1 /*
2  * Author: Jon Trulson <jtrulson@ics.com>
3  * Copyright (c) 2015 Intel Corporation.
4  *
5  * Permission is hereby granted, free of charge, to any person obtaining
6  * a copy of this software and associated documentation files (the
7  * "Software"), to deal in the Software without restriction, including
8  * without limitation the rights to use, copy, modify, merge, publish,
9  * distribute, sublicense, and/or sell copies of the Software, and to
10  * permit persons to whom the Software is furnished to do so, subject to
11  * the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 
25 #pragma once
26 
27 #include "mpu60x0.h"
28 #include "ak8975.h"
29 
30 #define MPU9150_I2C_BUS 0
31 #define MPU9150_DEFAULT_I2C_ADDR  MPU60X0_DEFAULT_I2C_ADDR
32 
33 
34 namespace upm {
35 
36   /**
37    * @brief MPU9150 accelerometer library
38    * @defgroup mpu9150 libupm-mpu9150
39    * @ingroup seeed i2c gpio accelerometer compass
40    */
41 
42   /**
43    * @library mpu9150
44    * @sensor mpu9150
45    * @comname MPU9150 Inertial Measurement Unit
46    * @altname Grove IMU 9DOF
47    * @type accelerometer compass
48    * @man seeed
49    * @web http://www.seeedstudio.com/wiki/Grove_-_IMU_9DOF_v1.0
50    * @con i2c gpio
51    *
52    * @brief API for MPU9150 chip (Accelerometer, Gyro and Magnometer Sensor)
53    *
54    * This module defines the MPU9150 interface for libmpu9150
55    *
56    * @image html mpu9150.jpg
57    * @snippet mpu9150.cxx Interesting
58    */
59 
60   class MPU9150: public MPU60X0
61   {
62   public:
63     /**
64      * MPU9150 constructor
65      *
66      * @param bus I2C bus to use
67      * @param address The address for this device
68      * @param magAddress The address of the connected magnetometer
69      */
70     MPU9150 (int bus=MPU9150_I2C_BUS, int address=MPU9150_DEFAULT_I2C_ADDR,
71              int magAddress=AK8975_DEFAULT_I2C_ADDR, bool enableAk8975=false);
72 
73     /**
74      * MPU9150 destructor
75      */
76     ~MPU9150 ();
77 
78     /**
79      * Set up initial values and start operation
80      *
81      * @return true if successful
82      */
83     bool init();
84 
85     /**
86      * Take a measurement and store the current sensor values
87      * internally.  Note, these user facing registers are only updated
88      * from the internal device sensor values when the i2c serial
89      * traffic is 'idle'.  So, if you are reading the values too fast,
90      * the bus may never be idle, and you will just end up reading
91      * the same values over and over.
92      *
93      * Unfortunately, it is is not clear how long 'idle' actually
94      * means, so if you see this behavior, reduce the rate at which
95      * you are calling update().
96      */
97     void update();
98 
99     /**
100      * Return the compensated values for the x, y, and z axes.  The
101      * unit of measurement is in micro-teslas (uT).
102      *
103      * @param x Pointer to returned X axis value
104      * @param y Pointer to returned Y axis value
105      * @param z Pointer to returned Z axis value
106      */
107     void getMagnetometer(float *x, float *y, float *z);
108 
109 #ifdef SWIGJAVA
110     /**
111      * Return the compensated values for the x, y, and z axes.  The
112      * unit of measurement is in micro-teslas (uT).
113      *
114      * @return Array containing X, Y, Z magnetometer values
115      */
116     float *getMagnetometer();
117 #endif
118 
119 
120 
121   protected:
122     // magnetometer instance
123     AK8975* m_mag;
124 
125 
126   private:
127     int m_i2cBus;
128     uint8_t m_magAddress;
129     bool m_enableAk8975;
130   };
131 
132 }
133