AMiRo-OS

/*

 * sd_hal_mpu6050.h

 *

 *  Created on: Feb 19, 2016

 *      Author: Sina Darvishi

 */

#ifndef DRIVERS_MYLIB_MPU6050_H_

#define DRIVERS_MYLIB_MPU6050_H_

/*

 C++ detection

#ifdef __cplusplus

extern "C" {

#endif

*/

#include <amiro-lld.h>

#include <periphAL.h> // should already be included by line above this

#if defined(AMIROLLD_CFG_USE_MPU6050) || defined(__DOXYGEN__)

#include <stdint.h>

/**

 * @defgroup SD_MPU6050_Macros

 * @brief    Library defines

 * @{

 */

/* Default I2C clock */

#ifndef MPU6050_I2C_CLOCK

#define MPU6050_I2C_CLOCK              400000            /*!< Default I2C clock speed */

#endif

/**

 * @brief  Data rates predefined constants

 * @{

 */

#define SD_MPU6050_DataRate_8KHz       0   /*!< Sample rate set to 8 kHz */

#define SD_MPU6050_DataRate_4KHz       1   /*!< Sample rate set to 4 kHz */

#define SD_MPU6050_DataRate_2KHz       3   /*!< Sample rate set to 2 kHz */

#define SD_MPU6050_DataRate_1KHz       7   /*!< Sample rate set to 1 kHz */

#define SD_MPU6050_DataRate_500Hz      15  /*!< Sample rate set to 500 Hz */

#define SD_MPU6050_DataRate_250Hz      31  /*!< Sample rate set to 250 Hz */

#define SD_MPU6050_DataRate_125Hz      63  /*!< Sample rate set to 125 Hz */

#define SD_MPU6050_DataRate_100Hz      79  /*!< Sample rate set to 100 Hz */

/**

 * @}

 */

/**

 * @}

 */

/**

 * @defgroup SD_MPU6050_Typedefs

 * @brief    Library Typedefs

 * @{

 */

/**

 * @brief I2C address masks. TODO: Set to MPU6050 adresses!

 */

enum {

  MPU6050_LLD_I2C_ADDR_FIXED   = 0x0040u,

  MPU6050_LLD_I2C_ADDR_A0      = 0x0001u,

  MPU6050_LLD_I2C_ADDR_A1      = 0x0004u,

};

/**

 * @brief Registers. TODO: Adjust to MPU6050 registers

 */

typedef enum {

  MPU6050_LLD_REGISTER_CONFIGURATION = 0x00,

  MPU6050_LLD_REGISTER_SHUNT_VOLTAGE = 0x01,

  MPU6050_LLD_REGISTER_BUS_VOLTAGE   = 0x02,

  MPU6050_LLD_REGISTER_POWER         = 0x03,

  MPU6050_LLD_REGISTER_CURRENT       = 0x04,

  MPU6050_LLD_REGISTER_CALIBRATION   = 0x05,

} mpu6050_lld_register_t;

/**

 * @brief  MPU6050 can have 2 different slave addresses, depends on it's input AD0 pin

 *         This feature allows you to use 2 different sensors with this library at the same time

 */

typedef enum  {

	SD_MPU6050_Device_0 = 0x00, /*!< AD0 pin is set to low */

	SD_MPU6050_Device_1 = 0x02  /*!< AD0 pin is set to high */

} SD_MPU6050_Device;

/**

 * @brief  MPU6050 result enumeration

 */

typedef enum  {

	SD_MPU6050_Result_Ok = 0x00,          /*!< Everything OK */

	SD_MPU6050_Result_Error,              /*!< Unknown error */

	SD_MPU6050_Result_DeviceNotConnected, /*!< There is no device with valid slave address */

	SD_MPU6050_Result_DeviceInvalid       /*!< Connected device with address is not MPU6050 */

} SD_MPU6050_Result;

/**

 * @brief  Parameters for accelerometer range

 */

typedef enum  {

	SD_MPU6050_Accelerometer_2G = 0x00, /*!< Range is +- 2G */

	SD_MPU6050_Accelerometer_4G = 0x01, /*!< Range is +- 4G */

	SD_MPU6050_Accelerometer_8G = 0x02, /*!< Range is +- 8G */

	SD_MPU6050_Accelerometer_16G = 0x03 /*!< Range is +- 16G */

} SD_MPU6050_Accelerometer;

/**

 * @brief  Parameters for gyroscope range

 */

typedef enum {

	SD_MPU6050_Gyroscope_250s = 0x00,  /*!< Range is +- 250 degrees/s */

	SD_MPU6050_Gyroscope_500s = 0x01,  /*!< Range is +- 500 degrees/s */

	SD_MPU6050_Gyroscope_1000s = 0x02, /*!< Range is +- 1000 degrees/s */

	SD_MPU6050_Gyroscope_2000s = 0x03  /*!< Range is +- 2000 degrees/s */

} SD_MPU6050_Gyroscope;

/**

 * @brief  Interrupts union and structure

 */

typedef union {

	struct {

		uint8_t DataReady:1;       /*!< Data ready interrupt */

		uint8_t reserved2:2;       /*!< Reserved bits */

		uint8_t Master:1;          /*!< Master interrupt. Not enabled with library */

		uint8_t FifoOverflow:1;    /*!< FIFO overflow interrupt. Not enabled with library */

		uint8_t reserved1:1;       /*!< Reserved bit */

		uint8_t MotionDetection:1; /*!< Motion detected interrupt */

		uint8_t reserved0:1;       /*!< Reserved bit */

	} F;

	uint8_t Status;

} SD_MPU6050_Interrupt;

/**

 * @brief Config register.

 */

typedef union {

  uint16_t data;

  struct {

    /**

    ina219_lld_mode_t mode : 3;

    ina219_lld_adc_t sadc : 4;

    ina219_lld_adc_t badc : 4;

    ina219_lld_gain_t gain : 2;

    ina219_lld_brng_t brng : 1;

    */

    uint8_t zero : 1;

    uint8_t reset : 1;

  } options;

} mpu6050_lld_cfg_t;

/**

 * @brief The MPU6050 struct.

 */

typedef struct {

  apalI2CDriver_t* i2cd;

  apalI2Caddr_t addr;   /**<The address of the module for I2C communication */

  uint16_t current_lsb_uA;

  mpu6050_lld_cfg_t *config;

} MPU6050Driver;

/**

 * @}

 */

/**

 * @defgroup SD_MPU6050_Functions

 * @brief    Library Functions

 * @{

 */

//from alld_ina219.h

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);

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);

#endif /* defined(AMIROLLD_CFG_USE_MPU6050) */

#endif /* DRIVERS_MYLIB_MPU6050_H_ */

/*

 * sd_hal_mpu6050.c

 *

 *  Created on: Feb 19, 2016

 *      Author: Sina Darvishi

 *  Edited on: Jan 15, 2019

 *      Editor: Simon Welzel

 */

/**

 * |----------------------------------------------------------------------

 * | Copyright (C) Sina Darvishi,2016

 * |

 * | This program is free software: you can redistribute it and/or modify

 * | it under the terms of the GNU General Public License as published by

 * | the Free Software Foundation, either version 3 of the License, or

 * | any later version.

 * |

 * | This program is distributed in the hope that it will be useful,

 * | but WITHOUT ANY WARRANTY; without even the implied warranty of

 * | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * | GNU General Public License for more details.

 * |

 * | You should have received a copy of the GNU General Public License

 * | along with this program.  If not, see <http://www.gnu.org/licenses/>.

 * |----------------------------------------------------------------------

 */

#include "alld_mpu6050.h"

#include <amiro-lld.h>

#if defined(AMIROLLD_CFG_USE_MPU6050) || defined(__DOXYGEN__)

#include <stdint.h>

/* Default I2C address */

#define MPU6050_I2C_ADDR   0xD0

/* Who I am register value */

#define MPU6050_I_AM    0x68

/* MPU6050 registers */

#define MPU6050_AUX_VDDIO   0x01

#define MPU6050_SMPLRT_DIV   0x19

#define MPU6050_CONFIG    0x1A

#define MPU6050_GYRO_CONFIG   0x1B

#define MPU6050_ACCEL_CONFIG  0x1C

#define MPU6050_MOTION_THRESH  0x1F

#define MPU6050_INT_PIN_CFG   0x37

#define MPU6050_INT_ENABLE   0x38

#define MPU6050_INT_STATUS   0x3A

#define MPU6050_ACCEL_XOUT_H  0x3B

#define MPU6050_ACCEL_XOUT_L  0x3C

#define MPU6050_ACCEL_YOUT_H  0x3D

#define MPU6050_ACCEL_YOUT_L  0x3E

#define MPU6050_ACCEL_ZOUT_H  0x3F

#define MPU6050_ACCEL_ZOUT_L  0x40

#define MPU6050_TEMP_OUT_H   0x41

#define MPU6050_TEMP_OUT_L   0x42

#define MPU6050_GYRO_XOUT_H   0x43

#define MPU6050_GYRO_XOUT_L   0x44

#define MPU6050_GYRO_YOUT_H   0x45

#define MPU6050_GYRO_YOUT_L   0x46

#define MPU6050_GYRO_ZOUT_H   0x47

#define MPU6050_GYRO_ZOUT_L   0x48

#define MPU6050_MOT_DETECT_STATUS 0x61

#define MPU6050_SIGNAL_PATH_RESET 0x68

#define MPU6050_MOT_DETECT_CTRL  0x69

#define MPU6050_USER_CTRL   0x6A

#define MPU6050_PWR_MGMT_1   0x6B

#define MPU6050_PWR_MGMT_2   0x6C

#define MPU6050_FIFO_COUNTH   0x72

#define MPU6050_FIFO_COUNTL   0x73

#define MPU6050_FIFO_R_W   0x74

#define MPU6050_WHO_AM_I   0x75

/* Gyro sensitivities in degrees/s */

#define MPU6050_GYRO_SENS_250  ((float) 131)

#define MPU6050_GYRO_SENS_500  ((float) 65.5)

#define MPU6050_GYRO_SENS_1000  ((float) 32.8)

#define MPU6050_GYRO_SENS_2000  ((float) 16.4)

/* Acce sensitivities in g/s */

#define MPU6050_ACCE_SENS_2   ((float) 16384)

#define MPU6050_ACCE_SENS_4   ((float) 8192)

#define MPU6050_ACCE_SENS_8   ((float) 4096)

#define MPU6050_ACCE_SENS_16  ((float) 2048)

// from alld_ina219.c

/**

 * @brief Read the value of one or more of the registers.

 * @param[in]   i2cd        i2c driver

 * @param[in]   inad        ina219 driver

 * @param[in]   addr        register address

 * @param[out]  data        register content

 * @param[in]   num         number of subsequent registers to read

 * @param[in]   timeout     timeout

 * @return                  An indicator whether the call was successfull

 */

inline 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)

{

  apalDbgAssert(mpu6050 != 0);

  apalDbgAssert(mpu6050->i2cd != 0);

  apalDbgAssert(data != 0);

  uint8_t buffer[num*2];

  apalExitStatus_t status = apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), (uint8_t*)&addr, 1, buffer, 2*num, timeout);

  for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) {

    data[dataIdx] = (buffer[2*dataIdx] << 8) | buffer[2*dataIdx+1];

  }

  return status;

}

// from alld_ina219.c

/**

 * @brief Write the value of one or more of the registers.

 * @param[in]   i2cd        i2c driver

 * @param[in]   inad        ina219 driver

 * @param[in]   addr        register address

 * @param[in]   data        data to write

 * @param[in]   num         number of subsequent registers to read

 * @param[in]   timeout     timeout

 * @return                  An indicator whether the call was successfull

 */

inline 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)

{

  apalDbgAssert(mpu6050 != 0);

  apalDbgAssert(mpu6050->i2cd != 0);

  apalDbgAssert(data != 0);

  uint8_t buffer[1+2*num];

  buffer[0] = addr;

  for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) {

    buffer[dataIdx*2+1] = data[dataIdx] >> 8;

    buffer[dataIdx*2+2] = data[dataIdx] & (0x00FFu);

  }

  return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), buffer, 1+2*num, NULL, 0, timeout);

}

inline apalExitStatus_t mpu6050_get_axis_x(const MPU6050Driver* const mpu6050, const mpu6050_lld_register_t addr, const uint16_t* const data, const uint8_t num, const apalTime_t timeout)

{

}

#endif /* AMIROLLD_CFG_USE_MPU6050*/