From 4085ae3ddfbbf10c8ccbd3dccd43452c40a1fe40 Mon Sep 17 00:00:00 2001 From: Yuval Adam Date: Fri, 13 Mar 2015 12:24:52 +0200 Subject: Add bootloader, nfclib and sensorlib --- sensorlib/mpu9150.h | 187 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 187 insertions(+) create mode 100644 sensorlib/mpu9150.h (limited to 'sensorlib/mpu9150.h') diff --git a/sensorlib/mpu9150.h b/sensorlib/mpu9150.h new file mode 100644 index 0000000..459d6ca --- /dev/null +++ b/sensorlib/mpu9150.h @@ -0,0 +1,187 @@ +//***************************************************************************** +// +// mpu9150.h - Prototypes for the MPU9150 accelerometer, gyroscope, and +// magnetometer driver. +// +// 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. +// +//***************************************************************************** + +#ifndef __SENSORLIB_MPU9150_H__ +#define __SENSORLIB_MPU9150_H__ + +//***************************************************************************** +// +// If building with a C++ compiler, make all of the definitions in this header +// have a C binding. +// +//***************************************************************************** +#ifdef __cplusplus +extern "C" +{ +#endif + +//***************************************************************************** +// +// The structure that defines the internal state of the MPU9150 driver. +// +//***************************************************************************** +typedef struct +{ + // + // The pointer to the I2C master interface instance used to communicate + // with the MPU9150. + // + tI2CMInstance *psI2CInst; + + // + // The AK8975 inst that used to access the on-chip AK8975 magnetometer + // + tAK8975 sAK8975Inst; + + // + // The I2C address of the MPU9150. + // + uint8_t ui8Addr; + + // + // The state of the state machine used while accessing the MPU9150. + // + uint8_t ui8State; + + // + // The current accelerometer afs_sel setting + // + uint8_t ui8AccelAfsSel; + + // + // The new accelerometer afs_sel setting, which is used when a register + // write succeeds. + // + uint8_t ui8NewAccelAfsSel; + + // + // The current gyroscope fs_sel setting + // + uint8_t ui8GyroFsSel; + + // + // The new gyroscope fs_sel setting, which is used when a register write + // succeeds. + // + uint8_t ui8NewGyroFsSel; + + // + // The data buffer used for sending/receiving data to/from the MPU9150. + // + uint8_t pui8Data[24]; + + // + // The function that is called when the current request has completed + // processing. + // + tSensorCallback *pfnCallback; + + // + // The callback data provided to the callback function. + // + void *pvCallbackData; + + // + // A union of structures that are used for read, write and + // read-modify-write operations. Since only one operation can be active at + // a time, it is safe to re-use the memory in this manner. + // + union + { + // + // A buffer used to store the write portion of a register read. + // + uint8_t pui8Buffer[6]; + + // + // The write state used to write register values. + // + tI2CMWrite8 sWriteState; + + // + // The read-modify-write state used to modify register values. + // + tI2CMReadModifyWrite8 sReadModifyWriteState; + } + uCommand; +} +tMPU9150; + +//***************************************************************************** +// +// Function prototypes. +// +//***************************************************************************** +extern uint_fast8_t MPU9150Init(tMPU9150 *psInst, tI2CMInstance *psI2CInst, + uint_fast8_t ui8I2CAddr, + tSensorCallback *pfnCallback, + void *pvCallbackData); +extern tAK8975 *MPU9150InstAK8975Get(tMPU9150 *psInst); +extern uint_fast8_t MPU9150Read(tMPU9150 *psInst, uint_fast8_t ui8Reg, + uint8_t *pui8Data, uint_fast16_t ui16Count, + tSensorCallback *pfnCallback, + void *pvCallbackData); +extern uint_fast8_t MPU9150Write(tMPU9150 *psInst, uint_fast8_t ui8Reg, + const uint8_t *pui8Data, + uint_fast16_t ui16Count, + tSensorCallback *pfnCallback, + void *pvCallbackData); +extern uint_fast8_t MPU9150ReadModifyWrite(tMPU9150 *psInst, + uint_fast8_t ui8Reg, + uint_fast8_t ui8Mask, + uint_fast8_t ui8Value, + tSensorCallback *pfnCallback, + void *pvCallbackData); +extern uint_fast8_t MPU9150DataRead(tMPU9150 *psInst, + tSensorCallback *pfnCallback, + void *pvCallbackData); +extern void MPU9150DataAccelGetRaw(tMPU9150 *psInst, + uint_fast16_t *pui16AccelX, + uint_fast16_t *pui16AccelY, + uint_fast16_t *pui16AccelZ); +extern void MPU9150DataAccelGetFloat(tMPU9150 *psInst, float *pfAccelX, + float *pfAccelY, float *pfAccelZ); +extern void MPU9150DataGyroGetRaw(tMPU9150 *psInst, uint_fast16_t *pui16GyroX, + uint_fast16_t *pui16GyroY, + uint_fast16_t *pui16GyroZ); +extern void MPU9150DataGyroGetFloat(tMPU9150 *psInst, float *pfGyroX, + float *pfGyroY, float *pfGyroZ); +extern void MPU9150DataMagnetoGetRaw(tMPU9150 *psInst, + uint_fast16_t *pui16MagnetoX, + uint_fast16_t *pui16MagnetoY, + uint_fast16_t *pui16MagnetoZ); +extern void MPU9150DataMagnetoGetFloat(tMPU9150 *psInst, float *pfMagnetoX, + float *pfMagnetoY, float *pfMagnetoZ); + +//***************************************************************************** +// +// Mark the end of the C bindings section for C++ compilers. +// +//***************************************************************************** +#ifdef __cplusplus +} +#endif + +#endif // __SENSORLIB_MPU9150_H__ -- cgit v1.3.1