add_executable (stepmotor-example stepmotor.cxx)
add_executable (pulsensor-example pulsensor.cxx)
add_executable (mic-example mic-example.cxx)
+add_executable (mpu9150-example mpu9150-example.cxx)
include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
include_directories (${PROJECT_SOURCE_DIR}/src/grove)
include_directories (${PROJECT_SOURCE_DIR}/src/stepmotor)
include_directories (${PROJECT_SOURCE_DIR}/src/pulsensor)
include_directories (${PROJECT_SOURCE_DIR}/src/mic)
+include_directories (${PROJECT_SOURCE_DIR}/src/mpu9150)
target_link_libraries (compass hmc5883l ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveled grove ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (stepmotor-example stepmotor ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (pulsensor-example pulsensor ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (mic-example mic ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (mpu9150-example mpu9150 ${CMAKE_THREAD_LIBS_INIT})
--- /dev/null
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "mpu9150.h"
+
+int
+main(int argc, char **argv)
+{
+ //! [Interesting]
+ upm::Vector3D data;
+ upm::MPU9150 *sensor = new upm::MPU9150(0, ADDR);
+ sensor->getData ();
+ sensor->getAcceleromter (&data);
+ std::cout << "*************************************************" << std::endl;
+ std::cout << "DEVICE ID (" << (int) sensor->getDeviceID () << ")" << std::endl;
+ std::cout << "*************************************************" << std::endl;
+ std::cout << "ACCELEROMETER :: X (" << data.axisX << ")" << " Y (" << data.axisY << ")"
+ << " Z (" << data.axisZ << ")" << std::endl;
+
+ sensor->getGyro (&data);
+ std::cout << "GYRO :: X (" << data.axisX << ")" << " Y (" << data.axisY << ")"
+ << " Z (" << data.axisZ << ")" << std::endl;
+
+ sensor->getMagnometer (&data);
+ std::cout << "MAGNOMETER :: X (" << data.axisX << ")" << " Y (" << data.axisY << ")"
+ << " Z (" << data.axisZ << ")" << std::endl;
+ std::cout << "TEMPERATURE (" << sensor->getTemperature () << ")" << std::endl;
+ std::cout << "*************************************************" << std::endl;
+ //! [Interesting]
+
+ std::cout << "exiting application" << std::endl;
+
+ delete sensor;
+
+ return 0;
+}
--- /dev/null
+set (libname "mpu9150")
+set (libdescription "giro, acceleromter and magnometer sensor based on mpu9150")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()
--- /dev/null
+%module jsupm_mpu9150
+
+%{
+ #include "mpu9150.h"
+%}
+
+%include "mpu9150.h"
--- /dev/null
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
+ * 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
+ *
+ * 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.
+ */
+
+#include <iostream>
+#include <unistd.h>
+#include <stdlib.h>
+
+#include "mpu9150.h"
+
+using namespace upm;
+
+MPU9150::MPU9150 (int bus, int devAddr) {
+ m_name = "MPU9150";
+
+ m_i2cAddr = devAddr;
+ m_bus = bus;
+
+ m_i2Ctx = maa_i2c_init(m_bus);
+
+ maa_result_t ret = maa_i2c_address(m_i2Ctx, m_i2cAddr);
+ if (ret != MAA_SUCCESS) {
+ fprintf(stderr, "Messed up i2c bus\n");
+ }
+
+ initSensor ();
+}
+
+MPU9150::~MPU9150() {
+ maa_i2c_stop(m_i2Ctx);
+}
+
+maa_result_t
+MPU9150::initSensor () {
+ uint8_t regData = 0x0;
+
+ // setClockSource
+ updateRegBits ( MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT,
+ MPU6050_PWR1_CLKSEL_LENGTH, MPU6050_CLOCK_PLL_XGYRO);
+ // setFullScaleGyroRange
+ updateRegBits ( MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT,
+ MPU6050_GCONFIG_FS_SEL_LENGTH, MPU6050_GYRO_FS_250);
+ // setFullScaleAccelRange
+ updateRegBits ( MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT,
+ MPU6050_ACONFIG_AFS_SEL_LENGTH, MPU6050_ACCEL_FS_2);
+ // setSleepEnabled
+ i2cReadReg_N (MPU6050_RA_PWR_MGMT_1, 0x1, ®Data);
+ regData &= ~(1 << MPU6050_PWR1_SLEEP_BIT);
+ i2cWriteReg (MPU6050_RA_PWR_MGMT_1, regData);
+
+ return MAA_SUCCESS;
+}
+
+uint8_t
+MPU9150::getDeviceID () {
+ uint8_t regData = 0x0;
+ getRegBits (MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, ®Data);
+ return regData;
+}
+
+maa_result_t
+MPU9150::getData () {
+ uint8_t buffer[14];
+
+ for (int i = 0; i < SMOOTH_TIMES; i++) {
+ i2cReadReg_N (MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
+ axisAcceleromter.rawData.axisX = (((int16_t)buffer[0]) << 8) | buffer[1];
+ axisAcceleromter.rawData.axisY = (((int16_t)buffer[2]) << 8) | buffer[3];
+ axisAcceleromter.rawData.axisZ = (((int16_t)buffer[4]) << 8) | buffer[5];
+ axisAcceleromter.sumData.axisX += (double) axisAcceleromter.rawData.axisX / 16384;
+ axisAcceleromter.sumData.axisY += (double) axisAcceleromter.rawData.axisY / 16384;
+ axisAcceleromter.sumData.axisZ += (double) axisAcceleromter.rawData.axisZ / 16384;
+
+ axisGyroscope.rawData.axisX = (((int16_t)buffer[8]) << 8) | buffer[9];
+ axisGyroscope.rawData.axisY = (((int16_t)buffer[10]) << 8) | buffer[11];
+ axisGyroscope.rawData.axisZ = (((int16_t)buffer[12]) << 8) | buffer[13];
+ axisGyroscope.sumData.axisX += (double) axisAcceleromter.rawData.axisX * 250 / 32768;
+ axisGyroscope.sumData.axisY += (double) axisAcceleromter.rawData.axisY * 250 / 32768;
+ axisGyroscope.sumData.axisZ += (double) axisAcceleromter.rawData.axisZ * 250 / 32768;
+
+ i2cWriteReg (MPU6050_RA_INT_PIN_CFG, 0x02);
+ usleep (10000);
+ m_i2cAddr = MPU9150_RA_MAG_ADDRESS;
+ i2cWriteReg (0x0A, 0x01);
+ usleep (10000);
+ i2cReadReg_N (MPU9150_RA_MAG_XOUT_L, 6, buffer);
+ m_i2cAddr = ADDR;
+
+ axisMagnetomer.rawData.axisX = (((int16_t)buffer[0]) << 8) | buffer[1];
+ axisMagnetomer.rawData.axisY = (((int16_t)buffer[2]) << 8) | buffer[3];
+ axisMagnetomer.rawData.axisZ = (((int16_t)buffer[4]) << 8) | buffer[5];
+ axisMagnetomer.sumData.axisX += (double) axisMagnetomer.rawData.axisX * 1200 / 4096;
+ axisMagnetomer.sumData.axisY += (double) axisMagnetomer.rawData.axisY * 1200 / 4096;
+ axisMagnetomer.sumData.axisZ += (double) axisMagnetomer.rawData.axisZ * 1200 / 4096;
+ }
+
+ axisAcceleromter.data.axisX = axisAcceleromter.sumData.axisX / SMOOTH_TIMES;
+ axisAcceleromter.data.axisY = axisAcceleromter.sumData.axisY / SMOOTH_TIMES;
+ axisAcceleromter.data.axisZ = axisAcceleromter.sumData.axisZ / SMOOTH_TIMES;
+
+ axisGyroscope.data.axisX = axisGyroscope.sumData.axisX / SMOOTH_TIMES;
+ axisGyroscope.data.axisY = axisGyroscope.sumData.axisY / SMOOTH_TIMES;
+ axisGyroscope.data.axisZ = axisGyroscope.sumData.axisZ / SMOOTH_TIMES;
+
+ axisMagnetomer.data.axisX = axisMagnetomer.sumData.axisX / SMOOTH_TIMES;
+ axisMagnetomer.data.axisY = axisMagnetomer.sumData.axisY / SMOOTH_TIMES;
+ axisMagnetomer.data.axisZ = axisMagnetomer.sumData.axisZ / SMOOTH_TIMES;
+}
+
+maa_result_t
+MPU9150::getAcceleromter (Vector3D * data) {
+ data->axisX = axisAcceleromter.data.axisX;
+ data->axisY = axisAcceleromter.data.axisY;
+ data->axisZ = axisAcceleromter.data.axisZ;
+
+ return MAA_SUCCESS;
+}
+
+maa_result_t
+MPU9150::getGyro (Vector3D * data) {
+ data->axisX = axisGyroscope.data.axisX;
+ data->axisY = axisGyroscope.data.axisY;
+ data->axisZ = axisGyroscope.data.axisZ;
+
+ return MAA_SUCCESS;
+}
+
+maa_result_t
+MPU9150::getMagnometer (Vector3D * data) {
+ data->axisX = axisMagnetomer.data.axisX;
+ data->axisY = axisMagnetomer.data.axisY;
+ data->axisZ = axisMagnetomer.data.axisZ;
+
+ return MAA_SUCCESS;
+}
+
+float
+MPU9150::getTemperature () {
+ uint8_t buffer[2];
+ uint16_t tempRaw = 0;
+
+ updateRegBits (MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, 0x1, 0x0);
+ i2cReadReg_N (MPU6050_RA_TEMP_OUT_H, 2, buffer);
+ tempRaw = (((int16_t)buffer[0]) << 8) | buffer[1];
+
+ return (float)tempRaw / 340.0 + 35.0;
+}
+
+/*
+ * **************
+ * private area
+ * **************
+ */
+uint16_t
+MPU9150::i2cReadReg_N (int reg, unsigned int len, uint8_t * buffer) {
+ int readByte = 0;
+ maa_i2c_address(m_i2Ctx, m_i2cAddr);
+ maa_i2c_write_byte(m_i2Ctx, reg);
+
+ maa_i2c_address(m_i2Ctx, m_i2cAddr);
+ readByte = maa_i2c_read(m_i2Ctx, buffer, len);
+ return readByte;
+}
+
+maa_result_t
+MPU9150::i2cWriteReg (uint8_t reg, uint8_t value) {
+ maa_result_t error = MAA_SUCCESS;
+
+ uint8_t data[2] = { reg, value };
+ error = maa_i2c_address (m_i2Ctx, m_i2cAddr);
+ error = maa_i2c_write (m_i2Ctx, data, 2);
+
+ return error;
+}
+
+int
+MPU9150::updateRegBits (uint8_t reg, uint8_t bitStart, uint8_t length, uint16_t data) {
+ uint8_t regData;
+
+ if (i2cReadReg_N (reg, 0x1, ®Data) != 0) {
+ uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+ data <<= (bitStart - length + 1); // shift data into correct position
+ data &= mask; // zero all non-important bits in data
+ regData &= ~(mask); // zero all important bits in existing byte
+ regData |= data; // combine data with existing byte
+ return i2cWriteReg (reg, regData);
+ } else {
+ return 0x0;
+ }
+}
+
+uint8_t
+MPU9150::getRegBits (uint8_t reg, uint8_t bitStart, uint8_t length, uint8_t * data) {
+ uint8_t count = 0;
+ uint8_t regData;
+ if (i2cReadReg_N (reg, 0x1, ®Data) != 0) {
+ uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+ regData &= mask;
+ regData >>= (bitStart - length + 1);
+ *data = regData;
+ }
+ return count;
+}
--- /dev/null
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
+ * 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
+ *
+ * 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 <string>
+#include <maa/i2c.h>
+
+#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
+#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
+#define ADDR MPU6050_ADDRESS_AD0_LOW // device address
+
+// registers address
+#define MPU6050_CLOCK_PLL_XGYRO 0x01
+#define MPU6050_GYRO_FS_250 0x00
+#define MPU6050_ACCEL_FS_2 0x00
+#define MPU6050_RA_INT_PIN_CFG 0x37
+
+#define MPU6050_RA_ACCEL_XOUT_H 0x3B
+#define MPU6050_RA_ACCEL_XOUT_L 0x3C
+#define MPU6050_RA_ACCEL_YOUT_H 0x3D
+#define MPU6050_RA_ACCEL_YOUT_L 0x3E
+#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
+#define MPU6050_RA_ACCEL_ZOUT_L 0x40
+#define MPU6050_RA_TEMP_OUT_H 0x41
+#define MPU6050_RA_TEMP_OUT_L 0x42
+#define MPU6050_RA_GYRO_XOUT_H 0x43
+#define MPU6050_RA_GYRO_XOUT_L 0x44
+#define MPU6050_RA_GYRO_YOUT_H 0x45
+#define MPU6050_RA_GYRO_YOUT_L 0x46
+#define MPU6050_RA_GYRO_ZOUT_H 0x47
+#define MPU6050_RA_GYRO_ZOUT_L 0x48
+
+#define MPU6050_RA_CONFIG 0x1A
+#define MPU6050_CFG_DLPF_CFG_BIT 2
+#define MPU6050_CFG_DLPF_CFG_LENGTH 3
+
+#define MPU6050_RA_GYRO_CONFIG 0x1B
+#define MPU6050_GCONFIG_FS_SEL_BIT 4
+#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
+
+#define MPU6050_RA_ACCEL_CONFIG 0x1C
+#define MPU6050_ACONFIG_AFS_SEL_BIT 4
+#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
+
+// magnotometer
+#define MPU9150_RA_MAG_ADDRESS 0x0C
+#define MPU9150_RA_MAG_XOUT_L 0x03
+
+#define MPU6050_RA_PWR_MGMT_1 0x6B
+#define MPU6050_PWR1_CLKSEL_BIT 2
+#define MPU6050_PWR1_CLKSEL_LENGTH 3
+#define MPU6050_PWR1_SLEEP_BIT 6
+
+#define MPU6050_RA_INT_PIN_CFG 0x37
+
+// temperature
+#define MPU6050_PWR1_TEMP_DIS_BIT 3
+#define MPU6050_RA_WHO_AM_I 0x75
+#define MPU6050_WHO_AM_I_BIT 6
+#define MPU6050_WHO_AM_I_LENGTH 6
+
+#define SMOOTH_TIMES 10.0
+
+#define HIGH 1
+#define LOW 0
+
+namespace upm {
+
+struct Vector3DRaw {
+ uint16_t axisX;
+ uint16_t axisY;
+ uint16_t axisZ;
+};
+
+struct Vector3D {
+ double axisX;
+ double axisY;
+ double axisZ;
+};
+
+struct AxisData {
+ Vector3DRaw rawData;
+ Vector3D sumData;
+ Vector3D data;
+};
+
+/**
+ * @brief C++ API for MPU9150 chip (Accelrometer, Gyro and Magnometer Sensor)
+ *
+ * This file defines the MPU9150 C++ interface for libmpu9150
+ *
+ * @snippet mpu9150-example.cxx Interesting
+ */
+class MPU9150 {
+ public:
+ /**
+ * Instanciates a MPU9150 object
+ *
+ * @param bus number of used bus
+ * @param devAddr addres of used i2c device
+ */
+ MPU9150 (int bus, int devAddr);
+
+ /**
+ * MPU9150 object destructor, basicaly it close i2c connection.
+ */
+ ~MPU9150 ();
+
+ /**
+ * Initiate MPU9150 chips
+ */
+ maa_result_t initSensor ();
+
+ /**
+ * Get identity of the device
+ */
+ uint8_t getDeviceID ();
+
+ /**
+ * Get the Accelerometer, Gyro and Compass data from the chip and
+ * save it in private section.
+ */
+ maa_result_t getData ();
+
+ /**
+ * @param data structure with 3 axis (x,y,z)
+ */
+ maa_result_t getAcceleromter (Vector3D * data);
+
+ /**
+ * @param data structure with 3 axis (x,y,z)
+ */
+ maa_result_t getGyro (Vector3D * data);
+
+ /**
+ * @param data structure with 3 axis (x,y,z)
+ */
+ maa_result_t getMagnometer (Vector3D * data);
+
+ /**
+ * Read on die temperature from the chip
+ */
+ float getTemperature ();
+
+ /**
+ * Return name of the component
+ */
+ std::string name()
+ {
+ return m_name;
+ }
+
+ private:
+ std::string m_name;
+
+ int m_i2cAddr;
+ int m_bus;
+ maa_i2c_context m_i2Ctx;
+
+ AxisData axisMagnetomer;
+ AxisData axisAcceleromter;
+ AxisData axisGyroscope;
+
+ uint16_t i2cReadReg_N (int reg, unsigned int len, uint8_t * buffer);
+ maa_result_t i2cWriteReg (uint8_t reg, uint8_t value);
+ int updateRegBits (uint8_t reg, uint8_t bitStart,
+ uint8_t length, uint16_t data);
+ uint8_t getRegBits (uint8_t reg, uint8_t bitStart,
+ uint8_t length, uint8_t * data);
+};
+
+}
--- /dev/null
+%module pyupm_mpu9150
+
+%include "stdint.i"
+
+%feature("autodoc", "3");
+
+%include "mpu9150.h"
+%{
+ #include "mpu9150.h"
+%}
projects / contrib / upm.git / commitdiff