137 lines
6.4 KiB
C
137 lines
6.4 KiB
C
/*
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* Copyright (c) 2018, Texas Instruments Incorporated - http://www.ti.com/
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
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* OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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/**
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* \addtogroup sensortag-peripherals
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* @{
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*
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* \defgroup sensortag-mpu SensorTag Motion Processing Unit
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*
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* Driver for the Invensense MPU-9250 Motion Processing Unit.
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*
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* Due to the time required between triggering a reading and the
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* reading becoming available, this driver is meant to be used in an
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* asynchronous fashion. The caller must first activate the sensor by
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* calling
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*
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* mpu_9250_sensor.configure(SENSORS_ACTIVE, xyz);
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*
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* The value for the xyz arguments depends on the required readings. If
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* the caller intends to read both the accelerometer as well as the gyro
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* then xyz should be MPU_9250_SENSOR_TYPE_ALL. If the caller only needs
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* to take a reading from one of the two elements, xyz should be one of
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* MPU_9250_SENSOR_TYPE_ACC or MPU_9250_SENSOR_TYPE_GYRO
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*
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* Calling configure() will power up the sensor and initialise it. When
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* the sensor is ready to provide readings, the driver will generate a
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* sensors_changed event.
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*
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* Calls to status() will return the driver's state which could indicate
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* that the sensor is off, booting or on.
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*
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* Once a reading has been taken, the caller has two options:
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* - Turn the sensor off by calling SENSORS_DEACTIVATE, but in order to
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* take subsequent readings the sensor must be started up all over
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* - Leave the sensor on. In this scenario, the caller can simply keep
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* calling value() for subsequent readings, but having the sensor on
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* will consume more energy, especially if both accelerometer and the
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* gyro are on.
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* @{
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*
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* \file
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* Header file for the Sensortag Invensense MPU-9250 motion processing unit
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* \author
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* Edvard Pettersen <e.pettersen@ti.com>
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*/
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/*---------------------------------------------------------------------------*/
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#ifndef MPU_9250_SENSOR_H_
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#define MPU_9250_SENSOR_H_
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/*---------------------------------------------------------------------------*/
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#include "contiki.h"
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/*---------------------------------------------------------------------------*/
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#if (TI_I2C_CONF_ENABLE == 0) || (TI_I2C_CONF_I2C0_ENABLE == 0)
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# error "The MPU-9250 requires the I2C driver (TI_I2C_CONF_ENABLE = 1)"
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#endif
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/*---------------------------------------------------------------------------*/
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#define MPU_9250_READING_ERROR -1
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/*---------------------------------------------------------------------------*/
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/* Accelerometer / Gyro Axes */
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typedef enum {
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MPU_9250_SENSOR_TYPE_NONE = (0), /**< 0b000000 = 0x00 */
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MPU_9250_SENSOR_TYPE_GYRO_X = (1 << 0), /**< 0b000001 = 0x01 */
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MPU_9250_SENSOR_TYPE_GYRO_Y = (1 << 1), /**< 0b000010 = 0x02 */
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MPU_9250_SENSOR_TYPE_GYRO_Z = (1 << 2), /**< 0b000100 = 0x04 */
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MPU_9250_SENSOR_TYPE_ACC_X = (1 << 3), /**< 0b001000 = 0x08 */
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MPU_9250_SENSOR_TYPE_ACC_Y = (1 << 4), /**< 0b010000 = 0x10 */
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MPU_9250_SENSOR_TYPE_ACC_Z = (1 << 5), /**< 0b100000 = 0x20 */
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MPU_9250_SENSOR_TYPE_GYRO = MPU_9250_SENSOR_TYPE_GYRO_X
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| MPU_9250_SENSOR_TYPE_GYRO_Y
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| MPU_9250_SENSOR_TYPE_GYRO_Z,
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/**< 0b000111 = 0x07 */
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MPU_9250_SENSOR_TYPE_ACC = MPU_9250_SENSOR_TYPE_ACC_X
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| MPU_9250_SENSOR_TYPE_ACC_Y
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| MPU_9250_SENSOR_TYPE_ACC_Z,
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/**< 0b111000 = 0x38 */
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MPU_9250_SENSOR_TYPE_ALL = MPU_9250_SENSOR_TYPE_GYRO
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| MPU_9250_SENSOR_TYPE_ACC
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/**< 0b111111 = 0x3F */
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} MPU_9250_SENSOR_TYPE;
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/*---------------------------------------------------------------------------*/
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/* Accelerometer range */
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typedef enum {
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MPU_9250_SENSOR_ACC_RANGE_2G = 0,
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MPU_9250_SENSOR_ACC_RANGE_4G = 1,
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MPU_9250_SENSOR_ACC_RANGE_8G = 2,
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MPU_9250_SENSOR_ACC_RANGE_16G = 3
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} MPU_9250_SENSOR_ACC_RANGE;
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/*---------------------------------------------------------------------------*/
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/* Sensor status */
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typedef enum {
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MPU_9250_SENSOR_STATUS_DISABLED,
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MPU_9250_SENSOR_STATUS_ENABLED,
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MPU_9250_SENSOR_STATUS_BOOTING,
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MPU_9250_SENSOR_STATUS_READY
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} MPU_9250_SENSOR_STATUS;
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/*---------------------------------------------------------------------------*/
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/* Accelerometer range configuration, type MPU_9250_SENSOR_ACC_RANGE */
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#ifdef MPU_9250_SENSOR_CONF_ACC_RANGE_ARG
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# define MPU_9250_SENSOR_ACC_RANGE_ARG MPU_9250_SENSOR_CONF_ACC_RANGE
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#else
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# define MPU_9250_SENSOR_ACC_RANGE_ARG MPU_9250_SENSOR_ACC_RANGE_2G
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#endif
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/*---------------------------------------------------------------------------*/
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extern const struct sensors_sensor mpu_9250_sensor;
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/*---------------------------------------------------------------------------*/
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#endif /* MPU_9250_SENSOR_H_ */
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/*---------------------------------------------------------------------------*/
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/**
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* @}
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* @}
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*/
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