/* * Copyright (C) 2015 Freie Universität Berlin * 2019 HAW Hamburg * * This file is subject to the terms and conditions of the GNU Lesser * General Public License v2.1. See the file LICENSE in the top level * directory for more details. */ /** * @defgroup drivers_mpu9x50 MPU-9X50 (MPU9150 and MPU9250) accelerometer/magnetometer/gyroscope * @ingroup drivers_sensors * @ingroup drivers_saul * @brief Device driver interface for the MPU-9X50 (MPU9150 and MPU9250) * * This driver provides @ref drivers_saul capabilities. * @{ * * @file * @brief Device driver interface for the MPU-9X50 (MPU9150 and MPU9250) * * @author Fabian Nack * @author Jannes Volkens */ #ifndef MPU9X50_H #define MPU9X50_H #include "periph/i2c.h" #ifdef __cplusplus extern "C" { #endif /** * @name Sample rate macro definitions * @{ */ #define MPU9X50_MIN_SAMPLE_RATE (4) #define MPU9X50_MAX_SAMPLE_RATE (1000) #define MPU9X50_DEFAULT_SAMPLE_RATE (50) #define MPU9X50_MIN_COMP_SMPL_RATE (1) #define MPU9X50_MAX_COMP_SMPL_RATE (100) /** @} */ /** * @brief Power enum values */ typedef enum { MPU9X50_SENSOR_PWR_OFF = 0x00, MPU9X50_SENSOR_PWR_ON = 0x01, } mpu9x50_pwr_t; /** * @brief Possible MPU-9X50 hardware addresses (wiring specific) */ typedef enum { MPU9X50_HW_ADDR_HEX_68 = 0x68, MPU9X50_HW_ADDR_HEX_69 = 0x69, } mpu9x50_hw_addr_t; /** * @brief Possible compass addresses (wiring specific) */ typedef enum { MPU9X50_COMP_ADDR_HEX_0C = 0x0C, MPU9X50_COMP_ADDR_HEX_0D = 0x0D, MPU9X50_COMP_ADDR_HEX_0E = 0x0E, MPU9X50_COMP_ADDR_HEX_0F = 0x0F, } mpu9x50_comp_addr_t; /** * @brief Possible full scale ranges for the gyroscope */ typedef enum { MPU9X50_GYRO_FSR_250DPS = 0x00, MPU9X50_GYRO_FSR_500DPS = 0x01, MPU9X50_GYRO_FSR_1000DPS = 0x02, MPU9X50_GYRO_FSR_2000DPS = 0x03, } mpu9x50_gyro_ranges_t; /** * @brief Possible full scale ranges for the accelerometer */ typedef enum { MPU9X50_ACCEL_FSR_2G = 0x00, MPU9X50_ACCEL_FSR_4G = 0x01, MPU9X50_ACCEL_FSR_8G = 0x02, MPU9X50_ACCEL_FSR_16G = 0x03, } mpu9x50_accel_ranges_t; /** * @brief Possible low pass filter values */ typedef enum { MPU9X50_FILTER_188HZ = 0x01, MPU9X50_FILTER_98HZ = 0x02, MPU9X50_FILTER_42HZ = 0x03, MPU9X50_FILTER_20HZ = 0x04, MPU9X50_FILTER_10HZ = 0x05, MPU9X50_FILTER_5HZ = 0x06, } mpu9x50_lpf_t; /** * @brief MPU-9X50 result vector struct */ typedef struct { int16_t x_axis; /**< X-Axis measurement result */ int16_t y_axis; /**< Y-Axis measurement result */ int16_t z_axis; /**< Z-Axis measurement result */ } mpu9x50_results_t; /** * @brief Configuration struct for the MPU-9X50 sensor */ typedef struct { mpu9x50_pwr_t accel_pwr; /**< Accel power status (on/off) */ mpu9x50_pwr_t gyro_pwr; /**< Gyro power status (on/off) */ mpu9x50_pwr_t compass_pwr; /**< Compass power status (on/off) */ mpu9x50_gyro_ranges_t gyro_fsr; /**< Configured gyro full-scale range */ mpu9x50_accel_ranges_t accel_fsr; /**< Configured accel full-scale range */ uint16_t sample_rate; /**< Configured sample rate for accel and gyro */ uint8_t compass_sample_rate; /**< Configured compass sample rate */ uint8_t compass_x_adj; /**< Compass X-Axis sensitivity adjustment value */ uint8_t compass_y_adj; /**< Compass Y-Axis sensitivity adjustment value */ uint8_t compass_z_adj; /**< Compass Z-Axis sensitivity adjustment value */ } mpu9x50_status_t; /** * @brief Device initialization parameters */ typedef struct { i2c_t i2c; /**< I2C device which is used */ uint8_t addr; /**< Hardware address of the MPU-9X50 */ uint8_t comp_addr; /**< Address of the MPU-9X50s compass */ uint16_t sample_rate; /**< Sample rate */ } mpu9x50_params_t; /** * @brief Device descriptor for the MPU9X50 sensor */ typedef struct { mpu9x50_params_t params; /**< Device initialization parameters */ mpu9x50_status_t conf; /**< Device configuration */ } mpu9x50_t; /** * @brief Initialize the given MPU9X50 device * * @param[out] dev Initialized device descriptor of MPU9X50 device * @param[in] params Initialization parameters * * @return 0 on success * @return -1 if given I2C is not enabled in board config */ int mpu9x50_init(mpu9x50_t *dev, const mpu9x50_params_t *params); /** * @brief Enable or disable accelerometer power * * @param[in] dev Device descriptor of MPU9X50 device * @param[in] pwr_conf Target power setting: PWR_ON or PWR_OFF * * @return 0 on success * @return -1 if given I2C is not enabled in board config */ int mpu9x50_set_accel_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf); /** * @brief Enable or disable gyroscope power * * @param[in] dev Device descriptor of MPU9X50 device * @param[in] pwr_conf Target power setting: PWR_ON or PWR_OFF * * @return 0 on success * @return -1 if given I2C is not enabled in board config */ int mpu9x50_set_gyro_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf); /** * @brief Enable or disable compass power * * @param[in] dev Device descriptor of MPU9X50 device * @param[in] pwr_conf Target power setting: PWR_ON or PWR_OFF * * @return 0 on success * @return -1 if given I2C is not enabled in board config */ int mpu9x50_set_compass_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf); /** * @brief Read angular speed values from the given MPU9X50 device, returned in dps * * The raw gyroscope data is read from the sensor and normalized with respect to * the configured gyroscope full-scale range. * * @param[in] dev Device descriptor of MPU9X50 device to read from * @param[out] output Result vector in dps per axis * * @return 0 on success * @return -1 if device's I2C is not enabled in board config * @return -2 if gyro full-scale range is configured wrong */ int mpu9x50_read_gyro(const mpu9x50_t *dev, mpu9x50_results_t *output); /** * @brief Read acceleration values from the given MPU9X50 device, returned in mG * * The raw acceleration data is read from the sensor and normalized with respect to * the configured accelerometer full-scale range. * * @param[in] dev Device descriptor of MPU9X50 device to read from * @param[out] output Result vector in mG per axis * * @return 0 on success * @return -1 if device's I2C is not enabled in board config * @return -2 if accel full-scale range is configured wrong */ int mpu9x50_read_accel(const mpu9x50_t *dev, mpu9x50_results_t *output); /** * @brief Read magnetic field values from the given MPU9X50 device, returned in mikroT * * The raw compass data is read from the sensor and normalized with respect to * the compass full-scale range (which can not be configured). * * @param[in] dev Device descriptor of MPU9X50 device to read from * @param[out] output Result vector in mikroT per axis * * @return 0 on success * @return -1 if device's I2C is not enabled in board config */ int mpu9x50_read_compass(const mpu9x50_t *dev, mpu9x50_results_t *output); /** * @brief Read temperature value from the given MPU9X50 device, returned in m°C * * @note * The measured temperature is slightly higher than the real room temperature. * Tests showed that the offset varied around 2-3 °C (but no warranties here). * * @param[in] dev Device descriptor of MPU9X50 device to read from * @param[out] output Temperature in m°C * * @return 0 on success * @return -1 if device's I2C is not enabled in board config */ int mpu9x50_read_temperature(const mpu9x50_t *dev, int32_t *output); /** * @brief Set the full-scale range for raw gyroscope data * * @param[in] dev Device descriptor of MPU9X50 device * @param[in] fsr Target full-scale range * * @return 0 on success * @return -1 if device's I2C is not enabled in board config * @return -2 if given full-scale target value is not valid */ int mpu9x50_set_gyro_fsr(mpu9x50_t *dev, mpu9x50_gyro_ranges_t fsr); /** * @brief Set the full-scale range for raw accelerometer data * * @param[in] dev Device descriptor of MPU9X50 device * @param[in] fsr Target full-scale range * * @return 0 on success * @return -1 if device's I2C is not enabled in board config * @return -2 if given full-scale target value is not valid */ int mpu9x50_set_accel_fsr(mpu9x50_t *dev, mpu9x50_accel_ranges_t fsr); /** * @brief Set the rate at which the gyroscope and accelerometer data is sampled * * Sample rate can be chosen between 4 Hz and 1kHz. The actual set value might * slightly differ. If necessary, check the actual set value in the device's * config member afterwards. * * @param[in] dev Device descriptor of MPU9X50 device * @param[in] rate Target sample rate in Hz * * @return 0 on success * @return -1 if device's I2C is not enabled in board config * @return -2 if given target sample rate is not valid */ int mpu9x50_set_sample_rate(mpu9x50_t *dev, uint16_t rate); /** * @brief Set the rate at which the compass data is sampled * * Sample rate can be chosen between 1 Hz and 100 Hz but has to be a fraction * of the configured accel/gyro sample rate. The actual set value might * slightly differ. If necessary, check the actual set value in the device's * config member afterwards. * * @param[in] dev Device descriptor of MPU9X50 device * @param[in] rate Target sample rate in Hz * * @return 0 on success * @return -1 if device's I2C is not enabled in board config * @return -2 if given target sample rate is not valid */ int mpu9x50_set_compass_sample_rate(mpu9x50_t *dev, uint8_t rate); #ifdef __cplusplus } #endif #endif /* MPU9X50_H */ /** @} */