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 MPU9250_CHIP_ID 0x71 20 #define MPU6880_CHIP_ID 0x19 21 22 #define MPU6050_REG_GYRO_CFG 0x1B 23 #define MPU6050_GYRO_FS_SHIFT 3 24 25 #define MPU6050_REG_ACCEL_CFG 0x1C 26 #define MPU6050_ACCEL_FS_SHIFT 3 27 28 #define MPU6050_REG_INT_EN 0x38 29 #define MPU6050_DRDY_EN BIT(0) 30 31 #define MPU6050_REG_DATA_START 0x3B 32 33 #define MPU6050_REG_PWR_MGMT1 0x6B 34 #define MPU6050_SLEEP_EN BIT(6) 35 36 /* measured in degrees/sec x10 to avoid floating point */ 37 static const uint16_t mpu6050_gyro_sensitivity_x10[] = { 38 1310, 655, 328, 164 39 }; 40 41 struct mpu6050_data { 42 int16_t accel_x; 43 int16_t accel_y; 44 int16_t accel_z; 45 uint16_t accel_sensitivity_shift; 46 47 int16_t temp; 48 49 int16_t gyro_x; 50 int16_t gyro_y; 51 int16_t gyro_z; 52 uint16_t gyro_sensitivity_x10; 53 54 #ifdef CONFIG_MPU6050_TRIGGER 55 const struct device *dev; 56 struct gpio_callback gpio_cb; 57 58 const struct sensor_trigger *data_ready_trigger; 59 sensor_trigger_handler_t data_ready_handler; 60 61 #if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD) 62 K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_MPU6050_THREAD_STACK_SIZE); 63 struct k_thread thread; 64 struct k_sem gpio_sem; 65 #elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD) 66 struct k_work work; 67 #endif 68 69 #endif /* CONFIG_MPU6050_TRIGGER */ 70 }; 71 72 struct mpu6050_config { 73 struct i2c_dt_spec i2c; 74 #ifdef CONFIG_MPU6050_TRIGGER 75 struct gpio_dt_spec int_gpio; 76 #endif /* CONFIG_MPU6050_TRIGGER */ 77 }; 78 79 #ifdef CONFIG_MPU6050_TRIGGER 80 int mpu6050_trigger_set(const struct device *dev, 81 const struct sensor_trigger *trig, 82 sensor_trigger_handler_t handler); 83 84 int mpu6050_init_interrupt(const struct device *dev); 85 #endif 86 87 #endif /* __SENSOR_MPU6050__ */ 88
