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amiro-lld / include / alld_mpu6050.h @ 3389f547

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/*
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 * sd_hal_mpu6050.h
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 *
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 *  Created on: Feb 19, 2016
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 *      Author: Sina Darvishi
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 */
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#ifndef DRIVERS_MYLIB_MPU6050_H_
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#define DRIVERS_MYLIB_MPU6050_H_
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/*
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 C++ detection
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#ifdef __cplusplus
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extern "C" {
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#endif
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*/
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#include <amiro-lld.h>
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#include <periphAL.h> // should already be included by line above this
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#if defined(AMIROLLD_CFG_USE_MPU6050) || defined(__DOXYGEN__)
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#include <stdint.h>
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/**
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 * @defgroup SD_MPU6050_Macros
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 * @brief    Library defines
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 * @{
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 */
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/* Default I2C clock */
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#ifndef MPU6050_I2C_CLOCK
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#define MPU6050_I2C_CLOCK              400000            /*!< Default I2C clock speed */
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#endif
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/**
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 * @brief  Data rates predefined constants
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 * @{
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 */
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#define SD_MPU6050_DataRate_8KHz       0   /*!< Sample rate set to 8 kHz */
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#define SD_MPU6050_DataRate_4KHz       1   /*!< Sample rate set to 4 kHz */
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#define SD_MPU6050_DataRate_2KHz       3   /*!< Sample rate set to 2 kHz */
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#define SD_MPU6050_DataRate_1KHz       7   /*!< Sample rate set to 1 kHz */
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#define SD_MPU6050_DataRate_500Hz      15  /*!< Sample rate set to 500 Hz */
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#define SD_MPU6050_DataRate_250Hz      31  /*!< Sample rate set to 250 Hz */
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#define SD_MPU6050_DataRate_125Hz      63  /*!< Sample rate set to 125 Hz */
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#define SD_MPU6050_DataRate_100Hz      79  /*!< Sample rate set to 100 Hz */
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/**
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 * @}
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 */
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/**
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 * @}
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 */
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/**
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 * @defgroup SD_MPU6050_Typedefs
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 * @brief    Library Typedefs
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 * @{
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 */
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/**
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 * @brief I2C address masks. TODO: Set to MPU6050 adresses!
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 */
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enum {
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  MPU6050_LLD_I2C_ADDR_FIXED   = 0x0040u,
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  MPU6050_LLD_I2C_ADDR_A0      = 0x0001u,
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  MPU6050_LLD_I2C_ADDR_A1      = 0x0004u,
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};
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/**
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 * @brief Registers. TODO: Adjust to MPU6050 registers
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 */
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typedef enum {
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  MPU6050_LLD_REGISTER_CONFIGURATION = 0x00,
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  MPU6050_LLD_REGISTER_SHUNT_VOLTAGE = 0x01,
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  MPU6050_LLD_REGISTER_BUS_VOLTAGE   = 0x02,
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  MPU6050_LLD_REGISTER_POWER         = 0x03,
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  MPU6050_LLD_REGISTER_CURRENT       = 0x04,
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  MPU6050_LLD_REGISTER_CALIBRATION   = 0x05,
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} mpu6050_lld_register_t;
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/**
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 * @brief  MPU6050 can have 2 different slave addresses, depends on it's input AD0 pin
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 *         This feature allows you to use 2 different sensors with this library at the same time
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 */
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typedef enum  {
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        SD_MPU6050_Device_0 = 0x00, /*!< AD0 pin is set to low */
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        SD_MPU6050_Device_1 = 0x02  /*!< AD0 pin is set to high */
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} SD_MPU6050_Device;
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/**
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 * @brief  MPU6050 result enumeration
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 */
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typedef enum  {
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        SD_MPU6050_Result_Ok = 0x00,          /*!< Everything OK */
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        SD_MPU6050_Result_Error,              /*!< Unknown error */
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        SD_MPU6050_Result_DeviceNotConnected, /*!< There is no device with valid slave address */
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        SD_MPU6050_Result_DeviceInvalid       /*!< Connected device with address is not MPU6050 */
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} SD_MPU6050_Result;
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/**
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 * @brief  Parameters for accelerometer range
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 */
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typedef enum  {
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        SD_MPU6050_Accelerometer_2G = 0x00, /*!< Range is +- 2G */
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        SD_MPU6050_Accelerometer_4G = 0x01, /*!< Range is +- 4G */
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        SD_MPU6050_Accelerometer_8G = 0x02, /*!< Range is +- 8G */
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        SD_MPU6050_Accelerometer_16G = 0x03 /*!< Range is +- 16G */
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} SD_MPU6050_Accelerometer;
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/**
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 * @brief  Parameters for gyroscope range
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 */
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typedef enum {
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        SD_MPU6050_Gyroscope_250s = 0x00,  /*!< Range is +- 250 degrees/s */
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        SD_MPU6050_Gyroscope_500s = 0x01,  /*!< Range is +- 500 degrees/s */
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        SD_MPU6050_Gyroscope_1000s = 0x02, /*!< Range is +- 1000 degrees/s */
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        SD_MPU6050_Gyroscope_2000s = 0x03  /*!< Range is +- 2000 degrees/s */
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} SD_MPU6050_Gyroscope;
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/**
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 * @brief  Interrupts union and structure
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 */
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typedef union {
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        struct {
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                uint8_t DataReady:1;       /*!< Data ready interrupt */
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                uint8_t reserved2:2;       /*!< Reserved bits */
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                uint8_t Master:1;          /*!< Master interrupt. Not enabled with library */
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                uint8_t FifoOverflow:1;    /*!< FIFO overflow interrupt. Not enabled with library */
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                uint8_t reserved1:1;       /*!< Reserved bit */
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                uint8_t MotionDetection:1; /*!< Motion detected interrupt */
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                uint8_t reserved0:1;       /*!< Reserved bit */
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        } F;
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        uint8_t Status;
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} SD_MPU6050_Interrupt;
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/**
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 * @brief Config register.
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 */
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typedef union {
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  uint16_t data;
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  struct {
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    /**
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    ina219_lld_mode_t mode : 3;
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    ina219_lld_adc_t sadc : 4;
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    ina219_lld_adc_t badc : 4;
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    ina219_lld_gain_t gain : 2;
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    ina219_lld_brng_t brng : 1;
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    */
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    uint8_t zero : 1;
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    uint8_t reset : 1;
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  } options;
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} mpu6050_lld_cfg_t;
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/**
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 * @brief The MPU6050 struct.
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 */
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typedef struct {
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  apalI2CDriver_t* i2cd;
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  apalI2Caddr_t addr;   /**<The address of the module for I2C communication */
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  uint16_t current_lsb_uA;
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  mpu6050_lld_cfg_t *config;
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} MPU6050Driver;
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/**
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 * @}
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 */
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/**
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 * @defgroup SD_MPU6050_Functions
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 * @brief    Library Functions
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 * @{
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 */
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//from alld_ina219.h
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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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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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#endif /* defined(AMIROLLD_CFG_USE_MPU6050) */
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#endif /* DRIVERS_MYLIB_MPU6050_H_ */