93 lines
2.2 KiB
C
93 lines
2.2 KiB
C
/*
|
|
* Copyright (c) 2016 Intel Corporation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#ifndef __SENSOR_MPU6050_H__
|
|
#define __SENSOR_MPU6050_H__
|
|
|
|
#include <device.h>
|
|
#include <gpio.h>
|
|
#include <misc/util.h>
|
|
#include <stdint.h>
|
|
|
|
#define SYS_LOG_DOMAIN "MPU6050"
|
|
#define SYS_LOG_LEVEL CONFIG_SYS_LOG_SENSOR_LEVEL
|
|
#include <logging/sys_log.h>
|
|
|
|
#define MPU6050_REG_CHIP_ID 0x75
|
|
#define MPU6050_CHIP_ID 0x68
|
|
|
|
#define MPU6050_REG_GYRO_CFG 0x1B
|
|
#define MPU6050_GYRO_FS_SHIFT 3
|
|
|
|
#define MPU6050_REG_ACCEL_CFG 0x1C
|
|
#define MPU6050_ACCEL_FS_SHIFT 3
|
|
|
|
#define MPU6050_REG_INT_EN 0x38
|
|
#define MPU6050_DRDY_EN BIT(0)
|
|
|
|
#define MPU6050_REG_DATA_START 0x3B
|
|
|
|
#define MPU6050_REG_PWR_MGMT1 0x6B
|
|
#define MPU6050_SLEEP_EN BIT(6)
|
|
|
|
/* measured in degrees/sec x10 to avoid floating point */
|
|
static const uint16_t mpu6050_gyro_sensitivity_x10[] = {
|
|
1310, 655, 328, 164
|
|
};
|
|
|
|
struct mpu6050_data {
|
|
struct device *i2c;
|
|
|
|
int16_t accel_x;
|
|
int16_t accel_y;
|
|
int16_t accel_z;
|
|
uint16_t accel_sensitivity_shift;
|
|
|
|
int16_t temp;
|
|
|
|
int16_t gyro_x;
|
|
int16_t gyro_y;
|
|
int16_t gyro_z;
|
|
uint16_t gyro_sensitivity_x10;
|
|
|
|
#ifdef CONFIG_MPU6050_TRIGGER
|
|
struct device *gpio;
|
|
struct gpio_callback gpio_cb;
|
|
|
|
struct sensor_trigger data_ready_trigger;
|
|
sensor_trigger_handler_t data_ready_handler;
|
|
|
|
#if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD)
|
|
char __stack thread_stack[CONFIG_MPU6050_THREAD_STACK_SIZE];
|
|
struct k_sem gpio_sem;
|
|
#elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD)
|
|
struct k_work work;
|
|
struct device *dev;
|
|
#endif
|
|
|
|
#endif /* CONFIG_MPU6050_TRIGGER */
|
|
};
|
|
|
|
#ifdef CONFIG_MPU6050_TRIGGER
|
|
int mpu6050_trigger_set(struct device *dev,
|
|
const struct sensor_trigger *trig,
|
|
sensor_trigger_handler_t handler);
|
|
|
|
int mpu6050_init_interrupt(struct device *dev);
|
|
#endif
|
|
|
|
#endif /* __SENSOR_MPU6050__ */
|