X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu6000.h;h=ae42d4b4eed18ad601ccb9f31ea68e019a2aebd6;hp=ca76b08128ddc3888cb611f30a295b5f9cbdd6bc;hb=6aeb000899ad7f22e92b487b5891664554bc4d33;hpb=f89e7de20374141b367205aa517a08ee203bfaf3

diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h
index ca76b081..ae42d4b4 100644
--- 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
@@ -145,6 +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	((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;
@@ -155,7 +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_ */