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/*
* 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 <stdint.h>
#include <zephyr/device.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/drivers/i2c.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/kernel.h>
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_ */