88 lines
2.0 KiB
C
88 lines
2.0 KiB
C
/*
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* Copyright (c) 2016 Intel Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef ZEPHYR_DRIVERS_SENSOR_MPU6050_MPU6050_H_
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#define ZEPHYR_DRIVERS_SENSOR_MPU6050_MPU6050_H_
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#include <zephyr/device.h>
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/kernel.h>
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#include <zephyr/sys/util.h>
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#include <zephyr/types.h>
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#define MPU6050_REG_CHIP_ID 0x75
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#define MPU6050_CHIP_ID 0x68
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#define MPU9250_CHIP_ID 0x71
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#define MPU6880_CHIP_ID 0x19
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#define MPU6050_REG_GYRO_CFG 0x1B
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#define MPU6050_GYRO_FS_SHIFT 3
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#define MPU6050_REG_ACCEL_CFG 0x1C
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#define MPU6050_ACCEL_FS_SHIFT 3
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#define MPU6050_REG_INT_EN 0x38
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#define MPU6050_DRDY_EN BIT(0)
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#define MPU6050_REG_DATA_START 0x3B
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#define MPU6050_REG_PWR_MGMT1 0x6B
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#define MPU6050_SLEEP_EN BIT(6)
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/* measured in degrees/sec x10 to avoid floating point */
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static const uint16_t mpu6050_gyro_sensitivity_x10[] = {
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1310, 655, 328, 164
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};
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struct mpu6050_data {
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int16_t accel_x;
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int16_t accel_y;
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int16_t accel_z;
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uint16_t accel_sensitivity_shift;
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int16_t temp;
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int16_t gyro_x;
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int16_t gyro_y;
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int16_t gyro_z;
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uint16_t gyro_sensitivity_x10;
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#ifdef CONFIG_MPU6050_TRIGGER
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const struct device *dev;
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struct gpio_callback gpio_cb;
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const struct sensor_trigger *data_ready_trigger;
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sensor_trigger_handler_t data_ready_handler;
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#if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD)
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K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_MPU6050_THREAD_STACK_SIZE);
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struct k_thread thread;
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struct k_sem gpio_sem;
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#elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD)
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struct k_work work;
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#endif
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#endif /* CONFIG_MPU6050_TRIGGER */
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};
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struct mpu6050_config {
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struct i2c_dt_spec i2c;
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#ifdef CONFIG_MPU6050_TRIGGER
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struct gpio_dt_spec int_gpio;
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#endif /* CONFIG_MPU6050_TRIGGER */
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};
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#ifdef CONFIG_MPU6050_TRIGGER
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int mpu6050_trigger_set(const struct device *dev,
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const struct sensor_trigger *trig,
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sensor_trigger_handler_t handler);
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int mpu6050_init_interrupt(const struct device *dev);
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#endif
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#endif /* __SENSOR_MPU6050__ */
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