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March 2, 2020 19:12
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Header file for the MPU-6050 ESP32 wrapper.
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| /* | |
| ******************************************************************************* | |
| * (C) Copyright 2020 Micrified * | |
| * Created: 27/02/2020 * | |
| * * | |
| * Programmer(s): * | |
| * - Charles Randolph * | |
| * * | |
| * Description: * | |
| * MPU-6050 interface for the ESP32 I2C driver * | |
| * * | |
| ******************************************************************************* | |
| */ | |
| #if !defined(MPU_6050_H) | |
| #define MPU_6050_H | |
| #include "driver/i2c.h" | |
| #include "esp_log.h" | |
| /* | |
| ******************************************************************************* | |
| * Register Symbols * | |
| ******************************************************************************* | |
| */ | |
| // BIT_ masks | |
| #define BIT_0 (1 << 0) | |
| #define BIT_1 (1 << 1) | |
| #define BIT_2 (1 << 2) | |
| #define BIT_3 (1 << 3) | |
| #define BIT_4 (1 << 4) | |
| #define BIT_5 (1 << 5) | |
| #define BIT_6 (1 << 6) | |
| #define BIT_7 (1 << 7) | |
| // [R] Accelerometer registers (X,Y,Z) | |
| #define REG_AX_L 0x3C | |
| #define REG_AX_H 0x3B | |
| #define REG_AY_L 0x3E | |
| #define REG_AY_H 0x3D | |
| #define REG_AZ_L 0x40 | |
| #define REG_AZ_H 0x3F | |
| // [R] Gyroscope registers (X,Y,Z) | |
| #define REG_GX_L 0x44 | |
| #define REG_GX_H 0x43 | |
| #define REG_GY_L 0x46 | |
| #define REG_GY_H 0x45 | |
| #define REG_GZ_L 0x48 | |
| #define REG_GZ_H 0x47 | |
| // [R+W] Accelerometer configuration register + mode masks | |
| #define REG_A_CFG 0x1C | |
| #define A_CFG_2G 0x0 | |
| #define A_CFG_4G BIT_3 | |
| #define A_CFG_8G BIT_4 | |
| #define A_CFG_16G (BIT_3 | BIT_4) | |
| // [R+W] Gyroscope configuration register + mode masks | |
| #define REG_G_CFG 0x1B | |
| #define G_CFG_250 0x0 | |
| #define G_CFG_500 BIT_3 | |
| #define G_CFG_1000 BIT_4 | |
| #define G_CFG_2000 (BIT_3 | BIT_4) | |
| // [R+W] Power management (1) register + mode masks | |
| #define REG_PWR_MGMT_1 0x6B | |
| #define PWR_MGMT_1_RESET BIT_7 | |
| #define PWR_MGMT_1_SLEEP BIT_6 | |
| // [R+W] FIFO configuration register + mode masks | |
| #define REG_FIFO_CFG 0x23 | |
| #define FIFO_CFG_TEMP BIT_7 | |
| #define FIFO_CFG_GX BIT_6 | |
| #define FIFO_CFG_GY BIT_5 | |
| #define FIFO_CFG_GZ BIT_4 | |
| #define FIFO_CFG_AXYZ BIT_3 | |
| // [R] FIFO count registers | |
| #define REG_FIFO_COUNT_L 0x73 | |
| #define REG_FIFO_COUNT_H 0x72 | |
| // [R/W] FIFO output register | |
| #define REG_FIFO 0x74 | |
| // [R+W] Sample-rate divider register | |
| #define REG_SAMPLE_RATE_DIV 0x19 | |
| // [R+W] DLFP configuration register + masks | |
| #define REG_DLFP_CFG 0x1A | |
| #define DLFP_CFG_FILTER_0 0x0 // A{260Hz,0.0ms} G{256Hz 0.98ms} Fs=8kHz | |
| #define DLFP_CFG_FILTER_1 0x1 // A{184Hz,2.0ms} G{188Hz 1.9ms} Fs=1kHz | |
| #define DLFP_CFG_FILTER_2 0x2 // A{94Hz, 3.0ms} G{98Hz 2.8ms} Fs=1kHz | |
| #define DLFP_CFG_FILTER_3 0x3 // A{44Hz, 4.9ms} G{42Hz, 4.8ms} Fs=1kHz | |
| #define DLFP_CFG_FILTER_4 0x4 // A{21Hz, 8.5ms} G{20Hz, 8.3ms} Fs=1kHz | |
| #define DLFP_CFG_FILTER_5 0x5 // A{10Hz,13.8ms} G{10Hz,13.4ms} Fs=1kHz | |
| #define DLFP_CFG_FILTER_6 0x6 // A{ 5Hz,19.0ms} G{ 5Hz,18.6ms} Fs=1kHz | |
| // [R+W] Interrupt enable register + masks | |
| #define REG_INTR_EN 0x38 | |
| #define INTR_EN_DATA_RDY BIT_0 | |
| #define INTR_EN_FIFO_OFL BIT_4 | |
| // [R+W] Interrupt configuration register + masks | |
| #define REG_INTR_CFG 0x37 | |
| #define INTR_CFG_ACTIVE_LOW BIT_7 | |
| #define INTR_CFG_OPEN_DRAIN BIT_6 | |
| #define INTR_CFG_LATCHING BIT_5 | |
| #define INTR_CFG_ANY_CLR BIT_4 | |
| #define INTR_CFG_FSYNC_LVL BIT_3 | |
| #define INTR_CFG_FSYNC_EN BIT_2 | |
| #define INTR_CFG_FSYNC_BYPASS BIT_1 | |
| // [R] Interrupt status register | |
| #define REG_INTR_STATUS 0x3A | |
| // [R+W] User control register + masks | |
| #define REG_USER_CTRL 0x6A | |
| #define USER_CTRL_FIFO_EN BIT_6 | |
| #define USER_CTRL_FIFO_RST BIT_2 | |
| /* | |
| ******************************************************************************* | |
| * Symbolic Constants * | |
| ******************************************************************************* | |
| */ | |
| // Number of elements to read from FIFO at a time (dependent on configuration) | |
| #define FIFO_BURST_LEN 12 | |
| /* | |
| ******************************************************************************* | |
| * Type Definitions * | |
| ******************************************************************************* | |
| */ | |
| // Structure containing interesting sensor data | |
| typedef struct { | |
| int16_t ax, ay, az; | |
| int16_t gx, gy, gz; | |
| } mpu6050_data_t; | |
| // Structure containing I2C configuration information | |
| typedef struct { | |
| uint8_t sda_pin, scl_pin; // Data and clock pin #s | |
| uint8_t slave_addr; // I2C address of MPU-6050 | |
| i2c_port_t i2c_port; // I2C port # (I2C_NUM_0 ~ (I2C_NUM_MAX-1)) | |
| uint32_t clk_speed; // I2C clock frequency for master | |
| bool sda_pullup_en; // Enable internal pullup for SDA | |
| bool scl_pullup_en; // Enable internal pullup for SCL | |
| } mpu6050_i2c_cfg_t; | |
| // Enumeration of error types | |
| typedef enum { | |
| MPU6050_ERR_OK, // No error | |
| MPU6050_ERR_PARAM_CFG_FAIL, // i2c_param_config() error | |
| MPU6050_ERR_DRIVER_INSTALL_FAIL, // i2c_driver_install() error | |
| MPU6050_ERR_INVALID_ARGUMENT, // invalid parameter to function | |
| MPU6050_ERR_NO_SLAVE_ACK, // No acknowledgment from slave | |
| MPU6050_ERR_INVALID_STATE, // Driver not installed / not i2c master | |
| MPU6050_ERR_OPERATION_TIMEOUT, // Bus busy, | |
| MPU6050_ERR_UNKNOWN, // Unknown error | |
| MPU6050_ERR_MAX | |
| } mpu6050_err_t; | |
| /* | |
| ******************************************************************************* | |
| * General Function Declarations * | |
| ******************************************************************************* | |
| */ | |
| /*\ | |
| * @brief Initializes I2C for the ESP using the given configuration | |
| * structure pointer. | |
| * @note Recommended to configure clk_speed to 400kHz: | |
| * I2C_APB_CLK_FREQ / 200 for example since I2C source clock | |
| * is 80MHz APB clock (i.e. 200x too fast) | |
| * @param cfg Configuration structure for I2C | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_init (mpu6050_i2c_cfg_t *cfg); | |
| /*\ | |
| * @brief Reads a byte from the I2C bus | |
| * @param cfg The I2C device configuration | |
| * @param value_p Address where byte value will be saved | |
| * @param mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_receive_byte (mpu6050_i2c_cfg_t *cfg, uint8_t *value_p); | |
| /*\ | |
| * @brief Writes value (byte) to given register at I2C device configuration | |
| * @param cfg The I2C device configuration | |
| * @param reg The register to write to | |
| * @param value The byte value to write | |
| * @param request If true, 'value' is not written (considered req) | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_write_register (mpu6050_i2c_cfg_t *cfg, uint8_t reg, | |
| uint8_t value, bool request); | |
| /*\ | |
| * @brief Returns a string describing the given error value | |
| * @note Returns NULL if error is out of bounds | |
| * @param err The error enumeral | |
| * @return const char * Pointer to descriptive string | |
| \*/ | |
| const char *mpu6050_err_to_str (mpu6050_err_t err); | |
| /* | |
| ******************************************************************************* | |
| * IMU-6050 Interface Declarations * | |
| ******************************************************************************* | |
| */ | |
| /*\ | |
| * @brief Configure power mode and clock source (See datasheet 4.30) | |
| * @param cfg The device configuration structure | |
| * @param flags The configuration flags | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_configure_power (mpu6050_i2c_cfg_t *cfg, uint8_t flags); | |
| /*\ | |
| * @brief Configure accelerometer self test and full-scale range | |
| * (See datasheet 4.5) | |
| * @param cfg The device configuration structure | |
| * @param flags The configuration flags | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_configure_accelerometer (mpu6050_i2c_cfg_t *cfg, | |
| uint8_t flags); | |
| /*\ | |
| * @brief Configure gyroscope self test and full-scale range | |
| * (See datasheet 4.4) | |
| * @param cfg The device configuration structure | |
| * @param flags The configuration flags | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_configure_gyroscope (mpu6050_i2c_cfg_t *cfg, | |
| uint8_t flags); | |
| /*\ | |
| * @brief Allows the FIFO to be enabled or disabled by writing | |
| * to the user control register (See datasheet 4.29) | |
| * @param cfg The device configuration structure | |
| * @param flags Configurations flags. If you want | |
| * to enable the FIFO correctly, you | |
| * should set the following: | |
| * (USER_CTRL_FIFO_EN | USER_CTRL_FIFO_RST) | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_enable_fifo (mpu6050_i2c_cfg_t *cfg, uint8_t flags); | |
| /*\ | |
| * @brief Configure what sensor registers are written into the | |
| * FIFO (See datasheet 4.7). The register is called | |
| * FIFO Enable, but FIFO is actually enabled in the | |
| * user-control register | |
| * @param cfg The device configuration structure | |
| * @param flags The configuration flags | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_configure_fifo (mpu6050_i2c_cfg_t *cfg, uint8_t flags); | |
| /*\ | |
| * @brief Enables interrupt generation by interrupt sources | |
| * (See datasheet 4.16) | |
| * @param cfg The device configuration structure | |
| * @param flags The configuration flags | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_enable_interrupt (mpu6050_i2c_cfg_t *cfg, uint8_t flags); | |
| /*\ | |
| * @brief Configure behavior of interrupt signals at the INT | |
| * pin (See datasheet 4.15) | |
| * @param cfg The device configuration structure | |
| * @param flags The configuration flags | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_configure_interrupt (mpu6050_i2c_cfg_t *cfg, | |
| uint8_t flags); | |
| /*\ | |
| * @brief Actually the interrupt-status register, reading this | |
| * register will clear a latching interrupt | |
| * (See datasheet 4.17) | |
| * @param cfg The device configuration structure | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_clear_interrupt (mpu6050_i2c_cfg_t *cfg); | |
| /*\ | |
| * @brief Specifies the divider that sets the sample rate | |
| * (See datasheet 4.2). | |
| * @note Sample_rate = (RATE / (1 + divident)) | |
| * @note When DLFP is enabled, RATE is 1kHz; else 8kHz | |
| * @param cfg The device configuration structure | |
| * @param divident Value to divide gyro output RATE | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_set_sample_rate_divider (mpu6050_i2c_cfg_t *cfg, | |
| uint8_t divident); | |
| /*\ | |
| * @brief Configures frame synchronization (FSYNC) and | |
| * DLFP settings for both gyroscope and accelerometer | |
| * (See datasheet 4.3) | |
| * @param cfg The device configuration structure | |
| * @param filter The DLFP filter choice (see macros) | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_configure_dlfp (mpu6050_i2c_cfg_t *cfg, uint8_t filter); | |
| /*\ | |
| * @brief Reads gyro and accelerometer data from the FIFO queue | |
| * @note ASSUMES FIFO CONFIGURED WITH GYRO + ACCEL ONLY!!! | |
| * @param cfg The device configuration structure | |
| * @param data_p Pointer to struct to save sample data | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_receive_fifo (mpu6050_i2c_cfg_t *cfg, | |
| mpu6050_data_t *data_p); | |
| /*\ | |
| * @brief Number of samples currently in the FIFO buffer | |
| * (See datasheet 4.32) | |
| * @param cfg The device configuration structure | |
| * @param len_p Pointer at which length will be written | |
| * @return mpu6050_err_t Error value (MPU6050_ERR_OK if none) | |
| \*/ | |
| mpu6050_err_t mpu6050_get_fifo_length (mpu6050_i2c_cfg_t *cfg, | |
| uint16_t *len_p); | |
| #endif |
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