Revision 2:581fad93a809, committed 2014-06-09

Comitter:

ethanharstad

Date:

Mon Jun 09 21:17:40 2014 +0000

Parent:

1:1b0ada1695a7

Commit message:

Untested implementation

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/I2CHelper.lib	Mon Jun 09 21:17:40 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/ethanharstad/code/I2CHelper/#51de41e0e0c9

--- a/MPU9150.cpp	Wed Jun 04 05:56:54 2014 +0000
+++ b/MPU9150.cpp	Mon Jun 09 21:17:40 2014 +0000
@@ -1,8 +1,12 @@
+// Check methods that write bit fields
 #include "MPU9150.h"
 #include "mbed.h"
 
 MPU9150::MPU9150() : i2c_(I2C_SDA, I2C_SCL) {
     address_ = MPU9150_ADDRESS_DEFAULT;
+    
+    accelRange_ = 0;
+    gyroRange_ = 0;
 }
 
 MPU9150::MPU9150(const bool AD0) : i2c_(I2C_SDA, I2C_SCL) {
@@ -11,6 +15,9 @@
     } else {
         address_ = MPU9150_ADDRESS_AD0_LOW;
     }
+    
+    accelRange_ = 0;
+    gyroRange_ = 0;
 }
 
 MPU9150::MPU9150(const PinName sda, const PinName scl, const bool AD0) : i2c_(sda, scl) {
@@ -19,4 +26,236 @@
     } else {
         address_ = MPU9150_ADDRESS_AD0_LOW;
     }
+    
+    accelRange_ = 0;
+    gyroRange_ = 0;
 }
+
+void MPU9150::initialize() {
+    i2c_.setFrequency(100000);  // Set frequency to 400 kHz
+    setClockSource(MPU9150_PWR_MGMT_CLOCK_GYRO_X);
+    setGyroFullScaleRange(MPU9150_GYRO_FS_250);
+    setAccelFullScaleRange(MPU9150_ACCEL_FS_2);
+    setSleepEnabled(false);
+}
+
+bool MPU9150::test() {
+    return getDeviceID() == 0x34;
+}
+
+uint8_t MPU9150::getSampleRateDivider() {
+    uint8_t buf = 0xFF;
+    i2c_.readByte(address_, MPU9150_RA_SMPRT_DIV, &buf);
+    return buf;
+}
+void MPU9150::setSampleRateDivider(const uint8_t divider) {
+    i2c_.writeByte(address_, MPU9150_RA_SMPRT_DIV, divider);
+}
+
+uint8_t MPU9150::getExternalFrameSync() {
+    uint8_t buf = 0xFF;
+    i2c_.readBits(address_, MPU9150_RA_CONFIG, 5, 3, &buf);
+    return buf;
+}
+void MPU9150::setExternalFrameSync(const uint8_t sync) {
+    i2c_.writeBits(address_, MPU9150_RA_CONFIG, 5, 3, sync);
+}
+uint8_t MPU9150::getDLPFBandwidth() {
+    uint8_t buf = 0xFF;
+    i2c_.readBits(address_, MPU9150_RA_CONFIG, 2, 3, &buf);
+    return buf;
+}
+void MPU9150::setDLPFBandwidth(const uint8_t bandwidth) {
+    i2c_.writeBits(address_, MPU9150_RA_CONFIG, 2, 3, bandwidth);
+}
+
+uint8_t MPU9150::getGyroFullScaleRange() {
+    uint8_t buf = 0xFF;
+    i2c_.readBits(address_, MPU9150_RA_GYRO_CONFIG, 4, 2, &buf);
+    return buf;
+}
+void MPU9150::setGyroFullScaleRange(const uint8_t range) {
+    i2c_.writeBits(address_, MPU9150_RA_GYRO_CONFIG, 4, 2, range);
+}
+
+uint8_t MPU9150::getAccelFullScaleRange() {
+    uint8_t buf = 0xFF;
+    i2c_.readBits(address_, MPU9150_RA_ACCEL_CONFIG, 4, 2, &buf);
+    return buf;
+}
+void MPU9150::setAccelFullScaleRange(const uint8_t range) {
+    i2c_.writeBits(address_, MPU9150_RA_ACCEL_CONFIG, 4, 2, range);
+}
+
+int16_t MPU9150::getAccelX() {
+    uint16_t buf = 0xFFFF;
+    i2c_.readWord(address_, MPU9150_RA_ACCEL_XOUT_H, &buf);
+    return (int16_t)buf;
+}
+int16_t MPU9150::getAccelY() {
+    uint16_t buf = 0xFFFF;
+    i2c_.readWord(address_, MPU9150_RA_ACCEL_YOUT_H, &buf);
+    return (int16_t)buf;
+}
+int16_t MPU9150::getAccelZ() {
+    uint16_t buf = 0xFFFF;
+    i2c_.readWord(address_, MPU9150_RA_ACCEL_ZOUT_H, &buf);
+    return (int16_t)buf;
+}
+
+int16_t MPU9150::getTemp() {
+    uint16_t buf = 0xFFFF;
+    i2c_.readWord(address_, MPU9150_RA_TEMP_OUT_H, &buf);
+    return (int16_t)buf;
+}
+
+int16_t MPU9150::getGyroX() {
+    uint16_t buf = 0xFFFF;
+    i2c_.readWord(address_, MPU9150_RA_GYRO_XOUT_H, &buf);
+    return (int16_t)buf;
+}
+int16_t MPU9150::getGyroY() {
+    uint16_t buf = 0xFFFF;
+    i2c_.readWord(address_, MPU9150_RA_GYRO_YOUT_H, &buf);
+    return (int16_t)buf;
+}
+int16_t MPU9150::getGyroZ() {
+    uint16_t buf = 0xFFFF;
+    i2c_.readWord(address_, MPU9150_RA_GYRO_ZOUT_H, &buf);
+    return (int16_t)buf;
+}
+
+void MPU9150::resetGyroPath() {
+    i2c_.writeBit(address_, MPU9150_RA_SIGNAL_PATH_RESET, 2, 0x01);
+}
+void MPU9150::resetAccelPath() {
+    i2c_.writeBit(address_, MPU9150_RA_SIGNAL_PATH_RESET, 1, 0x01);
+}
+void MPU9150::resetTempPath() {
+    i2c_.writeBit(address_, MPU9150_RA_SIGNAL_PATH_RESET, 0, 0x01);
+}
+
+bool MPU9150::getFifoEnabled() {
+    uint8_t buf = 0xFF;
+    i2c_.readBit(address_, MPU9150_RA_USER_CTRL, 6, &buf);
+    return (bool)buf;
+}
+void MPU9150::setFifoEnabled(const bool fifo) {
+    i2c_.writeBit(address_, MPU9150_RA_USER_CTRL, 6, fifo);
+}
+bool MPU9150::getI2CMasterEnabled() {
+    uint8_t buf = 0xFF;
+    i2c_.readBit(address_, MPU9150_RA_USER_CTRL, 5, &buf);
+    return (bool)buf;
+}
+void MPU9150::setI2CMasterEnabled(const bool master) {
+    i2c_.writeBit(address_, MPU9150_RA_USER_CTRL, 5, master);
+}
+void MPU9150::resetFifo() {
+    i2c_.writeBit(address_, MPU9150_RA_USER_CTRL, 2, 0x01);
+}
+void MPU9150::resetI2CMaster() {
+    i2c_.writeBit(address_, MPU9150_RA_USER_CTRL, 1, 0x01);
+}
+void MPU9150::resetSensors() {
+    i2c_.writeBit(address_, MPU9150_RA_USER_CTRL, 0, 0x01);
+}
+
+void MPU9150::reset() {
+    i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_1, 7, 0x01);
+}
+bool MPU9150::getSleepEnabled() {
+    uint8_t buf = 0xFF;
+    i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_1, 6, &buf);
+    return (bool)buf;
+}
+void MPU9150::setSleepEnabled(const bool sleep) {
+    i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_1, 6, sleep);
+}
+bool MPU9150::getCycleEnabled() {
+    uint8_t buf = 0xFF;
+    i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_1, 5, &buf);
+    return (bool)buf;
+}
+void MPU9150::setCycleEnabled(const bool cycle) {
+    i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_1, 5, cycle);
+}
+bool MPU9150::getTempEnabled() {
+    uint8_t buf = 0xFF;
+    i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_1, 3, &buf);
+    return (bool)buf;
+}
+void MPU9150::setTempEnabled(const bool temp) {
+    i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_1, 3, temp);
+}
+uint8_t MPU9150::getClockSource() {
+    uint8_t buf = 0xFF;
+    i2c_.readBits(address_, MPU9150_RA_PWR_MGMT_1, 2, 3, &buf);
+    return buf;
+}
+void MPU9150::setClockSource(const uint8_t source) {
+    i2c_.writeBits(address_, MPU9150_RA_PWR_MGMT_1, 2, 3, source);
+}
+
+uint8_t MPU9150::getCycleFrequency() {
+    uint8_t buf = 0xFF;
+    i2c_.readBits(address_, MPU9150_RA_PWR_MGMT_2, 7, 2, &buf);
+    return buf;
+}
+void MPU9150::setCycleFrequency(const uint8_t frequency) {
+    i2c_.writeBits(address_, MPU9150_RA_PWR_MGMT_2, 7, 2, frequency);
+}
+bool MPU9150::getStandbyAccelXEnabled() {
+    uint8_t buf = 0xFF;
+    i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_2, 5, &buf);
+    return (bool)buf;
+}
+void MPU9150::setStandbyAccelXEnabled(const bool enabled) {
+    i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_2, 5, enabled);
+}
+bool MPU9150::getStandbyAccelYEnabled() {
+    uint8_t buf = 0xFF;
+    i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_2, 4, &buf);
+    return (bool)buf;
+}
+void MPU9150::setStandbyAccelYEnabled(const bool enabled) {
+    i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_2, 4, enabled);
+}
+bool MPU9150::getStandbyAccelZEnabled() {
+    uint8_t buf = 0xFF;
+    i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_2, 3, &buf);
+    return (bool)buf;
+}
+void MPU9150::setStandbyAccelZEnabled(const bool enabled) {
+    i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_2, 3, enabled);
+}
+bool MPU9150::getStandbyGyroXEnabled() {
+    uint8_t buf = 0xFF;
+    i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_2, 2, &buf);
+    return (bool)buf;
+}
+void MPU9150::setStandbyGyroXEnabled(const bool enabled) {
+    i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_2, 2, enabled);
+}
+bool MPU9150::getStandbyGyroYEnabled() {
+    uint8_t buf = 0xFF;
+    i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_2, 1, &buf);
+    return (bool)buf;
+}
+void MPU9150::setStandbyGyroYEnabled(const bool enabled) {
+    i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_2, 1, enabled);
+}
+bool MPU9150::getStandbyGyroZEnabled() {
+    uint8_t buf = 0xFF;
+    i2c_.readBit(address_, MPU9150_RA_PWR_MGMT_2, 0, &buf);
+    return (bool)buf;
+}
+void MPU9150::setStandbyGyroZEnabled(const bool enabled) {
+    i2c_.writeBit(address_, MPU9150_RA_PWR_MGMT_2, 0, enabled);
+}
+
+uint8_t MPU9150::getDeviceID() {
+    uint8_t buf = 0xFF;
+    i2c_.readBits(address_, MPU9150_RA_WHO_AM_I, 6, 6, &buf);
+    return buf;
+}

--- a/MPU9150.h	Wed Jun 04 05:56:54 2014 +0000
+++ b/MPU9150.h	Mon Jun 09 21:17:40 2014 +0000
@@ -2,6 +2,7 @@
 #define MPU9150_H_
 
 #include "mbed.h"
+#include "I2CHelper.h"
 
 #define MPU9150_ADDRESS_AD0_LOW         0x68
 #define MPU9150_ADDRESS_AD0_HIGH        0x69
@@ -11,7 +12,7 @@
 #define MPU9150_RA_SELF_TEST_Y          0x0E
 #define MPU9150_RA_SELF_TEST_Z          0x0F
 #define MPU9150_RA_SELF_TEST_A          0x10
-#define MPU9150_RA_SMPLRT_DIV           0x19
+#define MPU9150_RA_SMPRT_DIV            0x19
 #define MPU9150_RA_CONFIG               0x1A
 #define MPU9150_RA_GYRO_CONFIG          0x1B
 #define MPU9150_RA_ACCEL_CONFIG         0x1C
@@ -90,7 +91,7 @@
 #define MPU9150_RA_FIFO_R_W             0x74
 #define MPU9150_RA_WHO_AM_I             0x75
 
-// CONFIG - EXT_SYNC_SET
+// CONFIG Register
 #define MPU9150_EXT_SYNC_DISABLED       0x00
 #define MPU9150_EXT_SYNC_TEMP_OUT_L     0x01
 #define MPU9150_EXT_SYNC_GYRO_XOUT_L    0x02
@@ -99,8 +100,6 @@
 #define MPU9150_EXT_SYNC_ACCEL_XOUT_L   0x05
 #define MPU9150_EXT_SYNC_ACCEL_YOUT_L   0x06
 #define MPU9150_EXT_SYNC_ACCEL_ZOUT_L   0x07
-
-// CONFIG - DLPF_CFG
 #define MPU9150_DLPF_BW_256             0x00
 #define MPU9150_DLPF_BW_188             0x01
 #define MPU9150_DLPF_BW_98              0x02
@@ -109,18 +108,55 @@
 #define MPU9150_DLPF_BW_10              0x05
 #define MPU9150_DLPF_BW_5               0x06
 
-// GYRO_CONFIG
+// GYRO_CONFIG Register
 #define MPU9150_GYRO_FS_250             0x00
 #define MPU9150_GYRO_FS_500             0x01
 #define MPU9150_GYRO_FS_1000            0x02
 #define MPU9150_GYRO_FS_2000            0x03
 
-// ACCEL_CONFIG
+// ACCEL_CONFIG Register
 #define MPU9150_ACCEL_FS_2              0x00
 #define MPU9150_ACCEL_FS_4              0x01
 #define MPU9150_ACCEL_FS_8              0x02
 #define MPU9150_ACCEL_FS_16             0x03
 
+// SIGNAL_PATH_RESET Register
+#define MPU9150_SIGNAL_PATH_GYRO_RESET  0x04
+#define MPU9150_SIGNAL_PATH_ACCEL_RESET 0x02
+#define MPU9150_SIGNAL_PATH_TEMP_RESET  0x01
+
+// USER_CTRL Register
+#define MPU9150_USER_CTRL_FIFO_EN       0x40
+#define MPU9150_USER_CTRL_I2C_MST_EN    0x20
+#define MPU9150_USER_CTRL_FIFO_RESET    0x04
+#define MPU9150_USER_CTRL_I2C_MST_RESET 0x02
+#define MPU9150_USER_CTRL_SIG_RESET     0x01
+
+// PWR_MGMT_1 Register
+#define MPU9150_PWR_MGMT_DEVICE_RESET   0x80
+#define MPU9150_PWR_MGMT_SLEEP          0x40
+#define MPU9150_PWR_MGMT_CYCLE          0x20
+#define MPU9150_PWR_MGMT_TEMP_DISABLE   0x08
+#define MPU9150_PWR_MGMT_CLOCK_INTERNAL 0x00
+#define MPU9150_PWR_MGMT_CLOCK_GYRO_X   0x01
+#define MPU9150_PWR_MGMT_CLOCK_GYRO_Y   0x02
+#define MPU9150_PWR_MGMT_CLOCK_GYRO_Z   0x03
+#define MPU9150_PWR_MGMT_CLOCK_EXT_32k  0x04
+#define MPU9150_PWR_MGMT_CLOCK_EXT_19M  0x05
+#define MPU9150_PWR_MGMT_CLOCK_DISABLE  0x07
+
+// PWR_MGMT_2 Register
+#define MPU9150_PWR_MGMT_STBY_GYRO_Z    0x01
+#define MPU9150_PWR_MGMT_STBY_GYRO_Y    0x02
+#define MPU9150_PWR_MGMT_STBY_GYRO_X    0x04
+#define MPU9150_PWR_MGMT_STBY_ACCEL_Z   0x08
+#define MPU9150_PWR_MGMT_STBY_ACCEL_Y   0x10
+#define MPU9150_PWR_MGMT_STBY_ACCEL_X   0x20
+#define MPU9150_PWR_MGMT_CYCLE_1_25HZ   0x00
+#define MPU9150_PWR_MGMT_CYCLE_5HZ      0x01
+#define MPU9150_PWR_MGMT_CYCLE_20HZ     0x02
+#define MPU9150_PWR_MGMT_CYCLE_40HZ     0x03
+
 class MPU9150 {
 public:
     MPU9150();
@@ -138,7 +174,7 @@
     uint8_t getExternalFrameSync();
     void setExternalFrameSync(const uint8_t sync);
     uint8_t getDLPFBandwidth();
-    void setDLFPBandwidth(const uint8_t bandwidth);
+    void setDLPFBandwidth(const uint8_t bandwidth);
     
     // GYRO_CONFIG Register
     uint8_t getGyroFullScaleRange();
@@ -206,11 +242,10 @@
     uint8_t getDeviceID();
 
 private:
-    uint8_t readByte(const uint8_t deviceAddress, const uint8_t registerAddress, uint8_t *data);
-    bool writeByte(const uint8_t deviceAddress, const uint8_t registerAddress, const uint8_t *data);
-
-    I2C i2c_;
-    uint8_t address_;    
+    I2CHelper i2c_;
+    uint8_t address_;
+    uint8_t accelRange_;
+    uint8_t gyroRange_;
 };
 
 #endif
\ No newline at end of file