Merge pull request #425 from BernardXiong/masterv2.0.0

[DeviceDrivers] Add more sensor drivers.

1 files changed, 193 insertions, 0 deletions

diff --git a/components/drivers/sensors/mpu6050_sensor.h b/components/drivers/sensors/mpu6050_sensor.h
new file mode 100644
index 0000000000..c7e28ba28e
--- /dev/null
+++ b/components/drivers/sensors/mpu6050_sensor.h
@@ -0,0 +1,193 @@
+/*
+ * File      : MPU6050_sensor.h
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2014, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2014-12-20     Bernard      the first version
+ * 2015-1-11     RT_learning   modify the mpu6050 ID
+ */
+
+#ifndef MPU6050_SENSOR_H__
+#define MPU6050_SENSOR_H__
+
+#include <sensor.h>
+
+#define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
+#define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
+#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW
+
+#define MPU6050_XG_OFFS_TC          0x00
+#define MPU6050_YG_OFFS_TC          0x01
+#define MPU6050_ZG_OFFS_TC          0x02
+#define MPU6050_X_FINE_GAIN         0x03
+#define MPU6050_Y_FINE_GAIN         0x04
+#define MPU6050_Z_FINE_GAIN         0x05
+#define MPU6050_XA_OFFS_H           0x06
+#define MPU6050_XA_OFFS_L           0x07
+#define MPU6050_YA_OFFS_H           0x08
+#define MPU6050_YA_OFFS_L           0x09
+#define MPU6050_ZA_OFFS_H           0x0A
+#define MPU6050_ZA_OFFS_L           0x0B
+#define MPU6050_PRODUCT_ID          0x0C
+#define MPU6050_SELF_TEST_X         0x0D
+#define MPU6050_SELF_TEST_Y         0x0E
+#define MPU6050_SELF_TEST_Z         0x0F
+#define MPU6050_SELF_TEST_A         0x10
+#define MPU6050_XG_OFFS_USRH        0x13
+#define MPU6050_XG_OFFS_USRL        0x14
+#define MPU6050_YG_OFFS_USRH        0x15
+#define MPU6050_YG_OFFS_USRL        0x16
+#define MPU6050_ZG_OFFS_USRH        0x17
+#define MPU6050_ZG_OFFS_USRL        0x18
+#define MPU6050_SMPLRT_DIV          0x19
+#define MPU6050_CONFIG              0x1A
+#define MPU6050_GYRO_CONFIG         0x1B
+#define MPU6050_ACCEL_CONFIG        0x1C
+#define MPU6050_ACCEL_CONFIG_2      0x1D
+#define MPU6050_LP_ACCEL_ODR        0x1E
+#define MPU6050_MOT_THR             0x1F
+#define MPU6050_FIFO_EN             0x23
+#define MPU6050_I2C_MST_CTRL        0x24
+#define MPU6050_I2C_SLV0_ADDR       0x25
+#define MPU6050_I2C_SLV0_REG        0x26
+#define MPU6050_I2C_SLV0_CTRL       0x27
+#define MPU6050_I2C_SLV1_ADDR       0x28
+#define MPU6050_I2C_SLV1_REG        0x29
+#define MPU6050_I2C_SLV1_CTRL       0x2A
+#define MPU6050_I2C_SLV2_ADDR       0x2B
+#define MPU6050_I2C_SLV2_REG        0x2C
+#define MPU6050_I2C_SLV2_CTRL       0x2D
+#define MPU6050_I2C_SLV3_ADDR       0x2E
+#define MPU6050_I2C_SLV3_REG        0x2F
+#define MPU6050_I2C_SLV3_CTRL       0x30
+#define MPU6050_I2C_SLV4_ADDR       0x31
+#define MPU6050_I2C_SLV4_REG        0x32
+#define MPU6050_I2C_SLV4_DO         0x33
+#define MPU6050_I2C_SLV4_CTRL       0x34
+#define MPU6050_I2C_SLV4_DI         0x35
+#define MPU6050_I2C_MST_STATUS      0x36
+#define MPU6050_INT_PIN_CFG         0x37
+#define MPU6050_INT_ENABLE          0x38
+#define MPU6050_ACCEL_XOUT_H        0x3B
+#define MPU6050_ACCEL_XOUT_L        0x3C
+#define MPU6050_ACCEL_YOUT_H        0x3D
+#define MPU6050_ACCEL_YOUT_L        0x3E
+#define MPU6050_ACCEL_ZOUT_H        0x3F
+#define MPU6050_ACCEL_ZOUT_L        0x40
+#define MPU6050_TEMP_OUT_H          0x41
+#define MPU6050_TEMP_OUT_L          0x42
+#define MPU6050_GYRO_XOUT_H         0x43
+#define MPU6050_GYRO_XOUT_L         0x44
+#define MPU6050_GYRO_YOUT_H         0x45
+#define MPU6050_GYRO_YOUT_L         0x46
+#define MPU6050_GYRO_ZOUT_H         0x47
+#define MPU6050_GYRO_ZOUT_L         0x48
+#define MPU6050_EXT_SENS_DATA_00    0x49
+#define MPU6050_EXT_SENS_DATA_01    0x4A
+#define MPU6050_EXT_SENS_DATA_02    0x4B
+#define MPU6050_EXT_SENS_DATA_03    0x4C
+#define MPU6050_EXT_SENS_DATA_04    0x4D
+#define MPU6050_EXT_SENS_DATA_05    0x4E
+#define MPU6050_EXT_SENS_DATA_06    0x4F
+#define MPU6050_EXT_SENS_DATA_07    0x50
+#define MPU6050_EXT_SENS_DATA_08    0x51
+#define MPU6050_EXT_SENS_DATA_09    0x52
+#define MPU6050_EXT_SENS_DATA_10    0x53
+#define MPU6050_EXT_SENS_DATA_11    0x54
+#define MPU6050_EXT_SENS_DATA_12    0x55
+#define MPU6050_EXT_SENS_DATA_13    0x56
+#define MPU6050_EXT_SENS_DATA_14    0x57
+#define MPU6050_EXT_SENS_DATA_15    0x58
+#define MPU6050_EXT_SENS_DATA_16    0x59
+#define MPU6050_EXT_SENS_DATA_17    0x5A
+#define MPU6050_EXT_SENS_DATA_18    0x5B
+#define MPU6050_EXT_SENS_DATA_19    0x5C
+#define MPU6050_EXT_SENS_DATA_20    0x5D
+#define MPU6050_EXT_SENS_DATA_21    0x5E
+#define MPU6050_EXT_SENS_DATA_22    0x5F
+#define MPU6050_EXT_SENS_DATA_23    0x60
+#define MPU6050_I2C_SLV0_DO         0x63
+#define MPU6050_I2C_SLV1_DO         0x64
+#define MPU6050_I2C_SLV2_DO         0x65
+#define MPU6050_I2C_SLV3_DO         0x66
+#define MPU6050_I2C_MST_DELAY_CTRL  0x67
+#define MPU6050_SIGNAL_PATH_RESET   0x68
+#define MPU6050_MOT_DETECT_CTRL     0x69
+#define MPU6050_USER_CTRL           0x6A
+#define MPU6050_PWR_MGMT_1          0x6B
+#define MPU6050_PWR_MGMT_2          0x6C
+#define MPU6050_BANK_SEL            0x6D
+#define MPU6050_MEM_START_ADDR      0x6E
+#define MPU6050_MEM_R_W             0x6F
+#define MPU6050_DMP_CFG_1           0x70
+#define MPU6050_DMP_CFG_2           0x71
+#define MPU6050_FIFO_COUNTH         0x72
+#define MPU6050_FIFO_COUNTL         0x73
+#define MPU6050_FIFO_R_W            0x74
+#define MPU6050_WHOAMI              0x75
+#define MPU6050_XA_OFFSET_H         0x77
+#define MPU6050_XA_OFFSET_L         0x78
+#define MPU6050_YA_OFFSET_H         0x7A
+#define MPU6050_YA_OFFSET_L         0x7B
+#define MPU6050_ZA_OFFSET_H         0x7D
+#define MPU6050_ZA_OFFSET_L         0x7E
+
+#define MPU6050_ID					0x68
+
+class MPU6050 :public SensorBase
+{
+public:
+    MPU6050(int sensor_type, const char* iic_bus, int addr);
+
+    int read_reg(rt_uint8_t reg, rt_uint8_t* value);
+    int write_reg(rt_uint8_t reg, rt_uint8_t value);
+    int read_buffer(rt_uint8_t reg, rt_uint8_t* value, rt_size_t size);
+
+private:
+    struct rt_i2c_bus_device *i2c_bus;
+    int i2c_addr;
+};
+
+class MPU6050_Accelerometer:public MPU6050
+{
+public:
+    MPU6050_Accelerometer(const char* iic_name, int addr);
+
+    virtual int configure(SensorConfig *config);
+    virtual int activate(int enable);
+
+    virtual int poll(sensors_event_t *event);
+    virtual void getSensor(sensor_t *sensor);
+
+private:
+	rt_int16_t x_offset, y_offset, z_offset;
+	
+	rt_bool_t enable;
+	float sensitivity;
+};
+
+class MPU6050_Gyroscope:public MPU6050
+{
+public:
+    MPU6050_Gyroscope(const char* iic_name, int addr);
+
+    virtual int configure(SensorConfig *config);
+    virtual int activate(int enable);
+
+    virtual int poll(sensors_event_t *event);
+    virtual void getSensor(sensor_t *sensor);
+
+private:
+	rt_int16_t x_offset, y_offset, z_offset;
+	
+	rt_bool_t enable;
+	float sensitivity;
+};
+
+#endif