38 #include "drv_digital_out.h" 39 #include "drv_digital_in.h" 40 #include "drv_i2c_master.h" 52 #define MPU9DOF_MAP_MIKROBUS( cfg, mikrobus ) \ 53 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \ 54 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \ 55 cfg.fsy = MIKROBUS( mikrobus, MIKROBUS_RST ); \ 56 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT ) 63 #define MPU9DOF_RETVAL uint8_t 65 #define MPU9DOF_OK 0x00 66 #define MPU9DOF_INIT_ERROR 0xFF 73 #define MPU9DOF_XLG_I2C_ADDR_1 0x69 //Device address jumper pos 1 (0xD2 >> 1) 74 #define MPU9DOF_XLG_I2C_ADDR_0 0x68 //Device address jumper pos 0 75 #define MPU9DOF_M_I2C_ADDR_0 0x0C // Address of the magnetometer in bypass mode 76 #define MPU9DOF_M_I2C_ADDR_1 0x0D 83 #define MPU9DOF_WHO_AM_I_MAG 0x00 // should return = 0x48 84 #define MPU9DOF_INFO 0x01 85 #define MPU9DOF_MAG_ST1 0x02 // data ready status bit 0 86 #define MPU9DOF_MAG_ADDRESS 0x0C 87 #define MPU9DOF_MAG_XOUT_L 0x03 // data 88 #define MPU9DOF_MAG_XOUT_H 0x04 89 #define MPU9DOF_MAG_YOUT_L 0x05 90 #define MPU9DOF_MAG_YOUT_H 0x06 91 #define MPU9DOF_MAG_ZOUT_L 0x07 92 #define MPU9DOF_MAG_ZOUT_H 0x08 93 #define MPU9DOF_MAG_ST2 0x09 // Data overflow bit 3 and data read error status bit 2 94 #define MPU9DOF_MAG_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0 95 #define MPU9DOF_MAG_ASTC 0x0C // Self test control 96 #define MPU9DOF_MAG_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value 97 #define MPU9DOF_MAG_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value 98 #define MPU9DOF_MAG_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value 100 #define MPU9DOF_XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD 101 #define MPU9DOF_YGOFFS_TC 0x01 102 #define MPU9DOF_ZGOFFS_TC 0x02 103 #define MPU9DOF_X_FINE_GAIN 0x03 // [7:0] fine gain 104 #define MPU9DOF_Y_FINE_GAIN 0x04 105 #define MPU9DOF_Z_FINE_GAIN 0x05 106 #define MPU9DOF_XA_OFFSET_H 0x06 // User-defined trim values for accelerometer 107 #define MPU9DOF_XA_OFFSET_L_TC 0x07 108 #define MPU9DOF_YA_OFFSET_H 0x08 109 #define MPU9DOF_YA_OFFSET_L_TC 0x09 110 #define MPU9DOF_ZA_OFFSET_H 0x0A 111 #define MPU9DOF_ZA_OFFSET_L_TC 0x0B 112 #define MPU9DOF_SELF_TEST_X 0x0D 113 #define MPU9DOF_SELF_TEST_Y 0x0E 114 #define MPU9DOF_SELF_TEST_Z 0x0F 115 #define MPU9DOF_SELF_TEST_A 0x10 116 #define MPU9DOF_XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope, populate with calibration routine 117 #define MPU9DOF_XG_OFFS_USRL 0x14 118 #define MPU9DOF_YG_OFFS_USRH 0x15 119 #define MPU9DOF_YG_OFFS_USRL 0x16 120 #define MPU9DOF_ZG_OFFS_USRH 0x17 121 #define MPU9DOF_ZG_OFFS_USRL 0x18 122 #define MPU9DOF_SMPLRT_DIV 0x19 123 #define MPU9DOF_CONFIG 0x1A 124 #define MPU9DOF_GYRO_CONFIG 0x1B 125 #define MPU9DOF_ACCEL_CONFIG 0x1C 126 #define MPU9DOF_FF_THR 0x1D // Free-fall 127 #define MPU9DOF_FF_DUR 0x1E // Free-fall 128 #define MPU9DOF_MOT_THR 0x1F // Motion detection threshold bits [7:0] 129 #define MPU9DOF_MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms 130 #define MPU9DOF_ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] 131 #define MPU9DOF_ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms 132 #define MPU9DOF_FIFO_EN 0x23 133 #define MPU9DOF_I2C_MST_CTRL 0x24 134 #define MPU9DOF_I2C_SLV0_ADDR 0x25 135 #define MPU9DOF_I2C_SLV0_REG 0x26 136 #define MPU9DOF_I2C_SLV0_CTRL 0x27 137 #define MPU9DOF_I2C_SLV1_ADDR 0x28 138 #define MPU9DOF_I2C_SLV1_REG 0x29 139 #define MPU9DOF_I2C_SLV1_CTRL 0x2A 140 #define MPU9DOF_I2C_SLV2_ADDR 0x2B 141 #define MPU9DOF_I2C_SLV2_REG 0x2C 142 #define MPU9DOF_I2C_SLV2_CTRL 0x2D 143 #define MPU9DOF_I2C_SLV3_ADDR 0x2E 144 #define MPU9DOF_I2C_SLV3_REG 0x2F 145 #define MPU9DOF_I2C_SLV3_CTRL 0x30 146 #define MPU9DOF_I2C_SLV4_ADDR 0x31 147 #define MPU9DOF_I2C_SLV4_REG 0x32 148 #define MPU9DOF_I2C_SLV4_DO 0x33 149 #define MPU9DOF_I2C_SLV4_CTRL 0x34 150 #define MPU9DOF_I2C_SLV4_DI 0x35 151 #define MPU9DOF_I2C_MST_STATUS 0x36 152 #define MPU9DOF_INT_PIN_CFG 0x37 153 #define MPU9DOF_INT_ENABLE 0x38 154 #define MPU9DOF_DMP_INT_STATUS 0x39 // Check DMP interrupt 155 #define MPU9DOF_INT_STATUS 0x3A 156 #define MPU9DOF_ACCEL_XOUT_H 0x3B 157 #define MPU9DOF_ACCEL_XOUT_L 0x3C 158 #define MPU9DOF_ACCEL_YOUT_H 0x3D 159 #define MPU9DOF_ACCEL_YOUT_L 0x3E 160 #define MPU9DOF_ACCEL_ZOUT_H 0x3F 161 #define MPU9DOF_ACCEL_ZOUT_L 0x40 162 #define MPU9DOF_TEMP_OUT_H 0x41 163 #define MPU9DOF_TEMP_OUT_L 0x42 164 #define MPU9DOF_GYRO_XOUT_H 0x43 165 #define MPU9DOF_GYRO_XOUT_L 0x44 166 #define MPU9DOF_GYRO_YOUT_H 0x45 167 #define MPU9DOF_GYRO_YOUT_L 0x46 168 #define MPU9DOF_GYRO_ZOUT_H 0x47 169 #define MPU9DOF_GYRO_ZOUT_L 0x48 170 #define MPU9DOF_EXT_SENS_DATA_00 0x49 171 #define MPU9DOF_EXT_SENS_DATA_01 0x4A 172 #define MPU9DOF_EXT_SENS_DATA_02 0x4B 173 #define MPU9DOF_EXT_SENS_DATA_03 0x4C 174 #define MPU9DOF_EXT_SENS_DATA_04 0x4D 175 #define MPU9DOF_EXT_SENS_DATA_05 0x4E 176 #define MPU9DOF_EXT_SENS_DATA_06 0x4F 177 #define MPU9DOF_EXT_SENS_DATA_07 0x50 178 #define MPU9DOF_EXT_SENS_DATA_08 0x51 179 #define MPU9DOF_EXT_SENS_DATA_09 0x52 180 #define MPU9DOF_EXT_SENS_DATA_10 0x53 181 #define MPU9DOF_EXT_SENS_DATA_11 0x54 182 #define MPU9DOF_EXT_SENS_DATA_12 0x55 183 #define MPU9DOF_EXT_SENS_DATA_13 0x56 184 #define MPU9DOF_EXT_SENS_DATA_14 0x57 185 #define MPU9DOF_EXT_SENS_DATA_15 0x58 186 #define MPU9DOF_EXT_SENS_DATA_16 0x59 187 #define MPU9DOF_EXT_SENS_DATA_17 0x5A 188 #define MPU9DOF_EXT_SENS_DATA_18 0x5B 189 #define MPU9DOF_EXT_SENS_DATA_19 0x5C 190 #define MPU9DOF_EXT_SENS_DATA_20 0x5D 191 #define MPU9DOF_EXT_SENS_DATA_21 0x5E 192 #define MPU9DOF_EXT_SENS_DATA_22 0x5F 193 #define MPU9DOF_EXT_SENS_DATA_23 0x60 194 #define MPU9DOF_MOT_DETECT_STATUS 0x61 195 #define MPU9DOF_I2C_SLV0_DO 0x63 196 #define MPU9DOF_I2C_SLV1_DO 0x64 197 #define MPU9DOF_I2C_SLV2_DO 0x65 198 #define MPU9DOF_I2C_SLV3_DO 0x66 199 #define MPU9DOF_I2C_MST_DELAY_CTRL 0x67 200 #define MPU9DOF_SIGNAL_PATH_RESET 0x68 201 #define MPU9DOF_MOT_DETECT_CTRL 0x69 202 #define MPU9DOF_USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP 203 #define MPU9DOF_PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode 204 #define MPU9DOF_PWR_MGMT_2 0x6C 205 #define MPU9DOF_DMP_BANK 0x6D // Activates a specific bank in the DMP 206 #define MPU9DOF_DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank 207 #define MPU9DOF_DMP_REG 0x6F // Register in DMP from which to read or to which to write 208 #define MPU9DOF_DMP_REG_1 0x70 209 #define MPU9DOF_DMP_REG_2 0x71 210 #define MPU9DOF_FIFO_COUNTH 0x72 211 #define MPU9DOF_FIFO_COUNTL 0x73 212 #define MPU9DOF_FIFO_R_W 0x74 213 #define MPU9DOF_WHO_AM_I_XLG 0x75 // Should return = 0x68 220 #define MPU9DOF_BIT_SLEEP 0x40 221 #define MPU9DOF_BIT_H_RESET 0x80 222 #define MPU9DOF_BITS_CLKSEL 0x07 223 #define MPU9DOF_MPU_CLK_SEL_PLLGYROX 0x01 224 #define MPU9DOF_MPU_CLK_SEL_PLLGYROZ 0x03 225 #define MPU9DOF_MPU_EXT_SYNC_GYROX 0x02 226 #define MPU9DOF_BITS_AFSL_SEL_2G 0x00 227 #define MPU9DOF_BITS_AFSL_SEL_4G 0x08 228 #define MPU9DOF_BITS_AFSL_SEL_8G 0x10 229 #define MPU9DOF_BITS_AFSL_SEL_16G 0x18 230 #define MPU9DOF_BITS_FS_250DPS 0x00 231 #define MPU9DOF_BITS_FS_500DPS 0x08 232 #define MPU9DOF_BITS_FS_1000DPS 0x10 233 #define MPU9DOF_BITS_FS_2000DPS 0x18 234 #define MPU9DOF_BITS_FS_MASK 0x18 235 #define MPU9DOF_BITS_DLPF_CFG_256HZ_NOLPF2 0x00 236 #define MPU9DOF_BITS_DLPF_CFG_188HZ 0x01 237 #define MPU9DOF_BITS_DLPF_CFG_98HZ 0x02 238 #define MPU9DOF_BITS_DLPF_CFG_42HZ 0x03 239 #define MPU9DOF_BITS_DLPF_CFG_20HZ 0x04 240 #define MPU9DOF_BITS_DLPF_CFG_10HZ 0x05 241 #define MPU9DOF_BITS_DLPF_CFG_5HZ 0x06 242 #define MPU9DOF_BITS_DLPF_CFG_2100HZ_NOLPF 0x07 243 #define MPU9DOF_BITS_DLPF_CFG_MASK 0x07 244 #define MPU9DOF_BIT_INT_ANYRD_2CLEAR 0x10 245 #define MPU9DOF_BIT_RAW_RDY_EN 0x01 246 #define MPU9DOF_BIT_I2C_IF_DIS 0x10 247 #define MPU9DOF_BIT_INT_PIN_CFG 0x02 248 #define MPU9DOF_BIT_FIFO_EN 0x78 249 #define MPU9DOF_BIT_FIFO_DIS 0x00 250 #define MPU9DOF_DEFAULT 0x00 498 #endif // _MPU9DOF_H_ void mpu9dof_write_data_mag(mpu9dof_t *ctx, uint8_t address, uint8_t write_command)
Generic write data function.
void mpu9dof_read_accel(mpu9dof_t *ctx, int16_t *accel_x, int16_t *accel_y, int16_t *accel_z)
Function read axis.
uint8_t i2c_mag_address
Definition: mpu9dof.h:303
uint8_t slave_address
Definition: mpu9dof.h:279
void mpu9dof_read_gyro(mpu9dof_t *ctx, int16_t *gyro_x, int16_t *gyro_y, int16_t *gyro_z)
Function read axis.
void mpu9dof_generic_read(mpu9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
void mpu9dof_read_mag(mpu9dof_t *ctx, int16_t *mag_x, int16_t *mag_y, int16_t *mag_z)
Function read axis.
float mpu9dof_read_temperature(mpu9dof_t *ctx)
Function read temperature data in degrees [ �C ].
#define MPU9DOF_RETVAL
Definition: mpu9dof.h:63
uint32_t i2c_speed
Definition: mpu9dof.h:301
void adapter_turn_fsy_on(mpu9dof_t *ctx)
Turn FSY on function.
uint8_t i2c_address
Definition: mpu9dof.h:302
void adapter_turn_fsy_off(mpu9dof_t *ctx)
Turn FSY off function.
uint8_t mpu9dof_read_data_mag(mpu9dof_t *ctx, uint8_t address)
Generic read data function.
uint8_t get_int_pin_state(mpu9dof_t *ctx)
Get int pin state.
Click configuration structure definition.
Definition: mpu9dof.h:287
int16_t mpu9dof_get_axis(mpu9dof_t *ctx, uint8_t adr_reg_high)
Function get low and high register data.
void mpu9dof_default_cfg(mpu9dof_t *ctx)
Click Default Configuration function.
void mpu9dof_generic_write(mpu9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
digital_in_t int_pin
Definition: mpu9dof.h:271
pin_name_t int_pin
Definition: mpu9dof.h:297
i2c_master_t i2c
Definition: mpu9dof.h:275
pin_name_t sda
Definition: mpu9dof.h:292
void mpu9dof_cfg_setup(mpu9dof_cfg_t *cfg)
Config Object Initialization function.
pin_name_t scl
Definition: mpu9dof.h:291
MPU9DOF_RETVAL mpu9dof_init(mpu9dof_t *ctx, mpu9dof_cfg_t *cfg)
Initialization function.
digital_out_t fsy
Definition: mpu9dof.h:267
int16_t mpu9dof_get_axis_mag(mpu9dof_t *ctx, uint8_t adr_reg_low)
Function get low and high register data.
uint8_t magnetometer_address
Definition: mpu9dof.h:280
pin_name_t fsy
Definition: mpu9dof.h:296
Click ctx object definition.
Definition: mpu9dof.h:263