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_ */ |