1 /* 2 * Copyright (c) 2021, Nordic Semiconductor ASA 3 * 4 * SPDX-License-Identifier: Apache-2.0 5 */ 6 7 #ifndef ZEPHYR_DRIVERS_SENSOR_MPU9250_MPU9250_H_ 8 #define ZEPHYR_DRIVERS_SENSOR_MPU9250_MPU9250_H_ 9 10 #include <stdint.h> 11 #include <zephyr/device.h> 12 #include <zephyr/drivers/gpio.h> 13 #include <zephyr/drivers/i2c.h> 14 #include <zephyr/drivers/sensor.h> 15 #include <zephyr/kernel.h> 16 17 struct mpu9250_data { 18 int16_t accel_x; 19 int16_t accel_y; 20 int16_t accel_z; 21 uint16_t accel_sensitivity_shift; 22 23 int16_t temp; 24 25 int16_t gyro_x; 26 int16_t gyro_y; 27 int16_t gyro_z; 28 uint16_t gyro_sensitivity_x10; 29 30 #ifdef CONFIG_MPU9250_MAGN_EN 31 int16_t magn_x; 32 int16_t magn_scale_x; 33 int16_t magn_y; 34 int16_t magn_scale_y; 35 int16_t magn_z; 36 int16_t magn_scale_z; 37 uint8_t magn_st2; 38 #endif 39 40 #ifdef CONFIG_MPU9250_TRIGGER 41 const struct device *dev; 42 struct gpio_callback gpio_cb; 43 44 const struct sensor_trigger *data_ready_trigger; 45 sensor_trigger_handler_t data_ready_handler; 46 47 #if defined(CONFIG_MPU9250_TRIGGER_OWN_THREAD) 48 K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_MPU9250_THREAD_STACK_SIZE); 49 struct k_thread thread; 50 struct k_sem gpio_sem; 51 #elif defined(CONFIG_MPU9250_TRIGGER_GLOBAL_THREAD) 52 struct k_work work; 53 #endif 54 55 #endif /* CONFIG_MPU9250_TRIGGER */ 56 }; 57 58 struct mpu9250_config { 59 const struct i2c_dt_spec i2c; 60 uint8_t gyro_sr_div; 61 uint8_t gyro_dlpf; 62 uint8_t gyro_fs; 63 uint8_t accel_fs; 64 uint8_t accel_dlpf; 65 #ifdef CONFIG_MPU9250_TRIGGER 66 const struct gpio_dt_spec int_pin; 67 #endif /* CONFIG_MPU9250_TRIGGER */ 68 }; 69 70 #ifdef CONFIG_MPU9250_TRIGGER 71 int mpu9250_trigger_set(const struct device *dev, 72 const struct sensor_trigger *trig, 73 sensor_trigger_handler_t handler); 74 75 int mpu9250_init_interrupt(const struct device *dev); 76 #endif 77 78 #endif /* ZEPHYR_DRIVERS_SENSOR_MPU9250_MPU9250_H_ */ 79
