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This driver has been rewritten from scratch. It is implemented as 3 seperate drivers now (but all included as part of the mpu9150 UPM library): AK8975 (Magnetometer) MPU60X0 (Accelerometer, Gyroscope, and Temperature sensor) MPU9150 (composed of AK8975 and MPU60X0) Each driver can be used independently and includes examples in C++/JS/Python. Commonly used capabilities are supported, and methods/register definitions exist to easily implement any desired functionality that is missing. Interrupt support has also been added. Scaling support has also been properly implemented for both the Accelerometer and Gyroscope. Signed-off-by: Jon Trulson <jtrulson@ics.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
121 lines
3.5 KiB
C++
121 lines
3.5 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include "mpu60x0.h"
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#include "ak8975.h"
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#define MPU9150_I2C_BUS 0
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#define MPU9150_DEFAULT_I2C_ADDR MPU60X0_DEFAULT_I2C_ADDR
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namespace upm {
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/**
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* @brief MPU9150 accelerometer library
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* @defgroup mpu9150 libupm-mpu9150
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* @ingroup seeed i2c gpio accelerometer compass
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*/
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/**
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* @library mpu9150
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* @sensor mpu9150
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* @comname MPU9150 Inertial Measurement Unit
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* @altname Grove IMU 9DOF
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* @type accelerometer compass
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* @man seeed
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* @web http://www.seeedstudio.com/wiki/Grove_-_IMU_9DOF_v1.0
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* @con i2c gpio
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*
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* @brief API for MPU9150 chip (Accelerometer, Gyro and Magnometer Sensor)
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*
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* This file defines the MPU9150 interface for libmpu9150
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*
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* @image html mpu9150.jpg
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* @snippet mpu9150.cxx Interesting
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*/
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class MPU9150: public MPU60X0
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{
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public:
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/**
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* MPU9150 constructor
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*
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* @param bus i2c bus to use
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* @param address the address for this device
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* @param magAddress the address of the connected magnetometer
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*/
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MPU9150 (int bus=MPU9150_I2C_BUS, int address=MPU9150_DEFAULT_I2C_ADDR,
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int magAddress=AK8975_DEFAULT_I2C_ADDR);
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/**
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* MPU9150 Destructor
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*/
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~MPU9150 ();
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/**
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* set up initial values and start operation
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*
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* @return true if successful
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*/
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bool init();
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/**
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* take a measurement and store the current sensor values
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* internally. Note, these user facing registers are only updated
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* from the internal device sensor values when the i2c serial
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* traffic is 'idle'. So, if you are reading the values too fast,
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* the bus may never be idle, and you will just end up reading
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* the same values over and over.
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*
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* Unfortunately, it is is not clear how long 'idle' actually
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* means, so if you see this behavior, reduce the rate at which
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* you are calling update().
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*/
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void update();
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/**
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* return the compensated values for the x, y, and z axes. The
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* unit of measurement is in micro-teslas (uT).
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*
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* @param x pointer to returned X axis value
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* @param y pointer to returned Y axis value
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* @param z pointer to returned Z axis value
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*/
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void getMagnetometer(float *x, float *y, float *z);
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protected:
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// magnetometer instance
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AK8975* m_mag;
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private:
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int m_i2cBus;
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uint8_t m_magAddress;
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};
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}
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