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Diffstat (limited to 'components/drivers/sensors/mpu6050_sensor.h')
| -rw-r--r-- | components/drivers/sensors/mpu6050_sensor.h | 193 |
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 |