-
-#ifndef _MPU6050_H_
-#define _MPU6050_H_
-
-
-#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
-#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
-#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
-#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
-#define MPU6050_RA_XA_OFFS_L_TC 0x07
-#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
-#define MPU6050_RA_YA_OFFS_L_TC 0x09
-#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
-#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
-#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
-#define MPU6050_RA_XG_OFFS_USRL 0x14
-#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
-#define MPU6050_RA_YG_OFFS_USRL 0x16
-#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
-#define MPU6050_RA_ZG_OFFS_USRL 0x18
-#define MPU6050_RA_SMPLRT_DIV 0x19
-#define MPU6050_RA_CONFIG 0x1A
-#define MPU6050_RA_GYRO_CONFIG 0x1B
-#define MPU6050_RA_ACCEL_CONFIG 0x1C
-#define MPU6050_RA_FF_THR 0x1D
-#define MPU6050_RA_FF_DUR 0x1E
-#define MPU6050_RA_MOT_THR 0x1F
-#define MPU6050_RA_MOT_DUR 0x20
-#define MPU6050_RA_ZRMOT_THR 0x21
-#define MPU6050_RA_ZRMOT_DUR 0x22
-#define MPU6050_RA_FIFO_EN 0x23
-#define MPU6050_RA_I2C_MST_CTRL 0x24
-#define MPU6050_RA_I2C_SLV0_ADDR 0x25
-#define MPU6050_RA_I2C_SLV0_REG 0x26
-#define MPU6050_RA_I2C_SLV0_CTRL 0x27
-#define MPU6050_RA_I2C_SLV1_ADDR 0x28
-#define MPU6050_RA_I2C_SLV1_REG 0x29
-#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
-#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
-#define MPU6050_RA_I2C_SLV2_REG 0x2C
-#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
-#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
-#define MPU6050_RA_I2C_SLV3_REG 0x2F
-#define MPU6050_RA_I2C_SLV3_CTRL 0x30
-#define MPU6050_RA_I2C_SLV4_ADDR 0x31
-#define MPU6050_RA_I2C_SLV4_REG 0x32
-#define MPU6050_RA_I2C_SLV4_DO 0x33
-#define MPU6050_RA_I2C_SLV4_CTRL 0x34
-#define MPU6050_RA_I2C_SLV4_DI 0x35
-#define MPU6050_RA_I2C_MST_STATUS 0x36
-#define MPU6050_RA_INT_PIN_CFG 0x37
-#define MPU6050_RA_INT_ENABLE 0x38
-#define MPU6050_RA_DMP_INT_STATUS 0x39
-#define MPU6050_RA_INT_STATUS 0x3A
-#define MPU6050_RA_ACCEL_XOUT_H 0x3B
-#define MPU6050_RA_ACCEL_XOUT_L 0x3C
-#define MPU6050_RA_ACCEL_YOUT_H 0x3D
-#define MPU6050_RA_ACCEL_YOUT_L 0x3E
-#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
-#define MPU6050_RA_ACCEL_ZOUT_L 0x40
-#define MPU6050_RA_TEMP_OUT_H 0x41
-#define MPU6050_RA_TEMP_OUT_L 0x42
-#define MPU6050_RA_GYRO_XOUT_H 0x43
-#define MPU6050_RA_GYRO_XOUT_L 0x44
-#define MPU6050_RA_GYRO_YOUT_H 0x45
-#define MPU6050_RA_GYRO_YOUT_L 0x46
-#define MPU6050_RA_GYRO_ZOUT_H 0x47
-#define MPU6050_RA_GYRO_ZOUT_L 0x48
-#define MPU6050_RA_EXT_SENS_DATA_00 0x49
-#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
-#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
-#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
-#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
-#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
-#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
-#define MPU6050_RA_EXT_SENS_DATA_07 0x50
-#define MPU6050_RA_EXT_SENS_DATA_08 0x51
-#define MPU6050_RA_EXT_SENS_DATA_09 0x52
-#define MPU6050_RA_EXT_SENS_DATA_10 0x53
-#define MPU6050_RA_EXT_SENS_DATA_11 0x54
-#define MPU6050_RA_EXT_SENS_DATA_12 0x55
-#define MPU6050_RA_EXT_SENS_DATA_13 0x56
-#define MPU6050_RA_EXT_SENS_DATA_14 0x57
-#define MPU6050_RA_EXT_SENS_DATA_15 0x58
-#define MPU6050_RA_EXT_SENS_DATA_16 0x59
-#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
-#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
-#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
-#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
-#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
-#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
-#define MPU6050_RA_EXT_SENS_DATA_23 0x60
-#define MPU6050_RA_MOT_DETECT_STATUS 0x61
-#define MPU6050_RA_I2C_SLV0_DO 0x63
-#define MPU6050_RA_I2C_SLV1_DO 0x64
-#define MPU6050_RA_I2C_SLV2_DO 0x65
-#define MPU6050_RA_I2C_SLV3_DO 0x66
-#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
-#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
-#define MPU6050_RA_MOT_DETECT_CTRL 0x69
-#define MPU6050_RA_USER_CTRL 0x6A
-#define MPU6050_RA_PWR_MGMT_1 0x6B
-#define MPU6050_RA_PWR_MGMT_2 0x6C
-#define MPU6050_RA_BANK_SEL 0x6D
-#define MPU6050_RA_MEM_START_ADDR 0x6E
-#define MPU6050_RA_MEM_R_W 0x6F
-#define MPU6050_RA_DMP_CFG_1 0x70
-#define MPU6050_RA_DMP_CFG_2 0x71
-#define MPU6050_RA_FIFO_COUNTH 0x72
-#define MPU6050_RA_FIFO_COUNTL 0x73
-#define MPU6050_RA_FIFO_R_W 0x74
-#define MPU6050_RA_WHO_AM_I 0x75
-
-
-uint8_t mpu6050_init(void);
-uint8_t mpu6050_read_all_axes(int16_t *values);
-
-extern double mpu6050_gx;
-extern double mpu6050_gy;
-extern double mpu6050_gz;
-
-extern double mpu6050_ax;
-extern double mpu6050_ay;
-extern double mpu6050_az;
-
-
-extern double mpu6050_mx;
-extern double mpu6050_my;
-extern double mpu6050_mz;
-
-extern double mpu6050_temp;
-
-#endif // _MPU6050_H_
+/*
+ * Copyright (c) 2014, Olivier MATZ <zer0@droids-corp.org>
+ * Copyright (c) 2014, Fabrice DESCLAUX <serpilliere@droids-corp.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the University of California, Berkeley nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef MPU6050_H_
+#define MPU6050_H_
+
+#include "imu.h"
+
+/* initialize the sensor, and calibrate it */
+int8_t mpu6050_init(void);
+
+/* fill the axes[3] pointer with the 3 axes of gyro (16bits) */
+uint8_t mpu6050_read_gyro_raw(int16_t *values);
+
+/* fill the imu structure with axes comming from mpu6050 */
+uint8_t mpu6050_read_all_axes(struct imu_info *imu);
+
+#endif /* MPU6050_H_ */
git.droids-corp.org / protos / imu.git / blobdiff