Revision 5d4d14a3
| include/MPU6050/alld_MPU6050.h | ||
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/* |
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AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform. |
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Copyright (C) 2016..2019 Thomas Schöpping et al. |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU Lesser General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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| 9 |
|
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU Lesser General Public License for more details. |
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|
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You should have received a copy of the GNU Lesser General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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|
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/** |
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* @file alld_MPU6050.h |
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* |
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* @addtogroup lld_mems |
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* @{
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*/ |
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#ifndef AMIROLLD_MPU6050_H |
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#define AMIROLLD_MPU6050_H |
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#include <amiro-lld.h> |
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#if defined(AMIROLLD_CFG_MPU6050) |
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#if (AMIROLLD_CFG_MPU6050 == 1) |
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#include "v1/alld_MPU6050_v1.h" |
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#else |
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#error "invalid value assigned to AMIROLLD_CFG_MPU6050 in alldconf.h" |
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#endif |
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#endif /* defined(AMIROLLD_CFG_MPU6050) */ |
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#endif /* AMIROLLD_MPU6050_H */ |
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/** @} */ |
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| include/MPU6050/v1/alld_MPU6050_v1.h | ||
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/* |
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| 2 |
AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform. |
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al. |
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| 4 |
|
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| 5 |
This program is free software: you can redistribute it and/or modify |
|
| 6 |
it under the terms of the GNU Lesser General Public License as published by |
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| 7 |
the Free Software Foundation, either version 3 of the License, or |
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| 8 |
(at your option) any later version. |
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| 9 |
|
|
| 10 |
This program is distributed in the hope that it will be useful, |
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| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 13 |
GNU Lesser General Public License for more details. |
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| 14 |
|
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| 15 |
You should have received a copy of the GNU Lesser General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/** |
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* @file alld_MPU6050_v1.h |
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* @brief Gyro & Accelerometer macros and structures. |
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* |
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* @addtogroup lld_mems |
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* @{
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*/ |
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#ifndef AMIROLLD_MPU6050_V1_H |
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#define AMIROLLD_MPU6050_V1_H |
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#include <amiro-lld.h> |
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#if (defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1)) || defined(__DOXYGEN__) |
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/******************************************************************************/ |
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/* CONSTANTS */ |
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/******************************************************************************/ |
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/** |
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* @brief Maximum I2C frequency. |
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*/ |
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#define MPU6050_LLD_I2C_MAXFREQUENCY 400000 |
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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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/* SETTINGS */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* CHECKS */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* DATA STRUCTURES AND TYPES */ |
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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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/* MACROS */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* EXTERN DECLARATIONS */ |
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/******************************************************************************/ |
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#ifdef __cplusplus |
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extern "C" {
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#endif |
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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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#ifdef __cplusplus |
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} |
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#endif |
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/******************************************************************************/ |
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/* INLINE FUNCTIONS */ |
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/******************************************************************************/ |
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#endif /* defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1) */ |
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#endif /* AMIROLLD_MPU6050_V1_H */ |
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| source/MPU6050/v1/alld_MPU6050_v1.c | ||
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/* |
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* sd_hal_mpu6050.c |
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* |
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* Created on: Feb 19, 2016 |
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* Author: Sina Darvishi |
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* Edited on: Jan 15, 2019 |
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* Editor: Simon Welzel |
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*/ |
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/** |
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* |---------------------------------------------------------------------- |
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* | Copyright (C) Sina Darvishi,2016 |
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* | |
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* | This program is free software: you can redistribute it and/or modify |
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* | it under the terms of the GNU General Public License as published by |
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* | the Free Software Foundation, either version 3 of the License, or |
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* | any later version. |
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* | |
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* | This program is distributed in the hope that it will be useful, |
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* | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* | GNU General Public License for more details. |
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* | |
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* | You should have received a copy of the GNU General Public License |
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* | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |---------------------------------------------------------------------- |
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*/ |
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#include <alld_MPU6050.h> |
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#if (defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1)) || defined(__DOXYGEN__) |
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/******************************************************************************/ |
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/* LOCAL DEFINITIONS */ |
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/******************************************************************************/ |
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/* Default I2C address */ |
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#define MPU6050_I2C_ADDR 0xD0 |
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/* Who I am register value */ |
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#define MPU6050_I_AM 0x68 |
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/* MPU6050 registers */ |
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#define MPU6050_AUX_VDDIO 0x01 |
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#define MPU6050_SMPLRT_DIV 0x19 |
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#define MPU6050_CONFIG 0x1A |
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#define MPU6050_GYRO_CONFIG 0x1B |
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#define MPU6050_ACCEL_CONFIG 0x1C |
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#define MPU6050_MOTION_THRESH 0x1F |
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#define MPU6050_INT_PIN_CFG 0x37 |
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#define MPU6050_INT_ENABLE 0x38 |
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#define MPU6050_INT_STATUS 0x3A |
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#define MPU6050_ACCEL_XOUT_H 0x3B |
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#define MPU6050_ACCEL_XOUT_L 0x3C |
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#define MPU6050_ACCEL_YOUT_H 0x3D |
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#define MPU6050_ACCEL_YOUT_L 0x3E |
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#define MPU6050_ACCEL_ZOUT_H 0x3F |
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#define MPU6050_ACCEL_ZOUT_L 0x40 |
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#define MPU6050_TEMP_OUT_H 0x41 |
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#define MPU6050_TEMP_OUT_L 0x42 |
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#define MPU6050_GYRO_XOUT_H 0x43 |
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#define MPU6050_GYRO_XOUT_L 0x44 |
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#define MPU6050_GYRO_YOUT_H 0x45 |
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#define MPU6050_GYRO_YOUT_L 0x46 |
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#define MPU6050_GYRO_ZOUT_H 0x47 |
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#define MPU6050_GYRO_ZOUT_L 0x48 |
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#define MPU6050_MOT_DETECT_STATUS 0x61 |
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#define MPU6050_SIGNAL_PATH_RESET 0x68 |
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#define MPU6050_MOT_DETECT_CTRL 0x69 |
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#define MPU6050_USER_CTRL 0x6A |
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#define MPU6050_PWR_MGMT_1 0x6B |
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#define MPU6050_PWR_MGMT_2 0x6C |
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#define MPU6050_FIFO_COUNTH 0x72 |
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#define MPU6050_FIFO_COUNTL 0x73 |
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#define MPU6050_FIFO_R_W 0x74 |
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#define MPU6050_WHO_AM_I 0x75 |
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/* Gyro sensitivities in degrees/s */ |
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#define MPU6050_GYRO_SENS_250 ((float) 131) |
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#define MPU6050_GYRO_SENS_500 ((float) 65.5) |
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#define MPU6050_GYRO_SENS_1000 ((float) 32.8) |
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#define MPU6050_GYRO_SENS_2000 ((float) 16.4) |
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/* Acce sensitivities in g/s */ |
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#define MPU6050_ACCE_SENS_2 ((float) 16384) |
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#define MPU6050_ACCE_SENS_4 ((float) 8192) |
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#define MPU6050_ACCE_SENS_8 ((float) 4096) |
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#define MPU6050_ACCE_SENS_16 ((float) 2048) |
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|
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/******************************************************************************/ |
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/* EXPORTED VARIABLES */ |
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/******************************************************************************/ |
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|
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/******************************************************************************/ |
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/* LOCAL TYPES */ |
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/******************************************************************************/ |
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|
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/******************************************************************************/ |
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/* LOCAL VARIABLES */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* LOCAL FUNCTIONS */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* EXPORTED FUNCTIONS */ |
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/******************************************************************************/ |
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// from alld_ina219.c |
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/** |
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* @brief Read the value of one or more of the registers. |
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* @param[in] i2cd i2c driver |
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* @param[in] inad ina219 driver |
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* @param[in] addr register address |
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* @param[out] data register content |
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* @param[in] num number of subsequent registers to read |
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* @param[in] timeout timeout |
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* @return An indicator whether the call was successfull |
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*/ |
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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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{
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apalDbgAssert(mpu6050 != 0); |
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apalDbgAssert(mpu6050->i2cd != 0); |
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apalDbgAssert(data != 0); |
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uint8_t buffer[num*2]; |
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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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for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) {
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data[dataIdx] = (buffer[2*dataIdx] << 8) | buffer[2*dataIdx+1]; |
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} |
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return status; |
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} |
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|
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/** |
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* @brief Write the value of one or more of the registers. |
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* @param[in] i2cd i2c driver |
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* @param[in] inad ina219 driver |
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* @param[in] addr register address |
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* @param[in] data data to write |
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* @param[in] num number of subsequent registers to read |
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* @param[in] timeout timeout |
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* @return An indicator whether the call was successfull |
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*/ |
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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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| 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 |
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| 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 |
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| 160 |
#endif /* defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1) */ |
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| 161 |
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