/* * 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 #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