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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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