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@wollewald
wollewald authored May 16, 2021
1 parent 34f4320 commit f2b162a
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Showing 2 changed files with 74 additions and 58 deletions.
124 changes: 68 additions & 56 deletions src/MPU9250_WE.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,14 +22,26 @@
/************ Constructors ************/

MPU9250_WE::MPU9250_WE(int addr){
i2cAddress = addr;

_wire = &Wire;
i2cAddress = addr;
}

MPU9250_WE::MPU9250_WE(){
_wire = &Wire;
i2cAddress = 0x68;
}

MPU9250_WE::MPU9250_WE(TwoWire *w, int addr){
_wire = w;
i2cAddress = addr;
}

MPU9250_WE::MPU9250_WE(TwoWire *w){
_wire = w;
i2cAddress = 0x68;
}


/************ Basic Settings ************/


Expand Down Expand Up @@ -691,70 +703,70 @@ void MPU9250_WE::getAsaVals(){
}

uint8_t MPU9250_WE::writeMPU9250Register(uint8_t reg, uint8_t val){
Wire.beginTransmission(i2cAddress);
Wire.write(reg);
Wire.write(val);
_wire->beginTransmission(i2cAddress);
_wire->write(reg);
_wire->write(val);

return Wire.endTransmission();
return _wire->endTransmission();
}

uint8_t MPU9250_WE::writeMPU9250Register16(uint8_t reg, int16_t val){
int8_t MSByte = (val>>7) & 0xFF;
uint8_t LSByte = (val<<1) & 0xFE;
Wire.beginTransmission(i2cAddress);
Wire.write(reg);
Wire.write(MSByte);
Wire.write(LSByte);
_wire->beginTransmission(i2cAddress);
_wire->write(reg);
_wire->write(MSByte);
_wire->write(LSByte);

return Wire.endTransmission();
return _wire->endTransmission();
}

uint8_t MPU9250_WE::writeAK8963Register(uint8_t reg, uint8_t val){
Wire.beginTransmission(AK8963_ADDRESS);
Wire.write(reg);
Wire.write(val);
_wire->beginTransmission(AK8963_ADDRESS);
_wire->write(reg);
_wire->write(val);

return Wire.endTransmission();
return _wire->endTransmission();
}

uint8_t MPU9250_WE::readMPU9250Register8(uint8_t reg){
uint8_t regValue = 0;
Wire.beginTransmission(i2cAddress);
Wire.write(reg);
Wire.endTransmission();
Wire.requestFrom(i2cAddress,1);
if(Wire.available()){
regValue = Wire.read();
_wire->beginTransmission(i2cAddress);
_wire->write(reg);
_wire->endTransmission();
_wire->requestFrom(i2cAddress,1);
if(_wire->available()){
regValue = _wire->read();
}
return regValue;
}

uint8_t MPU9250_WE::readAK8963Register8(uint8_t reg){
uint8_t regValue = 0;
Wire.beginTransmission(AK8963_ADDRESS);
Wire.write(reg);
Wire.endTransmission();
Wire.requestFrom(AK8963_ADDRESS,1);
if(Wire.available()){
regValue = Wire.read();
_wire->beginTransmission(AK8963_ADDRESS);
_wire->write(reg);
_wire->endTransmission();
_wire->requestFrom(AK8963_ADDRESS,1);
if(_wire->available()){
regValue = _wire->read();
}
return regValue;
}

uint64_t MPU9250_WE::readAK8963Register3x16(uint8_t reg){
uint8_t byte0 = 0, byte1 = 0, byte2 = 0, byte3 = 0, byte4 = 0, byte5 = 0;
uint64_t regValue = 0;
Wire.beginTransmission(AK8963_ADDRESS);
Wire.write(reg);
Wire.endTransmission();
Wire.requestFrom(AK8963_ADDRESS,6);
if(Wire.available()){
byte0 = Wire.read();
byte1 = Wire.read();
byte2 = Wire.read();
byte3 = Wire.read();
byte4 = Wire.read();
byte5 = Wire.read();
_wire->beginTransmission(AK8963_ADDRESS);
_wire->write(reg);
_wire->endTransmission();
_wire->requestFrom(AK8963_ADDRESS,6);
if(_wire->available()){
byte0 = _wire->read();
byte1 = _wire->read();
byte2 = _wire->read();
byte3 = _wire->read();
byte4 = _wire->read();
byte5 = _wire->read();
}
regValue = ((uint64_t) byte1<<40) + ((uint64_t) byte0<<32) +((uint64_t) byte3<<24) +
+ ((uint64_t) byte2<<16) + ((uint64_t) byte5<<8) + (uint64_t)byte4;
Expand All @@ -764,13 +776,13 @@ uint64_t MPU9250_WE::readAK8963Register3x16(uint8_t reg){
int16_t MPU9250_WE::readMPU9250Register16(uint8_t reg){
uint8_t MSByte = 0, LSByte = 0;
int16_t regValue = 0;
Wire.beginTransmission(i2cAddress);
Wire.write(reg);
Wire.endTransmission();
Wire.requestFrom(i2cAddress,2);
if(Wire.available()){
MSByte = Wire.read();
LSByte = Wire.read();
_wire->beginTransmission(i2cAddress);
_wire->write(reg);
_wire->endTransmission();
_wire->requestFrom(i2cAddress,2);
if(_wire->available()){
MSByte = _wire->read();
LSByte = _wire->read();
}
regValue = (MSByte<<8) + LSByte;
return regValue;
Expand All @@ -779,17 +791,17 @@ int16_t MPU9250_WE::readMPU9250Register16(uint8_t reg){
uint64_t MPU9250_WE::readMPU9250Register3x16(uint8_t reg){
uint8_t byte0 = 0, byte1 = 0, byte2 = 0, byte3 = 0, byte4 = 0, byte5 = 0;
uint64_t regValue = 0;
Wire.beginTransmission(i2cAddress);
Wire.write(reg);
Wire.endTransmission();
Wire.requestFrom(i2cAddress,6);
if(Wire.available()){
byte0 = Wire.read();
byte1 = Wire.read();
byte2 = Wire.read();
byte3 = Wire.read();
byte4 = Wire.read();
byte5 = Wire.read();
_wire->beginTransmission(i2cAddress);
_wire->write(reg);
_wire->endTransmission();
_wire->requestFrom(i2cAddress,6);
if(_wire->available()){
byte0 = _wire->read();
byte1 = _wire->read();
byte2 = _wire->read();
byte3 = _wire->read();
byte4 = _wire->read();
byte5 = _wire->read();
}
regValue = ((uint64_t) byte0<<40) + ((uint64_t) byte1<<32) +((uint64_t) byte2<<24) +
+ ((uint64_t) byte3<<16) + ((uint64_t) byte4<<8) + (uint64_t)byte5;
Expand Down
8 changes: 6 additions & 2 deletions src/MPU9250_WE.h
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Original file line number Diff line number Diff line change
Expand Up @@ -195,9 +195,12 @@ class MPU9250_WE
/* Constructors */

MPU9250_WE(int addr);
MPU9250_WE();

MPU9250_WE();
MPU9250_WE(TwoWire *w, int addr);
MPU9250_WE(TwoWire *w);

/* Basic settings */

bool init();
void autoOffsets();
void setAccOffsets(float xMin, float xMax, float yMin, float yMax, float zMin, float zMax);
Expand Down Expand Up @@ -277,6 +280,7 @@ class MPU9250_WE
bool isMagDataReady();

private:
TwoWire *_wire;
int i2cAddress;
xyzFloat accRawVal;
xyzFloat gyrRawVal;
Expand Down

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