#ifndef _AO_MPU6000_H_
#define _AO_MPU6000_H_
+#ifndef M_PI
+#define M_PI 3.1415926535897832384626433
+#endif
+
#define MPU6000_ADDR_WRITE 0xd0
#define MPU6000_ADDR_READ 0xd1
+/* From Tridge */
+#define MPUREG_XG_OFFS_TC 0x00
+#define MPUREG_YG_OFFS_TC 0x01
+#define MPUREG_ZG_OFFS_TC 0x02
+#define MPUREG_X_FINE_GAIN 0x03
+#define MPUREG_Y_FINE_GAIN 0x04
+#define MPUREG_Z_FINE_GAIN 0x05
+#define MPUREG_XA_OFFS_H 0x06 // X axis accelerometer offset (high byte)
+#define MPUREG_XA_OFFS_L 0x07 // X axis accelerometer offset (low byte)
+#define MPUREG_YA_OFFS_H 0x08 // Y axis accelerometer offset (high byte)
+#define MPUREG_YA_OFFS_L 0x09 // Y axis accelerometer offset (low byte)
+#define MPUREG_ZA_OFFS_H 0x0A // Z axis accelerometer offset (high byte)
+#define MPUREG_ZA_OFFS_L 0x0B // Z axis accelerometer offset (low byte)
+#define MPUREG_PRODUCT_ID 0x0C // Product ID Register
+#define MPUREG_XG_OFFS_USRH 0x13 // X axis gyro offset (high byte)
+#define MPUREG_XG_OFFS_USRL 0x14 // X axis gyro offset (low byte)
+#define MPUREG_YG_OFFS_USRH 0x15 // Y axis gyro offset (high byte)
+#define MPUREG_YG_OFFS_USRL 0x16 // Y axis gyro offset (low byte)
+#define MPUREG_ZG_OFFS_USRH 0x17 // Z axis gyro offset (high byte)
+#define MPUREG_ZG_OFFS_USRL 0x18 // Z axis gyro offset (low byte)
+
#define MPU6000_SMPRT_DIV 0x19
#define MPU6000_CONFIG 0x1a
#define MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET 1
#define MPU6000_SIGNAL_PATH_RESET_TEMP_RESET 0
-#define MPU6000_USER_CONTROL 0x6a
-#define MPU6000_USER_CONTROL_FIFO_EN 6
-#define MPU6000_USER_CONTROL_I2C_MST_EN 5
-#define MPU6000_USER_CONTROL_I2C_IF_DIS 4
-#define MPU6000_USER_CONTROL_FIFO_RESET 2
-#define MPU6000_USER_CONTROL_I2C_MST_RESET 1
-#define MPU6000_USER_CONTROL_SIG_COND_RESET 0
+#define MPU6000_USER_CTRL 0x6a
+#define MPU6000_USER_CTRL_FIFO_EN 6
+#define MPU6000_USER_CTRL_I2C_MST_EN 5
+#define MPU6000_USER_CTRL_I2C_IF_DIS 4
+#define MPU6000_USER_CTRL_FIFO_RESET 2
+#define MPU6000_USER_CTRL_I2C_MST_RESET 1
+#define MPU6000_USER_CTRL_SIG_COND_RESET 0
#define MPU6000_PWR_MGMT_1 0x6b
#define MPU6000_PWR_MGMT_1_DEVICE_RESET 7
/* Self test gyro is approximately 50°/s */
#define MPU6000_ST_GYRO(full_scale) ((int16_t) (((int32_t) 32767 * (int32_t) 50) / (full_scale)))
+#define MPU6000_GYRO_FULLSCALE ((float) 2000 * M_PI/180.0)
+
+static inline float
+ao_mpu6000_gyro(float sensor) {
+ return sensor * ((float) (MPU6000_GYRO_FULLSCALE / 32767.0));
+}
+
+#define MPU6000_ACCEL_FULLSCALE 16
+
+static inline float
+ao_mpu6000_accel(int16_t sensor) {
+ return (float) sensor * ((float) (MPU6000_ACCEL_FULLSCALE * GRAVITY / 32767.0));
+}
+
struct ao_mpu6000_sample {
int16_t accel_x;
int16_t accel_y;
int16_t gyro_z;
};
-extern struct ao_mpu6000_sample ao_mpu6000_current;
-extern uint8_t ao_mpu6000_valid;
+extern struct ao_mpu6000_sample ao_mpu6000_current;
void
ao_mpu6000_init(void);
+/* Product ID Description for MPU6000
+ * high 4 bits low 4 bits
+ * Product Name Product Revision
+ */
+#define MPU6000ES_REV_C4 0x14 /* 0001 0100 */
+#define MPU6000ES_REV_C5 0x15 /* 0001 0101 */
+#define MPU6000ES_REV_D6 0x16 /* 0001 0110 */
+#define MPU6000ES_REV_D7 0x17 /* 0001 0111 */
+#define MPU6000ES_REV_D8 0x18 /* 0001 1000 */
+#define MPU6000_REV_C4 0x54 /* 0101 0100 */
+#define MPU6000_REV_C5 0x55 /* 0101 0101 */
+#define MPU6000_REV_D6 0x56 /* 0101 0110 */
+#define MPU6000_REV_D7 0x57 /* 0101 0111 */
+#define MPU6000_REV_D8 0x58 /* 0101 1000 */
+#define MPU6000_REV_D9 0x59 /* 0101 1001 */
+
#endif /* _AO_MPU6000_H_ */