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Diffstat (limited to 'sensorlib/mpu9150.c')
| -rw-r--r-- | sensorlib/mpu9150.c | 1180 |
1 files changed, 1180 insertions, 0 deletions
diff --git a/sensorlib/mpu9150.c b/sensorlib/mpu9150.c new file mode 100644 index 0000000..a1515e2 --- /dev/null +++ b/sensorlib/mpu9150.c @@ -0,0 +1,1180 @@ +//*****************************************************************************
+//
+// mpu9150.c - Driver for the MPU9150 accelerometer, gyroscope, and
+// magnetometer.
+//
+// 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_ak8975.h"
+#include "sensorlib/hw_mpu9150.h"
+#include "sensorlib/i2cm_drv.h"
+#include "sensorlib/ak8975.h"
+#include "sensorlib/mpu9150.h"
+
+//*****************************************************************************
+//
+//! \addtogroup mpu9150_api
+//! @{
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+// The states of the MPU9150 state machine.
+//
+//*****************************************************************************
+#define MPU9150_STATE_IDLE 0 // State machine is idle
+#define MPU9150_STATE_LAST 1 // Last step in a sequence
+#define MPU9150_STATE_READ 2 // Waiting for read
+#define MPU9150_STATE_WRITE 3 // Waiting for write
+#define MPU9150_STATE_RMW 4 // Waiting for read modify write
+#define MPU9150_STATE_INIT_RESET \
+ 5 // reset request issued.
+#define MPU9150_STATE_INIT_RESET_WAIT \
+ 6 // polling wait for reset complete
+#define MPU9150_STATE_INIT_PWR_MGMT \
+ 7 // wake up the device.
+#define MPU9150_STATE_INIT_USER_CTRL \
+ 8 // init user control
+#define MPU9150_STATE_INIT_SAMPLE_RATE_CFG \
+ 9 // init the sensors and filters
+#define MPU9150_STATE_INIT_I2C_SLAVE_DLY \
+ 10 // set the ak8975 polling delay
+#define MPU9150_STATE_INIT_I2C_SLAVE_0 \
+ 11 // config ak8975 automatic read
+#define MPU9150_STATE_RD_DATA 12 // Waiting for data read
+
+//*****************************************************************************
+//
+// The factors used to convert the acceleration readings from the MPU9150 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_fMPU9150AccelFactors[] =
+{
+ 0.0005985482, // Range = +/- 2 g (16384 lsb/g)
+ 0.0011970964, // Range = +/- 4 g (8192 lsb/g)
+ 0.0023941928, // Range = +/- 8 g (4096 lsb/g)
+ 0.0047883855 // Range = +/- 16 g (2048 lsb/g)
+};
+
+//*****************************************************************************
+//
+// The factors used to convert the acceleration readings from the MPU9150 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_fMPU9150GyroFactors[] =
+{
+ 1.3323124e-4, // Range = +/- 250 dps (131.0)
+ 2.6646248e-4, // Range = +/- 500 dps (65.5)
+ 5.3211258e-4, // Range = +/- 1000 dps (32.8)
+ 0.0010642252 // Range = +/- 2000 dps (16.4)
+};
+
+//*****************************************************************************
+//
+// Converting sensor data to tesla (0.3 uT per LSB)
+//
+//*****************************************************************************
+#define CONVERT_TO_TESLA 0.0000003
+
+//*****************************************************************************
+//
+// The callback function that is called when I2C transations to/from the
+// MPU9150 have completed.
+//
+//*****************************************************************************
+static void
+MPU9150Callback(void *pvCallbackData, uint_fast8_t ui8Status)
+{
+ tMPU9150 *psInst;
+
+ //
+ // Convert the instance data into a pointer to a tMPU9150 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 == MPU9150_STATE_INIT_RESET_WAIT)))
+ {
+ psInst->ui8State = MPU9150_STATE_IDLE;
+ }
+
+ //
+ // Determine the current state of the MPU9150 state machine.
+ //
+ switch(psInst->ui8State)
+ {
+ //
+ // All states that trivially transition to IDLE, and all unknown
+ // states.
+ //
+ case MPU9150_STATE_READ:
+ case MPU9150_STATE_LAST:
+ case MPU9150_STATE_RD_DATA:
+ default:
+ {
+ //
+ // The state machine is now idle.
+ //
+ psInst->ui8State = MPU9150_STATE_IDLE;
+
+ //
+ // Done.
+ //
+ break;
+ }
+
+ //
+ // MPU9150 Device reset was issued
+ //
+ case MPU9150_STATE_INIT_RESET:
+ {
+ //
+ // Issue a read of the status register to confirm reset is done.
+ //
+ psInst->uCommand.pui8Buffer[0] = MPU9150_O_PWR_MGMT_1;
+ I2CMRead(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 1, psInst->pui8Data, 1,
+ MPU9150Callback, psInst);
+
+ psInst->ui8State = MPU9150_STATE_INIT_RESET_WAIT;
+ break;
+ }
+
+ //
+ // Status register was read, check if reset is done before proceeding.
+ //
+ case MPU9150_STATE_INIT_RESET_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] != MPU9150_PWR_MGMT_1_SLEEP) ||
+ (ui8Status == I2CM_STATUS_ADDR_NACK))
+ {
+ //
+ // Device still in reset so begin polling this register.
+ //
+ psInst->uCommand.pui8Buffer[0] = MPU9150_O_PWR_MGMT_1;
+ I2CMRead(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 1, psInst->pui8Data, 1,
+ MPU9150Callback, psInst);
+
+ //
+ // Intentionally stay in this state to create polling effect.
+ //
+ }
+ else
+ {
+ //
+ // Device is out of reset, bring it out of sleep mode.
+ //
+ psInst->uCommand.pui8Buffer[0] = MPU9150_O_PWR_MGMT_1;
+ psInst->uCommand.pui8Buffer[1] = MPU9150_PWR_MGMT_1_CLKSEL_XG;
+ I2CMWrite(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 2, MPU9150Callback,
+ psInst);
+
+ //
+ // Update state to show we are modifing user control and
+ // power management 1 regs.
+ //
+ psInst->ui8State = MPU9150_STATE_INIT_PWR_MGMT;
+ }
+ break;
+ }
+
+ //
+ // Reset complete now take device out of sleep mode.
+ //
+ case MPU9150_STATE_INIT_PWR_MGMT:
+ {
+ psInst->uCommand.pui8Buffer[0] = MPU9150_O_USER_CTRL;
+ psInst->uCommand.pui8Buffer[1] = MPU9150_USER_CTRL_I2C_MST_EN;
+ I2CMWrite(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 2, MPU9150Callback,
+ psInst);
+
+ //
+ // Update state to show we are modifing user control and
+ // power management 1 regs.
+ //
+ psInst->ui8State = MPU9150_STATE_INIT_USER_CTRL;
+
+ break;
+ }
+
+ //
+ // Change to power mode complete, device is ready for configuration.
+ //
+ case MPU9150_STATE_INIT_USER_CTRL:
+ {
+ //
+ // Load index 0 with the sample rate register number.
+ //
+ psInst->uCommand.pui8Buffer[0] = MPU9150_O_SMPLRT_DIV;
+
+ //
+ // Set sample rate to 50 hertz. 1000 hz / (1 + 19)
+ //
+ psInst->uCommand.pui8Buffer[1] = 19;
+
+ I2CMWrite(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 2, MPU9150Callback, psInst);
+
+ //
+ // update state to show are in process of configuring sensors.
+ //
+ psInst->ui8State = MPU9150_STATE_INIT_SAMPLE_RATE_CFG;
+ break;
+ }
+
+ //
+ // Sensor configuration is complete.
+ //
+ case MPU9150_STATE_INIT_SAMPLE_RATE_CFG:
+ {
+ //
+ // Write the I2C Master delay control so we only sample the AK
+ // every 5th time that we sample accel/gyro. Delay Count itself
+ // handled in next state.
+ //
+ psInst->uCommand.pui8Buffer[0] = MPU9150_O_I2C_MST_DELAY_CTRL;
+ psInst->uCommand.pui8Buffer[1] =
+ (MPU9150_I2C_MST_DELAY_CTRL_I2C_SLV0_DLY_EN |
+ MPU9150_I2C_MST_DELAY_CTRL_I2C_SLV4_DLY_EN);
+ I2CMWrite(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 2, MPU9150Callback, psInst);
+
+ //
+ // Update state to show we are configuring i2c slave delay between
+ // slave events. Slave 0 and Slave 4 transaction only occur every
+ // 5th sample cycle.
+ //
+ psInst->ui8State = MPU9150_STATE_INIT_I2C_SLAVE_DLY;
+ break;
+ }
+
+ //
+ // Master slave delay configuration complete.
+ //
+ case MPU9150_STATE_INIT_I2C_SLAVE_DLY:
+ {
+ //
+ // Write the configuration for I2C master control clock 400khz
+ // and wait for external sensor before asserting data ready
+ //
+ psInst->uCommand.pui8Buffer[0] = MPU9150_O_I2C_MST_CTRL;
+ psInst->uCommand.pui8Buffer[1] =
+ (MPU9150_I2C_MST_CTRL_I2C_MST_CLK_400 |
+ MPU9150_I2C_MST_CTRL_WAIT_FOR_ES);
+
+ //
+ // Configure I2C Slave 0 for read of AK8975 (I2C Address 0x0C)
+ // Start at AK8975 register status 1
+ // Read 8 bytes and enable this slave transaction
+ //
+ psInst->uCommand.pui8Buffer[2] = MPU9150_I2C_SLV0_ADDR_RW | 0x0C;
+ psInst->uCommand.pui8Buffer[3] = AK8975_O_ST1;
+ psInst->uCommand.pui8Buffer[4] = MPU9150_I2C_SLV0_CTRL_EN | 0x08;
+ I2CMWrite(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 5, MPU9150Callback, psInst);
+
+ //
+ // Update state. Now in process of configuring slave 0.
+ //
+ psInst->ui8State = MPU9150_STATE_INIT_I2C_SLAVE_0;
+ break;
+ }
+
+ //
+ // I2C slave 0 init complete.
+ //
+ case MPU9150_STATE_INIT_I2C_SLAVE_0:
+ {
+ //
+ // Write the configuration for I2C Slave 4 transaction to AK8975
+ // 0x0c is the AK8975 address on i2c bus.
+ // we want to write the control register with the value for a
+ // starting a single measurement.
+ //
+ psInst->uCommand.pui8Buffer[0] = MPU9150_O_I2C_SLV4_ADDR;
+ psInst->uCommand.pui8Buffer[1] = 0x0C;
+ psInst->uCommand.pui8Buffer[2] = AK8975_O_CNTL;
+ psInst->uCommand.pui8Buffer[3] = AK8975_CNTL_MODE_SINGLE;
+
+ //
+ // Enable the SLV4 transaction and set the master delay to
+ // 0x04 + 1. This means the slave transactions with delay enabled
+ // will run every fifth accel/gyro sample.
+ //
+ psInst->uCommand.pui8Buffer[4] = MPU9150_I2C_SLV4_CTRL_EN | 0x04;
+ I2CMWrite(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 5, MPU9150Callback, psInst);
+
+ //
+ // Update state. Now in the final init state.
+ //
+ psInst->ui8State = MPU9150_STATE_LAST;
+ break;
+ }
+
+ //
+ // A write just completed
+ //
+ case MPU9150_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 = MPU9150_STATE_IDLE;
+
+ //
+ // Done.
+ //
+ break;
+ }
+
+ //
+ // A read-modify-write just completed
+ //
+ case MPU9150_STATE_RMW:
+ {
+ //
+ // See if the PWR_MGMT_1 register was just modified.
+ //
+ if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[0] ==
+ MPU9150_O_PWR_MGMT_1)
+ {
+ //
+ // See if a soft reset has been issued.
+ //
+ if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[1] &
+ MPU9150_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] ==
+ MPU9150_O_GYRO_CONFIG)
+ {
+ //
+ // Extract the FS_SEL from the GYRO_CONFIG register value.
+ //
+ psInst->ui8GyroFsSel =
+ ((psInst->uCommand.sReadModifyWriteState.pui8Buffer[1] &
+ MPU9150_GYRO_CONFIG_FS_SEL_M) >>
+ MPU9150_GYRO_CONFIG_FS_SEL_S);
+ }
+
+ //
+ // See if the ACCEL_CONFIG register was just modified.
+ //
+ if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[0] ==
+ MPU9150_O_ACCEL_CONFIG)
+ {
+ //
+ // Extract the FS_SEL from the ACCEL_CONFIG register value.
+ //
+ psInst->ui8AccelAfsSel =
+ ((psInst->uCommand.sReadModifyWriteState.pui8Buffer[1] &
+ MPU9150_ACCEL_CONFIG_AFS_SEL_M) >>
+ MPU9150_ACCEL_CONFIG_AFS_SEL_S);
+ }
+
+ //
+ // The state machine is now idle.
+ //
+ psInst->ui8State = MPU9150_STATE_IDLE;
+
+ //
+ // Done.
+ //
+ break;
+ }
+ }
+
+ //
+ // See if the state machine is now idle and there is a callback function.
+ //
+ if((psInst->ui8State == MPU9150_STATE_IDLE) && psInst->pfnCallback)
+ {
+ //
+ // Call the application-supplied callback function.
+ //
+ psInst->pfnCallback(psInst->pvCallbackData, ui8Status);
+ }
+}
+
+//*****************************************************************************
+//
+//! Initializes the MPU9150 driver.
+//!
+//! \param psInst is a pointer to the MPU9150 instance data.
+//! \param psI2CInst is a pointer to the I2C master driver instance data.
+//! \param ui8I2CAddr is the I2C address of the MPU9150 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 MPU9150 driver, preparing it for operation.
+//!
+//! \return Returns 1 if the MPU9150 driver was successfully initialized and 0
+//! if it was not.
+//
+//*****************************************************************************
+uint_fast8_t
+MPU9150Init(tMPU9150 *psInst, tI2CMInstance *psI2CInst,
+ uint_fast8_t ui8I2CAddr, tSensorCallback *pfnCallback,
+ void *pvCallbackData)
+{
+ //
+ // Initialize the MPU9150 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 = (MPU9150_ACCEL_CONFIG_AFS_SEL_2G >>
+ MPU9150_ACCEL_CONFIG_AFS_SEL_S);
+ psInst->ui8NewAccelAfsSel = (MPU9150_ACCEL_CONFIG_AFS_SEL_2G >>
+ MPU9150_ACCEL_CONFIG_AFS_SEL_S);
+
+ //
+ // Default range setting is +/- 250 degrees/s
+ //
+ psInst->ui8GyroFsSel = (MPU9150_GYRO_CONFIG_FS_SEL_250 >>
+ MPU9150_GYRO_CONFIG_FS_SEL_S);
+ psInst->ui8NewGyroFsSel = (MPU9150_GYRO_CONFIG_FS_SEL_250 >>
+ MPU9150_GYRO_CONFIG_FS_SEL_S);
+
+ //
+ // Set the state to show we are initiating a reset.
+ //
+ psInst->ui8State = MPU9150_STATE_INIT_RESET;
+
+ //
+ // Load the buffer with command to perform device reset
+ //
+ psInst->uCommand.pui8Buffer[0] = MPU9150_O_PWR_MGMT_1;
+ psInst->uCommand.pui8Buffer[1] = MPU9150_PWR_MGMT_1_DEVICE_RESET;
+ if(I2CMWrite(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 2, MPU9150Callback, psInst) == 0)
+ {
+ psInst->ui8State = MPU9150_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Returns the pointer to the tAK8975 object
+//!
+//! \param psInst is a pointer to the MPU9150 instance data.
+//!
+//! The MPU9150 contains in internal AK8975 magnetometer. To access data from
+//! that sensor, application should use this function to get a pointer to the
+//! tAK8975 object, and then use the AK8975 APIs.
+//!
+//! \return Returns the pointer to the tAK8975 object
+//
+//*****************************************************************************
+tAK8975 *
+MPU9150MagnetoInstGet(tMPU9150 *psInst)
+{
+ return(&(psInst->sAK8975Inst));
+}
+
+//*****************************************************************************
+//
+//! Reads data from MPU9150 registers.
+//!
+//! \param psInst is a pointer to the MPU9150 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 MPU9150.
+//!
+//! \return Returns 1 if the write was successfully started and 0 if it was
+//! not.
+//
+//*****************************************************************************
+uint_fast8_t
+MPU9150Read(tMPU9150 *psInst, uint_fast8_t ui8Reg, uint8_t *pui8Data,
+ uint_fast16_t ui16Count, tSensorCallback *pfnCallback,
+ void *pvCallbackData)
+{
+ //
+ // Return a failure if the MPU9150 driver is not idle (in other words,
+ // there is already an outstanding request to the MPU9150).
+ //
+ if(psInst->ui8State != MPU9150_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 = MPU9150_STATE_READ;
+
+ //
+ // Read the requested registers from the MPU9150.
+ //
+ psInst->uCommand.pui8Buffer[0] = ui8Reg;
+ if(I2CMRead(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 1, pui8Data, ui16Count,
+ MPU9150Callback, psInst) == 0)
+ {
+ //
+ // The I2C write failed, so move to the idle state and return a
+ // failure.
+ //
+ psInst->ui8State = MPU9150_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success.
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Writes data to MPU9150 registers.
+//!
+//! \param psInst is a pointer to the MPU9150 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 MPU9150. 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
+MPU9150Write(tMPU9150 *psInst, uint_fast8_t ui8Reg, const uint8_t *pui8Data,
+ uint_fast16_t ui16Count, tSensorCallback *pfnCallback,
+ void *pvCallbackData)
+{
+ //
+ // Return a failure if the MPU9150 driver is not idle (in other words,
+ // there is already an outstanding request to the MPU9150).
+ //
+ if(psInst->ui8State != MPU9150_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 <= MPU9150_O_PWR_MGMT_1) &&
+ ((ui8Reg + ui16Count) > MPU9150_O_PWR_MGMT_1))
+ {
+ //
+ // See if a soft reset is being requested.
+ //
+ if(pui8Data[ui8Reg - MPU9150_O_PWR_MGMT_1] &
+ MPU9150_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 <= MPU9150_O_GYRO_CONFIG) &&
+ ((ui8Reg + ui16Count) > MPU9150_O_GYRO_CONFIG))
+ {
+ //
+ // Extract the FS_SEL from the GYRO_CONFIG register value.
+ //
+ psInst->ui8NewGyroFsSel = ((pui8Data[ui8Reg - MPU9150_O_GYRO_CONFIG] &
+ MPU9150_GYRO_CONFIG_FS_SEL_M) >>
+ MPU9150_GYRO_CONFIG_FS_SEL_S);
+ }
+
+ //
+ // See if the ACCEL_CONFIG register is being written.
+ //
+ if((ui8Reg <= MPU9150_O_ACCEL_CONFIG) &&
+ ((ui8Reg + ui16Count) > MPU9150_O_ACCEL_CONFIG))
+ {
+ //
+ // Extract the AFS_SEL from the ACCEL_CONFIG register value.
+ //
+ psInst->ui8NewAccelAfsSel =
+ ((pui8Data[ui8Reg - MPU9150_O_ACCEL_CONFIG] &
+ MPU9150_ACCEL_CONFIG_AFS_SEL_M) >>
+ MPU9150_ACCEL_CONFIG_AFS_SEL_S);
+ }
+
+ //
+ // Move the state machine to the wait for write state.
+ //
+ psInst->ui8State = MPU9150_STATE_WRITE;
+
+ //
+ // Write the requested registers to the MPU9150.
+ //
+ if(I2CMWrite8(&(psInst->uCommand.sWriteState), psInst->psI2CInst,
+ psInst->ui8Addr, ui8Reg, pui8Data, ui16Count,
+ MPU9150Callback, psInst) == 0)
+ {
+ //
+ // The I2C write failed, so move to the idle state and return a
+ // failure.
+ //
+ psInst->ui8State = MPU9150_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success.
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Performs a read-modify-write of a MPU9150 register.
+//!
+//! \param psInst is a pointer to the MPU9150 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 MPU9150 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
+//! MPU9150.
+//!
+//! \return Returns 1 if the read-modify-write was successfully started and 0
+//! if it was not.
+//
+//*****************************************************************************
+uint_fast8_t
+MPU9150ReadModifyWrite(tMPU9150 *psInst, uint_fast8_t ui8Reg,
+ uint_fast8_t ui8Mask, uint_fast8_t ui8Value,
+ tSensorCallback *pfnCallback, void *pvCallbackData)
+{
+ //
+ // Return a failure if the MPU9150 driver is not idle (in other words,
+ // there is already an outstanding request to the MPU9150).
+ //
+ if(psInst->ui8State != MPU9150_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 = MPU9150_STATE_RMW;
+
+ //
+ // Submit the read-modify-write request to the MPU9150.
+ //
+ if(I2CMReadModifyWrite8(&(psInst->uCommand.sReadModifyWriteState),
+ psInst->psI2CInst, psInst->ui8Addr, ui8Reg,
+ ui8Mask, ui8Value, MPU9150Callback, psInst) == 0)
+ {
+ //
+ // The I2C read-modify-write failed, so move to the idle state and
+ // return a failure.
+ //
+ psInst->ui8State = MPU9150_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success.
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Reads the accelerometer and gyroscope data from the MPU9150 and the
+//! magnetometer data from the on-chip aK8975.
+//!
+//! \param psInst is a pointer to the MPU9150 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 MPU9150 data registers. When the
+//! read has completed (as indicated by calling the callback function), the new
+//! readings can be obtained via:
+//!
+//! - MPU9150DataAccelGetRaw()
+//! - MPU9150DataAccelGetFloat()
+//! - MPU9150DataGyroGetRaw()
+//! - MPU9150DataGyroGetFloat()
+//! - MPU9150DataMagnetoGetRaw()
+//! - MPU9150DataMagnetoGetFloat()
+//!
+//! \return Returns 1 if the read was successfully started and 0 if it was not.
+//
+//*****************************************************************************
+uint_fast8_t
+MPU9150DataRead(tMPU9150 *psInst, tSensorCallback *pfnCallback,
+ void *pvCallbackData)
+{
+ //
+ // Return a failure if the MPU9150 driver is not idle (in other words,
+ // there is already an outstanding request to the MPU9150).
+ //
+ if(psInst->ui8State != MPU9150_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 = MPU9150_STATE_RD_DATA;
+
+ //
+ // Read the data registers from the MPU9150.
+ //
+ // (ACCEL_XOUT_H(0x3B) -> GYRO_ZOUT_L(0x48) = 14 bytes
+ // Grab Ext Sens Data as well for another 8 bytes. ST1 + Mag Data + ST2
+ //
+ psInst->uCommand.pui8Buffer[0] = MPU9150_O_ACCEL_XOUT_H;
+ if(I2CMRead(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 1, psInst->pui8Data, 22,
+ MPU9150Callback, psInst) == 0)
+ {
+ //
+ // The I2C read failed, so move to the idle state and return a failure.
+ //
+ psInst->ui8State = MPU9150_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 MPU9150 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
+MPU9150DataAccelGetRaw(tMPU9150 *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 MPU9150 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
+MPU9150DataAccelGetFloat(tMPU9150 *psInst, float *pfAccelX, float *pfAccelY,
+ float *pfAccelZ)
+{
+ float fFactor;
+
+ //
+ // Get the acceleration conversion factor for the current data format.
+ //
+ fFactor = g_fMPU9150AccelFactors[psInst->ui8AccelAfsSel];
+
+ //
+ // Convert the accelerometer values into m/sec^2
+ //
+ 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 MPU9150 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
+MPU9150DataGyroGetRaw(tMPU9150 *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 MPU9150 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
+MPU9150DataGyroGetFloat(tMPU9150 *psInst, float *pfGyroX, float *pfGyroY,
+ float *pfGyroZ)
+{
+ float fFactor;
+ int16_t i16Temp;
+
+ //
+ // Get the gyroscope conversion factor for the current data format.
+ //
+ fFactor = g_fMPU9150GyroFactors[psInst->ui8GyroFsSel];
+
+ //
+ // Convert the gyroscope values into rad/sec
+ //
+ if(pfGyroX)
+ {
+ i16Temp = (int16_t)psInst->pui8Data[8];
+ i16Temp <<= 8;
+ i16Temp += psInst->pui8Data[9];
+ *pfGyroX = (float)i16Temp;
+ *pfGyroX *= fFactor;
+ }
+ if(pfGyroY)
+ {
+ i16Temp = (int16_t)psInst->pui8Data[10];
+ i16Temp <<= 8;
+ i16Temp += psInst->pui8Data[11];
+ *pfGyroY = (float)i16Temp;
+ *pfGyroY *= fFactor;
+ }
+ if(pfGyroZ)
+ {
+ i16Temp = (int16_t)psInst->pui8Data[12];
+ i16Temp <<= 8;
+ i16Temp += psInst->pui8Data[13];
+ *pfGyroZ = (float)i16Temp;
+ *pfGyroZ *= fFactor;
+ }
+}
+
+//*****************************************************************************
+//
+//! Gets the raw magnetometer data from the most recent data read.
+//!
+//! \param psInst is a pointer to the MPU9150 instance data.
+//! \param pui16MagnetoX is a pointer to the value into which the raw X-axis
+//! magnetometer data is stored.
+//! \param pui16MagnetoY is a pointer to the value into which the raw Y-axis
+//! magnetometer data is stored.
+//! \param pui16MagnetoZ is a pointer to the value into which the raw Z-axis
+//! magnetometer data is stored.
+//!
+//! This function returns the raw magnetometer 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
+MPU9150DataMagnetoGetRaw(tMPU9150 *psInst, uint_fast16_t *pui16MagnetoX,
+ uint_fast16_t *pui16MagnetoY,
+ uint_fast16_t *pui16MagnetoZ)
+{
+ uint8_t *pui8ExtSensData;
+
+ pui8ExtSensData = &(psInst->pui8Data[14]);
+
+ //
+ // Return the raw magnetometer values.
+ //
+ if(pui16MagnetoX)
+ {
+ *pui16MagnetoX = (pui8ExtSensData[2] << 8) | pui8ExtSensData[1];
+ }
+ if(pui16MagnetoY)
+ {
+ *pui16MagnetoY = (pui8ExtSensData[4] << 8) | pui8ExtSensData[3];
+ }
+ if(pui16MagnetoZ)
+ {
+ *pui16MagnetoZ = (pui8ExtSensData[6] << 8) | pui8ExtSensData[5];
+ }
+}
+
+//*****************************************************************************
+//
+//! Gets the magnetometer data from the most recent data read.
+//!
+//! \param psInst is a pointer to the MPU9150 instance data.
+//! \param pfMagnetoX is a pointer to the value into which the X-axis
+//! magnetometer data is stored.
+//! \param pfMagnetoY is a pointer to the value into which the Y-axis
+//! magnetometer data is stored.
+//! \param pfMagnetoZ is a pointer to the value into which the Z-axis
+//! magnetometer data is stored.
+//!
+//! This function returns the magnetometer data from the most recent data read,
+//! converted into tesla. If any of the output data pointers are
+//! \b NULL, the corresponding data is not provided.
+//!
+//! \return None.
+//
+//*****************************************************************************
+void
+MPU9150DataMagnetoGetFloat(tMPU9150 *psInst, float *pfMagnetoX,
+ float *pfMagnetoY, float *pfMagnetoZ)
+{
+ int16_t *pi16Data;
+
+ pi16Data = (int16_t *)(psInst->pui8Data + 15);
+
+ //
+ // Convert the magnetometer values into floating-point tesla values.
+ //
+ if(pfMagnetoX)
+ {
+ *pfMagnetoX = (float)pi16Data[0];
+ *pfMagnetoX *= CONVERT_TO_TESLA;
+ }
+ if(pfMagnetoY)
+ {
+ *pfMagnetoY = (float)pi16Data[1];
+ *pfMagnetoY *= CONVERT_TO_TESLA;
+ }
+ if(pfMagnetoZ)
+ {
+ *pfMagnetoZ = (float)pi16Data[2];
+ *pfMagnetoZ *= CONVERT_TO_TESLA;
+ }
+}
+
+//*****************************************************************************
+//
+// Close the Doxygen group.
+//! @}
+//
+//*****************************************************************************
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