*
* 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
#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
-#define MPU6000_ACCEL_XOUT_H 0x3b
+/* 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_CONFIG_EXT_SYNC_SET 3
+#define MPU6000_CONFIG_EXT_SYNC_SET_DISABLED 0
+#define MPU6000_CONFIG_EXT_SYNC_SET_TEMP_OUT_L 1
+#define MPU6000_CONFIG_EXT_SYNC_SET_GYRO_XOUT_L 2
+#define MPU6000_CONFIG_EXT_SYNC_SET_GYRO_YOUT_L 3
+#define MPU6000_CONFIG_EXT_SYNC_SET_GYRO_ZOUT_L 4
+#define MPU6000_CONFIG_EXT_SYNC_SET_ACCEL_XOUT_L 5
+#define MPU6000_CONFIG_EXT_SYNC_SET_ACCEL_YOUT_L 6
+#define MPU6000_CONFIG_EXT_SYNC_SET_ACCEL_ZOUT_L 7
+#define MPU6000_CONFIG_EXT_SYNC_SET_MASK 7
+
+#define MPU6000_CONFIG_DLPF_CFG 0
+#define MPU6000_CONFIG_DLPF_CFG_260_256 0
+#define MPU6000_CONFIG_DLPF_CFG_184_188 1
+#define MPU6000_CONFIG_DLPF_CFG_94_98 2
+#define MPU6000_CONFIG_DLPF_CFG_44_42 3
+#define MPU6000_CONFIG_DLPF_CFG_21_20 4
+#define MPU6000_CONFIG_DLPF_CFG_10_10 5
+#define MPU6000_CONFIG_DLPF_CFG_5_5 6
+#define MPU6000_CONFIG_DLPF_CFG_MASK 7
+
+#define MPU6000_GYRO_CONFIG 0x1b
+# define MPU600_GYRO_CONFIG_XG_ST 7
+# define MPU600_GYRO_CONFIG_YG_ST 6
+# define MPU600_GYRO_CONFIG_ZG_ST 5
+# define MPU600_GYRO_CONFIG_FS_SEL 3
+# define MPU600_GYRO_CONFIG_FS_SEL_250 0
+# define MPU600_GYRO_CONFIG_FS_SEL_500 1
+# define MPU600_GYRO_CONFIG_FS_SEL_1000 2
+# define MPU600_GYRO_CONFIG_FS_SEL_2000 3
+# define MPU600_GYRO_CONFIG_FS_SEL_MASK 3
+
+#define MPU6000_ACCEL_CONFIG 0x1c
+# define MPU600_ACCEL_CONFIG_XA_ST 7
+# define MPU600_ACCEL_CONFIG_YA_ST 6
+# define MPU600_ACCEL_CONFIG_ZA_ST 5
+# define MPU600_ACCEL_CONFIG_AFS_SEL 3
+# define MPU600_ACCEL_CONFIG_AFS_SEL_2G 0
+# define MPU600_ACCEL_CONFIG_AFS_SEL_4G 1
+# define MPU600_ACCEL_CONFIG_AFS_SEL_8G 2
+# define MPU600_ACCEL_CONFIG_AFS_SEL_16G 3
+# define MPU600_ACCEL_CONFIG_AFS_SEL_MASK 3
+# define MPU600_ACCEL_CONFIG_ACCEL_HPF 0
+# define MPU600_ACCEL_CONFIG_ACCEL_HPF_RESET 0
+# define MPU600_ACCEL_CONFIG_ACCEL_HPF_5Hz 1
+# define MPU600_ACCEL_CONFIG_ACCEL_HPF_2_5Hz 2
+# define MPU600_ACCEL_CONFIG_ACCEL_HPF_1_25Hz 3
+# define MPU600_ACCEL_CONFIG_ACCEL_HPF_0_63Hz 4
+# define MPU600_ACCEL_CONFIG_ACCEL_HPF_HOLD 7
+# define MPU600_ACCEL_CONFIG_ACCEL_HPF_MASK 7
+
+#define MPU6000_INT_ENABLE 0x38
+#define MPU6000_INT_ENABLE_FF_EN 7
+#define MPU6000_INT_ENABLE_MOT_EN 6
+#define MPU6000_INT_ENABLE_ZMOT_EN 5
+#define MPU6000_INT_ENABLE_FIFO_OFLOW_EN 4
+#define MPU6000_INT_ENABLE_I2C_MST_INT_EN 3
+#define MPU6000_INT_ENABLE_DATA_RDY_EN 0
+
+#define MPU6000_INT_STATUS 0x3a
+#define MPU6000_INT_STATUS_FF_EN 7
+#define MPU6000_INT_STATUS_MOT_EN 6
+#define MPU6000_INT_STATUS_ZMOT_EN 5
+#define MPU6000_INT_STATUS_FIFO_OFLOW_EN 4
+#define MPU6000_INT_STATUS_I2C_MST_INT_EN 3
+#define MPU6000_INT_STATUS_DATA_RDY_EN 0
+
+#define MPU6000_ACCEL_XOUT_H 0x3b
+#define MPU6000_ACCEL_XOUT_L 0x3c
+#define MPU6000_ACCEL_YOUT_H 0x3d
+#define MPU6000_ACCEL_YOUT_L 0x3e
+#define MPU6000_ACCEL_ZOUT_H 0x3f
+#define MPU6000_ACCEL_ZOUT_L 0x40
+#define MPU6000_TEMP_H 0x41
+#define MPU6000_TEMP_L 0x42
+#define MPU6000_GYRO_XOUT_H 0x43
+#define MPU6000_GYRO_XOUT_L 0x44
+#define MPU6000_GYRO_YOUT_H 0x45
+#define MPU6000_GYRO_YOUT_L 0x46
+#define MPU6000_GYRO_ZOUT_H 0x47
+#define MPU6000_GYRO_ZOUT_L 0x48
+
+#define MPU6000_SIGNAL_PATH_RESET 0x68
+#define MPU6000_SIGNAL_PATH_RESET_GYRO_RESET 2
+#define MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET 1
+#define MPU6000_SIGNAL_PATH_RESET_TEMP_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
+#define MPU6000_PWR_MGMT_1_SLEEP 6
+#define MPU6000_PWR_MGMT_1_CYCLE 5
+#define MPU6000_PWR_MGMT_1_TEMP_DIS 3
+#define MPU6000_PWR_MGMT_1_CLKSEL 0
+#define MPU6000_PWR_MGMT_1_CLKSEL_INTERNAL 0
+#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS 1
+#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_Y_AXIS 2
+#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_Z_AXIS 3
+#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_32K 4
+#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_19M 5
+#define MPU6000_PWR_MGMT_1_CLKSEL_STOP 7
+#define MPU6000_PWR_MGMT_1_CLKSEL_MASK 7
+
+#define MPU6000_PWR_MGMT_2 0x6c
+
#define MPU6000_WHO_AM_I 0x75
+/* Self test acceleration is approximately 0.5g */
+#define MPU6000_ST_ACCEL(full_scale) (32767 / ((full_scale) * 2))
+
+/* 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 accel_z;
+ int16_t temp;
+ int16_t gyro_x;
+ int16_t gyro_y;
+ 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_ */
projects / fw / altos / blobdiff