amiro-lld / source / MPU6050 / v1 / alld_MPU6050_v1.c @ 5d4d14a3
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1 | 5d4d14a3 | Thomas Schöpping | /*
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2 | * sd_hal_mpu6050.c
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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 | * Edited on: Jan 15, 2019
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7 | * Editor: Simon Welzel
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8 | */
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9 | |||
10 | /**
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11 | * |----------------------------------------------------------------------
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12 | * | Copyright (C) Sina Darvishi,2016
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13 | * |
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14 | * | This program is free software: you can redistribute it and/or modify
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15 | * | it under the terms of the GNU General Public License as published by
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16 | * | the Free Software Foundation, either version 3 of the License, or
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17 | * | any later version.
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18 | * |
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19 | * | This program is distributed in the hope that it will be useful,
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20 | * | but WITHOUT ANY WARRANTY; without even the implied warranty of
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21 | * | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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22 | * | GNU General Public License for more details.
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23 | * |
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24 | * | You should have received a copy of the GNU General Public License
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25 | * | along with this program. If not, see <http://www.gnu.org/licenses/>.
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26 | * |----------------------------------------------------------------------
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27 | */
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28 | |||
29 | #include <alld_MPU6050.h> |
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30 | |||
31 | #if (defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1)) || defined(__DOXYGEN__) |
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32 | |||
33 | /******************************************************************************/
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34 | /* LOCAL DEFINITIONS */
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35 | /******************************************************************************/
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36 | |||
37 | /* Default I2C address */
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38 | #define MPU6050_I2C_ADDR 0xD0 |
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39 | |||
40 | /* Who I am register value */
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41 | #define MPU6050_I_AM 0x68 |
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42 | |||
43 | /* MPU6050 registers */
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44 | #define MPU6050_AUX_VDDIO 0x01 |
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45 | #define MPU6050_SMPLRT_DIV 0x19 |
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46 | #define MPU6050_CONFIG 0x1A |
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47 | #define MPU6050_GYRO_CONFIG 0x1B |
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48 | #define MPU6050_ACCEL_CONFIG 0x1C |
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49 | #define MPU6050_MOTION_THRESH 0x1F |
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50 | #define MPU6050_INT_PIN_CFG 0x37 |
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51 | #define MPU6050_INT_ENABLE 0x38 |
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52 | #define MPU6050_INT_STATUS 0x3A |
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53 | #define MPU6050_ACCEL_XOUT_H 0x3B |
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54 | #define MPU6050_ACCEL_XOUT_L 0x3C |
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55 | #define MPU6050_ACCEL_YOUT_H 0x3D |
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56 | #define MPU6050_ACCEL_YOUT_L 0x3E |
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57 | #define MPU6050_ACCEL_ZOUT_H 0x3F |
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58 | #define MPU6050_ACCEL_ZOUT_L 0x40 |
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59 | #define MPU6050_TEMP_OUT_H 0x41 |
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60 | #define MPU6050_TEMP_OUT_L 0x42 |
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61 | #define MPU6050_GYRO_XOUT_H 0x43 |
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62 | #define MPU6050_GYRO_XOUT_L 0x44 |
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63 | #define MPU6050_GYRO_YOUT_H 0x45 |
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64 | #define MPU6050_GYRO_YOUT_L 0x46 |
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65 | #define MPU6050_GYRO_ZOUT_H 0x47 |
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66 | #define MPU6050_GYRO_ZOUT_L 0x48 |
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67 | #define MPU6050_MOT_DETECT_STATUS 0x61 |
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68 | #define MPU6050_SIGNAL_PATH_RESET 0x68 |
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69 | #define MPU6050_MOT_DETECT_CTRL 0x69 |
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70 | #define MPU6050_USER_CTRL 0x6A |
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71 | #define MPU6050_PWR_MGMT_1 0x6B |
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72 | #define MPU6050_PWR_MGMT_2 0x6C |
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73 | #define MPU6050_FIFO_COUNTH 0x72 |
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74 | #define MPU6050_FIFO_COUNTL 0x73 |
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75 | #define MPU6050_FIFO_R_W 0x74 |
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76 | #define MPU6050_WHO_AM_I 0x75 |
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77 | |||
78 | /* Gyro sensitivities in degrees/s */
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79 | #define MPU6050_GYRO_SENS_250 ((float) 131) |
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80 | #define MPU6050_GYRO_SENS_500 ((float) 65.5) |
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81 | #define MPU6050_GYRO_SENS_1000 ((float) 32.8) |
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82 | #define MPU6050_GYRO_SENS_2000 ((float) 16.4) |
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83 | |||
84 | /* Acce sensitivities in g/s */
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85 | #define MPU6050_ACCE_SENS_2 ((float) 16384) |
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86 | #define MPU6050_ACCE_SENS_4 ((float) 8192) |
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87 | #define MPU6050_ACCE_SENS_8 ((float) 4096) |
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88 | #define MPU6050_ACCE_SENS_16 ((float) 2048) |
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89 | |||
90 | /******************************************************************************/
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91 | /* EXPORTED VARIABLES */
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92 | /******************************************************************************/
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93 | |||
94 | /******************************************************************************/
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95 | /* LOCAL TYPES */
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96 | /******************************************************************************/
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97 | |||
98 | /******************************************************************************/
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99 | /* LOCAL VARIABLES */
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100 | /******************************************************************************/
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101 | |||
102 | /******************************************************************************/
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103 | /* LOCAL FUNCTIONS */
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104 | /******************************************************************************/
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105 | |||
106 | /******************************************************************************/
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107 | /* EXPORTED FUNCTIONS */
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108 | /******************************************************************************/
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109 | |||
110 | // from alld_ina219.c
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111 | /**
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112 | * @brief Read the value of one or more of the registers.
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113 | * @param[in] i2cd i2c driver
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114 | * @param[in] inad ina219 driver
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115 | * @param[in] addr register address
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116 | * @param[out] data register content
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117 | * @param[in] num number of subsequent registers to read
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118 | * @param[in] timeout timeout
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119 | * @return An indicator whether the call was successfull
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120 | */
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121 | 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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122 | { |
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123 | apalDbgAssert(mpu6050 != 0);
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124 | apalDbgAssert(mpu6050->i2cd != 0);
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125 | apalDbgAssert(data != 0);
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126 | |||
127 | uint8_t buffer[num*2];
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128 | apalExitStatus_t status = apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), (uint8_t*)&addr, 1, buffer, 2*num, timeout); |
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129 | for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
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130 | data[dataIdx] = (buffer[2*dataIdx] << 8) | buffer[2*dataIdx+1]; |
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131 | } |
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132 | return status;
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133 | } |
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134 | |||
135 | /**
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136 | * @brief Write the value of one or more of the registers.
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137 | * @param[in] i2cd i2c driver
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138 | * @param[in] inad ina219 driver
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139 | * @param[in] addr register address
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140 | * @param[in] data data to write
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141 | * @param[in] num number of subsequent registers to read
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142 | * @param[in] timeout timeout
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143 | * @return An indicator whether the call was successfull
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144 | */
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145 | 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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146 | { |
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147 | apalDbgAssert(mpu6050 != 0);
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148 | apalDbgAssert(mpu6050->i2cd != 0);
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149 | apalDbgAssert(data != 0);
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150 | |||
151 | uint8_t buffer[1+2*num]; |
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152 | buffer[0] = addr;
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153 | for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
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154 | buffer[dataIdx*2+1] = data[dataIdx] >> 8; |
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155 | buffer[dataIdx*2+2] = data[dataIdx] & (0x00FFu); |
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156 | } |
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157 | return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), buffer, 1+2*num, NULL, 0, timeout); |
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158 | } |
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159 | |||
160 | #endif /* defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1) */ |