/* * Copyright (c) 2021, Nordic Semiconductor ASA * * SPDX-License-Identifier: Apache-2.0 */ #ifndef ZEPHYR_DRIVERS_SENSOR_MPU9250_MPU9250_H_ #define ZEPHYR_DRIVERS_SENSOR_MPU9250_MPU9250_H_ #include #include #include #include #include #include struct mpu9250_data { int16_t accel_x; int16_t accel_y; int16_t accel_z; uint16_t accel_sensitivity_shift; int16_t temp; int16_t gyro_x; int16_t gyro_y; int16_t gyro_z; uint16_t gyro_sensitivity_x10; #ifdef CONFIG_MPU9250_MAGN_EN int16_t magn_x; int16_t magn_scale_x; int16_t magn_y; int16_t magn_scale_y; int16_t magn_z; int16_t magn_scale_z; uint8_t magn_st2; #endif #ifdef CONFIG_MPU9250_TRIGGER const struct device *dev; struct gpio_callback gpio_cb; const struct sensor_trigger *data_ready_trigger; sensor_trigger_handler_t data_ready_handler; #if defined(CONFIG_MPU9250_TRIGGER_OWN_THREAD) K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_MPU9250_THREAD_STACK_SIZE); struct k_thread thread; struct k_sem gpio_sem; #elif defined(CONFIG_MPU9250_TRIGGER_GLOBAL_THREAD) struct k_work work; #endif #endif /* CONFIG_MPU9250_TRIGGER */ }; struct mpu9250_config { const struct i2c_dt_spec i2c; uint8_t gyro_sr_div; uint8_t gyro_dlpf; uint8_t gyro_fs; uint8_t accel_fs; uint8_t accel_dlpf; #ifdef CONFIG_MPU9250_TRIGGER const struct gpio_dt_spec int_pin; #endif /* CONFIG_MPU9250_TRIGGER */ }; #ifdef CONFIG_MPU9250_TRIGGER int mpu9250_trigger_set(const struct device *dev, const struct sensor_trigger *trig, sensor_trigger_handler_t handler); int mpu9250_init_interrupt(const struct device *dev); #endif #endif /* ZEPHYR_DRIVERS_SENSOR_MPU9250_MPU9250_H_ */