mpu9150.hpp

/*
 * 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 <vector>

#include "mpu60x0.hpp"
#include "ak8975.hpp"

#define MPU9150_I2C_BUS 0
#define MPU9150_DEFAULT_I2C_ADDR  MPU60X0_DEFAULT_I2C_ADDR


namespace upm {

  class MPU9150: public MPU60X0
  {
  public:
    MPU9150 (int bus=MPU9150_I2C_BUS, int address=MPU9150_DEFAULT_I2C_ADDR,
             int magAddress=AK8975_DEFAULT_I2C_ADDR, bool enableAk8975=true);

    virtual ~MPU9150 ();

    bool init();

    void update();

    void getMagnetometer(float *x, float *y, float *z);

    std::vector<float> getMagnetometer();

  protected:
    // magnetometer instance
    AK8975* m_mag;


  private:
      /* Disable implicit copy and assignment operators */
      MPU9150(const MPU9150&) = delete;
      MPU9150 &operator=(const MPU9150&) = delete;

    int m_i2cBus;
    uint8_t m_magAddress;
    bool m_enableAk8975;
  };

}