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/*
$License:
Copyright (C) 2010 InvenSense Corporation, All Rights Reserved.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
$
*/
/**
* @defgroup
* @brief
*
* @{
* @file mpu6000.h
* @brief
*/
#ifndef __MPU6000_H_
#define __MPU6000_H_
#define MPU_NAME "mpu6000"
#define DEFAULT_MPU_SLAVEADDR 0x68
/*==== M_HW REGISTER SET ====*/
enum {
MPUREG_XG_OFFS_TC = 0, /* 0x00 */
MPUREG_YG_OFFS_TC, /* 0x00 */
MPUREG_ZG_OFFS_TC, /* 0x00 */
MPUREG_X_FINE_GAIN, /* 0x00 */
MPUREG_Y_FINE_GAIN, /* 0x00 */
MPUREG_Z_FINE_GAIN, /* 0x00 */
MPUREG_XA_OFFS_H, /* 0x00 */
MPUREG_XA_OFFS_L_TC, /* 0x00 */
MPUREG_YA_OFFS_H, /* 0x00 */
MPUREG_YA_OFFS_L_TC, /* 0x00 */
MPUREG_ZA_OFFS_H, /* 0x00 */
MPUREG_ZA_OFFS_L_TC, /* 0xB */
MPUREG_0C_RSVD, /* 0x00 */
MPUREG_0D_RSVD, /* 0x00 */
MPUREG_0E_RSVD, /* 0x00 */
MPUREG_0F_RSVD, /* 0x00 */
MPUREG_10_RSVD, /* 0x00 */
MPUREG_11_RSVD, /* 0x00 */
MPUREG_12_RSVD, /* 0x00 */
MPUREG_XG_OFFS_USRH, /* 0x00 */
MPUREG_XG_OFFS_USRL, /* 0x00 */
MPUREG_YG_OFFS_USRH, /* 0x00 */
MPUREG_YG_OFFS_USRL, /* 0x00 */
MPUREG_ZG_OFFS_USRH, /* 0x00 */
MPUREG_ZG_OFFS_USRL, /* 0x00 */
MPUREG_SMPLRT_DIV, /* 0x19 */
MPUREG_CONFIG, /* 0x1A ==> DLPF_FS_SYNC */
MPUREG_GYRO_CONFIG, /* 0x00 */
MPUREG_ACCEL_CONFIG, /* 0x00 */
MPUREG_ACCEL_FF_THR, /* 0x00 */
MPUREG_ACCEL_FF_DUR, /* 0x00 */
MPUREG_ACCEL_MOT_THR, /* 0x00 */
MPUREG_ACCEL_MOT_DUR, /* 0x00 */
MPUREG_ACCEL_ZRMOT_THR, /* 0x00 */
MPUREG_ACCEL_ZRMOT_DUR, /* 0x00 */
MPUREG_FIFO_EN, /* 0x23 */
MPUREG_I2C_MST_CTRL, /* 0x00 */
MPUREG_I2C_SLV0_ADDR, /* 0x25 */
MPUREG_I2C_SLV0_REG, /* 0x00 */
MPUREG_I2C_SLV0_CTRL, /* 0x00 */
MPUREG_I2C_SLV1_ADDR, /* 0x28 */
MPUREG_I2C_SLV1_REG_PASSWORD, /* 0x00 */
MPUREG_I2C_SLV1_CTRL, /* 0x00 */
MPUREG_I2C_SLV2_ADDR, /* 0x2B */
MPUREG_I2C_SLV2_REG, /* 0x00 */
MPUREG_I2C_SLV2_CTRL, /* 0x00 */
MPUREG_I2C_SLV3_ADDR, /* 0x2E */
MPUREG_I2C_SLV3_REG, /* 0x00 */
MPUREG_I2C_SLV3_CTRL, /* 0x00 */
MPUREG_I2C_SLV4_ADDR, /* 0x31 */
MPUREG_I2C_SLV4_REG, /* 0x00 */
MPUREG_I2C_SLV4_DO, /* 0x00 */
MPUREG_I2C_SLV4_CTRL, /* 0x00 */
MPUREG_I2C_SLV4_DI, /* 0x00 */
MPUREG_I2C_MST_STATUS, /* 0x36 */
MPUREG_INT_PIN_CFG, /* 0x37 ==> -* INT_CFG */
MPUREG_INT_ENABLE, /* 0x38 ==> / */
MPUREG_DMP_INT_STATUS, /* 0x39 */
MPUREG_INT_STATUS, /* 0x3A */
MPUREG_ACCEL_XOUT_H, /* 0x3B */
MPUREG_ACCEL_XOUT_L, /* 0x00 */
MPUREG_ACCEL_YOUT_H, /* 0x00 */
MPUREG_ACCEL_YOUT_L, /* 0x00 */
MPUREG_ACCEL_ZOUT_H, /* 0x00 */
MPUREG_ACCEL_ZOUT_L, /* 0x00 */
MPUREG_TEMP_OUT_H, /* 0x41 */
MPUREG_TEMP_OUT_L, /* 0x00 */
MPUREG_GYRO_XOUT_H, /* 0x43 */
MPUREG_GYRO_XOUT_L, /* 0x00 */
MPUREG_GYRO_YOUT_H, /* 0x00 */
MPUREG_GYRO_YOUT_L, /* 0x00 */
MPUREG_GYRO_ZOUT_H, /* 0x00 */
MPUREG_GYRO_ZOUT_L, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_00, /* 0x49 */
MPUREG_EXT_SLV_SENS_DATA_01, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_02, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_03, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_04, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_05, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_06, /* 0x4F */
MPUREG_EXT_SLV_SENS_DATA_07, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_08, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_09, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_10, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_11, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_12, /* 0x55 */
MPUREG_EXT_SLV_SENS_DATA_13, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_14, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_15, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_16, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_17, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_18, /* 0x5B */
MPUREG_EXT_SLV_SENS_DATA_19, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_20, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_21, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_22, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_23, /* 0x00 */
ACCEL_INTEL_STATUS, /* 0x61 */
MPUREG_62_RSVD, /* 0x00 */
MPUREG_63_RSVD, /* 0x00 */
MPUREG_64_RSVD, /* 0x00 */
MPUREG_65_RSVD, /* 0x00 */
MPUREG_66_RSVD, /* 0x00 */
MPUREG_67_RSVD, /* 0x00 */
SIGNAL_PATH_RESET, /* 0x68 */
ACCEL_INTEL_CTRL, /* 0x69 */
MPUREG_USER_CTRL, /* 0x6A */
MPUREG_PWR_MGMT_1, /* 0x6B */
MPUREG_PWR_MGMT_2, /* 0x00 */
MPUREG_BANK_SEL, /* 0x6D */
MPUREG_MEM_START_ADDR, /* 0x6E */
MPUREG_MEM_R_W, /* 0x6F */
MPUREG_PRGM_STRT_ADDRH, /* 0x00 */
MPUREG_PRGM_STRT_ADDRL, /* 0x00 */
MPUREG_FIFO_COUNTH, /* 0x72 */
MPUREG_FIFO_COUNTL, /* 0x00 */
MPUREG_FIFO_R_W, /* 0x74 */
MPUREG_WHOAMI, /* 0x75,117 */
NUM_OF_MPU_REGISTERS /* = 0x76,118 */
};
/*==== M_HW MEMORY ====*/
enum MPU_MEMORY_BANKS {
MEM_RAM_BANK_0 = 0,
MEM_RAM_BANK_1,
MEM_RAM_BANK_2,
MEM_RAM_BANK_3,
MEM_RAM_BANK_4,
MEM_RAM_BANK_5,
MEM_RAM_BANK_6,
MEM_RAM_BANK_7,
MEM_RAM_BANK_8,
MEM_RAM_BANK_9,
MEM_RAM_BANK_10,
MEM_RAM_BANK_11,
MPU_MEM_NUM_RAM_BANKS,
MPU_MEM_OTP_BANK_0 = 16
};
/*==== M_HW parameters ====*/
#define NUM_REGS (NUM_OF_MPU_REGISTERS)
#define START_SENS_REGS (0x3B)
#define NUM_SENS_REGS (0x60-START_SENS_REGS+1)
/*---- MPU Memory ----*/
#define NUM_BANKS (MPU_MEM_NUM_RAM_BANKS)
#define BANK_SIZE (256)
#define MEM_SIZE (NUM_BANKS*BANK_SIZE)
#define MPU_MEM_BANK_SIZE (BANK_SIZE) /*alternative name */
#define FIFO_HW_SIZE (1024)
#define NUM_EXT_SLAVES (4)
/*==== BITS FOR M_HW ====*/
/*---- M_HW 'FIFO_EN' register (23) ----*/
#define BIT_TEMP_OUT 0x80
#define BIT_GYRO_XOUT 0x40
#define BIT_GYRO_YOUT 0x20
#define BIT_GYRO_ZOUT 0x10
#define BIT_ACCEL 0x08
#define BIT_SLV_2 0x04
#define BIT_SLV_1 0x02
#define BIT_SLV_0 0x01
/*---- M_HW 'CONFIG' register (1A) ----*/
/*NONE 0xC0 */
#define BITS_EXT_SYNC_SET 0x38
#define BITS_DLPF_CFG 0x07
/*---- M_HW 'GYRO_CONFIG' register (1B) ----*/
/* voluntarily modified label from BITS_FS_SEL to
* BITS_GYRO_FS_SEL to avoid confusion with MPU
*/
#define BITS_GYRO_FS_SEL 0x18
/*NONE 0x07 */
/*---- M_HW 'ACCEL_CONFIG' register (1C) ----*/
#define BITS_ACCEL_FS_SEL 0x18
#define BITS_ACCEL_HPF 0x07
/*---- M_HW 'I2C_MST_CTRL' register (24) ----*/
#define BIT_MULT_MST_DIS 0x80
#define BIT_WAIT_FOR_ES 0x40
#define BIT_I2C_MST_VDDIO 0x20
/*NONE 0x10 */
#define BITS_I2C_MST_CLK 0x0F
/*---- M_HW 'I2C_SLV?_CTRL' register (27,2A,2D,30) ----*/
#define BIT_SLV_ENABLE 0x80
#define BIT_SLV_BYTE_SW 0x40
/*NONE 0x20 */
#define BIT_SLV_GRP 0x10
#define BITS_SLV_LENG 0x0F
/*---- M_HW 'I2C_SLV4_ADDR' register (31) ----*/
#define BIT_I2C_SLV4_RNW 0x80
/*---- M_HW 'I2C_SLV4_CTRL' register (34) ----*/
#define BIT_I2C_SLV4_EN 0x80
#define BIT_SLV4_DONE_INT_EN 0x40
/*NONE 0x3F */
/*---- M_HW 'I2C_MST_STATUS' register (36) ----*/
#define BIT_PASSTHROUGH 0x80
#define BIT_I2C_SLV4_DONE 0x40
#define BIT_I2C_LOST_ARB 0x20
#define BIT_I2C_SLV4_NACK 0x10
#define BIT_I2C_SLV3_NACK 0x08
#define BIT_I2C_SLV2_NACK 0x04
#define BIT_I2C_SLV1_NACK 0x02
#define BIT_I2C_SLV0_NACK 0x01
/*---- M_HW 'INT_PIN_CFG' register (37) ----*/
#define BIT_ACTL 0x80
#define BIT_ACTL_LOW 0x80
#define BIT_ACTL_HIGH 0x00
#define BIT_OPEN 0x40
#define BIT_LATCH_INT_EN 0x20
#define BIT_INT_ANYRD_2CLEAR 0x10
#define BIT_ACTL_FSYNC 0x08
#define BIT_FSYNC_INT_EN 0x04
#define BIT_BYPASS_EN 0x02
#define BIT_CLKOUT_EN 0x01
/*---- M_HW 'INT_ENABLE' register (38) ----*/
#define BIT_FF_EN 0x80
#define BIT_MOT_EN 0x40
#define BIT_ZMOT_EN 0x20
#define BIT_FIFO_OVERFLOW_EN 0x10
#define BIT_I2C_MST_INT_EN 0x08
#define BIT_PLL_RDY_EN 0x04
#define BIT_DMP_INT_EN 0x02
#define BIT_RAW_RDY_EN 0x01
/*---- M_HW 'DMP_INT_STATUS' register (39) ----*/
/*NONE 0x80 */
/*NONE 0x40 */
#define BIT_DMP_INT_5 0x20
#define BIT_DMP_INT_4 0x10
#define BIT_DMP_INT_3 0x08
#define BIT_DMP_INT_2 0x04
#define BIT_DMP_INT_1 0x02
#define BIT_DMP_INT_0 0x01
/*---- M_HW 'INT_STATUS' register (3A) ----*/
#define BIT_FF_INT 0x80
#define BIT_MOT_INT 0x40
#define BIT_ZMOT_INT 0x20
#define BIT_FIFO_OVERFLOW_INT 0x10
#define BIT_I2C_MST_INT 0x08
#define BIT_PLL_RDY_INT 0x04
#define BIT_DMP_INT 0x02
#define BIT_RAW_DATA_RDY_INT 0x01
/*---- M_HW 'BANK_SEL' register (6D) ----*/
#define BIT_PRFTCH_EN 0x40
#define BIT_CFG_USER_BANK 0x20
#define BITS_MEM_SEL 0x1f
/*---- M_HW 'USER_CTRL' register (6A) ----*/
#define BIT_DMP_EN 0x80
#define BIT_FIFO_EN 0x40
#define BIT_I2C_MST_EN 0x20
#define BIT_I2C_IF_DIS 0x10
#define BIT_DMP_RST 0x08
#define BIT_FIFO_RST 0x04
#define BIT_I2C_MST_RST 0x02
#define BIT_SIG_COND_RST 0x01
/*---- M_HW 'PWR_MGMT_1' register (6B) ----*/
#define BIT_H_RESET 0x80
#define BITS_PWRSEL 0x70
#define BIT_WKUP_INT 0x08
#define BITS_CLKSEL 0x07
/*---- M_HW 'PWR_MGMT_2' register (6C) ----*/
#define BITS_LPA_WAKE_CTRL 0xC0
#define BIT_STBY_XA 0x20
#define BIT_STBY_YA 0x10
#define BIT_STBY_ZA 0x08
#define BIT_STBY_XG 0x04
#define BIT_STBY_YG 0x02
#define BIT_STBY_ZG 0x01
/* although it has 6, this refers to the gyros */
#define MPU_NUM_AXES (3)
#define ACCEL_MOT_THR_LSB (32) /* mg */
#define ACCEL_MOT_DUR_LSB (1)
#define ACCEL_ZRMOT_THR_LSB_CONVERSION(mg) ((mg *1000)/255)
#define ACCEL_ZRMOT_DUR_LSB (64)
/*----------------------------------------------------------------------------*/
/*---- Alternative names to take care of conflicts with current mpu3050.h ----*/
/*----------------------------------------------------------------------------*/
/*-- registers --*/
#define MPUREG_DLPF_FS_SYNC MPUREG_CONFIG /* 0x1A */
#define MPUREG_PRODUCT_ID MPUREG_WHOAMI /* 0x75 HACK!*/
#define MPUREG_PWR_MGM MPUREG_PWR_MGMT_1 /* 0x6B */
#define MPUREG_FIFO_EN1 MPUREG_FIFO_EN /* 0x23 */
#define MPUREG_DMP_CFG_1 MPUREG_PRGM_STRT_ADDRH /* 0x70 */
#define MPUREG_DMP_CFG_2 MPUREG_PRGM_STRT_ADDRL /* 0x71 */
#define MPUREG_INT_CFG MPUREG_INT_ENABLE /* 0x38 */
#define MPUREG_X_OFFS_USRH MPUREG_XG_OFFS_USRH /* 0x13 */
#define MPUREG_WHO_AM_I MPUREG_WHOAMI /* 0x75 */
#define MPUREG_23_RSVD MPUREG_EXT_SLV_SENS_DATA_00 /* 0x49 */
#define MPUREG_AUX_SLV_ADDR MPUREG_I2C_SLV0_ADDR /* 0x25 */
#define MPUREG_ACCEL_BURST_ADDR MPUREG_I2C_SLV0_REG /* 0x26 */
/*-- bits --*/
/* 'USER_CTRL' register */
#define BIT_AUX_IF_EN BIT_I2C_MST_EN
#define BIT_AUX_RD_LENG BIT_I2C_MST_EN
#define BIT_IME_IF_RST BIT_I2C_MST_RST
#define BIT_GYRO_RST BIT_SIG_COND_RST
/* 'INT_ENABLE' register */
#define BIT_RAW_RDY BIT_RAW_DATA_RDY_INT
#define BIT_MPU_RDY_EN BIT_PLL_RDY_EN
/* 'INT_STATUS' register */
#define BIT_INT_STATUS_FIFO_OVERLOW BIT_FIFO_OVERFLOW_INT
/*---- M_HW Silicon Revisions ----*/
#define MPU_SILICON_REV_A1 1 /* M_HW A1 Device */
#define MPU_SILICON_REV_B1 2 /* M_HW B1 Device */
/*---- structure containing control variables used by MLDL ----*/
/*---- MPU clock source settings ----*/
/*---- MPU filter selections ----*/
enum mpu_filter {
MPU_FILTER_256HZ_NOLPF2 = 0,
MPU_FILTER_188HZ,
MPU_FILTER_98HZ,
MPU_FILTER_42HZ,
MPU_FILTER_20HZ,
MPU_FILTER_10HZ,
MPU_FILTER_5HZ,
MPU_FILTER_2100HZ_NOLPF,
NUM_MPU_FILTER
};
enum mpu_fullscale {
MPU_FS_250DPS = 0,
MPU_FS_500DPS,
MPU_FS_1000DPS,
MPU_FS_2000DPS,
NUM_MPU_FS
};
enum mpu_clock_sel {
MPU_CLK_SEL_INTERNAL = 0,
MPU_CLK_SEL_PLLGYROX,
MPU_CLK_SEL_PLLGYROY,
MPU_CLK_SEL_PLLGYROZ,
MPU_CLK_SEL_PLLEXT32K,
MPU_CLK_SEL_PLLEXT19M,
MPU_CLK_SEL_RESERVED,
MPU_CLK_SEL_STOP,
NUM_CLK_SEL
};
enum mpu_ext_sync {
MPU_EXT_SYNC_NONE = 0,
MPU_EXT_SYNC_TEMP,
MPU_EXT_SYNC_GYROX,
MPU_EXT_SYNC_GYROY,
MPU_EXT_SYNC_GYROZ,
MPU_EXT_SYNC_ACCELX,
MPU_EXT_SYNC_ACCELY,
MPU_EXT_SYNC_ACCELZ,
NUM_MPU_EXT_SYNC
};
#define DLPF_FS_SYNC_VALUE(ext_sync, full_scale, lpf) \
((ext_sync << 5) | (full_scale << 3) | lpf)
#endif /* __IMU6000_H_ */
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