1 /* 2 * Copyright (c) 2006-2018, RT-Thread Development Team 3 * 4 * SPDX-License-Identifier: Apache-2.0 5 * 6 * Change Logs: 7 * Date Author Notes 8 * 2014-12-20 Bernard the first version 9 * 2015-1-11 RT_learning modify the mpu6050 ID 10 */ 11 12 #ifndef MPU6050_SENSOR_H__ 13 #define MPU6050_SENSOR_H__ 14 15 #include <sensor.h> 16 17 #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board 18 #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) 19 #define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW 20 21 #define MPU6050_XG_OFFS_TC 0x00 22 #define MPU6050_YG_OFFS_TC 0x01 23 #define MPU6050_ZG_OFFS_TC 0x02 24 #define MPU6050_X_FINE_GAIN 0x03 25 #define MPU6050_Y_FINE_GAIN 0x04 26 #define MPU6050_Z_FINE_GAIN 0x05 27 #define MPU6050_XA_OFFS_H 0x06 28 #define MPU6050_XA_OFFS_L 0x07 29 #define MPU6050_YA_OFFS_H 0x08 30 #define MPU6050_YA_OFFS_L 0x09 31 #define MPU6050_ZA_OFFS_H 0x0A 32 #define MPU6050_ZA_OFFS_L 0x0B 33 #define MPU6050_PRODUCT_ID 0x0C 34 #define MPU6050_SELF_TEST_X 0x0D 35 #define MPU6050_SELF_TEST_Y 0x0E 36 #define MPU6050_SELF_TEST_Z 0x0F 37 #define MPU6050_SELF_TEST_A 0x10 38 #define MPU6050_XG_OFFS_USRH 0x13 39 #define MPU6050_XG_OFFS_USRL 0x14 40 #define MPU6050_YG_OFFS_USRH 0x15 41 #define MPU6050_YG_OFFS_USRL 0x16 42 #define MPU6050_ZG_OFFS_USRH 0x17 43 #define MPU6050_ZG_OFFS_USRL 0x18 44 #define MPU6050_SMPLRT_DIV 0x19 45 #define MPU6050_CONFIG 0x1A 46 #define MPU6050_GYRO_CONFIG 0x1B 47 #define MPU6050_ACCEL_CONFIG 0x1C 48 #define MPU6050_ACCEL_CONFIG_2 0x1D 49 #define MPU6050_LP_ACCEL_ODR 0x1E 50 #define MPU6050_MOT_THR 0x1F 51 #define MPU6050_FIFO_EN 0x23 52 #define MPU6050_I2C_MST_CTRL 0x24 53 #define MPU6050_I2C_SLV0_ADDR 0x25 54 #define MPU6050_I2C_SLV0_REG 0x26 55 #define MPU6050_I2C_SLV0_CTRL 0x27 56 #define MPU6050_I2C_SLV1_ADDR 0x28 57 #define MPU6050_I2C_SLV1_REG 0x29 58 #define MPU6050_I2C_SLV1_CTRL 0x2A 59 #define MPU6050_I2C_SLV2_ADDR 0x2B 60 #define MPU6050_I2C_SLV2_REG 0x2C 61 #define MPU6050_I2C_SLV2_CTRL 0x2D 62 #define MPU6050_I2C_SLV3_ADDR 0x2E 63 #define MPU6050_I2C_SLV3_REG 0x2F 64 #define MPU6050_I2C_SLV3_CTRL 0x30 65 #define MPU6050_I2C_SLV4_ADDR 0x31 66 #define MPU6050_I2C_SLV4_REG 0x32 67 #define MPU6050_I2C_SLV4_DO 0x33 68 #define MPU6050_I2C_SLV4_CTRL 0x34 69 #define MPU6050_I2C_SLV4_DI 0x35 70 #define MPU6050_I2C_MST_STATUS 0x36 71 #define MPU6050_INT_PIN_CFG 0x37 72 #define MPU6050_INT_ENABLE 0x38 73 #define MPU6050_ACCEL_XOUT_H 0x3B 74 #define MPU6050_ACCEL_XOUT_L 0x3C 75 #define MPU6050_ACCEL_YOUT_H 0x3D 76 #define MPU6050_ACCEL_YOUT_L 0x3E 77 #define MPU6050_ACCEL_ZOUT_H 0x3F 78 #define MPU6050_ACCEL_ZOUT_L 0x40 79 #define MPU6050_TEMP_OUT_H 0x41 80 #define MPU6050_TEMP_OUT_L 0x42 81 #define MPU6050_GYRO_XOUT_H 0x43 82 #define MPU6050_GYRO_XOUT_L 0x44 83 #define MPU6050_GYRO_YOUT_H 0x45 84 #define MPU6050_GYRO_YOUT_L 0x46 85 #define MPU6050_GYRO_ZOUT_H 0x47 86 #define MPU6050_GYRO_ZOUT_L 0x48 87 #define MPU6050_EXT_SENS_DATA_00 0x49 88 #define MPU6050_EXT_SENS_DATA_01 0x4A 89 #define MPU6050_EXT_SENS_DATA_02 0x4B 90 #define MPU6050_EXT_SENS_DATA_03 0x4C 91 #define MPU6050_EXT_SENS_DATA_04 0x4D 92 #define MPU6050_EXT_SENS_DATA_05 0x4E 93 #define MPU6050_EXT_SENS_DATA_06 0x4F 94 #define MPU6050_EXT_SENS_DATA_07 0x50 95 #define MPU6050_EXT_SENS_DATA_08 0x51 96 #define MPU6050_EXT_SENS_DATA_09 0x52 97 #define MPU6050_EXT_SENS_DATA_10 0x53 98 #define MPU6050_EXT_SENS_DATA_11 0x54 99 #define MPU6050_EXT_SENS_DATA_12 0x55 100 #define MPU6050_EXT_SENS_DATA_13 0x56 101 #define MPU6050_EXT_SENS_DATA_14 0x57 102 #define MPU6050_EXT_SENS_DATA_15 0x58 103 #define MPU6050_EXT_SENS_DATA_16 0x59 104 #define MPU6050_EXT_SENS_DATA_17 0x5A 105 #define MPU6050_EXT_SENS_DATA_18 0x5B 106 #define MPU6050_EXT_SENS_DATA_19 0x5C 107 #define MPU6050_EXT_SENS_DATA_20 0x5D 108 #define MPU6050_EXT_SENS_DATA_21 0x5E 109 #define MPU6050_EXT_SENS_DATA_22 0x5F 110 #define MPU6050_EXT_SENS_DATA_23 0x60 111 #define MPU6050_I2C_SLV0_DO 0x63 112 #define MPU6050_I2C_SLV1_DO 0x64 113 #define MPU6050_I2C_SLV2_DO 0x65 114 #define MPU6050_I2C_SLV3_DO 0x66 115 #define MPU6050_I2C_MST_DELAY_CTRL 0x67 116 #define MPU6050_SIGNAL_PATH_RESET 0x68 117 #define MPU6050_MOT_DETECT_CTRL 0x69 118 #define MPU6050_USER_CTRL 0x6A 119 #define MPU6050_PWR_MGMT_1 0x6B 120 #define MPU6050_PWR_MGMT_2 0x6C 121 #define MPU6050_BANK_SEL 0x6D 122 #define MPU6050_MEM_START_ADDR 0x6E 123 #define MPU6050_MEM_R_W 0x6F 124 #define MPU6050_DMP_CFG_1 0x70 125 #define MPU6050_DMP_CFG_2 0x71 126 #define MPU6050_FIFO_COUNTH 0x72 127 #define MPU6050_FIFO_COUNTL 0x73 128 #define MPU6050_FIFO_R_W 0x74 129 #define MPU6050_WHOAMI 0x75 130 #define MPU6050_XA_OFFSET_H 0x77 131 #define MPU6050_XA_OFFSET_L 0x78 132 #define MPU6050_YA_OFFSET_H 0x7A 133 #define MPU6050_YA_OFFSET_L 0x7B 134 #define MPU6050_ZA_OFFSET_H 0x7D 135 #define MPU6050_ZA_OFFSET_L 0x7E 136 137 #define MPU6050_ID 0x68 138 139 class MPU6050 :public SensorBase 140 { 141 public: 142 MPU6050(int sensor_type, const char* iic_bus, int addr); 143 144 int read_reg(rt_uint8_t reg, rt_uint8_t* value); 145 int write_reg(rt_uint8_t reg, rt_uint8_t value); 146 int read_buffer(rt_uint8_t reg, rt_uint8_t* value, rt_size_t size); 147 148 private: 149 struct rt_i2c_bus_device *i2c_bus; 150 int i2c_addr; 151 }; 152 153 class MPU6050_Accelerometer:public MPU6050 154 { 155 public: 156 MPU6050_Accelerometer(const char* iic_name, int addr); 157 158 virtual int configure(SensorConfig *config); 159 virtual int activate(int enable); 160 161 virtual int poll(sensors_event_t *event); 162 virtual void getSensor(sensor_t *sensor); 163 164 private: 165 rt_int16_t x_offset, y_offset, z_offset; 166 167 rt_bool_t enable; 168 float sensitivity; 169 }; 170 171 class MPU6050_Gyroscope:public MPU6050 172 { 173 public: 174 MPU6050_Gyroscope(const char* iic_name, int addr); 175 176 virtual int configure(SensorConfig *config); 177 virtual int activate(int enable); 178 179 virtual int poll(sensors_event_t *event); 180 virtual void getSensor(sensor_t *sensor); 181 182 private: 183 rt_int16_t x_offset, y_offset, z_offset; 184 185 rt_bool_t enable; 186 float sensitivity; 187 }; 188 189 #endif 190