diff options
| author | Yuval Adam <yuval@y3xz.com> | 2015-03-13 12:24:52 +0200 |
|---|---|---|
| committer | Yuval Adam <yuval@y3xz.com> | 2015-03-13 12:24:52 +0200 |
| commit | 4085ae3ddfbbf10c8ccbd3dccd43452c40a1fe40 (patch) | |
| tree | ac63581949a49511136e7e9e47d265bfb4119b26 /sensorlib/mpu6050.c | |
| parent | 788db64b8642bf31de6930d18a62177c64163ee0 (diff) | |
Add bootloader, nfclib and sensorlib
Diffstat (limited to 'sensorlib/mpu6050.c')
| -rw-r--r-- | sensorlib/mpu6050.c | 879 |
1 files changed, 879 insertions, 0 deletions
diff --git a/sensorlib/mpu6050.c b/sensorlib/mpu6050.c new file mode 100644 index 0000000..f095e40 --- /dev/null +++ b/sensorlib/mpu6050.c @@ -0,0 +1,879 @@ +//*****************************************************************************
+//
+// mpu6050.c - Driver for the MPU6050 accelerometer and gyroscope.
+//
+// Copyright (c) 2013-2014 Texas Instruments Incorporated. All rights reserved.
+// Software License Agreement
+//
+// Texas Instruments (TI) is supplying this software for use solely and
+// exclusively on TI's microcontroller products. The software is owned by
+// TI and/or its suppliers, and is protected under applicable copyright
+// laws. You may not combine this software with "viral" open-source
+// software in order to form a larger program.
+//
+// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS.
+// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT
+// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY
+// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
+// DAMAGES, FOR ANY REASON WHATSOEVER.
+//
+// This is part of revision 2.1.0.12573 of the Tiva Firmware Development Package.
+//
+//*****************************************************************************
+
+#include <stdint.h>
+#include "sensorlib/hw_mpu6050.h"
+#include "sensorlib/i2cm_drv.h"
+#include "sensorlib/mpu6050.h"
+
+//*****************************************************************************
+//
+//! \addtogroup mpu6050_api
+//! @{
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+// The states of the MPU6050 state machine.
+//
+//*****************************************************************************
+#define MPU6050_STATE_IDLE 0 // State machine is idle
+#define MPU6050_STATE_INIT_RES 1 // Waiting for initialization
+#define MPU6050_STATE_INIT_WAIT 2 // Waiting for reset to complete
+#define MPU6050_STATE_READ 3 // Waiting for read
+#define MPU6050_STATE_WRITE 4 // Waiting for write
+#define MPU6050_STATE_RMW 5 // Waiting for read-modify-write
+
+//*****************************************************************************
+//
+// The factors used to convert the acceleration readings from the MPU6050 into
+// floating point values in meters per second squared.
+//
+// Values are obtained by taking the g conversion factors from the data sheet
+// and multiplying by 9.81 (1 g = 9.81 m/s^2).
+//
+//*****************************************************************************
+static const float g_fMPU6050AccelFactors[] =
+{
+ 0.00059875, // Range = +/- 2 g (16384 lsb/g)
+ 0.00119751, // Range = +/- 4 g (8192 lsb/g)
+ 0.00239502, // Range = +/- 8 g (4096 lsb/g)
+ 0.00479004 // Range = +/- 16 g (2048 lsb/g)
+};
+
+//*****************************************************************************
+//
+// The factors used to convert the acceleration readings from the MPU6050 into
+// floating point values in radians per second.
+//
+// Values are obtained by taking the degree per second conversion factors
+// from the data sheet and then converting to radians per sec (1 degree =
+// 0.0174532925 radians).
+//
+//*****************************************************************************
+static const float g_fMPU6050GyroFactors[] =
+{
+ 1.3323124e-4f, // Range = +/- 250 dps (131.0 LSBs/DPS)
+ 2.6646248e-4f, // Range = +/- 500 dps (65.5 LSBs/DPS)
+ 5.3211258e-4f, // Range = +/- 1000 dps (32.8 LSBs/DPS)
+ 0.0010642252f // Range = +/- 2000 dps (16.4 LSBs/DPS)
+};
+//*****************************************************************************
+//
+// The callback function that is called when I2C transations to/from the
+// MPU6050 have completed.
+//
+//*****************************************************************************
+static void
+MPU6050Callback(void *pvCallbackData, uint_fast8_t ui8Status)
+{
+ tMPU6050 *psInst;
+
+ //
+ // Convert the instance data into a pointer to a tMPU6050 structure.
+ //
+ psInst = pvCallbackData;
+
+ //
+ // If the I2C master driver encountered a failure, force the state machine
+ // to the idle state (which will also result in a callback to propagate the
+ // error). Except in the case that we are in the reset wait state and the
+ // error is an address NACK. This error is handled by the reset wait
+ // state.
+ //
+ if((ui8Status != I2CM_STATUS_SUCCESS) &&
+ !((ui8Status == I2CM_STATUS_ADDR_NACK) &&
+ (psInst->ui8State == MPU6050_STATE_INIT_WAIT)))
+ {
+ psInst->ui8State = MPU6050_STATE_IDLE;
+ }
+
+ //
+ // Determine the current state of the MPU6050 state machine.
+ //
+ switch(psInst->ui8State)
+ {
+ //
+ // All states that trivially transition to IDLE, and all unknown
+ // states.
+ //
+ case MPU6050_STATE_READ:
+ default:
+ {
+ //
+ // The state machine is now idle.
+ //
+ psInst->ui8State = MPU6050_STATE_IDLE;
+
+ //
+ // Done.
+ //
+ break;
+ }
+
+ //
+ // MPU6050 Device reset was issued
+ //
+ case MPU6050_STATE_INIT_RES:
+ {
+ //
+ // Issue a read of the status register to confirm reset is done.
+ //
+ psInst->uCommand.pui8Buffer[0] = MPU6050_O_PWR_MGMT_1;
+ I2CMRead(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 1, psInst->pui8Data, 1,
+ MPU6050Callback, psInst);
+
+ psInst->ui8State = MPU6050_STATE_INIT_WAIT;
+ break;
+ }
+
+ //
+ // Status register was read, check if reset is done before proceeding.
+ //
+ case MPU6050_STATE_INIT_WAIT:
+ {
+ //
+ // Check the value read back from status to determine if device
+ // is still in reset or if it is ready. Reset state for this
+ // register is 0x40, which has sleep bit set. Device may also
+ // respond with an address NACK during very early stages of the its
+ // internal reset. Keep polling until we verify device is ready.
+ //
+ //
+ if((psInst->pui8Data[0] != MPU6050_PWR_MGMT_1_SLEEP) ||
+ (ui8Status == I2CM_STATUS_ADDR_NACK))
+ {
+ //
+ // Device still in reset so begin polling this register.
+ //
+ psInst->uCommand.pui8Buffer[0] = MPU6050_O_PWR_MGMT_1;
+ I2CMRead(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 1, psInst->pui8Data, 1,
+ MPU6050Callback, psInst);
+
+ //
+ // Intentionally stay in this state to create polling effect.
+ //
+ }
+ else
+ {
+ //
+ // Device is out of reset, move to the idle state.
+ //
+ psInst->ui8State = MPU6050_STATE_IDLE;
+ }
+ break;
+ }
+
+ //
+ // A write just completed
+ //
+ case MPU6050_STATE_WRITE:
+ {
+ //
+ // Set the accelerometer and gyroscope ranges to the new values.
+ // If the register was not modified, the values will be the same so
+ // this has no effect.
+ //
+ psInst->ui8AccelAfsSel = psInst->ui8NewAccelAfsSel;
+ psInst->ui8GyroFsSel = psInst->ui8NewGyroFsSel;
+
+ //
+ // The state machine is now idle.
+ //
+ psInst->ui8State = MPU6050_STATE_IDLE;
+
+ //
+ // Done.
+ //
+ break;
+ }
+
+ //
+ // A read-modify-write just completed
+ //
+ case MPU6050_STATE_RMW:
+ {
+ //
+ // See if the PWR_MGMT_1 register was just modified.
+ //
+ if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[0] ==
+ MPU6050_O_PWR_MGMT_1)
+ {
+ //
+ // See if a soft reset has been issued.
+ //
+ if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[1] &
+ MPU6050_PWR_MGMT_1_DEVICE_RESET)
+ {
+ //
+ // Default range setting is +/- 2 g
+ //
+ psInst->ui8AccelAfsSel = 0;
+ psInst->ui8NewAccelAfsSel = 0;
+
+ //
+ // Default range setting is +/- 250 degrees/s
+ //
+ psInst->ui8GyroFsSel = 0;
+ psInst->ui8NewGyroFsSel = 0;
+ }
+ }
+
+ //
+ // See if the GYRO_CONFIG register was just modified.
+ //
+ if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[0] ==
+ MPU6050_O_GYRO_CONFIG)
+ {
+ //
+ // Extract the FS_SEL from the GYRO_CONFIG register value.
+ //
+ psInst->ui8GyroFsSel =
+ ((psInst->uCommand.sReadModifyWriteState.pui8Buffer[1] &
+ MPU6050_GYRO_CONFIG_FS_SEL_M) >>
+ MPU6050_GYRO_CONFIG_FS_SEL_S);
+ }
+
+ //
+ // See if the ACCEL_CONFIG register was just modified.
+ //
+ if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[0] ==
+ MPU6050_O_ACCEL_CONFIG)
+ {
+ //
+ // Extract the FS_SEL from the ACCEL_CONFIG register value.
+ //
+ psInst->ui8AccelAfsSel =
+ ((psInst->uCommand.sReadModifyWriteState.pui8Buffer[1] &
+ MPU6050_ACCEL_CONFIG_AFS_SEL_M) >>
+ MPU6050_ACCEL_CONFIG_AFS_SEL_S);
+ }
+
+ //
+ // The state machine is now idle.
+ //
+ psInst->ui8State = MPU6050_STATE_IDLE;
+
+ //
+ // Done.
+ //
+ break;
+ }
+ }
+
+ //
+ // See if the state machine is now idle and there is a callback function.
+ //
+ if((psInst->ui8State == MPU6050_STATE_IDLE) && psInst->pfnCallback)
+ {
+ //
+ // Call the application-supplied callback function.
+ //
+ psInst->pfnCallback(psInst->pvCallbackData, ui8Status);
+ }
+}
+
+//*****************************************************************************
+//
+//! Initializes the MPU6050 driver.
+//!
+//! \param psInst is a pointer to the MPU6050 instance data.
+//! \param psI2CInst is a pointer to the I2C master driver instance data.
+//! \param ui8I2CAddr is the I2C address of the MPU6050 device.
+//! \param pfnCallback is the function to be called when the initialization has
+//! completed (can be \b NULL if a callback is not required).
+//! \param pvCallbackData is a pointer that is passed to the callback function.
+//!
+//! This function initializes the MPU6050 driver, preparing it for operation.
+//!
+//! \return Returns 1 if the MPU6050 driver was successfully initialized and 0
+//! if it was not.
+//
+//*****************************************************************************
+uint_fast8_t
+MPU6050Init(tMPU6050 *psInst, tI2CMInstance *psI2CInst,
+ uint_fast8_t ui8I2CAddr, tSensorCallback *pfnCallback,
+ void *pvCallbackData)
+{
+ //
+ // Initialize the MPU6050 instance structure.
+ //
+ psInst->psI2CInst = psI2CInst;
+ psInst->ui8Addr = ui8I2CAddr;
+
+ //
+ // Save the callback information.
+ //
+ psInst->pfnCallback = pfnCallback;
+ psInst->pvCallbackData = pvCallbackData;
+
+ //
+ // Default range setting is +/- 2 g
+ //
+ psInst->ui8AccelAfsSel = (MPU6050_ACCEL_CONFIG_AFS_SEL_2G >>
+ MPU6050_ACCEL_CONFIG_AFS_SEL_S);
+ psInst->ui8NewAccelAfsSel = (MPU6050_ACCEL_CONFIG_AFS_SEL_2G >>
+ MPU6050_ACCEL_CONFIG_AFS_SEL_S);
+
+ //
+ // Default range setting is +/- 250 degrees/s
+ //
+ psInst->ui8GyroFsSel = (MPU6050_GYRO_CONFIG_FS_SEL_250 >>
+ MPU6050_GYRO_CONFIG_FS_SEL_S);
+ psInst->ui8NewGyroFsSel = (MPU6050_GYRO_CONFIG_FS_SEL_250 >>
+ MPU6050_GYRO_CONFIG_FS_SEL_S);
+
+ //
+ // Set the state to show we are initiating a reset.
+ //
+ psInst->ui8State = MPU6050_STATE_INIT_RES;
+
+ //
+ // Load the buffer with command to perform device reset
+ //
+ psInst->uCommand.pui8Buffer[0] = MPU6050_O_PWR_MGMT_1;
+ psInst->uCommand.pui8Buffer[1] = MPU6050_PWR_MGMT_1_DEVICE_RESET;
+ if(I2CMWrite(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 2, MPU6050Callback, psInst) == 0)
+ {
+ psInst->ui8State = MPU6050_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Reads data from MPU6050 registers.
+//!
+//! \param psInst is a pointer to the MPU6050 instance data.
+//! \param ui8Reg is the first register to read.
+//! \param pui8Data is a pointer to the location to store the data that is
+//! read.
+//! \param ui16Count is the number of data bytes to read.
+//! \param pfnCallback is the function to be called when the data has been read
+//! (can be \b NULL if a callback is not required).
+//! \param pvCallbackData is a pointer that is passed to the callback function.
+//!
+//! This function reads a sequence of data values from consecutive registers in
+//! the MPU6050.
+//!
+//! \return Returns 1 if the write was successfully started and 0 if it was
+//! not.
+//
+//*****************************************************************************
+uint_fast8_t
+MPU6050Read(tMPU6050 *psInst, uint_fast8_t ui8Reg, uint8_t *pui8Data,
+ uint_fast16_t ui16Count, tSensorCallback *pfnCallback,
+ void *pvCallbackData)
+{
+ //
+ // Return a failure if the MPU6050 driver is not idle (in other words,
+ // there is already an outstanding request to the MPU6050).
+ //
+ if(psInst->ui8State != MPU6050_STATE_IDLE)
+ {
+ return(0);
+ }
+
+ //
+ // Save the callback information.
+ //
+ psInst->pfnCallback = pfnCallback;
+ psInst->pvCallbackData = pvCallbackData;
+
+ //
+ // Move the state machine to the wait for read state.
+ //
+ psInst->ui8State = MPU6050_STATE_READ;
+
+ //
+ // Read the requested registers from the MPU6050.
+ //
+ psInst->uCommand.pui8Buffer[0] = ui8Reg;
+ if(I2CMRead(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 1, pui8Data, ui16Count,
+ MPU6050Callback, psInst) == 0)
+ {
+ //
+ // The I2C write failed, so move to the idle state and return a
+ // failure.
+ //
+ psInst->ui8State = MPU6050_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success.
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Writes data to MPU6050 registers.
+//!
+//! \param psInst is a pointer to the MPU6050 instance data.
+//! \param ui8Reg is the first register to write.
+//! \param pui8Data is a pointer to the data to write.
+//! \param ui16Count is the number of data bytes to write.
+//! \param pfnCallback is the function to be called when the data has been
+//! written (can be \b NULL if a callback is not required).
+//! \param pvCallbackData is a pointer that is passed to the callback function.
+//!
+//! This function writes a sequence of data values to consecutive registers in
+//! the MPU6050. The first byte of the \e pui8Data buffer contains the value
+//! to be written into the \e ui8Reg register, the second value contains the
+//! data to be written into the next register, and so on.
+//!
+//! \return Returns 1 if the write was successfully started and 0 if it was
+//! not.
+//
+//*****************************************************************************
+uint_fast8_t
+MPU6050Write(tMPU6050 *psInst, uint_fast8_t ui8Reg, const uint8_t *pui8Data,
+ uint_fast16_t ui16Count, tSensorCallback *pfnCallback,
+ void *pvCallbackData)
+{
+ //
+ // Return a failure if the MPU6050 driver is not idle (in other words,
+ // there is already an outstanding request to the MPU6050).
+ //
+ if(psInst->ui8State != MPU6050_STATE_IDLE)
+ {
+ return(0);
+ }
+
+ //
+ // Save the callback information.
+ //
+ psInst->pfnCallback = pfnCallback;
+ psInst->pvCallbackData = pvCallbackData;
+
+ //
+ // See if the PWR_MGMT_1 register is being written.
+ //
+ if((ui8Reg <= MPU6050_O_PWR_MGMT_1) &&
+ ((ui8Reg + ui16Count) > MPU6050_O_PWR_MGMT_1))
+ {
+ //
+ // See if a soft reset is being requested.
+ //
+ if(pui8Data[ui8Reg - MPU6050_O_PWR_MGMT_1] &
+ MPU6050_PWR_MGMT_1_DEVICE_RESET)
+ {
+ //
+ // Default range setting is +/- 2 g.
+ //
+ psInst->ui8NewAccelAfsSel = 0;
+
+ //
+ // Default range setting is +/- 250 degrees/s.
+ //
+ psInst->ui8NewGyroFsSel = 0;
+ }
+ }
+
+ //
+ // See if the GYRO_CONFIG register is being written.
+ //
+ if((ui8Reg <= MPU6050_O_GYRO_CONFIG) &&
+ ((ui8Reg + ui16Count) > MPU6050_O_GYRO_CONFIG))
+ {
+ //
+ // Extract the FS_SEL from the GYRO_CONFIG register value.
+ //
+ psInst->ui8NewGyroFsSel = ((pui8Data[ui8Reg - MPU6050_O_GYRO_CONFIG] &
+ MPU6050_GYRO_CONFIG_FS_SEL_M) >>
+ MPU6050_GYRO_CONFIG_FS_SEL_S);
+ }
+
+ //
+ // See if the ACCEL_CONFIG register is being written.
+ //
+ if((ui8Reg <= MPU6050_O_ACCEL_CONFIG) &&
+ ((ui8Reg + ui16Count) > MPU6050_O_ACCEL_CONFIG))
+ {
+ //
+ // Extract the AFS_SEL from the ACCEL_CONFIG register value.
+ //
+ psInst->ui8NewAccelAfsSel =
+ ((pui8Data[ui8Reg - MPU6050_O_ACCEL_CONFIG] &
+ MPU6050_ACCEL_CONFIG_AFS_SEL_M) >>
+ MPU6050_ACCEL_CONFIG_AFS_SEL_S);
+ }
+
+ //
+ // Move the state machine to the wait for write state.
+ //
+ psInst->ui8State = MPU6050_STATE_WRITE;
+
+ //
+ // Write the requested registers to the MPU6050.
+ //
+ if(I2CMWrite8(&(psInst->uCommand.sWriteState), psInst->psI2CInst,
+ psInst->ui8Addr, ui8Reg, pui8Data, ui16Count,
+ MPU6050Callback, psInst) == 0)
+ {
+ //
+ // The I2C write failed, so move to the idle state and return a
+ // failure.
+ //
+ psInst->ui8State = MPU6050_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success.
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Performs a read-modify-write of a MPU6050 register.
+//!
+//! \param psInst is a pointer to the MPU6050 instance data.
+//! \param ui8Reg is the register to modify.
+//! \param ui8Mask is the bit mask that is ANDed with the current register
+//! value.
+//! \param ui8Value is the bit mask that is ORed with the result of the AND
+//! operation.
+//! \param pfnCallback is the function to be called when the data has been
+//! changed (can be \b NULL if a callback is not required).
+//! \param pvCallbackData is a pointer that is passed to the callback function.
+//!
+//! This function changes the value of a register in the MPU6050 via a
+//! read-modify-write operation, allowing one of the fields to be changed
+//! without disturbing the other fields. The \e ui8Reg register is read, ANDed
+//! with \e ui8Mask, ORed with \e ui8Value, and then written back to the
+//! MPU6050.
+//!
+//! \return Returns 1 if the read-modify-write was successfully started and 0
+//! if it was not.
+//
+//*****************************************************************************
+uint_fast8_t
+MPU6050ReadModifyWrite(tMPU6050 *psInst, uint_fast8_t ui8Reg,
+ uint_fast8_t ui8Mask, uint_fast8_t ui8Value,
+ tSensorCallback *pfnCallback, void *pvCallbackData)
+{
+ //
+ // Return a failure if the MPU6050 driver is not idle (in other words,
+ // there is already an outstanding request to the MPU6050).
+ //
+ if(psInst->ui8State != MPU6050_STATE_IDLE)
+ {
+ return(0);
+ }
+
+ //
+ // Save the callback information.
+ //
+ psInst->pfnCallback = pfnCallback;
+ psInst->pvCallbackData = pvCallbackData;
+
+ //
+ // Move the state machine to the wait for read-modify-write state.
+ //
+ psInst->ui8State = MPU6050_STATE_RMW;
+
+ //
+ // Submit the read-modify-write request to the MPU6050.
+ //
+ if(I2CMReadModifyWrite8(&(psInst->uCommand.sReadModifyWriteState),
+ psInst->psI2CInst, psInst->ui8Addr, ui8Reg,
+ ui8Mask, ui8Value, MPU6050Callback, psInst) == 0)
+ {
+ //
+ // The I2C read-modify-write failed, so move to the idle state and
+ // return a failure.
+ //
+ psInst->ui8State = MPU6050_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success.
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Reads the accelerometer and gyroscope data from the MPU6050.
+//!
+//! \param psInst is a pointer to the MPU6050 instance data.
+//! \param pfnCallback is the function to be called when the data has been read
+//! (can be \b NULL if a callback is not required).
+//! \param pvCallbackData is a pointer that is passed to the callback function.
+//!
+//! This function initiates a read of the MPU6050 data registers. When the
+//! read has completed (as indicated by calling the callback function), the new
+//! readings can be obtained via:
+//!
+//! - MPU6050DataAccelGetRaw()
+//! - MPU6050DataAccelGetFloat()
+//! - MPU6050DataGyroGetRaw()
+//! - MPU6050DataGyroGetFloat()
+//!
+//! \return Returns 1 if the read was successfully started and 0 if it was not.
+//
+//*****************************************************************************
+uint_fast8_t
+MPU6050DataRead(tMPU6050 *psInst, tSensorCallback *pfnCallback,
+ void *pvCallbackData)
+{
+ //
+ // Return a failure if the MPU6050 driver is not idle (in other words,
+ // there is already an outstanding request to the MPU6050).
+ //
+ if(psInst->ui8State != MPU6050_STATE_IDLE)
+ {
+ return(0);
+ }
+
+ //
+ // Save the callback information.
+ //
+ psInst->pfnCallback = pfnCallback;
+ psInst->pvCallbackData = pvCallbackData;
+
+ //
+ // Move the state machine to the wait for data read state.
+ //
+ psInst->ui8State = MPU6050_STATE_READ;
+
+ //
+ // Read the data registers from the MPU6050.
+ //
+ psInst->pui8Data[0] = MPU6050_O_ACCEL_XOUT_H;
+ if(I2CMRead(psInst->psI2CInst, psInst->ui8Addr, psInst->pui8Data, 1,
+ psInst->pui8Data, 14, MPU6050Callback, psInst) == 0)
+ {
+ //
+ // The I2C read failed, so move to the idle state and return a failure.
+ //
+ psInst->ui8State = MPU6050_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success.
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Gets the raw accelerometer data from the most recent data read.
+//!
+//! \param psInst is a pointer to the MPU6050 instance data.
+//! \param pui16AccelX is a pointer to the value into which the raw X-axis
+//! accelerometer data is stored.
+//! \param pui16AccelY is a pointer to the value into which the raw Y-axis
+//! accelerometer data is stored.
+//! \param pui16AccelZ is a pointer to the value into which the raw Z-axis
+//! accelerometer data is stored.
+//!
+//! This function returns the raw accelerometer data from the most recent data
+//! read. The data is not manipulated in any way by the driver. If any of the
+//! output data pointers are \b NULL, the corresponding data is not provided.
+//!
+//! \return None.
+//
+//*****************************************************************************
+void
+MPU6050DataAccelGetRaw(tMPU6050 *psInst, uint_fast16_t *pui16AccelX,
+ uint_fast16_t *pui16AccelY, uint_fast16_t *pui16AccelZ)
+{
+ //
+ // Return the raw accelerometer values.
+ //
+ if(pui16AccelX)
+ {
+ *pui16AccelX = (psInst->pui8Data[0] << 8) | psInst->pui8Data[1];
+ }
+ if(pui16AccelY)
+ {
+ *pui16AccelY = (psInst->pui8Data[2] << 8) | psInst->pui8Data[3];
+ }
+ if(pui16AccelZ)
+ {
+ *pui16AccelZ = (psInst->pui8Data[4] << 8) | psInst->pui8Data[5];
+ }
+}
+
+//*****************************************************************************
+//
+//! Gets the accelerometer data from the most recent data read.
+//!
+//! \param psInst is a pointer to the MPU6050 instance data.
+//! \param pfAccelX is a pointer to the value into which the X-axis
+//! accelerometer data is stored.
+//! \param pfAccelY is a pointer to the value into which the Y-axis
+//! accelerometer data is stored.
+//! \param pfAccelZ is a pointer to the value into which the Z-axis
+//! accelerometer data is stored.
+//!
+//! This function returns the accelerometer data from the most recent data
+//! read, converted into meters per second squared (m/s^2). If any of the
+//! output data pointers are \b NULL, the corresponding data is not provided.
+//!
+//! \return None.
+//
+//*****************************************************************************
+void
+MPU6050DataAccelGetFloat(tMPU6050 *psInst, float *pfAccelX, float *pfAccelY,
+ float *pfAccelZ)
+{
+ float fFactor;
+
+ //
+ // Get the acceleration conversion factor for the current data format.
+ //
+ fFactor = g_fMPU6050AccelFactors[psInst->ui8AccelAfsSel];
+
+ //
+ // Convert the Accelerometer values into floating-point gravity values.
+ //
+ if(pfAccelX)
+ {
+ *pfAccelX = (float)((int16_t)((psInst->pui8Data[0] << 8) |
+ psInst->pui8Data[1]) * fFactor);
+ }
+ if(pfAccelY)
+ {
+ *pfAccelY = (float)((int16_t)((psInst->pui8Data[2] << 8) |
+ psInst->pui8Data[3]) * fFactor);
+ }
+ if(pfAccelZ)
+ {
+ *pfAccelZ = (float)((int16_t)((psInst->pui8Data[4] << 8) |
+ psInst->pui8Data[5]) * fFactor);
+ }
+}
+//*****************************************************************************
+//
+//! Gets the raw gyroscope data from the most recent data read.
+//!
+//! \param psInst is a pointer to the MPU6050 instance data.
+//! \param pui16GyroX is a pointer to the value into which the raw X-axis
+//! gyroscope data is stored.
+//! \param pui16GyroY is a pointer to the value into which the raw Y-axis
+//! gyroscope data is stored.
+//! \param pui16GyroZ is a pointer to the value into which the raw Z-axis
+//! gyroscope data is stored.
+//!
+//! This function returns the raw gyroscope data from the most recent data
+//! read. The data is not manipulated in any way by the driver. If any of the
+//! output data pointers are \b NULL, the corresponding data is not provided.
+//!
+//! \return None.
+//
+//*****************************************************************************
+void
+MPU6050DataGyroGetRaw(tMPU6050 *psInst, uint_fast16_t *pui16GyroX,
+ uint_fast16_t *pui16GyroY, uint_fast16_t *pui16GyroZ)
+{
+ //
+ // Return the raw gyroscope values.
+ //
+ if(pui16GyroX)
+ {
+ *pui16GyroX = (psInst->pui8Data[8] << 8) | psInst->pui8Data[9];
+ }
+ if(pui16GyroY)
+ {
+ *pui16GyroY = (psInst->pui8Data[10] << 8) | psInst->pui8Data[11];
+ }
+ if(pui16GyroZ)
+ {
+ *pui16GyroZ = (psInst->pui8Data[12] << 8) | psInst->pui8Data[13];
+ }
+}
+
+//*****************************************************************************
+//
+//! Gets the gyroscope data from the most recent data read.
+//!
+//! \param psInst is a pointer to the MPU6050 instance data.
+//! \param pfGyroX is a pointer to the value into which the X-axis
+//! gyroscope data is stored.
+//! \param pfGyroY is a pointer to the value into which the Y-axis
+//! gyroscope data is stored.
+//! \param pfGyroZ is a pointer to the value into which the Z-axis
+//! gyroscope data is stored.
+//!
+//! This function returns the gyroscope data from the most recent data read,
+//! converted into radians per second. If any of the output data pointers are
+//! \b NULL, the corresponding data is not provided.
+//!
+//! \return None.
+//
+//*****************************************************************************
+void
+MPU6050DataGyroGetFloat(tMPU6050 *psInst, float *pfGyroX, float *pfGyroY,
+ float *pfGyroZ)
+{
+ float fFactor;
+
+ //
+ // Get the conversion factor for the current data format.
+ //
+ fFactor = g_fMPU6050GyroFactors[psInst->ui8GyroFsSel];
+
+ //
+ // Convert the gyroscope values into rad/sec
+ //
+ if(pfGyroX)
+ {
+ *pfGyroX = ((float)(int16_t)((psInst->pui8Data[8] << 8) |
+ psInst->pui8Data[9]) * fFactor);
+ }
+ if(pfGyroY)
+ {
+ *pfGyroY = ((float)(int16_t)((psInst->pui8Data[10] << 8) |
+ psInst->pui8Data[11]) * fFactor);
+ }
+ if(pfGyroZ)
+ {
+ *pfGyroZ = ((float)(int16_t)((psInst->pui8Data[12] << 8) |
+ psInst->pui8Data[13]) * fFactor);
+ }
+}
+
+//*****************************************************************************
+//
+// Close the Doxygen group.
+//! @}
+//
+//*****************************************************************************
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