123 lines
4.1 KiB
C
123 lines
4.1 KiB
C
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/**
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* @addtogroup DRIVERS Sensor Driver Layer
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* @brief Hardware drivers to communicate with sensors via I2C.
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*
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* @{
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* @file inv_mpu.h
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* @brief An I2C-based driver for Invensense gyroscopes.
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* @details This driver currently works for the following devices:
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* MPU6050
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* MPU6500
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* MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
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* MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
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*/
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#ifndef _INV_MPU_H_
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#define _INV_MPU_H_
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#define INV_X_GYRO (0x40)
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#define INV_Y_GYRO (0x20)
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#define INV_Z_GYRO (0x10)
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#define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
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#define INV_XYZ_ACCEL (0x08)
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#define INV_XYZ_COMPASS (0x01)
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struct int_param_s {
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//#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430
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void (*cb)(void);
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unsigned short pin;
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unsigned char lp_exit;
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unsigned char active_low;
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/*#elif defined EMPL_TARGET_UC3L0
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unsigned long pin;
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void (*cb)(volatile void*);
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void *arg;
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#endif */
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};
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#define MPU_INT_STATUS_DATA_READY (0x0001)
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#define MPU_INT_STATUS_DMP (0x0002)
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#define MPU_INT_STATUS_PLL_READY (0x0004)
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#define MPU_INT_STATUS_I2C_MST (0x0008)
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#define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010)
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#define MPU_INT_STATUS_ZMOT (0x0020)
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#define MPU_INT_STATUS_MOT (0x0040)
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#define MPU_INT_STATUS_FREE_FALL (0x0080)
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#define MPU_INT_STATUS_DMP_0 (0x0100)
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#define MPU_INT_STATUS_DMP_1 (0x0200)
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#define MPU_INT_STATUS_DMP_2 (0x0400)
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#define MPU_INT_STATUS_DMP_3 (0x0800)
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#define MPU_INT_STATUS_DMP_4 (0x1000)
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#define MPU_INT_STATUS_DMP_5 (0x2000)
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/* Set up APIs */
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int mpu_init(void);
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int mpu_init_slave(void);
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int mpu_set_bypass(unsigned char bypass_on);
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/* Configuration APIs */
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int mpu_lp_accel_mode(unsigned char rate);
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int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
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unsigned char lpa_freq);
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int mpu_set_int_level(unsigned char active_low);
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int mpu_set_int_latched(unsigned char enable);
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int mpu_set_dmp_state(unsigned char enable);
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int mpu_get_dmp_state(unsigned char *enabled);
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int mpu_get_lpf(unsigned short *lpf);
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int mpu_set_lpf(unsigned short lpf);
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int mpu_get_gyro_fsr(unsigned short *fsr);
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int mpu_set_gyro_fsr(unsigned short fsr);
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int mpu_get_accel_fsr(unsigned char *fsr);
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int mpu_set_accel_fsr(unsigned char fsr);
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int mpu_get_compass_fsr(unsigned short *fsr);
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int mpu_get_gyro_sens(float *sens);
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int mpu_get_accel_sens(unsigned short *sens);
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int mpu_get_sample_rate(unsigned short *rate);
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int mpu_set_sample_rate(unsigned short rate);
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int mpu_get_compass_sample_rate(unsigned short *rate);
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int mpu_set_compass_sample_rate(unsigned short rate);
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int mpu_get_fifo_config(unsigned char *sensors);
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int mpu_configure_fifo(unsigned char sensors);
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int mpu_get_power_state(unsigned char *power_on);
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int mpu_set_sensors(unsigned char sensors);
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int mpu_set_accel_bias(const long *accel_bias);
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/* Data getter/setter APIs */
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int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
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int mpu_get_accel_reg(short *data, unsigned long *timestamp);
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int mpu_get_compass_reg(short *data, unsigned long *timestamp);
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int mpu_get_temperature(long *data, unsigned long *timestamp);
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int mpu_get_int_status(short *status);
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int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
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unsigned char *sensors, unsigned char *more);
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int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
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unsigned char *more);
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int mpu_reset_fifo(void);
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int mpu_write_mem(unsigned short mem_addr, unsigned short length,
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unsigned char *data);
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int mpu_read_mem(unsigned short mem_addr, unsigned short length,
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unsigned char *data);
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int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
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unsigned short start_addr, unsigned short sample_rate);
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int mpu_reg_dump(void);
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int mpu_read_reg(unsigned char reg, unsigned char *data);
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int mpu_run_self_test(long *gyro, long *accel);
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int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
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void myget_ms(unsigned long *time);
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#endif /* #ifndef _INV_MPU_H_ */
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