789081673f
This is a start to move away from the C99 {u}int{8,16,32,64}_t types to
Zephyr defined u{8,16,32,64}_t and s{8,16,32,64}_t. This allows Zephyr
to define the sized types in a consistent manor across all the
architectures we support and not conflict with what various compilers
and libc might do with regards to the C99 types.
We introduce <zephyr/types.h> as part of this and have it include
<stdint.h> for now until we transition all the code away from the C99
types.
We go with u{8,16,32,64}_t and s{8,16,32,64}_t as there are some
existing variables defined u8 & u16 as well as to be consistent with
Zephyr naming conventions.
Jira: ZEP-2051
Change-Id: I451fed0623b029d65866622e478225dfab2c0ca8
Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
82 lines
1.8 KiB
C
82 lines
1.8 KiB
C
/*
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* Copyright (c) 2016 Intel Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef __SENSOR_MPU6050_H__
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#define __SENSOR_MPU6050_H__
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#include <device.h>
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#include <gpio.h>
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#include <misc/util.h>
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#include <zephyr/types.h>
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#define SYS_LOG_DOMAIN "MPU6050"
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#define SYS_LOG_LEVEL CONFIG_SYS_LOG_SENSOR_LEVEL
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#include <logging/sys_log.h>
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#define MPU6050_REG_CHIP_ID 0x75
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#define MPU6050_CHIP_ID 0x68
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#define MPU6050_REG_GYRO_CFG 0x1B
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#define MPU6050_GYRO_FS_SHIFT 3
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#define MPU6050_REG_ACCEL_CFG 0x1C
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#define MPU6050_ACCEL_FS_SHIFT 3
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#define MPU6050_REG_INT_EN 0x38
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#define MPU6050_DRDY_EN BIT(0)
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#define MPU6050_REG_DATA_START 0x3B
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#define MPU6050_REG_PWR_MGMT1 0x6B
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#define MPU6050_SLEEP_EN BIT(6)
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/* measured in degrees/sec x10 to avoid floating point */
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static const uint16_t mpu6050_gyro_sensitivity_x10[] = {
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1310, 655, 328, 164
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};
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struct mpu6050_data {
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struct device *i2c;
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int16_t accel_x;
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int16_t accel_y;
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int16_t accel_z;
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uint16_t accel_sensitivity_shift;
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int16_t temp;
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int16_t gyro_x;
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int16_t gyro_y;
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int16_t gyro_z;
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uint16_t gyro_sensitivity_x10;
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#ifdef CONFIG_MPU6050_TRIGGER
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struct device *gpio;
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struct gpio_callback gpio_cb;
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struct sensor_trigger data_ready_trigger;
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sensor_trigger_handler_t data_ready_handler;
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#if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD)
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char __stack thread_stack[CONFIG_MPU6050_THREAD_STACK_SIZE];
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struct k_sem gpio_sem;
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#elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD)
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struct k_work work;
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struct device *dev;
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#endif
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#endif /* CONFIG_MPU6050_TRIGGER */
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};
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#ifdef CONFIG_MPU6050_TRIGGER
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int mpu6050_trigger_set(struct device *dev,
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const struct sensor_trigger *trig,
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sensor_trigger_handler_t handler);
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int mpu6050_init_interrupt(struct device *dev);
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#endif
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#endif /* __SENSOR_MPU6050__ */
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