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/*
* 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; version 2 of the License.
*
* 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_MPU6000_H_
#define _AO_MPU6000_H_
#define MPU6000_ADDR_WRITE 0xd0
#define MPU6000_ADDR_READ 0xd1
#define MPU6000_SMPRT_DIV 0x19
#define MPU6000_CONFIG 0x1a
#define MPU6000_CONFIG_EXT_SYNC_SET 3
#define MPU6000_CONFIG_EXT_SYNC_SET_DISABLED 0
#define MPU6000_CONFIG_EXT_SYNC_SET_TEMP_OUT_L 1
#define MPU6000_CONFIG_EXT_SYNC_SET_GYRO_XOUT_L 2
#define MPU6000_CONFIG_EXT_SYNC_SET_GYRO_YOUT_L 3
#define MPU6000_CONFIG_EXT_SYNC_SET_GYRO_ZOUT_L 4
#define MPU6000_CONFIG_EXT_SYNC_SET_ACCEL_XOUT_L 5
#define MPU6000_CONFIG_EXT_SYNC_SET_ACCEL_YOUT_L 6
#define MPU6000_CONFIG_EXT_SYNC_SET_ACCEL_ZOUT_L 7
#define MPU6000_CONFIG_EXT_SYNC_SET_MASK 7
#define MPU6000_CONFIG_DLPF_CFG 0
#define MPU6000_CONFIG_DLPF_CFG_260_256 0
#define MPU6000_CONFIG_DLPF_CFG_184_188 1
#define MPU6000_CONFIG_DLPF_CFG_94_98 2
#define MPU6000_CONFIG_DLPF_CFG_44_42 3
#define MPU6000_CONFIG_DLPF_CFG_21_20 4
#define MPU6000_CONFIG_DLPF_CFG_10_10 5
#define MPU6000_CONFIG_DLPF_CFG_5_5 6
#define MPU6000_CONFIG_DLPF_CFG_MASK 7
#define MPU6000_GYRO_CONFIG 0x1b
# define MPU600_GYRO_CONFIG_XG_ST 7
# define MPU600_GYRO_CONFIG_YG_ST 6
# define MPU600_GYRO_CONFIG_ZG_ST 5
# define MPU600_GYRO_CONFIG_FS_SEL 3
# define MPU600_GYRO_CONFIG_FS_SEL_250 0
# define MPU600_GYRO_CONFIG_FS_SEL_500 1
# define MPU600_GYRO_CONFIG_FS_SEL_1000 2
# define MPU600_GYRO_CONFIG_FS_SEL_2000 3
# define MPU600_GYRO_CONFIG_FS_SEL_MASK 3
#define MPU6000_ACCEL_CONFIG 0x1c
# define MPU600_ACCEL_CONFIG_XA_ST 7
# define MPU600_ACCEL_CONFIG_YA_ST 6
# define MPU600_ACCEL_CONFIG_ZA_ST 5
# define MPU600_ACCEL_CONFIG_AFS_SEL 3
# define MPU600_ACCEL_CONFIG_AFS_SEL_2G 0
# define MPU600_ACCEL_CONFIG_AFS_SEL_4G 1
# define MPU600_ACCEL_CONFIG_AFS_SEL_8G 2
# define MPU600_ACCEL_CONFIG_AFS_SEL_16G 3
# define MPU600_ACCEL_CONFIG_AFS_SEL_MASK 3
# define MPU600_ACCEL_CONFIG_ACCEL_HPF 0
# define MPU600_ACCEL_CONFIG_ACCEL_HPF_RESET 0
# define MPU600_ACCEL_CONFIG_ACCEL_HPF_5Hz 1
# define MPU600_ACCEL_CONFIG_ACCEL_HPF_2_5Hz 2
# define MPU600_ACCEL_CONFIG_ACCEL_HPF_1_25Hz 3
# define MPU600_ACCEL_CONFIG_ACCEL_HPF_0_63Hz 4
# define MPU600_ACCEL_CONFIG_ACCEL_HPF_HOLD 7
# define MPU600_ACCEL_CONFIG_ACCEL_HPF_MASK 7
#define MPU6000_INT_ENABLE 0x38
#define MPU6000_INT_ENABLE_FF_EN 7
#define MPU6000_INT_ENABLE_MOT_EN 6
#define MPU6000_INT_ENABLE_ZMOT_EN 5
#define MPU6000_INT_ENABLE_FIFO_OFLOW_EN 4
#define MPU6000_INT_ENABLE_I2C_MST_INT_EN 3
#define MPU6000_INT_ENABLE_DATA_RDY_EN 0
#define MPU6000_INT_STATUS 0x3a
#define MPU6000_INT_STATUS_FF_EN 7
#define MPU6000_INT_STATUS_MOT_EN 6
#define MPU6000_INT_STATUS_ZMOT_EN 5
#define MPU6000_INT_STATUS_FIFO_OFLOW_EN 4
#define MPU6000_INT_STATUS_I2C_MST_INT_EN 3
#define MPU6000_INT_STATUS_DATA_RDY_EN 0
#define MPU6000_ACCEL_XOUT_H 0x3b
#define MPU6000_ACCEL_XOUT_L 0x3c
#define MPU6000_ACCEL_YOUT_H 0x3d
#define MPU6000_ACCEL_YOUT_L 0x3e
#define MPU6000_ACCEL_ZOUT_H 0x3f
#define MPU6000_ACCEL_ZOUT_L 0x40
#define MPU6000_TEMP_H 0x41
#define MPU6000_TEMP_L 0x42
#define MPU6000_GYRO_XOUT_H 0x43
#define MPU6000_GYRO_XOUT_L 0x44
#define MPU6000_GYRO_YOUT_H 0x45
#define MPU6000_GYRO_YOUT_L 0x46
#define MPU6000_GYRO_ZOUT_H 0x47
#define MPU6000_GYRO_ZOUT_L 0x48
#define MPU6000_SIGNAL_PATH_RESET 0x68
#define MPU6000_SIGNAL_PATH_RESET_GYRO_RESET 2
#define MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET 1
#define MPU6000_SIGNAL_PATH_RESET_TEMP_RESET 0
#define MPU6000_USER_CONTROL 0x6a
#define MPU6000_USER_CONTROL_FIFO_EN 6
#define MPU6000_USER_CONTROL_I2C_MST_EN 5
#define MPU6000_USER_CONTROL_I2C_IF_DIS 4
#define MPU6000_USER_CONTROL_FIFO_RESET 2
#define MPU6000_USER_CONTROL_I2C_MST_RESET 1
#define MPU6000_USER_CONTROL_SIG_COND_RESET 0
#define MPU6000_PWR_MGMT_1 0x6b
#define MPU6000_PWR_MGMT_1_DEVICE_RESET 7
#define MPU6000_PWR_MGMT_1_SLEEP 6
#define MPU6000_PWR_MGMT_1_CYCLE 5
#define MPU6000_PWR_MGMT_1_TEMP_DIS 3
#define MPU6000_PWR_MGMT_1_CLKSEL 0
#define MPU6000_PWR_MGMT_1_CLKSEL_INTERNAL 0
#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS 1
#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_Y_AXIS 2
#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_Z_AXIS 3
#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_32K 4
#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_19M 5
#define MPU6000_PWR_MGMT_1_CLKSEL_STOP 7
#define MPU6000_PWR_MGMT_1_CLKSEL_MASK 7
#define MPU6000_PWR_MGMT_2 0x6c
#define MPU6000_WHO_AM_I 0x75
/* Self test acceleration is approximately 0.5g */
#define MPU6000_ST_ACCEL(full_scale) (32767 / ((full_scale) * 2))
/* Self test gyro is approximately 50°/s */
#define MPU6000_ST_GYRO(full_scale) ((int16_t) (((int32_t) 32767 * (int32_t) 50) / (full_scale)))
#define MPU6000_GYRO_FULLSCALE 2000
#define MPU6000_ACCEL_FULLSCALE 16
struct ao_mpu6000_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;
};
void
ao_mpu6000_init(void);
#endif /* _AO_MPU6000_H_ */
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