amiro-lld / include / alld_mpu6050.h @ 3389f547
History | View | Annotate | Download (5.012 KB)
1 | 3389f547 | Simon Welzel | /*
|
---|---|---|---|
2 | * sd_hal_mpu6050.h
|
||
3 | *
|
||
4 | * Created on: Feb 19, 2016
|
||
5 | * Author: Sina Darvishi
|
||
6 | */
|
||
7 | |||
8 | #ifndef DRIVERS_MYLIB_MPU6050_H_
|
||
9 | #define DRIVERS_MYLIB_MPU6050_H_
|
||
10 | |||
11 | /*
|
||
12 | C++ detection
|
||
13 | #ifdef __cplusplus
|
||
14 | extern "C" {
|
||
15 | #endif
|
||
16 | */
|
||
17 | |||
18 | #include <amiro-lld.h> |
||
19 | #include <periphAL.h> // should already be included by line above this |
||
20 | |||
21 | #if defined(AMIROLLD_CFG_USE_MPU6050) || defined(__DOXYGEN__)
|
||
22 | |||
23 | #include <stdint.h> |
||
24 | |||
25 | /**
|
||
26 | * @defgroup SD_MPU6050_Macros
|
||
27 | * @brief Library defines
|
||
28 | * @{
|
||
29 | */
|
||
30 | |||
31 | |||
32 | /* Default I2C clock */
|
||
33 | #ifndef MPU6050_I2C_CLOCK
|
||
34 | #define MPU6050_I2C_CLOCK 400000 /*!< Default I2C clock speed */ |
||
35 | #endif
|
||
36 | |||
37 | /**
|
||
38 | * @brief Data rates predefined constants
|
||
39 | * @{
|
||
40 | */
|
||
41 | #define SD_MPU6050_DataRate_8KHz 0 /*!< Sample rate set to 8 kHz */ |
||
42 | #define SD_MPU6050_DataRate_4KHz 1 /*!< Sample rate set to 4 kHz */ |
||
43 | #define SD_MPU6050_DataRate_2KHz 3 /*!< Sample rate set to 2 kHz */ |
||
44 | #define SD_MPU6050_DataRate_1KHz 7 /*!< Sample rate set to 1 kHz */ |
||
45 | #define SD_MPU6050_DataRate_500Hz 15 /*!< Sample rate set to 500 Hz */ |
||
46 | #define SD_MPU6050_DataRate_250Hz 31 /*!< Sample rate set to 250 Hz */ |
||
47 | #define SD_MPU6050_DataRate_125Hz 63 /*!< Sample rate set to 125 Hz */ |
||
48 | #define SD_MPU6050_DataRate_100Hz 79 /*!< Sample rate set to 100 Hz */ |
||
49 | /**
|
||
50 | * @}
|
||
51 | */
|
||
52 | |||
53 | /**
|
||
54 | * @}
|
||
55 | */
|
||
56 | |||
57 | /**
|
||
58 | * @defgroup SD_MPU6050_Typedefs
|
||
59 | * @brief Library Typedefs
|
||
60 | * @{
|
||
61 | */
|
||
62 | |||
63 | /**
|
||
64 | * @brief I2C address masks. TODO: Set to MPU6050 adresses!
|
||
65 | */
|
||
66 | enum {
|
||
67 | MPU6050_LLD_I2C_ADDR_FIXED = 0x0040u,
|
||
68 | MPU6050_LLD_I2C_ADDR_A0 = 0x0001u,
|
||
69 | MPU6050_LLD_I2C_ADDR_A1 = 0x0004u,
|
||
70 | }; |
||
71 | |||
72 | /**
|
||
73 | * @brief Registers. TODO: Adjust to MPU6050 registers
|
||
74 | */
|
||
75 | typedef enum { |
||
76 | MPU6050_LLD_REGISTER_CONFIGURATION = 0x00,
|
||
77 | MPU6050_LLD_REGISTER_SHUNT_VOLTAGE = 0x01,
|
||
78 | MPU6050_LLD_REGISTER_BUS_VOLTAGE = 0x02,
|
||
79 | MPU6050_LLD_REGISTER_POWER = 0x03,
|
||
80 | MPU6050_LLD_REGISTER_CURRENT = 0x04,
|
||
81 | MPU6050_LLD_REGISTER_CALIBRATION = 0x05,
|
||
82 | } mpu6050_lld_register_t; |
||
83 | |||
84 | /**
|
||
85 | * @brief MPU6050 can have 2 different slave addresses, depends on it's input AD0 pin
|
||
86 | * This feature allows you to use 2 different sensors with this library at the same time
|
||
87 | */
|
||
88 | typedef enum { |
||
89 | SD_MPU6050_Device_0 = 0x00, /*!< AD0 pin is set to low */ |
||
90 | SD_MPU6050_Device_1 = 0x02 /*!< AD0 pin is set to high */ |
||
91 | } SD_MPU6050_Device; |
||
92 | |||
93 | /**
|
||
94 | * @brief MPU6050 result enumeration
|
||
95 | */
|
||
96 | typedef enum { |
||
97 | SD_MPU6050_Result_Ok = 0x00, /*!< Everything OK */ |
||
98 | SD_MPU6050_Result_Error, /*!< Unknown error */
|
||
99 | SD_MPU6050_Result_DeviceNotConnected, /*!< There is no device with valid slave address */
|
||
100 | SD_MPU6050_Result_DeviceInvalid /*!< Connected device with address is not MPU6050 */
|
||
101 | } SD_MPU6050_Result; |
||
102 | |||
103 | /**
|
||
104 | * @brief Parameters for accelerometer range
|
||
105 | */
|
||
106 | typedef enum { |
||
107 | SD_MPU6050_Accelerometer_2G = 0x00, /*!< Range is +- 2G */ |
||
108 | SD_MPU6050_Accelerometer_4G = 0x01, /*!< Range is +- 4G */ |
||
109 | SD_MPU6050_Accelerometer_8G = 0x02, /*!< Range is +- 8G */ |
||
110 | SD_MPU6050_Accelerometer_16G = 0x03 /*!< Range is +- 16G */ |
||
111 | } SD_MPU6050_Accelerometer; |
||
112 | |||
113 | /**
|
||
114 | * @brief Parameters for gyroscope range
|
||
115 | */
|
||
116 | typedef enum { |
||
117 | SD_MPU6050_Gyroscope_250s = 0x00, /*!< Range is +- 250 degrees/s */ |
||
118 | SD_MPU6050_Gyroscope_500s = 0x01, /*!< Range is +- 500 degrees/s */ |
||
119 | SD_MPU6050_Gyroscope_1000s = 0x02, /*!< Range is +- 1000 degrees/s */ |
||
120 | SD_MPU6050_Gyroscope_2000s = 0x03 /*!< Range is +- 2000 degrees/s */ |
||
121 | } SD_MPU6050_Gyroscope; |
||
122 | |||
123 | |||
124 | /**
|
||
125 | * @brief Interrupts union and structure
|
||
126 | */
|
||
127 | typedef union { |
||
128 | struct {
|
||
129 | uint8_t DataReady:1; /*!< Data ready interrupt */ |
||
130 | uint8_t reserved2:2; /*!< Reserved bits */ |
||
131 | uint8_t Master:1; /*!< Master interrupt. Not enabled with library */ |
||
132 | uint8_t FifoOverflow:1; /*!< FIFO overflow interrupt. Not enabled with library */ |
||
133 | uint8_t reserved1:1; /*!< Reserved bit */ |
||
134 | uint8_t MotionDetection:1; /*!< Motion detected interrupt */ |
||
135 | uint8_t reserved0:1; /*!< Reserved bit */ |
||
136 | } F; |
||
137 | uint8_t Status; |
||
138 | } SD_MPU6050_Interrupt; |
||
139 | |||
140 | /**
|
||
141 | * @brief Config register.
|
||
142 | */
|
||
143 | typedef union { |
||
144 | uint16_t data; |
||
145 | struct {
|
||
146 | /**
|
||
147 | ina219_lld_mode_t mode : 3;
|
||
148 | ina219_lld_adc_t sadc : 4;
|
||
149 | ina219_lld_adc_t badc : 4;
|
||
150 | ina219_lld_gain_t gain : 2;
|
||
151 | ina219_lld_brng_t brng : 1;
|
||
152 | */
|
||
153 | uint8_t zero : 1;
|
||
154 | uint8_t reset : 1;
|
||
155 | } options; |
||
156 | } mpu6050_lld_cfg_t; |
||
157 | |||
158 | |||
159 | /**
|
||
160 | * @brief The MPU6050 struct.
|
||
161 | */
|
||
162 | typedef struct { |
||
163 | apalI2CDriver_t* i2cd; |
||
164 | apalI2Caddr_t addr; /**<The address of the module for I2C communication */
|
||
165 | uint16_t current_lsb_uA; |
||
166 | mpu6050_lld_cfg_t *config; |
||
167 | } MPU6050Driver; |
||
168 | |||
169 | /**
|
||
170 | * @}
|
||
171 | */
|
||
172 | |||
173 | /**
|
||
174 | * @defgroup SD_MPU6050_Functions
|
||
175 | * @brief Library Functions
|
||
176 | * @{
|
||
177 | */
|
||
178 | |||
179 | //from alld_ina219.h
|
||
180 | apalExitStatus_t mpu6050_lld_read_register(const MPU6050Driver* const mpu6050, const mpu6050_lld_register_t addr, uint16_t* const data, const uint8_t num, const apalTime_t timeout); |
||
181 | |||
182 | apalExitStatus_t mpu6050_lld_write_register(const MPU6050Driver* const mpu6050, const mpu6050_lld_register_t addr, const uint16_t* const data, const uint8_t num, const apalTime_t timeout); |
||
183 | |||
184 | #endif /* defined(AMIROLLD_CFG_USE_MPU6050) */ |
||
185 | |||
186 | #endif /* DRIVERS_MYLIB_MPU6050_H_ */ |