X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu6000.h;h=ca76b08128ddc3888cb611f30a295b5f9cbdd6bc;hp=d436a3e008ca4657a6ba4a886715c57c9e21ab0a;hb=583458772746317b98fced907ec780edff465888;hpb=e0b8c614ec4d11f432963e48d94e4497d31a9ddc diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h index d436a3e0..ca76b081 100644 --- a/src/drivers/ao_mpu6000.h +++ b/src/drivers/ao_mpu6000.h @@ -21,9 +21,140 @@ #define MPU6000_ADDR_WRITE 0xd0 #define MPU6000_ADDR_READ 0xd1 -#define MPU6000_ACCEL_XOUT_H 0x3b +#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_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_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))) + +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; +}; + void ao_mpu6000_init(void);