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Diffstat (limited to 'src/drivers/ao_mpu9250.h')
| -rw-r--r-- | src/drivers/ao_mpu9250.h | 340 |
1 files changed, 340 insertions, 0 deletions
diff --git a/src/drivers/ao_mpu9250.h b/src/drivers/ao_mpu9250.h new file mode 100644 index 00000000..5e8e0885 --- /dev/null +++ b/src/drivers/ao_mpu9250.h @@ -0,0 +1,340 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it 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 program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_MPU9250_H_ +#define _AO_MPU9250_H_ + +#ifndef M_PI +#define M_PI 3.1415926535897832384626433 +#endif + +#define MPU9250_ADDR_WRITE 0xd0 +#define MPU9250_ADDR_READ 0xd1 + +/* From Tridge */ +#define MPUREG_XG_OFFS_TC 0x00 +#define MPUREG_YG_OFFS_TC 0x01 +#define MPUREG_ZG_OFFS_TC 0x02 +#define MPUREG_X_FINE_GAIN 0x03 +#define MPUREG_Y_FINE_GAIN 0x04 +#define MPUREG_Z_FINE_GAIN 0x05 +#define MPUREG_XA_OFFS_H 0x06 // X axis accelerometer offset (high byte) +#define MPUREG_XA_OFFS_L 0x07 // X axis accelerometer offset (low byte) +#define MPUREG_YA_OFFS_H 0x08 // Y axis accelerometer offset (high byte) +#define MPUREG_YA_OFFS_L 0x09 // Y axis accelerometer offset (low byte) +#define MPUREG_ZA_OFFS_H 0x0A // Z axis accelerometer offset (high byte) +#define MPUREG_ZA_OFFS_L 0x0B // Z axis accelerometer offset (low byte) +#define MPUREG_PRODUCT_ID 0x0C // Product ID Register +#define MPUREG_XG_OFFS_USRH 0x13 // X axis gyro offset (high byte) +#define MPUREG_XG_OFFS_USRL 0x14 // X axis gyro offset (low byte) +#define MPUREG_YG_OFFS_USRH 0x15 // Y axis gyro offset (high byte) +#define MPUREG_YG_OFFS_USRL 0x16 // Y axis gyro offset (low byte) +#define MPUREG_ZG_OFFS_USRH 0x17 // Z axis gyro offset (high byte) +#define MPUREG_ZG_OFFS_USRL 0x18 // Z axis gyro offset (low byte) + +#define MPU9250_SMPRT_DIV 0x19 + +#define MPU9250_CONFIG 0x1a + +#define MPU9250_CONFIG_FIFO_MODE 6 +# define MPU9250_CONFIG_FIFO_MODE_REPLACE 0 +# define MPU9250_CONFIG_FIFO_MODE_DROP 1 + +#define MPU9250_CONFIG_EXT_SYNC_SET 3 +#define MPU9250_CONFIG_EXT_SYNC_SET_DISABLED 0 +#define MPU9250_CONFIG_EXT_SYNC_SET_TEMP_OUT_L 1 +#define MPU9250_CONFIG_EXT_SYNC_SET_GYRO_XOUT_L 2 +#define MPU9250_CONFIG_EXT_SYNC_SET_GYRO_YOUT_L 3 +#define MPU9250_CONFIG_EXT_SYNC_SET_GYRO_ZOUT_L 4 +#define MPU9250_CONFIG_EXT_SYNC_SET_ACCEL_XOUT_L 5 +#define MPU9250_CONFIG_EXT_SYNC_SET_ACCEL_YOUT_L 6 +#define MPU9250_CONFIG_EXT_SYNC_SET_ACCEL_ZOUT_L 7 +#define MPU9250_CONFIG_EXT_SYNC_SET_MASK 7 + +#define MPU9250_CONFIG_DLPF_CFG 0 +#define MPU9250_CONFIG_DLPF_CFG_250 0 +#define MPU9250_CONFIG_DLPF_CFG_184 1 +#define MPU9250_CONFIG_DLPF_CFG_92 2 +#define MPU9250_CONFIG_DLPF_CFG_41 3 +#define MPU9250_CONFIG_DLPF_CFG_20 4 +#define MPU9250_CONFIG_DLPF_CFG_10 5 +#define MPU9250_CONFIG_DLPF_CFG_5 6 +#define MPU9250_CONFIG_DLPF_CFG_MASK 7 + +#define MPU9250_GYRO_CONFIG 0x1b +# define MPU9250_GYRO_CONFIG_XG_ST 7 +# define MPU9250_GYRO_CONFIG_YG_ST 6 +# define MPU9250_GYRO_CONFIG_ZG_ST 5 +# define MPU9250_GYRO_CONFIG_FS_SEL 3 +# define MPU9250_GYRO_CONFIG_FS_SEL_250 0 +# define MPU9250_GYRO_CONFIG_FS_SEL_500 1 +# define MPU9250_GYRO_CONFIG_FS_SEL_1000 2 +# define MPU9250_GYRO_CONFIG_FS_SEL_2000 3 +# define MPU9250_GYRO_CONFIG_FS_SEL_MASK 3 +# define MPU9250_GYRO_CONFIG_FCHOICE_B 0 +# define MPU9250_GYRO_CONFIG_FCHOICE_B_8800 3 +# define MPU9250_GYRO_CONFIG_FCHOICE_B_3600 2 +# define MPU9250_GYRO_CONFIG_FCHOICE_B_LOW 0 + +#define MPU9250_ACCEL_CONFIG 0x1c +# define MPU9250_ACCEL_CONFIG_XA_ST 7 +# define MPU9250_ACCEL_CONFIG_YA_ST 6 +# define MPU9250_ACCEL_CONFIG_ZA_ST 5 +# define MPU9250_ACCEL_CONFIG_AFS_SEL 3 +# define MPU9250_ACCEL_CONFIG_AFS_SEL_2G 0 +# define MPU9250_ACCEL_CONFIG_AFS_SEL_4G 1 +# define MPU9250_ACCEL_CONFIG_AFS_SEL_8G 2 +# define MPU9250_ACCEL_CONFIG_AFS_SEL_16G 3 +# define MPU9250_ACCEL_CONFIG_AFS_SEL_MASK 3 + +#define MPU9250_MST_CTRL 0x24 +#define MPU9250_MST_CTRL_MULT_MST_EN 7 +#define MPU9250_MST_CTRL_WAIT_FOR_ES 6 +#define MPU9250_MST_CTRL_SLV_3_FIFO_EN 5 +#define MPU9250_MST_CTRL_I2C_MST_P_NSR 4 +#define MPU9250_MST_CTRL_I2C_MST_CLK 0 +#define MPU9250_MST_CTRL_I2C_MST_CLK_348 0 +#define MPU9250_MST_CTRL_I2C_MST_CLK_333 1 +#define MPU9250_MST_CTRL_I2C_MST_CLK_320 2 +#define MPU9250_MST_CTRL_I2C_MST_CLK_308 3 +#define MPU9250_MST_CTRL_I2C_MST_CLK_296 4 +#define MPU9250_MST_CTRL_I2C_MST_CLK_286 5 +#define MPU9250_MST_CTRL_I2C_MST_CLK_276 6 +#define MPU9250_MST_CTRL_I2C_MST_CLK_267 7 +#define MPU9250_MST_CTRL_I2C_MST_CLK_258 8 +#define MPU9250_MST_CTRL_I2C_MST_CLK_500 9 +#define MPU9250_MST_CTRL_I2C_MST_CLK_471 10 +#define MPU9250_MST_CTRL_I2C_MST_CLK_444 11 +#define MPU9250_MST_CTRL_I2C_MST_CLK_421 12 +#define MPU9250_MST_CTRL_I2C_MST_CLK_400 13 +#define MPU9250_MST_CTRL_I2C_MST_CLK_381 14 +#define MPU9250_MST_CTRL_I2C_MST_CLK_364 15 +#define MPU9250_MST_CTRL_I2C_MST_CLK_MASK 15 + +#define MPU9250_I2C_SLV0_ADDR 0x25 +#define MPU9250_I2C_SLV0_REG 0x26 +#define MPU9250_I2C_SLV0_CTRL 0x27 + +#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_EN 7 +#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_BYTE_SW 6 +#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_REG_DIS 5 +#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_GRP 4 +#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_LENG 0 + +#define MPU9250_I2C_SLV1_ADDR 0x28 +#define MPU9250_I2C_SLV1_REG 0x29 +#define MPU9250_I2C_SLV1_CTRL 0x2a + +#define MPU9250_I2C_SLV2_ADDR 0x2b +#define MPU9250_I2C_SLV2_REG 0x2c +#define MPU9250_I2C_SLV2_CTRL 0x2d + +#define MPU9250_I2C_SLV3_ADDR 0x2e +#define MPU9250_I2C_SLV3_REG 0x2f +#define MPU9250_I2C_SLV3_CTRL 0x30 + +#define MPU9250_I2C_SLV4_ADDR 0x31 +#define MPU9250_I2C_SLV4_REG 0x32 +#define MPU9250_I2C_SLV4_DO 0x33 +#define MPU9250_I2C_SLV4_CTRL 0x34 +#define MPU9250_I2C_SLV4_CTRL_I2C_SLV4_EN 7 +#define MPU9250_I2C_SLV4_CTRL_SLV4_DONE_INT_EN 6 +#define MPU9250_I2C_SLV4_CTRL_I2C_SLV4_REG_DIS 5 +#define MPU9250_I2C_SLV4_CTRL_I2C_MST_DLY 0 + +#define MPU9250_I2C_SLV4_DI 0x35 + +#define MPU9250_I2C_MST_STATUS 0x36 + +#define MPU9250_INT_PIN_CFG 0x37 + +#define MPU9250_INT_ENABLE 0x38 +#define MPU9250_INT_ENABLE_WOM_EN 6 +#define MPU9250_INT_ENABLE_FIFO_OFLOW_EN 4 +#define MPU9250_INT_ENABLE_FSYNC_INT_EN 3 +#define MPU9250_INT_ENABLE_RAW_RDY_EN 0 + +#define MPU9250_INT_STATUS 0x3a +#define MPU9250_INT_STATUS_WOM_INT 6 +#define MPU9250_INT_STATUS_FIFO_OFLOW_INT 4 +#define MPU9250_INT_STATUS_FSYNC_INT 3 +#define MPU9250_INT_STATUS_RAW_RDY_INT 0 + +#define MPU9250_ACCEL_XOUT_H 0x3b +#define MPU9250_ACCEL_XOUT_L 0x3c +#define MPU9250_ACCEL_YOUT_H 0x3d +#define MPU9250_ACCEL_YOUT_L 0x3e +#define MPU9250_ACCEL_ZOUT_H 0x3f +#define MPU9250_ACCEL_ZOUT_L 0x40 +#define MPU9250_TEMP_H 0x41 +#define MPU9250_TEMP_L 0x42 +#define MPU9250_GYRO_XOUT_H 0x43 +#define MPU9250_GYRO_XOUT_L 0x44 +#define MPU9250_GYRO_YOUT_H 0x45 +#define MPU9250_GYRO_YOUT_L 0x46 +#define MPU9250_GYRO_ZOUT_H 0x47 +#define MPU9250_GYRO_ZOUT_L 0x48 + +#define MPU9250_I2C_MST_DELAY_CTRL 0x67 + +#define MPU9250_I2C_MST_DELAY_CTRL_DELAY_ES_SHADOW 7 +#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV4_DLY_EN 4 +#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV3_DLY_EN 3 +#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV2_DLY_EN 2 +#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV1_DLY_EN 1 +#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV0_DLY_EN 0 + +#define MPU9250_SIGNAL_PATH_RESET 0x68 +#define MPU9250_SIGNAL_PATH_RESET_GYRO_RESET 2 +#define MPU9250_SIGNAL_PATH_RESET_ACCEL_RESET 1 +#define MPU9250_SIGNAL_PATH_RESET_TEMP_RESET 0 + +#define MPU9250_USER_CTRL 0x6a +#define MPU9250_USER_CTRL_FIFO_EN 6 +#define MPU9250_USER_CTRL_I2C_MST_EN 5 +#define MPU9250_USER_CTRL_I2C_IF_DIS 4 +#define MPU9250_USER_CTRL_FIFO_RESET 2 +#define MPU9250_USER_CTRL_I2C_MST_RESET 1 +#define MPU9250_USER_CTRL_SIG_COND_RESET 0 + +#define MPU9250_PWR_MGMT_1 0x6b +#define MPU9250_PWR_MGMT_1_DEVICE_RESET 7 +#define MPU9250_PWR_MGMT_1_SLEEP 6 +#define MPU9250_PWR_MGMT_1_CYCLE 5 +#define MPU9250_PWR_MGMT_1_TEMP_DIS 3 +#define MPU9250_PWR_MGMT_1_CLKSEL 0 +#define MPU9250_PWR_MGMT_1_CLKSEL_INTERNAL 0 +#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_X_AXIS 1 +#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_Y_AXIS 2 +#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_Z_AXIS 3 +#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_32K 4 +#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_19M 5 +#define MPU9250_PWR_MGMT_1_CLKSEL_STOP 7 +#define MPU9250_PWR_MGMT_1_CLKSEL_MASK 7 + +#define MPU9250_PWR_MGMT_2 0x6c + +#define MPU9250_WHO_AM_I 0x75 +#define MPU9250_I_AM_9250 0x71 + +/* AK8963 mag sensor on the I2C bus */ + +#define MPU9250_MAG_ADDR 0x0c + +#define MPU9250_MAG_WIA 0x00 +#define MPU9250_MAG_WIA_VALUE 0x48 + +#define MPU9250_MAG_INFO 0x01 +#define MPU9250_MAG_ST1 0x02 +#define MPU9250_MAG_ST1_DOR 1 +#define MPU9250_MAG_ST1_DRDY 0 + +#define MPU9250_MAG_HXL 0x03 +#define MPU9250_MAG_HXH 0x04 +#define MPU9250_MAG_HYL 0x05 +#define MPU9250_MAG_HYH 0x06 +#define MPU9250_MAG_HZL 0x07 +#define MPU9250_MAG_HZH 0x08 +#define MPU9250_MAG_ST2 0x09 +#define MPU9250_MAG_ST2_BITM 4 +#define MPU9250_MAG_ST2_HOFL 3 + +#define MPU9250_MAG_CNTL1 0x0a +#define MPU9250_MAG_CNTL1_MODE 0 +#define MPU9250_MAG_CNTL1_MODE_POWER_DOWN 0x0 +#define MPU9250_MAG_CNTL1_MODE_SINGLE 0x1 +#define MPU9250_MAG_CNTL1_MODE_CONT_1 0x2 /* 8Hz */ +#define MPU9250_MAG_CNTL1_MODE_CONT_2 0x6 /* 100Hz */ +#define MPU9250_MAG_CNTL1_MODE_EXTERNAL 0x4 +#define MPU9250_MAG_CNTL1_MODE_SELF_TEST 0x8 +#define MPU9250_MAG_CNTL1_MODE_FUSE_ACCESS 0xf + +#define MPU9250_MAG_CNTL1_BIT 4 +#define MPU9250_MAG_CNTL1_BIT_14 0 +#define MPU9250_MAG_CNTL1_BIT_16 1 + +#define MPU9250_MAG_CNTL2 0x0b +#define MPU9250_MAG_CNTL2_SRST 0 + +#define MPU9250_MAG_ASTC 0x0c +#define MPU9250_MAG_ASTC_SELF 6 + +#define MPU9250_MAG_TS1 0x0d +#define MPU9250_MAG_TS2 0x0e +#define MPU9250_MAG_I2CDIS 0x0f +#define MPU9250_MAG_I2CDIS_VALUE 0x1d + +#define MPU9250_MAG_ASAX 0x10 +#define MPU9250_MAG_ASAY 0x11 +#define MPU9250_MAG_ASAZ 0x12 + +/* Self test acceleration is approximately 0.5g */ +#define MPU9250_ST_ACCEL(full_scale) (32767 / ((full_scale) * 2)) + +/* Self test gyro is approximately 50°/s */ +#define MPU9250_ST_GYRO(full_scale) ((int16_t) (((int32_t) 32767 * (int32_t) 50) / (full_scale))) + +#define MPU9250_GYRO_FULLSCALE ((float) 2000 * M_PI/180.0) + +static inline float +ao_mpu9250_gyro(float sensor) { + return sensor * ((float) (MPU9250_GYRO_FULLSCALE / 32767.0)); +} + +#define MPU9250_ACCEL_FULLSCALE 16 + +static inline float +ao_mpu9250_accel(int16_t sensor) { + return (float) sensor * ((float) (MPU9250_ACCEL_FULLSCALE * GRAVITY / 32767.0)); +} + +struct ao_mpu9250_sample { + int16_t accel_x; + int16_t accel_y; + int16_t accel_z; + int16_t temp; + int16_t gyro_x; + int16_t gyro_y; + int16_t gyro_z; + int16_t mag_x; + int16_t mag_y; + int16_t mag_z; +}; + +extern struct ao_mpu9250_sample ao_mpu9250_current; + +void +ao_mpu9250_init(void); + +/* Product ID Description for MPU9250 + * high 4 bits low 4 bits + * Product Name Product Revision + */ +#define MPU9250ES_REV_C4 0x14 /* 0001 0100 */ +#define MPU9250ES_REV_C5 0x15 /* 0001 0101 */ +#define MPU9250ES_REV_D6 0x16 /* 0001 0110 */ +#define MPU9250ES_REV_D7 0x17 /* 0001 0111 */ +#define MPU9250ES_REV_D8 0x18 /* 0001 1000 */ +#define MPU9250_REV_C4 0x54 /* 0101 0100 */ +#define MPU9250_REV_C5 0x55 /* 0101 0101 */ +#define MPU9250_REV_D6 0x56 /* 0101 0110 */ +#define MPU9250_REV_D7 0x57 /* 0101 0111 */ +#define MPU9250_REV_D8 0x58 /* 0101 1000 */ +#define MPU9250_REV_D9 0x59 /* 0101 1001 */ + +#endif /* _AO_MPU9250_H_ */ |