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