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amiro-lld / source / MPU6050 / v1 / alld_MPU6050_v1.c @ 5d4d14a3

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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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/* EXPORTED VARIABLES                                                         */
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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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/* 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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 * @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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{
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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[1+2*num];
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  buffer[0] = addr;
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  for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) {
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    buffer[dataIdx*2+1] = data[dataIdx] >> 8;
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    buffer[dataIdx*2+2] = data[dataIdx] & (0x00FFu);
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  }
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  return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), buffer, 1+2*num, NULL, 0, timeout);
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}
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#endif /* defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1) */
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