AMiRo-OS

/*

AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU Lesser General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    alld_MPU6050_v1.h

 * @brief   Gyro & Accelerometer macros and structures.

 *

 * @addtogroup lld_mems

 * @{

 */

#ifndef AMIROLLD_MPU6050_V1_H

#define AMIROLLD_MPU6050_V1_H

#include <amiro-lld.h>

#if (defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1)) || defined(__DOXYGEN__)

/******************************************************************************/

/* CONSTANTS                                                                  */

/******************************************************************************/

/**

 * @brief Maximum I2C frequency.

 */

#define MPU6050_LLD_I2C_MAXFREQUENCY    400000

#define SD_MPU6050_DataRate_8KHz        0   /**< Sample rate set to 8 kHz */

#define SD_MPU6050_DataRate_4KHz        1   /**< Sample rate set to 4 kHz */

#define SD_MPU6050_DataRate_2KHz        3   /**< Sample rate set to 2 kHz */

#define SD_MPU6050_DataRate_1KHz        7   /**< Sample rate set to 1 kHz */

#define SD_MPU6050_DataRate_500Hz       15  /**< Sample rate set to 500 Hz */

#define SD_MPU6050_DataRate_250Hz       31  /**< Sample rate set to 250 Hz */

#define SD_MPU6050_DataRate_125Hz       63  /**< Sample rate set to 125 Hz */

#define SD_MPU6050_DataRate_100Hz       79  /**< Sample rate set to 100 Hz */

/******************************************************************************/

/* SETTINGS                                                                   */

/******************************************************************************/

/******************************************************************************/

/* CHECKS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* DATA STRUCTURES AND TYPES                                                  */

/******************************************************************************/

/**

 * @brief I2C address masks. TODO: Set to MPU6050 adresses!

 */

enum {

  MPU6050_LLD_I2C_ADDR_FIXED   = 0x0040u,

  MPU6050_LLD_I2C_ADDR_A0      = 0x0001u,

  MPU6050_LLD_I2C_ADDR_A1      = 0x0004u,

};

/**

 * @brief Registers. TODO: Adjust to MPU6050 registers

 */

typedef enum {

  MPU6050_LLD_REGISTER_CONFIGURATION = 0x00,

  MPU6050_LLD_REGISTER_SHUNT_VOLTAGE = 0x01,

  MPU6050_LLD_REGISTER_BUS_VOLTAGE   = 0x02,

  MPU6050_LLD_REGISTER_POWER         = 0x03,

  MPU6050_LLD_REGISTER_CURRENT       = 0x04,

  MPU6050_LLD_REGISTER_CALIBRATION   = 0x05,

} mpu6050_lld_register_t;

/**

 * @brief  MPU6050 can have 2 different slave addresses, depends on it's input AD0 pin

 *         This feature allows you to use 2 different sensors with this library at the same time

 */

typedef enum  {

        SD_MPU6050_Device_0 = 0x00, /*!< AD0 pin is set to low */

        SD_MPU6050_Device_1 = 0x02  /*!< AD0 pin is set to high */

} SD_MPU6050_Device;

/**

 * @brief  MPU6050 result enumeration

 */

typedef enum  {

        SD_MPU6050_Result_Ok = 0x00,          /*!< Everything OK */

        SD_MPU6050_Result_Error,              /*!< Unknown error */

        SD_MPU6050_Result_DeviceNotConnected, /*!< There is no device with valid slave address */

        SD_MPU6050_Result_DeviceInvalid       /*!< Connected device with address is not MPU6050 */

} SD_MPU6050_Result;

/**

 * @brief  Parameters for accelerometer range

 */

typedef enum  {

        SD_MPU6050_Accelerometer_2G = 0x00, /*!< Range is +- 2G */

        SD_MPU6050_Accelerometer_4G = 0x01, /*!< Range is +- 4G */

        SD_MPU6050_Accelerometer_8G = 0x02, /*!< Range is +- 8G */

        SD_MPU6050_Accelerometer_16G = 0x03 /*!< Range is +- 16G */

} SD_MPU6050_Accelerometer;

/**

 * @brief  Parameters for gyroscope range

 */

typedef enum {

        SD_MPU6050_Gyroscope_250s = 0x00,  /*!< Range is +- 250 degrees/s */

        SD_MPU6050_Gyroscope_500s = 0x01,  /*!< Range is +- 500 degrees/s */

        SD_MPU6050_Gyroscope_1000s = 0x02, /*!< Range is +- 1000 degrees/s */

        SD_MPU6050_Gyroscope_2000s = 0x03  /*!< Range is +- 2000 degrees/s */

} SD_MPU6050_Gyroscope;

/**

 * @brief  Interrupts union and structure

 */

typedef union {

        struct {

                uint8_t DataReady:1;       /*!< Data ready interrupt */

                uint8_t reserved2:2;       /*!< Reserved bits */

                uint8_t Master:1;          /*!< Master interrupt. Not enabled with library */

                uint8_t FifoOverflow:1;    /*!< FIFO overflow interrupt. Not enabled with library */

                uint8_t reserved1:1;       /*!< Reserved bit */

                uint8_t MotionDetection:1; /*!< Motion detected interrupt */

                uint8_t reserved0:1;       /*!< Reserved bit */

        } F;

        uint8_t Status;

} SD_MPU6050_Interrupt;

/**

 * @brief Config register.

 */

typedef union {

  uint16_t data;

  struct {

    /**

    ina219_lld_mode_t mode : 3;

    ina219_lld_adc_t sadc : 4;

    ina219_lld_adc_t badc : 4;

    ina219_lld_gain_t gain : 2;

    ina219_lld_brng_t brng : 1;

    */

    uint8_t zero : 1;

    uint8_t reset : 1;

  } options;

} mpu6050_lld_cfg_t;

/**

 * @brief The MPU6050 struct.

 */

typedef struct {

  apalI2CDriver_t* i2cd;

  apalI2Caddr_t addr;   /**<The address of the module for I2C communication */

  uint16_t current_lsb_uA;

  mpu6050_lld_cfg_t *config;

} MPU6050Driver;

/******************************************************************************/

/* MACROS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* EXTERN DECLARATIONS                                                        */

/******************************************************************************/

#ifdef __cplusplus

extern "C" {

#endif

  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);

  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);

#ifdef __cplusplus

}

#endif

/******************************************************************************/

/* INLINE FUNCTIONS                                                           */

/******************************************************************************/

#endif /* defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1) */

#endif /* AMIROLLD_MPU6050_V1_H */