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Embedded Linux Audio
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/* * Copyright (c) 2016 Intel Corporation * * SPDX-License-Identifier: Apache-2.0 */ #ifndef __SENSOR_MPU6050_H__ #define __SENSOR_MPU6050_H__ #include <device.h> #include <gpio.h> #include <misc/util.h> #include <zephyr/types.h> #define SYS_LOG_DOMAIN "MPU6050" #define SYS_LOG_LEVEL CONFIG_SYS_LOG_SENSOR_LEVEL #include <logging/sys_log.h> #define MPU6050_REG_CHIP_ID 0x75 #define MPU6050_CHIP_ID 0x68 #define MPU6050_REG_GYRO_CFG 0x1B #define MPU6050_GYRO_FS_SHIFT 3 #define MPU6050_REG_ACCEL_CFG 0x1C #define MPU6050_ACCEL_FS_SHIFT 3 #define MPU6050_REG_INT_EN 0x38 #define MPU6050_DRDY_EN BIT(0) #define MPU6050_REG_DATA_START 0x3B #define MPU6050_REG_PWR_MGMT1 0x6B #define MPU6050_SLEEP_EN BIT(6) /* measured in degrees/sec x10 to avoid floating point */ static const u16_t mpu6050_gyro_sensitivity_x10[] = { 1310, 655, 328, 164 }; struct mpu6050_data { struct device *i2c; s16_t accel_x; s16_t accel_y; s16_t accel_z; u16_t accel_sensitivity_shift; s16_t temp; s16_t gyro_x; s16_t gyro_y; s16_t gyro_z; u16_t gyro_sensitivity_x10; #ifdef CONFIG_MPU6050_TRIGGER struct device *gpio; struct gpio_callback gpio_cb; struct sensor_trigger data_ready_trigger; sensor_trigger_handler_t data_ready_handler; #if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD) K_THREAD_STACK_MEMBER(thread_stack, CONFIG_MPU6050_THREAD_STACK_SIZE); struct k_thread thread; struct k_sem gpio_sem; #elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD) struct k_work work; struct device *dev; #endif #endif /* CONFIG_MPU6050_TRIGGER */ }; #ifdef CONFIG_MPU6050_TRIGGER int mpu6050_trigger_set(struct device *dev, const struct sensor_trigger *trig, sensor_trigger_handler_t handler); int mpu6050_init_interrupt(struct device *dev); #endif #endif /* __SENSOR_MPU6050__ */