MPU6050 library
Dependents: CSSE4011_BLE_IMU_Project_rev2 Seeed_Tiny_BLE_Get_Started nrf51822_fix_i2c_spi_conflict balanceboard ... more
inv_mpu.h@1:6aedb937cb38, 2015-11-05 (annotated)
- Committer:
- yihui
- Date:
- Thu Nov 05 01:38:50 2015 +0000
- Revision:
- 1:6aedb937cb38
- Parent:
- 0:1b6dab73c06b
add mbed_i2c_clear() function; ; use mbed_i2c_clear to recover i2c bus when i2c is stuck
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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yihui | 0:1b6dab73c06b | 1 | /* |
yihui | 0:1b6dab73c06b | 2 | $License: |
yihui | 0:1b6dab73c06b | 3 | Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. |
yihui | 0:1b6dab73c06b | 4 | See included License.txt for License information. |
yihui | 0:1b6dab73c06b | 5 | $ |
yihui | 0:1b6dab73c06b | 6 | */ |
yihui | 0:1b6dab73c06b | 7 | /** |
yihui | 0:1b6dab73c06b | 8 | * @addtogroup DRIVERS Sensor Driver Layer |
yihui | 0:1b6dab73c06b | 9 | * @brief Hardware drivers to communicate with sensors via I2C. |
yihui | 0:1b6dab73c06b | 10 | * |
yihui | 0:1b6dab73c06b | 11 | * @{ |
yihui | 0:1b6dab73c06b | 12 | * @file inv_mpu.h |
yihui | 0:1b6dab73c06b | 13 | * @brief An I2C-based driver for Invensense gyroscopes. |
yihui | 0:1b6dab73c06b | 14 | * @details This driver currently works for the following devices: |
yihui | 0:1b6dab73c06b | 15 | * MPU6050 |
yihui | 0:1b6dab73c06b | 16 | * MPU6500 |
yihui | 0:1b6dab73c06b | 17 | * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) |
yihui | 0:1b6dab73c06b | 18 | * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) |
yihui | 0:1b6dab73c06b | 19 | */ |
yihui | 0:1b6dab73c06b | 20 | |
yihui | 0:1b6dab73c06b | 21 | #ifndef _INV_MPU_H_ |
yihui | 0:1b6dab73c06b | 22 | #define _INV_MPU_H_ |
yihui | 0:1b6dab73c06b | 23 | |
yihui | 0:1b6dab73c06b | 24 | #ifdef __cplusplus |
yihui | 0:1b6dab73c06b | 25 | extern "C" { |
yihui | 0:1b6dab73c06b | 26 | #endif |
yihui | 0:1b6dab73c06b | 27 | |
yihui | 0:1b6dab73c06b | 28 | #define INV_X_GYRO (0x40) |
yihui | 0:1b6dab73c06b | 29 | #define INV_Y_GYRO (0x20) |
yihui | 0:1b6dab73c06b | 30 | #define INV_Z_GYRO (0x10) |
yihui | 0:1b6dab73c06b | 31 | #define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO) |
yihui | 0:1b6dab73c06b | 32 | #define INV_XYZ_ACCEL (0x08) |
yihui | 0:1b6dab73c06b | 33 | #define INV_XYZ_COMPASS (0x01) |
yihui | 0:1b6dab73c06b | 34 | |
yihui | 0:1b6dab73c06b | 35 | struct int_param_s { |
yihui | 0:1b6dab73c06b | 36 | #if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 |
yihui | 0:1b6dab73c06b | 37 | void (*cb)(void); |
yihui | 0:1b6dab73c06b | 38 | unsigned short pin; |
yihui | 0:1b6dab73c06b | 39 | unsigned char lp_exit; |
yihui | 0:1b6dab73c06b | 40 | unsigned char active_low; |
yihui | 0:1b6dab73c06b | 41 | #elif defined EMPL_TARGET_UC3L0 |
yihui | 0:1b6dab73c06b | 42 | unsigned long pin; |
yihui | 0:1b6dab73c06b | 43 | void (*cb)(volatile void*); |
yihui | 0:1b6dab73c06b | 44 | void *arg; |
yihui | 0:1b6dab73c06b | 45 | #elif defined __MBED__ |
yihui | 0:1b6dab73c06b | 46 | unsigned int pin; |
yihui | 0:1b6dab73c06b | 47 | void (*cb)(void); |
yihui | 0:1b6dab73c06b | 48 | #endif |
yihui | 0:1b6dab73c06b | 49 | }; |
yihui | 0:1b6dab73c06b | 50 | |
yihui | 0:1b6dab73c06b | 51 | #define MPU_INT_STATUS_DATA_READY (0x0001) |
yihui | 0:1b6dab73c06b | 52 | #define MPU_INT_STATUS_DMP (0x0002) |
yihui | 0:1b6dab73c06b | 53 | #define MPU_INT_STATUS_PLL_READY (0x0004) |
yihui | 0:1b6dab73c06b | 54 | #define MPU_INT_STATUS_I2C_MST (0x0008) |
yihui | 0:1b6dab73c06b | 55 | #define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010) |
yihui | 0:1b6dab73c06b | 56 | #define MPU_INT_STATUS_ZMOT (0x0020) |
yihui | 0:1b6dab73c06b | 57 | #define MPU_INT_STATUS_MOT (0x0040) |
yihui | 0:1b6dab73c06b | 58 | #define MPU_INT_STATUS_FREE_FALL (0x0080) |
yihui | 0:1b6dab73c06b | 59 | #define MPU_INT_STATUS_DMP_0 (0x0100) |
yihui | 0:1b6dab73c06b | 60 | #define MPU_INT_STATUS_DMP_1 (0x0200) |
yihui | 0:1b6dab73c06b | 61 | #define MPU_INT_STATUS_DMP_2 (0x0400) |
yihui | 0:1b6dab73c06b | 62 | #define MPU_INT_STATUS_DMP_3 (0x0800) |
yihui | 0:1b6dab73c06b | 63 | #define MPU_INT_STATUS_DMP_4 (0x1000) |
yihui | 0:1b6dab73c06b | 64 | #define MPU_INT_STATUS_DMP_5 (0x2000) |
yihui | 0:1b6dab73c06b | 65 | |
yihui | 0:1b6dab73c06b | 66 | /* Set up APIs */ |
yihui | 0:1b6dab73c06b | 67 | int mpu_init(struct int_param_s *int_param); |
yihui | 0:1b6dab73c06b | 68 | int mpu_init_slave(void); |
yihui | 0:1b6dab73c06b | 69 | int mpu_set_bypass(unsigned char bypass_on); |
yihui | 0:1b6dab73c06b | 70 | |
yihui | 0:1b6dab73c06b | 71 | /* Configuration APIs */ |
yihui | 0:1b6dab73c06b | 72 | int mpu_lp_accel_mode(unsigned char rate); |
yihui | 0:1b6dab73c06b | 73 | int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, |
yihui | 0:1b6dab73c06b | 74 | unsigned char lpa_freq); |
yihui | 0:1b6dab73c06b | 75 | int mpu_set_int_level(unsigned char active_low); |
yihui | 0:1b6dab73c06b | 76 | int mpu_set_int_latched(unsigned char enable); |
yihui | 0:1b6dab73c06b | 77 | |
yihui | 0:1b6dab73c06b | 78 | int mpu_set_dmp_state(unsigned char enable); |
yihui | 0:1b6dab73c06b | 79 | int mpu_get_dmp_state(unsigned char *enabled); |
yihui | 0:1b6dab73c06b | 80 | |
yihui | 0:1b6dab73c06b | 81 | int mpu_get_lpf(unsigned short *lpf); |
yihui | 0:1b6dab73c06b | 82 | int mpu_set_lpf(unsigned short lpf); |
yihui | 0:1b6dab73c06b | 83 | |
yihui | 0:1b6dab73c06b | 84 | int mpu_get_gyro_fsr(unsigned short *fsr); |
yihui | 0:1b6dab73c06b | 85 | int mpu_set_gyro_fsr(unsigned short fsr); |
yihui | 0:1b6dab73c06b | 86 | |
yihui | 0:1b6dab73c06b | 87 | int mpu_get_accel_fsr(unsigned char *fsr); |
yihui | 0:1b6dab73c06b | 88 | int mpu_set_accel_fsr(unsigned char fsr); |
yihui | 0:1b6dab73c06b | 89 | |
yihui | 0:1b6dab73c06b | 90 | int mpu_get_compass_fsr(unsigned short *fsr); |
yihui | 0:1b6dab73c06b | 91 | |
yihui | 0:1b6dab73c06b | 92 | int mpu_get_gyro_sens(float *sens); |
yihui | 0:1b6dab73c06b | 93 | int mpu_get_accel_sens(unsigned short *sens); |
yihui | 0:1b6dab73c06b | 94 | |
yihui | 0:1b6dab73c06b | 95 | int mpu_get_sample_rate(unsigned short *rate); |
yihui | 0:1b6dab73c06b | 96 | int mpu_set_sample_rate(unsigned short rate); |
yihui | 0:1b6dab73c06b | 97 | int mpu_get_compass_sample_rate(unsigned short *rate); |
yihui | 0:1b6dab73c06b | 98 | int mpu_set_compass_sample_rate(unsigned short rate); |
yihui | 0:1b6dab73c06b | 99 | |
yihui | 0:1b6dab73c06b | 100 | int mpu_get_fifo_config(unsigned char *sensors); |
yihui | 0:1b6dab73c06b | 101 | int mpu_configure_fifo(unsigned char sensors); |
yihui | 0:1b6dab73c06b | 102 | |
yihui | 0:1b6dab73c06b | 103 | int mpu_get_power_state(unsigned char *power_on); |
yihui | 0:1b6dab73c06b | 104 | int mpu_set_sensors(unsigned char sensors); |
yihui | 0:1b6dab73c06b | 105 | |
yihui | 0:1b6dab73c06b | 106 | int mpu_read_6500_accel_bias(long *accel_bias); |
yihui | 0:1b6dab73c06b | 107 | int mpu_set_gyro_bias_reg(long * gyro_bias); |
yihui | 0:1b6dab73c06b | 108 | int mpu_set_accel_bias_6500_reg(const long *accel_bias); |
yihui | 0:1b6dab73c06b | 109 | int mpu_read_6050_accel_bias(long *accel_bias); |
yihui | 0:1b6dab73c06b | 110 | int mpu_set_accel_bias_6050_reg(const long *accel_bias); |
yihui | 0:1b6dab73c06b | 111 | |
yihui | 0:1b6dab73c06b | 112 | /* Data getter/setter APIs */ |
yihui | 0:1b6dab73c06b | 113 | int mpu_get_gyro_reg(short *data, unsigned long *timestamp); |
yihui | 0:1b6dab73c06b | 114 | int mpu_get_accel_reg(short *data, unsigned long *timestamp); |
yihui | 0:1b6dab73c06b | 115 | int mpu_get_compass_reg(short *data, unsigned long *timestamp); |
yihui | 0:1b6dab73c06b | 116 | int mpu_get_temperature(long *data, unsigned long *timestamp); |
yihui | 0:1b6dab73c06b | 117 | |
yihui | 0:1b6dab73c06b | 118 | int mpu_get_int_status(short *status); |
yihui | 0:1b6dab73c06b | 119 | int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, |
yihui | 0:1b6dab73c06b | 120 | unsigned char *sensors, unsigned char *more); |
yihui | 0:1b6dab73c06b | 121 | int mpu_read_fifo_stream(unsigned short length, unsigned char *data, |
yihui | 0:1b6dab73c06b | 122 | unsigned char *more); |
yihui | 0:1b6dab73c06b | 123 | int mpu_reset_fifo(void); |
yihui | 0:1b6dab73c06b | 124 | |
yihui | 0:1b6dab73c06b | 125 | int mpu_write_mem(unsigned short mem_addr, unsigned short length, |
yihui | 0:1b6dab73c06b | 126 | unsigned char *data); |
yihui | 0:1b6dab73c06b | 127 | int mpu_read_mem(unsigned short mem_addr, unsigned short length, |
yihui | 0:1b6dab73c06b | 128 | unsigned char *data); |
yihui | 0:1b6dab73c06b | 129 | int mpu_load_firmware(unsigned short length, const unsigned char *firmware, |
yihui | 0:1b6dab73c06b | 130 | unsigned short start_addr, unsigned short sample_rate); |
yihui | 0:1b6dab73c06b | 131 | |
yihui | 0:1b6dab73c06b | 132 | int mpu_reg_dump(void); |
yihui | 0:1b6dab73c06b | 133 | int mpu_read_reg(unsigned char reg, unsigned char *data); |
yihui | 0:1b6dab73c06b | 134 | int mpu_run_self_test(long *gyro, long *accel); |
yihui | 0:1b6dab73c06b | 135 | int mpu_run_6500_self_test(long *gyro, long *accel, unsigned char debug); |
yihui | 0:1b6dab73c06b | 136 | int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char)); |
yihui | 0:1b6dab73c06b | 137 | |
yihui | 0:1b6dab73c06b | 138 | #ifdef __cplusplus |
yihui | 0:1b6dab73c06b | 139 | } |
yihui | 0:1b6dab73c06b | 140 | #endif |
yihui | 0:1b6dab73c06b | 141 | |
yihui | 0:1b6dab73c06b | 142 | #endif /* #ifndef _INV_MPU_H_ */ |
yihui | 0:1b6dab73c06b | 143 |