amiro-lld / drivers / MPU6050 / v1 / alld_MPU6050.h @ c9774bf5
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| 1 | 5d4d14a3 | Thomas Schöpping | /*
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| 2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2019 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 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
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| 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 | |||
| 15 | You should have received a copy of the GNU Lesser General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | /**
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| 20 | 9466e34d | Thomas Schöpping | * @file alld_MPU6050.h
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| 21 | 5d4d14a3 | Thomas Schöpping | * @brief Gyro & Accelerometer macros and structures.
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| 22 | *
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| 23 | * @addtogroup lld_mems
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | 9466e34d | Thomas Schöpping | #ifndef AMIROLLD_MPU6050_H
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| 28 | #define AMIROLLD_MPU6050_H
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| 29 | 5d4d14a3 | Thomas Schöpping | |
| 30 | #include <amiro-lld.h> |
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| 31 | |||
| 32 | /******************************************************************************/
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| 33 | /* CONSTANTS */
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| 34 | /******************************************************************************/
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| 35 | |||
| 36 | /**
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| 37 | * @brief Maximum I2C frequency.
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| 38 | */
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| 39 | #define MPU6050_LLD_I2C_MAXFREQUENCY 400000 |
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| 40 | |||
| 41 | b6364b51 | Thomas Schöpping | /* Default I2C address */
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| 42 | #define MPU6050_LLD_I2C_ADDR_FIXED 0x68 |
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| 43 | #define MPU6050_LLD_I2C_ADDR_AD0 0x01 |
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| 44 | |||
| 45 | /* MPU6050 registers */
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| 46 | #define MPU6050_LLD_AUX_VDDIO 0x01 |
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| 47 | #define MPU6050_LLD_SMPLRT_DIV 0x19 |
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| 48 | #define MPU6050_LLD_CONFIG 0x1A |
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| 49 | #define MPU6050_LLD_GYRO_CONFIG 0x1B |
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| 50 | #define MPU6050_LLD_ACCEL_CONFIG 0x1C |
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| 51 | #define MPU6050_LLD_MOTION_THRESH 0x1F |
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| 52 | #define MPU6050_LLD_INT_PIN_CFG 0x37 |
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| 53 | #define MPU6050_LLD_INT_ENABLE 0x38 |
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| 54 | #define MPU6050_LLD_INT_STATUS 0x3A |
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| 55 | #define MPU6050_LLD_ACCEL_XOUT_H 0x3B |
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| 56 | #define MPU6050_LLD_ACCEL_XOUT_L 0x3C |
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| 57 | #define MPU6050_LLD_ACCEL_YOUT_H 0x3D |
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| 58 | #define MPU6050_LLD_ACCEL_YOUT_L 0x3E |
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| 59 | #define MPU6050_LLD_ACCEL_ZOUT_H 0x3F |
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| 60 | #define MPU6050_LLD_ACCEL_ZOUT_L 0x40 |
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| 61 | #define MPU6050_LLD_TEMP_OUT_H 0x41 |
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| 62 | #define MPU6050_LLD_TEMP_OUT_L 0x42 |
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| 63 | #define MPU6050_LLD_GYRO_XOUT_H 0x43 |
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| 64 | #define MPU6050_LLD_GYRO_XOUT_L 0x44 |
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| 65 | #define MPU6050_LLD_GYRO_YOUT_H 0x45 |
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| 66 | #define MPU6050_LLD_GYRO_YOUT_L 0x46 |
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| 67 | #define MPU6050_LLD_GYRO_ZOUT_H 0x47 |
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| 68 | #define MPU6050_LLD_GYRO_ZOUT_L 0x48 |
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| 69 | #define MPU6050_LLD_MOT_DETECT_STATUS 0x61 |
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| 70 | #define MPU6050_LLD_SIGNAL_PATH_RESET 0x68 |
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| 71 | #define MPU6050_LLD_MOT_DETECT_CTRL 0x69 |
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| 72 | #define MPU6050_LLD_USER_CTRL 0x6A |
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| 73 | #define MPU6050_LLD_PWR_MGMT_1 0x6B |
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| 74 | #define MPU6050_LLD_PWR_MGMT_2 0x6C |
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| 75 | #define MPU6050_LLD_FIFO_COUNTH 0x72 |
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| 76 | #define MPU6050_LLD_FIFO_COUNTL 0x73 |
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| 77 | #define MPU6050_LLD_FIFO_R_W 0x74 |
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| 78 | #define MPU6050_LLD_WHO_AM_I 0x75 |
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| 79 | |||
| 80 | #define MPU6050_LLD_DataRate_8KHz 0 /**< Sample rate set to 8 kHz */ |
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| 81 | #define MPU6050_LLD_DataRate_4KHz 1 /**< Sample rate set to 4 kHz */ |
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| 82 | #define MPU6050_LLD_DataRate_2KHz 3 /**< Sample rate set to 2 kHz */ |
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| 83 | #define MPU6050_LLD_DataRate_1KHz 7 /**< Sample rate set to 1 kHz */ |
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| 84 | #define MPU6050_LLD_DataRate_500Hz 15 /**< Sample rate set to 500 Hz */ |
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| 85 | #define MPU6050_LLD_DataRate_250Hz 31 /**< Sample rate set to 250 Hz */ |
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| 86 | #define MPU6050_LLD_DataRate_125Hz 63 /**< Sample rate set to 125 Hz */ |
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| 87 | #define MPU6050_LLD_DataRate_100Hz 79 /**< Sample rate set to 100 Hz */ |
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| 88 | |||
| 89 | /* Who I am register value */
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| 90 | #define MPU6050_I_AM MPU6050_LLD_I2C_ADDR_FIXED
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| 91 | |||
| 92 | /* Gyro sensitivities in degrees/s */
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| 93 | #define MPU6050_LLD_GYRO_SENS_250 ((float) 131) |
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| 94 | #define MPU6050_LLD_GYRO_SENS_500 ((float) 65.5) |
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| 95 | #define MPU6050_LLD_GYRO_SENS_1000 ((float) 32.8) |
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| 96 | #define MPU6050_LLD_GYRO_SENS_2000 ((float) 16.4) |
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| 97 | |||
| 98 | /* Acce sensitivities in g/s */
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| 99 | #define MPU6050_LLD_ACCE_SENS_2 ((float) 16384) |
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| 100 | #define MPU6050_LLD_ACCE_SENS_4 ((float) 8192) |
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| 101 | #define MPU6050_LLD_ACCE_SENS_8 ((float) 4096) |
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| 102 | #define MPU6050_LLD_ACCE_SENS_16 ((float) 2048) |
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| 103 | 5d4d14a3 | Thomas Schöpping | |
| 104 | /******************************************************************************/
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| 105 | /* SETTINGS */
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| 106 | /******************************************************************************/
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| 107 | |||
| 108 | /******************************************************************************/
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| 109 | /* CHECKS */
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| 110 | /******************************************************************************/
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| 111 | |||
| 112 | /******************************************************************************/
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| 113 | /* DATA STRUCTURES AND TYPES */
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| 114 | /******************************************************************************/
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| 115 | |||
| 116 | /**
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| 117 | * @brief MPU6050 can have 2 different slave addresses, depends on it's input AD0 pin
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| 118 | * This feature allows you to use 2 different sensors with this library at the same time
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| 119 | */
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| 120 | typedef enum { |
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| 121 | SD_MPU6050_Device_0 = 0x00, /*!< AD0 pin is set to low */ |
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| 122 | SD_MPU6050_Device_1 = 0x02 /*!< AD0 pin is set to high */ |
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| 123 | } SD_MPU6050_Device; |
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| 124 | |||
| 125 | /**
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| 126 | * @brief MPU6050 result enumeration
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| 127 | */
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| 128 | typedef enum { |
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| 129 | SD_MPU6050_Result_Ok = 0x00, /*!< Everything OK */ |
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| 130 | SD_MPU6050_Result_Error, /*!< Unknown error */
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| 131 | SD_MPU6050_Result_DeviceNotConnected, /*!< There is no device with valid slave address */
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| 132 | SD_MPU6050_Result_DeviceInvalid /*!< Connected device with address is not MPU6050 */
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| 133 | } SD_MPU6050_Result; |
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| 134 | |||
| 135 | /**
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| 136 | * @brief Parameters for accelerometer range
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| 137 | */
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| 138 | typedef enum { |
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| 139 | SD_MPU6050_Accelerometer_2G = 0x00, /*!< Range is +- 2G */ |
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| 140 | SD_MPU6050_Accelerometer_4G = 0x01, /*!< Range is +- 4G */ |
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| 141 | SD_MPU6050_Accelerometer_8G = 0x02, /*!< Range is +- 8G */ |
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| 142 | SD_MPU6050_Accelerometer_16G = 0x03 /*!< Range is +- 16G */ |
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| 143 | } SD_MPU6050_Accelerometer; |
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| 144 | |||
| 145 | /**
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| 146 | * @brief Parameters for gyroscope range
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| 147 | */
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| 148 | typedef enum { |
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| 149 | SD_MPU6050_Gyroscope_250s = 0x00, /*!< Range is +- 250 degrees/s */ |
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| 150 | SD_MPU6050_Gyroscope_500s = 0x01, /*!< Range is +- 500 degrees/s */ |
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| 151 | SD_MPU6050_Gyroscope_1000s = 0x02, /*!< Range is +- 1000 degrees/s */ |
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| 152 | SD_MPU6050_Gyroscope_2000s = 0x03 /*!< Range is +- 2000 degrees/s */ |
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| 153 | } SD_MPU6050_Gyroscope; |
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| 154 | |||
| 155 | |||
| 156 | /**
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| 157 | * @brief Interrupts union and structure
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| 158 | */
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| 159 | typedef union { |
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| 160 | struct {
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| 161 | uint8_t DataReady:1; /*!< Data ready interrupt */ |
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| 162 | uint8_t reserved2:2; /*!< Reserved bits */ |
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| 163 | uint8_t Master:1; /*!< Master interrupt. Not enabled with library */ |
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| 164 | uint8_t FifoOverflow:1; /*!< FIFO overflow interrupt. Not enabled with library */ |
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| 165 | uint8_t reserved1:1; /*!< Reserved bit */ |
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| 166 | uint8_t MotionDetection:1; /*!< Motion detected interrupt */ |
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| 167 | uint8_t reserved0:1; /*!< Reserved bit */ |
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| 168 | } F; |
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| 169 | uint8_t Status; |
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| 170 | } SD_MPU6050_Interrupt; |
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| 171 | |||
| 172 | /**
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| 173 | * @brief Config register.
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| 174 | */
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| 175 | typedef union { |
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| 176 | uint16_t data; |
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| 177 | struct {
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| 178 | /**
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| 179 | ina219_lld_mode_t mode : 3;
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| 180 | ina219_lld_adc_t sadc : 4;
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| 181 | ina219_lld_adc_t badc : 4;
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| 182 | ina219_lld_gain_t gain : 2;
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| 183 | ina219_lld_brng_t brng : 1;
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| 184 | */
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| 185 | uint8_t zero : 1;
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| 186 | uint8_t reset : 1;
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| 187 | } options; |
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| 188 | } mpu6050_lld_cfg_t; |
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| 189 | |||
| 190 | |||
| 191 | /**
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| 192 | * @brief The MPU6050 struct.
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| 193 | */
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| 194 | typedef struct { |
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| 195 | apalI2CDriver_t* i2cd; |
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| 196 | apalI2Caddr_t addr; /**<The address of the module for I2C communication */
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| 197 | } MPU6050Driver; |
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| 198 | |||
| 199 | /******************************************************************************/
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| 200 | /* MACROS */
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| 201 | /******************************************************************************/
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| 202 | |||
| 203 | /******************************************************************************/
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| 204 | /* EXTERN DECLARATIONS */
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| 205 | /******************************************************************************/
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| 206 | |||
| 207 | #ifdef __cplusplus
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| 208 | extern "C" { |
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| 209 | #endif
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| 210 | b6364b51 | Thomas Schöpping | 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); |
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| 212 | 5d4d14a3 | Thomas Schöpping | #ifdef __cplusplus
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| 213 | } |
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| 214 | #endif
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| 215 | |||
| 216 | /******************************************************************************/
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| 217 | /* INLINE FUNCTIONS */
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| 218 | /******************************************************************************/
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| 219 | |||
| 220 | 9466e34d | Thomas Schöpping | #endif /* AMIROLLD_MPU6050_H */ |
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| 222 | 5d4d14a3 | Thomas Schöpping | |
| 223 | 9466e34d | Thomas Schöpping | /** @} */
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