84 lines
2.3 KiB
C
84 lines
2.3 KiB
C
#ifndef MPU6050_H
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#define MPU6050_H
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#include <stdint.h>
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/* Gyroscope full-scale range */
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#define MPU6050_GYRO_FS_250 0x00 /* ± 250 °/s */
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#define MPU6050_GYRO_FS_500 0x01 /* ± 500 °/s */
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#define MPU6050_GYRO_FS_1000 0x02 /* ± 1000 °/s */
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#define MPU6050_GYRO_FS_2000 0x03 /* ± 2000 °/s */
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/* Accelerometer full-scale range */
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#define MPU6050_ACC_FS_2G 0x00 /* ± 2g */
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#define MPU6050_ACC_FS_4G 0x01 /* ± 4g */
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#define MPU6050_ACC_FS_8G 0x02 /* ± 8g */
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#define MPU6050_ACC_FS_16G 0x03 /* ± 16g */
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#define MPU6050_CALIBRATION_SAMPLES 100
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struct mpu6050_dev {
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int (*init)(void);
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int (*write)(uint8_t reg, uint8_t value);
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int (*read)(uint8_t reg, uint8_t *dst, uint32_t size);
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int (*sleep)(uint32_t dur_us);
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int (*deinit)(void);
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};
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/* for configuring REG_INT_ENABLE */
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struct mpu6050_int_enable {
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uint8_t mot; /* enables motion detect interrupt */
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uint8_t fifo_overflow; /* enables FIFO buffer overflow interrupt */
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uint8_t i2c_mst; /* enables any i2c master to generate interrupt */
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uint8_t data_rdy; /* enable interrupt upon finished write to data out registers */
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};
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/* configuring variables that are written to the device */
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struct mpu6050_config {
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uint8_t gyro;
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uint8_t acc;
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uint8_t dlpl; /* digital low-pass filter level [0-7]*/
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uint8_t sdiv; /* sample rate divider. ~ lpl; lpl=(0,7) => divides 8KHz else 1 KHz*/
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struct mpu6050_int_enable int_enable;
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};
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/* 1 lsb = 1 mg (1/1000 g) */
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struct mpu6050_accelerometer {
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int16_t x;
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int16_t y;
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int16_t z;
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};
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/* 1 lsb = 0.1 deg / s */
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struct mpu6050_gyroscope {
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int16_t x;
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int16_t y;
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int16_t z;
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};
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/* stores all converted data read from the device */
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struct mpu6050_data {
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struct mpu6050_accelerometer acc;
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struct mpu6050_gyroscope gyro;
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int16_t temp;
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};
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struct mpu6050 {
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struct mpu6050_dev dev;
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struct mpu6050_config cfg;
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struct mpu6050_data data;
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};
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typedef struct mpu6050 mpu6050_t;
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int mpu6050_init(mpu6050_t *mpu6050);
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int mpu6050_deinit(mpu6050_t *mpu6050);
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int mpu6050_read_acc(mpu6050_t *mpu6050);
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int mpu6050_read_gyro(mpu6050_t *mpu6050);
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int mpu6050_read_temp(mpu6050_t *mpu6050);
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int mpu6050_read(mpu6050_t *mpu6050);
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int mpu6050_configure(mpu6050_t *mpu6050);
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int mpu6050_calibrate_gyro(mpu6050_t *mpu6050);
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int mpu6050_reset(mpu6050_t *mpu6050);
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#endif |