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/*
* 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
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