xref: /nrf52832-nimble/rt-thread/components/drivers/sensors/mpu6050_sensor.h (revision 104654410c56c573564690304ae786df310c91fc)

/*
 * Copyright (c) 2006-2018, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * 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