amiro-lld / drivers / MPU6050 / v1 / alld_MPU6050.h @ 72369edc
History | View | Annotate | Download (8.183 KB)
| 1 |
/*
|
|---|---|
| 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.
|
| 4 |
|
| 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
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU Lesser General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU Lesser General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file alld_MPU6050.h
|
| 21 |
* @brief Gyro & Accelerometer macros and structures.
|
| 22 |
*
|
| 23 |
* @addtogroup lld_mems
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#ifndef AMIROLLD_MPU6050_H
|
| 28 |
#define AMIROLLD_MPU6050_H
|
| 29 |
|
| 30 |
#include <amiro-lld.h> |
| 31 |
|
| 32 |
/******************************************************************************/
|
| 33 |
/* CONSTANTS */
|
| 34 |
/******************************************************************************/
|
| 35 |
|
| 36 |
/**
|
| 37 |
* @brief Maximum I2C frequency.
|
| 38 |
*/
|
| 39 |
#define MPU6050_LLD_I2C_MAXFREQUENCY 400000 |
| 40 |
|
| 41 |
/* Default I2C address */
|
| 42 |
#define MPU6050_LLD_I2C_ADDR_FIXED 0x68 |
| 43 |
#define MPU6050_LLD_I2C_ADDR_AD0 0x01 |
| 44 |
|
| 45 |
/* MPU6050 registers */
|
| 46 |
#define MPU6050_LLD_AUX_VDDIO 0x01 |
| 47 |
#define MPU6050_LLD_SMPLRT_DIV 0x19 |
| 48 |
#define MPU6050_LLD_CONFIG 0x1A |
| 49 |
#define MPU6050_LLD_GYRO_CONFIG 0x1B |
| 50 |
#define MPU6050_LLD_ACCEL_CONFIG 0x1C |
| 51 |
#define MPU6050_LLD_MOTION_THRESH 0x1F |
| 52 |
#define MPU6050_LLD_INT_PIN_CFG 0x37 |
| 53 |
#define MPU6050_LLD_INT_ENABLE 0x38 |
| 54 |
#define MPU6050_LLD_INT_STATUS 0x3A |
| 55 |
#define MPU6050_LLD_ACCEL_XOUT_H 0x3B |
| 56 |
#define MPU6050_LLD_ACCEL_XOUT_L 0x3C |
| 57 |
#define MPU6050_LLD_ACCEL_YOUT_H 0x3D |
| 58 |
#define MPU6050_LLD_ACCEL_YOUT_L 0x3E |
| 59 |
#define MPU6050_LLD_ACCEL_ZOUT_H 0x3F |
| 60 |
#define MPU6050_LLD_ACCEL_ZOUT_L 0x40 |
| 61 |
#define MPU6050_LLD_TEMP_OUT_H 0x41 |
| 62 |
#define MPU6050_LLD_TEMP_OUT_L 0x42 |
| 63 |
#define MPU6050_LLD_GYRO_XOUT_H 0x43 |
| 64 |
#define MPU6050_LLD_GYRO_XOUT_L 0x44 |
| 65 |
#define MPU6050_LLD_GYRO_YOUT_H 0x45 |
| 66 |
#define MPU6050_LLD_GYRO_YOUT_L 0x46 |
| 67 |
#define MPU6050_LLD_GYRO_ZOUT_H 0x47 |
| 68 |
#define MPU6050_LLD_GYRO_ZOUT_L 0x48 |
| 69 |
#define MPU6050_LLD_MOT_DETECT_STATUS 0x61 |
| 70 |
#define MPU6050_LLD_SIGNAL_PATH_RESET 0x68 |
| 71 |
#define MPU6050_LLD_MOT_DETECT_CTRL 0x69 |
| 72 |
#define MPU6050_LLD_USER_CTRL 0x6A |
| 73 |
#define MPU6050_LLD_PWR_MGMT_1 0x6B |
| 74 |
#define MPU6050_LLD_PWR_MGMT_2 0x6C |
| 75 |
#define MPU6050_LLD_FIFO_COUNTH 0x72 |
| 76 |
#define MPU6050_LLD_FIFO_COUNTL 0x73 |
| 77 |
#define MPU6050_LLD_FIFO_R_W 0x74 |
| 78 |
#define MPU6050_LLD_WHO_AM_I 0x75 |
| 79 |
|
| 80 |
#define MPU6050_LLD_DataRate_8KHz 0 /**< Sample rate set to 8 kHz */ |
| 81 |
#define MPU6050_LLD_DataRate_4KHz 1 /**< Sample rate set to 4 kHz */ |
| 82 |
#define MPU6050_LLD_DataRate_2KHz 3 /**< Sample rate set to 2 kHz */ |
| 83 |
#define MPU6050_LLD_DataRate_1KHz 7 /**< Sample rate set to 1 kHz */ |
| 84 |
#define MPU6050_LLD_DataRate_500Hz 15 /**< Sample rate set to 500 Hz */ |
| 85 |
#define MPU6050_LLD_DataRate_250Hz 31 /**< Sample rate set to 250 Hz */ |
| 86 |
#define MPU6050_LLD_DataRate_125Hz 63 /**< Sample rate set to 125 Hz */ |
| 87 |
#define MPU6050_LLD_DataRate_100Hz 79 /**< Sample rate set to 100 Hz */ |
| 88 |
|
| 89 |
/* Who I am register value */
|
| 90 |
#define MPU6050_I_AM MPU6050_LLD_I2C_ADDR_FIXED
|
| 91 |
|
| 92 |
/* Gyro sensitivities in degrees/s */
|
| 93 |
#define MPU6050_LLD_GYRO_SENS_250 ((float) 131) |
| 94 |
#define MPU6050_LLD_GYRO_SENS_500 ((float) 65.5) |
| 95 |
#define MPU6050_LLD_GYRO_SENS_1000 ((float) 32.8) |
| 96 |
#define MPU6050_LLD_GYRO_SENS_2000 ((float) 16.4) |
| 97 |
|
| 98 |
/* Acce sensitivities in g/s */
|
| 99 |
#define MPU6050_LLD_ACCE_SENS_2 ((float) 16384) |
| 100 |
#define MPU6050_LLD_ACCE_SENS_4 ((float) 8192) |
| 101 |
#define MPU6050_LLD_ACCE_SENS_8 ((float) 4096) |
| 102 |
#define MPU6050_LLD_ACCE_SENS_16 ((float) 2048) |
| 103 |
|
| 104 |
/******************************************************************************/
|
| 105 |
/* SETTINGS */
|
| 106 |
/******************************************************************************/
|
| 107 |
|
| 108 |
/******************************************************************************/
|
| 109 |
/* CHECKS */
|
| 110 |
/******************************************************************************/
|
| 111 |
|
| 112 |
/******************************************************************************/
|
| 113 |
/* DATA STRUCTURES AND TYPES */
|
| 114 |
/******************************************************************************/
|
| 115 |
|
| 116 |
/**
|
| 117 |
* @brief MPU6050 can have 2 different slave addresses, depends on it's input AD0 pin
|
| 118 |
* This feature allows you to use 2 different sensors with this library at the same time
|
| 119 |
*/
|
| 120 |
typedef enum { |
| 121 |
SD_MPU6050_Device_0 = 0x00, /*!< AD0 pin is set to low */ |
| 122 |
SD_MPU6050_Device_1 = 0x02 /*!< AD0 pin is set to high */ |
| 123 |
} SD_MPU6050_Device; |
| 124 |
|
| 125 |
/**
|
| 126 |
* @brief MPU6050 result enumeration
|
| 127 |
*/
|
| 128 |
typedef enum { |
| 129 |
SD_MPU6050_Result_Ok = 0x00, /*!< Everything OK */ |
| 130 |
SD_MPU6050_Result_Error, /*!< Unknown error */
|
| 131 |
SD_MPU6050_Result_DeviceNotConnected, /*!< There is no device with valid slave address */
|
| 132 |
SD_MPU6050_Result_DeviceInvalid /*!< Connected device with address is not MPU6050 */
|
| 133 |
} SD_MPU6050_Result; |
| 134 |
|
| 135 |
/**
|
| 136 |
* @brief Parameters for accelerometer range
|
| 137 |
*/
|
| 138 |
typedef enum { |
| 139 |
SD_MPU6050_Accelerometer_2G = 0x00, /*!< Range is +- 2G */ |
| 140 |
SD_MPU6050_Accelerometer_4G = 0x01, /*!< Range is +- 4G */ |
| 141 |
SD_MPU6050_Accelerometer_8G = 0x02, /*!< Range is +- 8G */ |
| 142 |
SD_MPU6050_Accelerometer_16G = 0x03 /*!< Range is +- 16G */ |
| 143 |
} SD_MPU6050_Accelerometer; |
| 144 |
|
| 145 |
/**
|
| 146 |
* @brief Parameters for gyroscope range
|
| 147 |
*/
|
| 148 |
typedef enum { |
| 149 |
SD_MPU6050_Gyroscope_250s = 0x00, /*!< Range is +- 250 degrees/s */ |
| 150 |
SD_MPU6050_Gyroscope_500s = 0x01, /*!< Range is +- 500 degrees/s */ |
| 151 |
SD_MPU6050_Gyroscope_1000s = 0x02, /*!< Range is +- 1000 degrees/s */ |
| 152 |
SD_MPU6050_Gyroscope_2000s = 0x03 /*!< Range is +- 2000 degrees/s */ |
| 153 |
} SD_MPU6050_Gyroscope; |
| 154 |
|
| 155 |
|
| 156 |
/**
|
| 157 |
* @brief Interrupts union and structure
|
| 158 |
*/
|
| 159 |
typedef union { |
| 160 |
struct {
|
| 161 |
uint8_t DataReady:1; /*!< Data ready interrupt */ |
| 162 |
uint8_t reserved2:2; /*!< Reserved bits */ |
| 163 |
uint8_t Master:1; /*!< Master interrupt. Not enabled with library */ |
| 164 |
uint8_t FifoOverflow:1; /*!< FIFO overflow interrupt. Not enabled with library */ |
| 165 |
uint8_t reserved1:1; /*!< Reserved bit */ |
| 166 |
uint8_t MotionDetection:1; /*!< Motion detected interrupt */ |
| 167 |
uint8_t reserved0:1; /*!< Reserved bit */ |
| 168 |
} F; |
| 169 |
uint8_t Status; |
| 170 |
} SD_MPU6050_Interrupt; |
| 171 |
|
| 172 |
/**
|
| 173 |
* @brief Config register.
|
| 174 |
*/
|
| 175 |
typedef union { |
| 176 |
uint16_t data; |
| 177 |
struct {
|
| 178 |
/**
|
| 179 |
ina219_lld_mode_t mode : 3;
|
| 180 |
ina219_lld_adc_t sadc : 4;
|
| 181 |
ina219_lld_adc_t badc : 4;
|
| 182 |
ina219_lld_gain_t gain : 2;
|
| 183 |
ina219_lld_brng_t brng : 1;
|
| 184 |
*/
|
| 185 |
uint8_t zero : 1;
|
| 186 |
uint8_t reset : 1;
|
| 187 |
} options; |
| 188 |
} mpu6050_lld_cfg_t; |
| 189 |
|
| 190 |
|
| 191 |
/**
|
| 192 |
* @brief The MPU6050 struct.
|
| 193 |
*/
|
| 194 |
typedef struct { |
| 195 |
apalI2CDriver_t* i2cd; |
| 196 |
apalI2Caddr_t addr; /**<The address of the module for I2C communication */
|
| 197 |
} MPU6050Driver; |
| 198 |
|
| 199 |
/******************************************************************************/
|
| 200 |
/* MACROS */
|
| 201 |
/******************************************************************************/
|
| 202 |
|
| 203 |
/******************************************************************************/
|
| 204 |
/* EXTERN DECLARATIONS */
|
| 205 |
/******************************************************************************/
|
| 206 |
|
| 207 |
#ifdef __cplusplus
|
| 208 |
extern "C" { |
| 209 |
#endif
|
| 210 |
apalExitStatus_t mpu6050_lld_read_register(const MPU6050Driver* const mpu6050, const uint8_t addr, uint8_t* const data, const uint8_t num, const apalTime_t timeout); |
| 211 |
apalExitStatus_t mpu6050_lld_write_register(const MPU6050Driver* const mpu6050, const uint8_t addr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout); |
| 212 |
#ifdef __cplusplus
|
| 213 |
} |
| 214 |
#endif
|
| 215 |
|
| 216 |
/******************************************************************************/
|
| 217 |
/* INLINE FUNCTIONS */
|
| 218 |
/******************************************************************************/
|
| 219 |
|
| 220 |
#endif /* AMIROLLD_MPU6050_H */ |
| 221 |
|
| 222 |
|
| 223 |
/** @} */
|
| 224 |
|