79 lines
1.7 KiB
C
79 lines
1.7 KiB
C
/*
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* Copyright (c) 2021, Nordic Semiconductor ASA
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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_MPU9250_MPU9250_H_
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#define ZEPHYR_DRIVERS_SENSOR_MPU9250_MPU9250_H_
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#include <stdint.h>
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#include <zephyr/device.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/kernel.h>
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struct mpu9250_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_MPU9250_MAGN_EN
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int16_t magn_x;
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int16_t magn_scale_x;
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int16_t magn_y;
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int16_t magn_scale_y;
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int16_t magn_z;
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int16_t magn_scale_z;
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uint8_t magn_st2;
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#endif
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#ifdef CONFIG_MPU9250_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_MPU9250_TRIGGER_OWN_THREAD)
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K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_MPU9250_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_MPU9250_TRIGGER_GLOBAL_THREAD)
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struct k_work work;
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#endif
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#endif /* CONFIG_MPU9250_TRIGGER */
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};
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struct mpu9250_config {
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const struct i2c_dt_spec i2c;
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uint8_t gyro_sr_div;
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uint8_t gyro_dlpf;
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uint8_t gyro_fs;
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uint8_t accel_fs;
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uint8_t accel_dlpf;
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#ifdef CONFIG_MPU9250_TRIGGER
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const struct gpio_dt_spec int_pin;
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#endif /* CONFIG_MPU9250_TRIGGER */
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};
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#ifdef CONFIG_MPU9250_TRIGGER
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int mpu9250_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 mpu9250_init_interrupt(const struct device *dev);
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#endif
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#endif /* ZEPHYR_DRIVERS_SENSOR_MPU9250_MPU9250_H_ */
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