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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include "mpu60x0.hpp"
#include "ak8975.hpp"
#define MPU9150_I2C_BUS 0
#define MPU9150_DEFAULT_I2C_ADDR MPU60X0_DEFAULT_I2C_ADDR
namespace upm {
/**
* @brief MPU9150 accelerometer library
* @defgroup mpu9150 libupm-mpu9150
* @ingroup seeed i2c gpio accelerometer compass
*/
/**
* @library mpu9150
* @sensor mpu9150
* @comname MPU9150 Inertial Measurement Unit
* @altname Grove IMU 9DOF
* @type accelerometer compass
* @man seeed
* @web http://www.seeedstudio.com/wiki/Grove_-_IMU_9DOF_v1.0
* @con i2c gpio
*
* @brief API for MPU9150 chip (Accelerometer, Gyro and Magnometer Sensor)
*
* This module defines the MPU9150 interface for libmpu9150
*
* @image html mpu9150.jpg
* @snippet mpu9150.cxx Interesting
*/
class MPU9150: public MPU60X0
{
public:
/**
* MPU9150 constructor
*
* @param bus I2C bus to use
* @param address The address for this device
* @param magAddress The address of the connected magnetometer
* @param enableAk8975 Enables i2c bypass mode for magnetometer, default
* is true
*/
MPU9150 (int bus=MPU9150_I2C_BUS, int address=MPU9150_DEFAULT_I2C_ADDR,
int magAddress=AK8975_DEFAULT_I2C_ADDR, bool enableAk8975=true);
/**
* MPU9150 destructor
*/
~MPU9150 ();
/**
* Set up initial values and start operation
*
* @return true if successful
*/
bool init();
/**
* Take a measurement and store the current sensor values
* internally. Note, these user facing registers are only updated
* from the internal device sensor values when the i2c serial
* traffic is 'idle'. So, if you are reading the values too fast,
* the bus may never be idle, and you will just end up reading
* the same values over and over.
*
* Unfortunately, it is is not clear how long 'idle' actually
* means, so if you see this behavior, reduce the rate at which
* you are calling update().
*/
void update();
/**
* Return the compensated values for the x, y, and z axes. The
* unit of measurement is in micro-teslas (uT).
*
* @param x Pointer to returned X axis value
* @param y Pointer to returned Y axis value
* @param z Pointer to returned Z axis value
*/
void getMagnetometer(float *x, float *y, float *z);
#ifdef SWIGJAVA
/**
* Return the compensated values for the x, y, and z axes. The
* unit of measurement is in micro-teslas (uT).
*
* @return Array containing X, Y, Z magnetometer values
*/
float *getMagnetometer();
#endif
protected:
// magnetometer instance
AK8975* m_mag;
private:
int m_i2cBus;
uint8_t m_magAddress;
bool m_enableAk8975;
};
}
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