/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MPU6000 MPU6000 Functions
* @brief Deals with the hardware interface to the 3-axis gyro
* @{
*
* @file PIOS_MPU6000.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief MPU6000 3-axis gyro function headers
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************
*/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_MPU6000_H
#define PIOS_MPU6000_H
#include <pios_sensors.h>
/* MPU6000 Addresses */
#define PIOS_MPU6000_SMPLRT_DIV_REG 0X19
#define PIOS_MPU6000_DLPF_CFG_REG 0X1A
#define PIOS_MPU6000_GYRO_CFG_REG 0X1B
#define PIOS_MPU6000_ACCEL_CFG_REG 0X1C
#define PIOS_MPU6000_FIFO_EN_REG 0x23
#define PIOS_MPU6000_INT_CFG_REG 0x37
#define PIOS_MPU6000_INT_EN_REG 0x38
#define PIOS_MPU6000_INT_STATUS_REG 0x3A
#define PIOS_MPU6000_ACCEL_X_OUT_MSB 0x3B
#define PIOS_MPU6000_ACCEL_X_OUT_LSB 0x3C
#define PIOS_MPU6000_ACCEL_Y_OUT_MSB 0x3D
#define PIOS_MPU6000_ACCEL_Y_OUT_LSB 0x3E
#define PIOS_MPU6000_ACCEL_Z_OUT_MSB 0x3F
#define PIOS_MPU6000_ACCEL_Z_OUT_LSB 0x40
#define PIOS_MPU6000_TEMP_OUT_MSB 0x41
#define PIOS_MPU6000_TEMP_OUT_LSB 0x42
#define PIOS_MPU6000_GYRO_X_OUT_MSB 0x43
#define PIOS_MPU6000_GYRO_X_OUT_LSB 0x44
#define PIOS_MPU6000_GYRO_Y_OUT_MSB 0x45
#define PIOS_MPU6000_GYRO_Y_OUT_LSB 0x46
#define PIOS_MPU6000_GYRO_Z_OUT_MSB 0x47
#define PIOS_MPU6000_GYRO_Z_OUT_LSB 0x48
#define PIOS_MPU6000_USER_CTRL_REG 0x6A
#define PIOS_MPU6000_PWR_MGMT_REG 0x6B
#define PIOS_MPU6000_FIFO_CNT_MSB 0x72
#define PIOS_MPU6000_FIFO_CNT_LSB 0x73
#define PIOS_MPU6000_FIFO_REG 0x74
#define PIOS_MPU6000_WHOAMI 0x75
/* FIFO enable for storing different values */
#define PIOS_MPU6000_FIFO_TEMP_OUT 0x80
#define PIOS_MPU6000_FIFO_GYRO_X_OUT 0x40
#define PIOS_MPU6000_FIFO_GYRO_Y_OUT 0x20
#define PIOS_MPU6000_FIFO_GYRO_Z_OUT 0x10
#define PIOS_MPU6000_ACCEL_OUT 0x08
/* Interrupt Configuration */
#define PIOS_MPU6000_INT_ACTL 0x80
#define PIOS_MPU6000_INT_OPEN 0x40
#define PIOS_MPU6000_INT_LATCH_EN 0x20
#define PIOS_MPU6000_INT_CLR_ANYRD 0x10
#define PIOS_MPU6000_INTEN_OVERFLOW 0x10
#define PIOS_MPU6000_INTEN_DATA_RDY 0x01
/* Interrupt status */
#define PIOS_MPU6000_INT_STATUS_FIFO_FULL 0x80
#define PIOS_MPU6000_INT_STATUS_FIFO_OVERFLOW 0x10
#define PIOS_MPU6000_INT_STATUS_IMU_RDY 0X04
#define PIOS_MPU6000_INT_STATUS_DATA_RDY 0X01
/* User control functionality */
#define PIOS_MPU6000_USERCTL_FIFO_EN 0X40
#define PIOS_MPU6000_USERCTL_I2C_MST_EN 0x20
#define PIOS_MPU6000_USERCTL_DIS_I2C 0X10
#define PIOS_MPU6000_USERCTL_FIFO_RST 0X04
#define PIOS_MPU6000_USERCTL_SIG_COND 0X02
#define PIOS_MPU6000_USERCTL_GYRO_RST 0X01
/* Power management and clock selection */
#define PIOS_MPU6000_PWRMGMT_IMU_RST 0X80
#define PIOS_MPU6000_PWRMGMT_INTERN_CLK 0X00
#define PIOS_MPU6000_PWRMGMT_PLL_X_CLK 0X01
#define PIOS_MPU6000_PWRMGMT_PLL_Y_CLK 0X02
#define PIOS_MPU6000_PWRMGMT_PLL_Z_CLK 0X03
#define PIOS_MPU6000_PWRMGMT_STOP_CLK 0X07
enum pios_mpu6000_range {
PIOS_MPU6000_SCALE_250_DEG = 0x00,
PIOS_MPU6000_SCALE_500_DEG = 0x08,
PIOS_MPU6000_SCALE_1000_DEG = 0x10,
PIOS_MPU6000_SCALE_2000_DEG = 0x18
};
enum pios_mpu6000_filter {
PIOS_MPU6000_LOWPASS_256_HZ = 0x00,
PIOS_MPU6000_LOWPASS_188_HZ = 0x01,
PIOS_MPU6000_LOWPASS_98_HZ = 0x02,
PIOS_MPU6000_LOWPASS_42_HZ = 0x03,
PIOS_MPU6000_LOWPASS_20_HZ = 0x04,
PIOS_MPU6000_LOWPASS_10_HZ = 0x05,
PIOS_MPU6000_LOWPASS_5_HZ = 0x06
};
enum pios_mpu6000_accel_range {
PIOS_MPU6000_ACCEL_2G = 0x00,
PIOS_MPU6000_ACCEL_4G = 0x08,
PIOS_MPU6000_ACCEL_8G = 0x10,
PIOS_MPU6000_ACCEL_16G = 0x18
};
enum pios_mpu6000_orientation { // clockwise rotation from board forward
PIOS_MPU6000_TOP_0DEG = 0x00,
PIOS_MPU6000_TOP_90DEG = 0x01,
PIOS_MPU6000_TOP_180DEG = 0x02,
PIOS_MPU6000_TOP_270DEG = 0x03
};
struct pios_mpu6000_cfg {
const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
uint8_t Fifo_store; /* FIFO storage of different readings (See datasheet page 31 for more details) */
/* Sample rate divider to use (See datasheet page 32 for more details).*/
uint8_t Smpl_rate_div_no_dlp; /* used when no dlp is applied (fs=8KHz)*/
uint8_t Smpl_rate_div_dlp; /* used when dlp is on (fs=1kHz)*/
uint8_t interrupt_cfg; /* Interrupt configuration (See datasheet page 35 for more details) */
uint8_t interrupt_en; /* Interrupt configuration (See datasheet page 35 for more details) */
uint8_t User_ctl; /* User control settings (See datasheet page 41 for more details) */
uint8_t Pwr_mgmt_clk; /* Power management and clock selection (See datasheet page 32 for more details) */
enum pios_mpu6000_accel_range accel_range;
enum pios_mpu6000_range gyro_range;
enum pios_mpu6000_filter filter;
enum pios_mpu6000_orientation orientation;
SPIPrescalerTypeDef fast_prescaler;
SPIPrescalerTypeDef std_prescaler;
uint8_t max_downsample;
};
/* Public Functions */
extern int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu6000_cfg *new_cfg);
extern int32_t PIOS_MPU6000_ConfigureRanges(enum pios_mpu6000_range gyroRange, enum pios_mpu6000_accel_range accelRange, enum pios_mpu6000_filter filterSetting);
extern int32_t PIOS_MPU6000_ReadID();
extern void PIOS_MPU6000_Register();
extern bool PIOS_MPU6000_IRQHandler(void);
extern const PIOS_SENSORS_Driver PIOS_MPU6000_Driver;
#endif /* PIOS_MPU6000_H */
/**
* @}
* @}
*/