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/*
* Copyright (c) 2016 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef ZEPHYR_DRIVERS_SENSOR_MPU6050_MPU6050_H_
#define ZEPHYR_DRIVERS_SENSOR_MPU6050_MPU6050_H_
#include <zephyr/device.h>
#include <zephyr/drivers/i2c.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/kernel.h>
#include <zephyr/sys/util.h>
#include <zephyr/types.h>
#define MPU6050_REG_CHIP_ID 0x75
#define MPU6050_CHIP_ID 0x68
#define MPU6500_CHIP_ID 0x70
#define MPU9250_CHIP_ID 0x71
#define MPU6880_CHIP_ID 0x19
#define MPU6050_REG_GYRO_CFG 0x1B
#define MPU6050_GYRO_FS_SHIFT 3
#define MPU6050_REG_ACCEL_CFG 0x1C
#define MPU6050_ACCEL_FS_SHIFT 3
#define MPU6050_REG_INT_EN 0x38
#define MPU6050_DRDY_EN BIT(0)
#define MPU6050_REG_DATA_START 0x3B
#define MPU6050_REG_PWR_MGMT1 0x6B
#define MPU6050_SLEEP_EN BIT(6)
/* measured in degrees/sec x10 to avoid floating point */
static const uint16_t mpu6050_gyro_sensitivity_x10[] = {
1310, 655, 328, 164
};
/* Device type, uses the correct offets for a particular device */
enum mpu6050_device_type {
DEVICE_TYPE_MPU6050 = 0,
DEVICE_TYPE_MPU6500,
};
struct mpu6050_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;
enum mpu6050_device_type device_type;
#ifdef CONFIG_MPU6050_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_MPU6050_TRIGGER_OWN_THREAD)
K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_MPU6050_THREAD_STACK_SIZE);
struct k_thread thread;
struct k_sem gpio_sem;
#elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD)
struct k_work work;
#endif
#endif /* CONFIG_MPU6050_TRIGGER */
};
struct mpu6050_config {
struct i2c_dt_spec i2c;
#ifdef CONFIG_MPU6050_TRIGGER
struct gpio_dt_spec int_gpio;
#endif /* CONFIG_MPU6050_TRIGGER */
};
#ifdef CONFIG_MPU6050_TRIGGER
int mpu6050_trigger_set(const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler);
int mpu6050_init_interrupt(const struct device *dev);
#endif
#endif /* __SENSOR_MPU6050__ */