1 /* 2 * Copyright (c) 2016 Intel Corporation 3 * 4 * SPDX-License-Identifier: Apache-2.0 5 */ 6 7 #ifndef ZEPHYR_DRIVERS_SENSOR_MPU6050_MPU6050_H_ 8 #define ZEPHYR_DRIVERS_SENSOR_MPU6050_MPU6050_H_ 9 10 #include <zephyr/device.h> 11 #include <zephyr/drivers/i2c.h> 12 #include <zephyr/drivers/gpio.h> 13 #include <zephyr/kernel.h> 14 #include <zephyr/sys/util.h> 15 #include <zephyr/types.h> 16 17 #define MPU6050_REG_CHIP_ID 0x75 18 #define MPU6050_CHIP_ID 0x68 19 #define MPU6500_CHIP_ID 0x70 20 #define MPU9250_CHIP_ID 0x71 21 #define MPU6880_CHIP_ID 0x19 22 23 #define MPU6050_REG_GYRO_CFG 0x1B 24 #define MPU6050_GYRO_FS_SHIFT 3 25 26 #define MPU6050_REG_ACCEL_CFG 0x1C 27 #define MPU6050_ACCEL_FS_SHIFT 3 28 29 #define MPU6050_REG_INT_EN 0x38 30 #define MPU6050_DRDY_EN BIT(0) 31 32 #define MPU6050_REG_DATA_START 0x3B 33 34 #define MPU6050_REG_PWR_MGMT1 0x6B 35 #define MPU6050_SLEEP_EN BIT(6) 36 37 /* measured in degrees/sec x10 to avoid floating point */ 38 static const uint16_t mpu6050_gyro_sensitivity_x10[] = { 39 1310, 655, 328, 164 40 }; 41 42 /* Device type, uses the correct offets for a particular device */ 43 enum mpu6050_device_type { 44 DEVICE_TYPE_MPU6050 = 0, 45 DEVICE_TYPE_MPU6500, 46 }; 47 48 struct mpu6050_data { 49 int16_t accel_x; 50 int16_t accel_y; 51 int16_t accel_z; 52 uint16_t accel_sensitivity_shift; 53 54 int16_t temp; 55 56 int16_t gyro_x; 57 int16_t gyro_y; 58 int16_t gyro_z; 59 uint16_t gyro_sensitivity_x10; 60 61 enum mpu6050_device_type device_type; 62 63 #ifdef CONFIG_MPU6050_TRIGGER 64 const struct device *dev; 65 struct gpio_callback gpio_cb; 66 67 const struct sensor_trigger *data_ready_trigger; 68 sensor_trigger_handler_t data_ready_handler; 69 70 #if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD) 71 K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_MPU6050_THREAD_STACK_SIZE); 72 struct k_thread thread; 73 struct k_sem gpio_sem; 74 #elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD) 75 struct k_work work; 76 #endif 77 78 #endif /* CONFIG_MPU6050_TRIGGER */ 79 }; 80 81 struct mpu6050_config { 82 struct i2c_dt_spec i2c; 83 #ifdef CONFIG_MPU6050_TRIGGER 84 struct gpio_dt_spec int_gpio; 85 #endif /* CONFIG_MPU6050_TRIGGER */ 86 }; 87 88 #ifdef CONFIG_MPU6050_TRIGGER 89 int mpu6050_trigger_set(const struct device *dev, 90 const struct sensor_trigger *trig, 91 sensor_trigger_handler_t handler); 92 93 int mpu6050_init_interrupt(const struct device *dev); 94 #endif 95 96 #endif /* __SENSOR_MPU6050__ */ 97
