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//*****************************************************************************
//
// 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__
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