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apps/common/device/imu_sensor/mpu6887/mpu6887p.c
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1576
apps/common/device/imu_sensor/mpu6887/mpu6887p.c
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apps/common/device/imu_sensor/mpu6887/mpu6887p.h
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apps/common/device/imu_sensor/mpu6887/mpu6887p.h
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#ifndef __MPU6887P_H_
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#define __MPU6887P_H_
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#include <string.h>
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/******************************************************************
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a 6-axis MotionTracking device:
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a 3-axis gyroscope(±250, ±500, ±1000, and ±2000 degrees/sec.)(16-bit ADCs),
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a 3-axis accelerometer(±2g, ±4g, ±8g, and ±16g)(16-bit ADCs)
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VDD/VDDIO: 1.71~3.45V
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FIFO:512-byte. burst read sensor data and then go into a low-power mode.
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fifo_data:out_data_reg 59~72
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Host (slave) interface supports I2C(400kHz), and 4-wire SPI(8MHz);
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no iic master,9 axes are not supported
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@The device will come up in sleep mode upon power-up
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******************************************************************/
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#if TCFG_MPU6887P_ENABLE
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/******************************************************************
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* user config MPU6887P Macro Definition
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******************************************************************/
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#define MPU6887P_USE_I2C 0 /*IIC.(<=400kHz) */
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#define MPU6887P_USE_SPI 1 /*SPI.(<=8MHz) */
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#define MPU6887P_USER_INTERFACE TCFG_MPU6887P_INTERFACE_TYPE//MPU6887P_USE_I2C
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// #define MPU6887P_USER_INTERFACE MPU6887P_USE_SPI
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#define MPU6887P_SA0_IIC_ADDR 0 //1:iic模式SA0接VCC, 0:iic模式SA0接GND
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#define MPU6887P_6_Axis_LOW_POWER_MODE 0 //1:6_Axis_LOW_POWER_MODE(1.33ma); 0:6_Axis Low-Noise Mode(2.79ma)
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//int io config
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// #define MPU6887P_INT_IO1 IO_PORTB_03//TCFG_IOKEY_POWER_ONE_PORT //
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// #define MPU6887P_INT_IO1 IO_PORTA_06 //
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// #define MPU6887P_INT_READ_IO1() gpio_read(MPU6887P_INT_IO1)
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#define MPU6887P_USE_FIFO_EN 1 //0:disable fifo 1:enable fifo(fifo size:512 bytes)
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#define MPU6887P_USE_INT_EN 0 //0:disable //中断方式不成功,疑硬件问题
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#define MPU6887P_USE_WOM_EN 0 //0:disable
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#define MPU6887P_USE_FSYNC_EN 0 //0:disable
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/******************************************************************
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* MPU6887P I2C address Macro Definition
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* (7bit): (0x37)011 0111@SDO=1; (0x36)011 0110@SDO=0;
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******************************************************************/
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#if MPU6887P_SA0_IIC_ADDR
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#define MPU6887P_SLAVE_ADDRESS (0x69<<1)//0XD0
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#else
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#define MPU6887P_SLAVE_ADDRESS (0x68<<1)//0XD2
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#endif
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typedef u16(*IMU_read)(unsigned char devAddr,
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unsigned char regAddr,
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unsigned char *readBuf,
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u16 readLen);
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typedef u16(*IMU_write)(unsigned char devAddr,
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unsigned char regAddr,
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unsigned char *writeBuf,
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u16 writeLen);
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typedef struct {
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// u8 comms; //0:IIC; 1:SPI //改为宏控制
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#if (MPU6887P_USER_INTERFACE==MPU6887P_USE_I2C)
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u8 iic_hdl;
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u8 iic_delay; //这个延时并非影响iic的时钟频率，而是2Byte数据之间的延时
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// u8 iic_clk; //iic_clk: <=400kHz
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#elif (MPU6887P_USER_INTERFACE==MPU6887P_USE_SPI)
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u8 spi_hdl; //SPIx (role:master)
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u8 spi_cs_pin; //
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//u8 spi_work_mode;//mpu6887p only suspport 4wire(SPI_MODE_BIDIR_1BIT) (与spi结构体一样)
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// u8 port; //SPIx group:A,B,C,D (spi结构体)
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// U8 spi_clk; //spi_clk: <=8MHz (spi结构体)
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#endif
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} mpu6887p_param;
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/******************************************************************
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* Mpu6887p Registers Macro Definitions
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******************************************************************/
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enum Mpu6887pRegister {
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Mpu6887pRegister_XG_OFFS_TC_H = 4, //4
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Mpu6887pRegister_XG_OFFS_TC_L, //5
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Mpu6887pRegister_YG_OFFS_TC_H = 7, //7
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Mpu6887pRegister_YG_OFFS_TC_L, //8
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Mpu6887pRegister_ZG_OFFS_TC_H = 10, //10
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Mpu6887pRegister_ZG_OFFS_TC_L, //11
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Mpu6887pRegister_SELF_TEST_X_ACCEL = 13, //13
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Mpu6887pRegister_SELF_TEST_Y_ACCEL, //14
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Mpu6887pRegister_SELF_TEST_Z_ACCEL, //15
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Mpu6887pRegister_XG_OFFS_USRH = 19, //19
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Mpu6887pRegister_XG_OFFS_USRL, //20
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Mpu6887pRegister_YG_OFFS_USRH, //21
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Mpu6887pRegister_YG_OFFS_USRL, //22
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Mpu6887pRegister_ZG_OFFS_USRH, //23
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Mpu6887pRegister_ZG_OFFS_USRL, //24
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Mpu6887pRegister_SMPLRT_DIV, //25
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Mpu6887pRegister_CONFIG, //26 ////
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Mpu6887pRegister_GYRO_CONFIG, //27
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Mpu6887pRegister_ACCEL_CONFIG, //28
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Mpu6887pRegister_ACCEL_CONFIG_2, //29
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Mpu6887pRegister_LP_MODE_CFG, //30
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Mpu6887pRegister_ACCEL_WOM_X_THR = 32, //32
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Mpu6887pRegister_ACCEL_WOM_Y_THR, //33
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Mpu6887pRegister_ACCEL_WOM_Z_THR, //34
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Mpu6887pRegister_FIFO_EN, //35
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Mpu6887pRegister_FSYNC_INT = 54, //54
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Mpu6887pRegister_INT_PIN_CFG, //55
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Mpu6887pRegister_INT_ENABLE, //56
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Mpu6887pRegister_FIFO_WM_INT_STATUS,//57
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Mpu6887pRegister_INT_STATUS, //58
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Mpu6887pRegister_ACCEL_XOUT_H, //59
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Mpu6887pRegister_ACCEL_XOUT_L, //60
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Mpu6887pRegister_ACCEL_YOUT_H, //61
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Mpu6887pRegister_ACCEL_YOUT_L, //62
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Mpu6887pRegister_ACCEL_ZOUT_H, //63
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Mpu6887pRegister_ACCEL_ZOUT_L, //64
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Mpu6887pRegister_TEMP_OUT_H, //65
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Mpu6887pRegister_TEMP_OUT_L, //66
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Mpu6887pRegister_GYRO_XOUT_H, //67
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Mpu6887pRegister_GYRO_XOUT_L, //68
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Mpu6887pRegister_GYRO_YOUT_H, //69
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Mpu6887pRegister_GYRO_YOUT_L, //70
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Mpu6887pRegister_GYRO_ZOUT_H, //71
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Mpu6887pRegister_GYRO_ZOUT_L, //72
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Mpu6887pRegister_SELF_TEST_X_GYRO = 80, //80
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Mpu6887pRegister_SELF_TEST_Y_GYRO, //81
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Mpu6887pRegister_SELF_TEST_Z_GYRO, //82
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Mpu6887pRegister_E_ID0, //83
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Mpu6887pRegister_E_ID1, //84
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Mpu6887pRegister_E_ID2, //85
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Mpu6887pRegister_E_ID3, //86
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Mpu6887pRegister_E_ID4, //87
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Mpu6887pRegister_E_ID5, //88
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Mpu6887pRegister_E_ID6, //89
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Mpu6887pRegister_FIFO_WM_TH1 = 96, //96
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Mpu6887pRegister_FIFO_WM_TH2, //97
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Mpu6887pRegister_SIGNAL_PATH_RESET = 104, //104
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Mpu6887pRegister_ACCEL_INTEL_CTRL, //105
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Mpu6887pRegister_USER_CTRL, //106
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Mpu6887pRegister_PWR_MGMT_1, //107 ////
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Mpu6887pRegister_PWR_MGMT_2, //108
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Mpu6887pRegister_I2C_IF = 112, //112
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Mpu6887pRegister_FIFO_COUNTH = 114, //114
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Mpu6887pRegister_FIFO_COUNTL, //115
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Mpu6887pRegister_FIFO_R_W, //116
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Mpu6887pRegister_WHO_AM_I, //117 ////
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Mpu6887pRegister_XA_OFFSET_H = 119, //119
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Mpu6887pRegister_XA_OFFSET_L, //120
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Mpu6887pRegister_YA_OFFSET_H = 122, //122
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Mpu6887pRegister_YA_OFFSET_L, //123
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Mpu6887pRegister_ZA_OFFSET_H = 125, //125
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Mpu6887pRegister_ZA_OFFSET_L, //126
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};
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// #ifndef M_PI
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// #define M_PI (3.14159265358979323846f)
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// #endif
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// #ifndef ONE_G
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// #define ONE_G (9.807f)
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// #endif
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typedef enum Mpu6887p_fifo_format {
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MPU6887P_FORMAT_EMPTY,
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MPU6887P_FORMAT_ACCEL_8_BYTES,
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MPU6887P_FORMAT_GYRO_8_BYTES,
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MPU6887P_FORMAT_ACCEL_GYRO_14_BYTES,
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MPU6887P_FORMAT_UNKNOWN = 0xff,
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} Mpu6887p_fifo_format;
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/***************************************************************************
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Exported Functions
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****************************************************************************/
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void mpu6887p_delay(int ms);
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void mpu6887p_interface_mode_set(u8 spi_en);//1:spi(4wire) ,0:iic
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void mpu6887p_accel_temp_rst(u8 accel_rst_en, u8 temp_rst_en);//1:rst ,0:dis
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void mpu6887p_all_reg_rst(u8 all_reg_rst_en);//1:rst ,0:dis
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void mpu6887p_device_reset();
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bool mpu6887p_set_sleep_enabled(u8 enable);// 0:唤醒MPU, 1:disable
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void mpu6887p_power_up_set();
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// void mpu6887p_clock_select(enum mpu_clock_select clock);
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void mpu6887p_disable_temp_Sensor(unsigned char temp_disable);//1:temperature disable, 0:temperature enable
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void mpu6887p_disable_acc_Sensors(u8 acc_x_disable, u8 acc_y_disable, u8 acc_z_disable);//1:disable , 0:enable
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void mpu6887p_disable_gyro_Sensors(u8 gyro_x_disable, u8 gyro_y_disable, u8 gyro_z_disable);//1:disable , 0:enable
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u8 mpu6887p_config_acc_range(u8 fsr);//fsr:0,±2g;1,±4g;2,±8g;3,±16g
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u8 mpu6887p_set_accel_dlpf(u16 lpf);//Low-Noise Mode
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// u8 mpu6887p_set_accel_low_power(u8 averag);//Low Power Mode
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u8 mpu6887p_config_gyro_range(u8 fsr);//fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
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u8 mpu_set_dlpf(u16 lpf);//Low-Noise Mode
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// u8 mpu6887p_set_gyro_low_power(u8 gyro_cycle_en,u8 averag);//Low Power Mode
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u8 mpu_set_rate(u16 rate);// 设置采样速率.
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unsigned char mpu6887p_read_status(void);
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unsigned char mpu6887p_read_fsync_status(void);
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float mpu6887p_readTemp(void);
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// void mpu6887p_read_raw_acc_xyz(short raw_acc_xyz[3]);
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// void mpu6887p_read_raw_gyro_xyz(short raw_gyro_xyz[3]);
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// void mpu6887p_read_raw_acc_gyro_xyz(short raw_acc_xyz[3], short raw_gyro_xyz[3]);
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void mpu6887p_read_raw_acc_xyz(void *acc_data);
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void mpu6887p_read_raw_gyro_xyz(void *gyro_data);
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void mpu6887p_read_raw_acc_gyro_xyz(void *raw_data);
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#if (MPU6887P_USE_FIFO_EN)
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// void mpu6887p_fifo_rst(u8 fifo_rst_en);//1:rst ,0:dis
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// void mpu6887p_fifo_operation_enable(u8 fifo_en);//1:enable fifo ,0:dis
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// u8 mpu6887p_set_fifo_data_type(u8 acc_fifo_en, u8 gyro_fifo_en);//1:write data to fifo;0:disable.
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// u8 mpu6887p_set_fifo_mode(u8 fifo_mode_en);//1:fifo mode ; 0:stream mode.
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// unsigned char mpu6887p_set_fifo_wm_threshold(u16 watermark_level);//watermark_level:0~1023
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void mpu6887p_config_fifo(u16 watermark_level, u8 fifo_mode, u8 acc_fifo_en, u8 gyro_fifo_en);
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u16 mpu6887p_read_fifo_data(u8 *buf);
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unsigned char mpu6887p_read_fifo_wm_int_status(void);//读FIFO_R_W register清除.如果FIFO没读完,又达到fifo_wm,还会产生中断.
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#endif
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#if (MPU6887P_USE_INT_EN)
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u8 mpu6887p_interrupt_type_config(u8 fifo_oflow_int_en, u8 Gdrive_int_en, u8 data_RDY_int_en); //int_type_en:1-enable; 0-disable
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u8 mpu6887p_interrupt_pin_config(u8 int_pin_level, u8 int_pin_open, u8 int_pin_latch_en, u8 int_pin_clear_mode);
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u8 mpu6887p_interrupt_fsync_pin_config(u8 fsync_int_level, u8 fsync_int_mode_en);
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#endif
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#if (MPU6887P_USE_WOM_EN)
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// u8 mpu6887p_interrupt_WOM_type_config(u8 WOM_x_int_en, u8 WOM_y_int_en,u8 WOM_z_int_en);//int_type_en:1-enable; 0-disable
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// u8 mpu6887p_set_WOM_int_threshold(u8 acc_wom_x_thr, u8 acc_wom_y_thr, u8 acc_wom_z_thr);//
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u8 mpu6887p_WOM_mode_config(u8 acc_wom_x_thr, u8 acc_wom_y_thr, u8 acc_wom_z_thr, u16 sample_rate);//
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#endif
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u8 mpu6887p_sensor_init(void *priv);
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#endif
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#endif
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