190 lines
6.3 KiB
C++
190 lines
6.3 KiB
C++
/*
|
|
* 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
|