Revision ed9a1bf5 drivers/MPU6050/v1/alld_MPU6050.h
drivers/MPU6050/v1/alld_MPU6050.h | ||
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/******************************************************************************/ |
35 | 35 |
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36 | 36 |
/** |
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* @brief Maximum I2C frequency. |
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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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/* Default I2C address */ |
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#define MPU6050_LLD_I2C_ADDR_FIXED 0x68 |
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#define MPU6050_LLD_I2C_ADDR_AD0 0x01 |
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/* MPU6050 registers */ |
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#define MPU6050_LLD_AUX_VDDIO 0x01 |
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#define MPU6050_LLD_SMPLRT_DIV 0x19 |
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#define MPU6050_LLD_CONFIG 0x1A |
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#define MPU6050_LLD_GYRO_CONFIG 0x1B |
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#define MPU6050_LLD_ACCEL_CONFIG 0x1C |
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#define MPU6050_LLD_MOTION_THRESH 0x1F |
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#define MPU6050_LLD_INT_PIN_CFG 0x37 |
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#define MPU6050_LLD_INT_ENABLE 0x38 |
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#define MPU6050_LLD_INT_STATUS 0x3A |
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#define MPU6050_LLD_ACCEL_XOUT_H 0x3B |
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#define MPU6050_LLD_ACCEL_XOUT_L 0x3C |
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#define MPU6050_LLD_ACCEL_YOUT_H 0x3D |
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#define MPU6050_LLD_ACCEL_YOUT_L 0x3E |
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#define MPU6050_LLD_ACCEL_ZOUT_H 0x3F |
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#define MPU6050_LLD_ACCEL_ZOUT_L 0x40 |
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#define MPU6050_LLD_TEMP_OUT_H 0x41 |
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#define MPU6050_LLD_TEMP_OUT_L 0x42 |
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#define MPU6050_LLD_GYRO_XOUT_H 0x43 |
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#define MPU6050_LLD_GYRO_XOUT_L 0x44 |
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#define MPU6050_LLD_GYRO_YOUT_H 0x45 |
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#define MPU6050_LLD_GYRO_YOUT_L 0x46 |
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#define MPU6050_LLD_GYRO_ZOUT_H 0x47 |
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#define MPU6050_LLD_GYRO_ZOUT_L 0x48 |
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#define MPU6050_LLD_MOT_DETECT_STATUS 0x61 |
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#define MPU6050_LLD_SIGNAL_PATH_RESET 0x68 |
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#define MPU6050_LLD_MOT_DETECT_CTRL 0x69 |
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#define MPU6050_LLD_USER_CTRL 0x6A |
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#define MPU6050_LLD_PWR_MGMT_1 0x6B |
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#define MPU6050_LLD_PWR_MGMT_2 0x6C |
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#define MPU6050_LLD_FIFO_COUNTH 0x72 |
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#define MPU6050_LLD_FIFO_COUNTL 0x73 |
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#define MPU6050_LLD_FIFO_R_W 0x74 |
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#define MPU6050_LLD_WHO_AM_I 0x75 |
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#define MPU6050_LLD_DataRate_8KHz 0 /**< Sample rate set to 8 kHz */ |
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#define MPU6050_LLD_DataRate_4KHz 1 /**< Sample rate set to 4 kHz */ |
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#define MPU6050_LLD_DataRate_2KHz 3 /**< Sample rate set to 2 kHz */ |
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#define MPU6050_LLD_DataRate_1KHz 7 /**< Sample rate set to 1 kHz */ |
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#define MPU6050_LLD_DataRate_500Hz 15 /**< Sample rate set to 500 Hz */ |
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#define MPU6050_LLD_DataRate_250Hz 31 /**< Sample rate set to 250 Hz */ |
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#define MPU6050_LLD_DataRate_125Hz 63 /**< Sample rate set to 125 Hz */ |
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#define MPU6050_LLD_DataRate_100Hz 79 /**< Sample rate set to 100 Hz */ |
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/* Who I am register value */ |
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#define MPU6050_I_AM MPU6050_LLD_I2C_ADDR_FIXED |
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/* Gyro sensitivities in degrees/s */ |
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#define MPU6050_LLD_GYRO_SENS_250 ((float) 131) |
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#define MPU6050_LLD_GYRO_SENS_500 ((float) 65.5) |
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#define MPU6050_LLD_GYRO_SENS_1000 ((float) 32.8) |
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#define MPU6050_LLD_GYRO_SENS_2000 ((float) 16.4) |
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/* Acce sensitivities in g/s */ |
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#define MPU6050_LLD_ACCE_SENS_2 ((float) 16384) |
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#define MPU6050_LLD_ACCE_SENS_4 ((float) 8192) |
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#define MPU6050_LLD_ACCE_SENS_8 ((float) 4096) |
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#define MPU6050_LLD_ACCE_SENS_16 ((float) 2048) |
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#define MPU6050_LLD_I2C_MAXFREQUENCY 400000 |
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/** |
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* @brief Default I2C address |
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*/ |
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#define MPU6050_LLD_I2C_ADDR_FIXED 0x68 |
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/** |
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* @brief Optional I2C address mask, if AD0 is high. |
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*/ |
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#define MPU6050_LLD_I2C_ADDR_AD0 0x01 |
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/** |
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* @brief Constant value of the WHO_AM_I register. |
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*/ |
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#define MPU6050_LLD_WHO_AM_I 0x68 |
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/******************************************************************************/ |
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/* SETTINGS */ |
... | ... | |
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/******************************************************************************/ |
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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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* @brief Register map. |
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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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MPU6050_LLD_REGISTER_SELF_TEST_X = 0x0D, |
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MPU6050_LLD_REGISTER_SELF_TEST_Y = 0x0E, |
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MPU6050_LLD_REGISTER_SELF_TEST_Z = 0x0F, |
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MPU6050_LLD_REGISTER_SELF_TEST_A = 0x10, |
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MPU6050_LLD_REGISTER_SMPLRT_DIV = 0x19, |
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MPU6050_LLD_REGISTER_CONFIG = 0x1A, |
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MPU6050_LLD_REGISTER_GYRO_CONFIG = 0x1B, |
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MPU6050_LLD_REGISTER_ACCEL_CONFIG = 0x1C, |
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MPU6050_LLD_REGISTER_FIFO_EN = 0x23, |
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MPU6050_LLD_REGISTER_I2C_MST_CTRL = 0x24, |
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MPU6050_LLD_REGISTER_I2C_SLV0_ADDR = 0x25, |
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MPU6050_LLD_REGISTER_I2C_SLV0_REG = 0x26, |
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MPU6050_LLD_REGISTER_I2C_SLV0_CTRL = 0x27, |
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MPU6050_LLD_REGISTER_I2C_SLV1_ADDR = 0x28, |
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MPU6050_LLD_REGISTER_I2C_SLV1_REG = 0x29, |
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MPU6050_LLD_REGISTER_I2C_SLV1_CTRL = 0x2A, |
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MPU6050_LLD_REGISTER_I2C_SLV2_ADDR = 0x2B, |
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MPU6050_LLD_REGISTER_I2C_SLV2_REG = 0x2C, |
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MPU6050_LLD_REGISTER_I2C_SLV2_CTRL = 0x2D, |
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MPU6050_LLD_REGISTER_I2C_SLV3_ADDR = 0x2E, |
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MPU6050_LLD_REGISTER_I2C_SLV3_REG = 0x2F, |
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MPU6050_LLD_REGISTER_I2C_SLV3_CTRL = 0x30, |
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MPU6050_LLD_REGISTER_I2C_SLV4_ADDR = 0x31, |
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MPU6050_LLD_REGISTER_I2C_SLV4_REG = 0x32, |
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MPU6050_LLD_REGISTER_I2C_SLV4_DO = 0x33, |
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MPU6050_LLD_REGISTER_I2C_SLV4_CTRL = 0x34, |
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MPU6050_LLD_REGISTER_I2C_SLV4_DI = 0x35, |
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MPU6050_LLD_REGISTER_I2C_MST_STATUS = 0x36, |
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MPU6050_LLD_REGISTER_INT_PIN_CFG = 0x37, |
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MPU6050_LLD_REGISTER_INT_ENABLE = 0x38, |
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MPU6050_LLD_REGISTER_INT_STATUS = 0x3A, |
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MPU6050_LLD_REGISTER_ACCEL_XOUT_H = 0x3B, |
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MPU6050_LLD_REGISTER_ACCEL_XOUT_L = 0x3C, |
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MPU6050_LLD_REGISTER_ACCEL_YOUT_H = 0x3D, |
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MPU6050_LLD_REGISTER_ACCEL_YOUT_L = 0x3E, |
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MPU6050_LLD_REGISTER_ACCEL_ZOUT_H = 0x3F, |
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MPU6050_LLD_REGISTER_ACCEL_ZOUT_L = 0x40, |
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MPU6050_LLD_REGISTER_TEMP_OUT_H = 0x41, |
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MPU6050_LLD_REGISTER_TEMP_OUT_L = 0x42, |
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MPU6050_LLD_REGISTER_GYRO_XOUT_H = 0x43, |
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MPU6050_LLD_REGISTER_GYRO_XOUT_L = 0x44, |
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MPU6050_LLD_REGISTER_GYRO_YOUT_H = 0x45, |
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MPU6050_LLD_REGISTER_GYRO_YOUT_L = 0x46, |
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MPU6050_LLD_REGISTER_GYRO_ZOUT_H = 0x47, |
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MPU6050_LLD_REGISTER_GYRO_ZOUT_L = 0x48, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_00 = 0x49, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_01 = 0x4A, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_02 = 0x4B, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_03 = 0x4C, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_04 = 0x4D, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_05 = 0x4E, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_06 = 0x4F, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_07 = 0x50, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_08 = 0x51, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_09 = 0x52, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_10 = 0x53, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_11 = 0x54, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_12 = 0x55, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_13 = 0x56, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_14 = 0x57, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_15 = 0x58, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_16 = 0x59, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_17 = 0x5A, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_18 = 0x5B, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_19 = 0x5C, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_20 = 0x5D, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_21 = 0x5E, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_22 = 0x5F, |
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MPU6050_LLD_REGISTER_EXT_SENS_DATA_23 = 0x60, |
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MPU6050_LLD_REGISTER_I2C_SLV0_DO = 0x63, |
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MPU6050_LLD_REGISTER_I2C_SLV1_DO = 0x64, |
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MPU6050_LLD_REGISTER_I2C_SLV2_DO = 0x65, |
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MPU6050_LLD_REGISTER_I2C_SLV3_DO = 0x66, |
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MPU6050_LLD_REGISTER_I2C_MST_DELAY_CTRL = 0x67, |
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MPU6050_LLD_REGISTER_SIGNAL_PATH_RESET = 0x68, |
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MPU6050_LLD_REGISTER_USER_CTRL = 0x6A, |
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MPU6050_LLD_REGISTER_PWR_MGMT_1 = 0x6B, |
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MPU6050_LLD_REGISTER_PWR_MGMT_2 = 0x6C, |
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MPU6050_LLD_REGISTER_FIFO_COUNTH = 0x72, |
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MPU6050_LLD_REGISTER_FIFO_COUNTL = 0x73, |
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MPU6050_LLD_REGISTER_FIFO_R_W = 0x74, |
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MPU6050_LLD_REGISTER_WHO_AM_I = 0x75, |
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} mpu6050_lld_register_t; |
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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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* @brief The MPU6050Driver 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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apalI2CDriver_t* i2cd; /**< Pointer to the connected I2C driver. */
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apalI2Caddr_t addr; /**< The address of the module for I2C communication. */
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} MPU6050Driver; |
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/******************************************************************************/ |
... | ... | |
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#ifdef __cplusplus |
208 | 173 |
extern "C" { |
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#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);
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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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apalExitStatus_t mpu6050_lld_read_register(const MPU6050Driver* const mpu6050, const mpu6050_lld_register_t addr, uint8_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 uint8_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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#endif /* AMIROLLD_MPU6050_H */ |
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/** @} */ |
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