94 lines
2.3 KiB
C
94 lines
2.3 KiB
C
/*
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* Copyright (c) 2016 Intel Corporation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef __SENSOR_MPU6050_H__
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#define __SENSOR_MPU6050_H__
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#include <device.h>
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#include <gpio.h>
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#include <misc/nano_work.h>
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#include <misc/util.h>
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#include <stdint.h>
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#define SYS_LOG_DOMAIN "MPU6050"
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#define SYS_LOG_LEVEL CONFIG_MPU6050_SYS_LOG_LEVEL
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#include <misc/sys_log.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 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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struct device *i2c;
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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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struct device *gpio;
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struct gpio_callback gpio_cb;
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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_FIBER)
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char __stack fiber_stack[CONFIG_MPU6050_FIBER_STACK_SIZE];
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struct nano_sem gpio_sem;
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#elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_FIBER)
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struct nano_work work;
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struct device *dev;
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#endif
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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(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(struct device *dev);
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#endif
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#endif /* __SENSOR_MPU6050__ */
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