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accgyro_mpu.h
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accgyro_mpu.h
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "drivers/bus.h"
#include "drivers/exti.h"
#include "drivers/sensor.h"
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20649) \
|| defined(USE_GYRO_SPI_ICM20689)
#define GYRO_USES_SPI
#endif
// MPU6050
#define MPU_RA_WHO_AM_I 0x75
#define MPU_RA_WHO_AM_I_LEGACY 0x00
#define MPUx0x0_WHO_AM_I_CONST (0x68) // MPU3050, 6000 and 6050
#define MPU6000_WHO_AM_I_CONST (0x68)
#define MPU6500_WHO_AM_I_CONST (0x70)
#define MPU9250_WHO_AM_I_CONST (0x71)
#define MPU9255_WHO_AM_I_CONST (0x73)
#define ICM20601_WHO_AM_I_CONST (0xAC)
#define ICM20602_WHO_AM_I_CONST (0x12)
#define ICM20608G_WHO_AM_I_CONST (0xAF)
#define ICM20649_WHO_AM_I_CONST (0xE1)
#define ICM20689_WHO_AM_I_CONST (0x98)
// RA = Register Address
#define MPU_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
#define MPU_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
#define MPU_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
#define MPU_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
#define MPU_RA_XA_OFFS_L_TC 0x07
#define MPU_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
#define MPU_RA_YA_OFFS_L_TC 0x09
#define MPU_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
#define MPU_RA_ZA_OFFS_L_TC 0x0B
#define MPU_RA_PRODUCT_ID 0x0C // Product ID Register
#define MPU_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
#define MPU_RA_XG_OFFS_USRL 0x14
#define MPU_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
#define MPU_RA_YG_OFFS_USRL 0x16
#define MPU_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
#define MPU_RA_ZG_OFFS_USRL 0x18
#define MPU_RA_SMPLRT_DIV 0x19
#define MPU_RA_CONFIG 0x1A
#define MPU_RA_GYRO_CONFIG 0x1B
#define MPU_RA_ACCEL_CONFIG 0x1C
#define MPU_RA_FF_THR 0x1D
#define MPU_RA_FF_DUR 0x1E
#define MPU_RA_MOT_THR 0x1F
#define MPU_RA_MOT_DUR 0x20
#define MPU_RA_ZRMOT_THR 0x21
#define MPU_RA_ZRMOT_DUR 0x22
#define MPU_RA_FIFO_EN 0x23
#define MPU_RA_I2C_MST_CTRL 0x24
#define MPU_RA_I2C_SLV0_ADDR 0x25
#define MPU_RA_I2C_SLV0_REG 0x26
#define MPU_RA_I2C_SLV0_CTRL 0x27
#define MPU_RA_I2C_SLV1_ADDR 0x28
#define MPU_RA_I2C_SLV1_REG 0x29
#define MPU_RA_I2C_SLV1_CTRL 0x2A
#define MPU_RA_I2C_SLV2_ADDR 0x2B
#define MPU_RA_I2C_SLV2_REG 0x2C
#define MPU_RA_I2C_SLV2_CTRL 0x2D
#define MPU_RA_I2C_SLV3_ADDR 0x2E
#define MPU_RA_I2C_SLV3_REG 0x2F
#define MPU_RA_I2C_SLV3_CTRL 0x30
#define MPU_RA_I2C_SLV4_ADDR 0x31
#define MPU_RA_I2C_SLV4_REG 0x32
#define MPU_RA_I2C_SLV4_DO 0x33
#define MPU_RA_I2C_SLV4_CTRL 0x34
#define MPU_RA_I2C_SLV4_DI 0x35
#define MPU_RA_I2C_MST_STATUS 0x36
#define MPU_RA_INT_PIN_CFG 0x37
#define MPU_RA_INT_ENABLE 0x38
#define MPU_RA_DMP_INT_STATUS 0x39
#define MPU_RA_INT_STATUS 0x3A
#define MPU_RA_ACCEL_XOUT_H 0x3B
#define MPU_RA_ACCEL_XOUT_L 0x3C
#define MPU_RA_ACCEL_YOUT_H 0x3D
#define MPU_RA_ACCEL_YOUT_L 0x3E
#define MPU_RA_ACCEL_ZOUT_H 0x3F
#define MPU_RA_ACCEL_ZOUT_L 0x40
#define MPU_RA_TEMP_OUT_H 0x41
#define MPU_RA_TEMP_OUT_L 0x42
#define MPU_RA_GYRO_XOUT_H 0x43
#define MPU_RA_GYRO_XOUT_L 0x44
#define MPU_RA_GYRO_YOUT_H 0x45
#define MPU_RA_GYRO_YOUT_L 0x46
#define MPU_RA_GYRO_ZOUT_H 0x47
#define MPU_RA_GYRO_ZOUT_L 0x48
#define MPU_RA_EXT_SENS_DATA_00 0x49
#define MPU_RA_MOT_DETECT_STATUS 0x61
#define MPU_RA_I2C_SLV0_DO 0x63
#define MPU_RA_I2C_SLV1_DO 0x64
#define MPU_RA_I2C_SLV2_DO 0x65
#define MPU_RA_I2C_SLV3_DO 0x66
#define MPU_RA_I2C_MST_DELAY_CTRL 0x67
#define MPU_RA_SIGNAL_PATH_RESET 0x68
#define MPU_RA_MOT_DETECT_CTRL 0x69
#define MPU_RA_USER_CTRL 0x6A
#define MPU_RA_PWR_MGMT_1 0x6B
#define MPU_RA_PWR_MGMT_2 0x6C
#define MPU_RA_BANK_SEL 0x6D
#define MPU_RA_MEM_START_ADDR 0x6E
#define MPU_RA_MEM_R_W 0x6F
#define MPU_RA_DMP_CFG_1 0x70
#define MPU_RA_DMP_CFG_2 0x71
#define MPU_RA_FIFO_COUNTH 0x72
#define MPU_RA_FIFO_COUNTL 0x73
#define MPU_RA_FIFO_R_W 0x74
#define MPU_RA_WHO_AM_I 0x75
// RF = Register Flag
#define MPU_RF_DATA_RDY_EN (1 << 0)
enum gyro_fsr_e {
INV_FSR_250DPS = 0,
INV_FSR_500DPS,
INV_FSR_1000DPS,
INV_FSR_2000DPS,
NUM_GYRO_FSR
};
enum icm_high_range_gyro_fsr_e {
ICM_HIGH_RANGE_FSR_500DPS = 0,
ICM_HIGH_RANGE_FSR_1000DPS,
ICM_HIGH_RANGE_FSR_2000DPS,
ICM_HIGH_RANGE_FSR_4000DPS,
NUM_ICM_HIGH_RANGE_GYRO_FSR
};
enum clock_sel_e {
INV_CLK_INTERNAL = 0,
INV_CLK_PLL,
NUM_CLK
};
enum accel_fsr_e {
INV_FSR_2G = 0,
INV_FSR_4G,
INV_FSR_8G,
INV_FSR_16G,
NUM_ACCEL_FSR
};
enum icm_high_range_accel_fsr_e {
ICM_HIGH_RANGE_FSR_4G = 0,
ICM_HIGH_RANGE_FSR_8G,
ICM_HIGH_RANGE_FSR_16G,
ICM_HIGH_RANGE_FSR_32G,
NUM_ICM_HIGH_RANGE_ACCEL_FSR
};
typedef enum {
GYRO_OVERFLOW_NONE = 0x00,
GYRO_OVERFLOW_X = 0x01,
GYRO_OVERFLOW_Y = 0x02,
GYRO_OVERFLOW_Z = 0x04
} gyroOverflow_e;
typedef enum {
MPU_NONE,
MPU_3050,
MPU_60x0,
MPU_60x0_SPI,
MPU_65xx_I2C,
MPU_65xx_SPI,
MPU_9250_SPI,
ICM_20601_SPI,
ICM_20602_SPI,
ICM_20608_SPI,
ICM_20649_SPI,
ICM_20689_SPI,
BMI_160_SPI,
L3GD20_SPI,
} mpuSensor_e;
typedef enum {
MPU_HALF_RESOLUTION,
MPU_FULL_RESOLUTION
} mpu6050Resolution_e;
typedef struct mpuDetectionResult_s {
mpuSensor_e sensor;
mpu6050Resolution_e resolution;
} mpuDetectionResult_t;
struct gyroDev_s;
struct gyroDeviceConfig_s;
void mpuGyroInit(struct gyroDev_s *gyro);
bool mpuGyroRead(struct gyroDev_s *gyro);
bool mpuGyroReadSPI(struct gyroDev_s *gyro);
void mpuPreInit(const struct gyroDeviceConfig_s *config);
bool mpuDetect(struct gyroDev_s *gyro, const struct gyroDeviceConfig_s *config);
uint8_t mpuGyroDLPF(struct gyroDev_s *gyro);
uint8_t mpuGyroReadRegister(const busDevice_t *bus, uint8_t reg);
struct accDev_s;
bool mpuAccRead(struct accDev_s *acc);