 //INT_ENABLE
p3p 0:74f0ae286b03 141 void setInterruptFifoOverflowEnable(bool value);
p3p 0:74f0ae286b03 142 void setInterruptMasterEnable(bool value);
p3p 0:74f0ae286b03 143 void setInterruptDataReadyEnable(bool value);
p3p 0:74f0ae286b03 144
p3p 0:74f0ae286b03 145 //INT_STATUS
p3p 0:74f0ae286b03 146 bool getInterruptFifoOverflow();
p3p 0:74f0ae286b03 147 bool getInterruptMaster();
p3p 0:74f0ae286b03 148 bool getInterruptDataReady();
p3p 0:74f0ae286b03 149 uint8_t getInterruptStatus();
p3p 0:74f0ae286b03 150
p3p 0:74f0ae286b03 151 //SIGNAL_PATH_RESET
p3p 0:74f0ae286b03 152 void resetGyroSignalPath();
p3p 0:74f0ae286b03 153 void resetAccelSignalPath();
p3p 0:74f0ae286b03 154 void resetTempSignalPath();
p3p 0:74f0ae286b03 155
p3p 0:74f0ae286b03 156 //USER_CTRL
p3p 0:74f0ae286b03 157 void setEnableFifo(bool value);
p3p 0:74f0ae286b03 158 void setI2cMasterEnable(bool value);
p3p 0:74f0ae286b03 159 void setFifoReset(bool value);
p3p 0:74f0ae286b03 160 void setI2cMasterReset(bool value);
p3p 0:74f0ae286b03 161 void setFullSensorReset(bool value);
p3p 0:74f0ae286b03 162
p3p 0:74f0ae286b03 163 //FIFO_COUNT_H and FIFO_COUNT_L
p3p 0:74f0ae286b03 164 int16_t getFifoCount();
p3p 0:74f0ae286b03 165
p3p 0:74f0ae286b03 166 //FIFO_R_W
p3p 0:74f0ae286b03 167 bool getFifoBuffer(char* buffer, int16_t length);
p3p 0:74f0ae286b03 168
p3p 0:74f0ae286b03 169 //UNDOCUMENTED
p3p 0:74f0ae286b03 170 // XG_OFFS_TC
p3p 0:74f0ae286b03 171 uint8_t getOTPBankValid();
p3p 0:74f0ae286b03 172
p3p 0:74f0ae286b03 173 //INT_ENABLE
p3p 0:74f0ae286b03 174 void setIntPLLReadyEnabled(bool value);
p3p 0:74f0ae286b03 175 void setIntDMPEnabled(bool value);
p3p 0:74f0ae286b03 176
p3p 0:74f0ae286b03 177 // INT_STATUS
p3p 0:74f0ae286b03 178 bool getIntPLLReadyStatus();
p3p 0:74f0ae286b03 179 bool getIntDMPStatus();
p3p 0:74f0ae286b03 180
p3p 0:74f0ae286b03 181 // USER_CTRL
p3p 0:74f0ae286b03 182 bool getDMPEnabled();
p3p 0:74f0ae286b03 183 void setDMPEnabled(bool value);
p3p 0:74f0ae286b03 184 void resetDMP();
p3p 0:74f0ae286b03 185
p3p 0:74f0ae286b03 186 // BANK_SEL
p3p 0:74f0ae286b03 187 void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
p3p 0:74f0ae286b03 188
p3p 0:74f0ae286b03 189 // MEM_START_ADDR
p3p 0:74f0ae286b03 190 void setMemoryStartAddress(uint8_t address);
p3p 0:74f0ae286b03 191
p3p 0:74f0ae286b03 192 // MEM_R_W register
p3p 0:74f0ae286b03 193 uint8_t readMemoryByte();
p3p 0:74f0ae286b03 194 void writeMemoryByte(uint8_t value);
p3p 0:74f0ae286b03 195 void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address);
p3p 0:74f0ae286b03 196 bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0, bool verify = false);
p3p 0:74f0ae286b03 197 bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
p3p 0:74f0ae286b03 198
p3p 0:74f0ae286b03 199 // DMP_CFG_1
p3p 0:74f0ae286b03 200 uint8_t getDMPConfig1();
p3p 0:74f0ae286b03 201 void setDMPConfig1(uint8_t config);
p3p 0:74f0ae286b03 202
p3p 0:74f0ae286b03 203 // DMP_CFG_2
p3p 0:74f0ae286b03 204 uint8_t getDMPConfig2();
p3p 0:74f0ae286b03 205 void setDMPConfig2(uint8_t config);
p3p 0:74f0ae286b03 206
p3p 0:74f0ae286b03 207 I2C i2c;
p3p 0:74f0ae286b03 208 uint8_t device_address;
p3p 0:74f0ae286b03 209 uint32_t read_errors;
p3p 0:74f0ae286b03 210 uint32_t write_errors;
p3p 0:74f0ae286b03 211 };
p3p 0:74f0ae286b03 212
p3p 0:74f0ae286b03 213 #endif