first cut at turnon scripts for EasyTimer v2

[fw/altos] / src / drivers / ao_mpu6000.h

diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h
index 5c0cee1b1184e02dcfdcf340e815ae3f4a75cac5..ae42d4b4eed18ad601ccb9f31ea68e019a2aebd6 100644 (file)
--- a/src/drivers/ao_mpu6000.h
+++ b/src/drivers/ao_mpu6000.h
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -18,9 +19,34 @@
 #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
@@ -112,13 +138,13 @@
 #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
@@ -145,9 +171,20 @@
 /* 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 2000
+#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;
@@ -158,7 +195,25 @@ struct ao_mpu6000_sample {
        int16_t         gyro_z;
 };
 
+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_ */