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90 lines
2.0 KiB
90 lines
2.0 KiB
/* |
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* Copyright (c) 2016 Intel Corporation |
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* |
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* SPDX-License-Identifier: Apache-2.0 |
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*/ |
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#ifndef ZEPHYR_DRIVERS_SENSOR_MPU6050_MPU6050_H_ |
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#define ZEPHYR_DRIVERS_SENSOR_MPU6050_MPU6050_H_ |
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#include <device.h> |
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#include <drivers/gpio.h> |
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#include <sys/util.h> |
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#include <zephyr/types.h> |
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#define MPU6050_REG_CHIP_ID 0x75 |
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#define MPU6050_CHIP_ID 0x68 |
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#define MPU9250_CHIP_ID 0x71 |
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#define MPU6050_REG_GYRO_CFG 0x1B |
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#define MPU6050_GYRO_FS_SHIFT 3 |
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#define MPU6050_REG_ACCEL_CFG 0x1C |
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#define MPU6050_ACCEL_FS_SHIFT 3 |
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#define MPU6050_REG_INT_EN 0x38 |
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#define MPU6050_DRDY_EN BIT(0) |
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#define MPU6050_REG_DATA_START 0x3B |
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#define MPU6050_REG_PWR_MGMT1 0x6B |
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#define MPU6050_SLEEP_EN BIT(6) |
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/* measured in degrees/sec x10 to avoid floating point */ |
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static const uint16_t mpu6050_gyro_sensitivity_x10[] = { |
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1310, 655, 328, 164 |
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}; |
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struct mpu6050_data { |
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const struct device *i2c; |
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int16_t accel_x; |
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int16_t accel_y; |
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int16_t accel_z; |
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uint16_t accel_sensitivity_shift; |
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int16_t temp; |
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int16_t gyro_x; |
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int16_t gyro_y; |
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int16_t gyro_z; |
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uint16_t gyro_sensitivity_x10; |
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#ifdef CONFIG_MPU6050_TRIGGER |
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const struct device *dev; |
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const struct device *gpio; |
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struct gpio_callback gpio_cb; |
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struct sensor_trigger data_ready_trigger; |
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sensor_trigger_handler_t data_ready_handler; |
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#if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD) |
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K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_MPU6050_THREAD_STACK_SIZE); |
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struct k_thread thread; |
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struct k_sem gpio_sem; |
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#elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD) |
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struct k_work work; |
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#endif |
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#endif /* CONFIG_MPU6050_TRIGGER */ |
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}; |
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struct mpu6050_config { |
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const char *i2c_label; |
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uint16_t i2c_addr; |
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#ifdef CONFIG_MPU6050_TRIGGER |
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uint8_t int_pin; |
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uint8_t int_flags; |
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const char *int_label; |
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#endif /* CONFIG_MPU6050_TRIGGER */ |
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}; |
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#ifdef CONFIG_MPU6050_TRIGGER |
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int mpu6050_trigger_set(const struct device *dev, |
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const struct sensor_trigger *trig, |
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sensor_trigger_handler_t handler); |
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int mpu6050_init_interrupt(const struct device *dev); |
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#endif |
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#endif /* __SENSOR_MPU6050__ */
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