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