111 lines
5.0 KiB
C
111 lines
5.0 KiB
C
/*
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* Copyright (c) 2014, Texas Instruments Incorporated - http://www.ti.com/
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
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* OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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/*---------------------------------------------------------------------------*/
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/**
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* \addtogroup sensortag-cc26xx-peripherals
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* @{
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*
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* \defgroup sensortag-cc26xx-mpu SensorTag 2.0 Motion Processing Unit
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*
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* Driver for the Invensense MPU9250 Motion Processing Unit.
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*
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* Due to the time required between triggering a reading and the reading
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* becoming available, this driver is meant to be used in an asynchronous
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* fashion. The caller must first activate the sensor by calling
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* mpu_9250_sensor.configure(SENSORS_ACTIVE, xyz);
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* The value for the xyz arguments depends on the required readings. If the
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* caller intends to read both the accelerometer as well as the gyro then
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* xyz should be MPU_9250_SENSOR_TYPE_ALL. If the caller only needs to take a
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* reading from one of the two elements, xyz should be one of
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* MPU_9250_SENSOR_TYPE_ACC or MPU_9250_SENSOR_TYPE_GYRO
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*
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* Calling .configure() will power up the sensor and initialise it. When the
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* sensor is ready to provide readings, the driver will generate a
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* sensors_changed event.
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*
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* Calls to .status() will return the driver's state which could indicate that
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* the sensor is off, booting or on.
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*
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* Once a reading has been taken, the caller has two options:
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* - Turn the sensor off by calling SENSORS_DEACTIVATE, but in order to take
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* subsequent readings the sensor must be started up all over
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* - Leave the sensor on. In this scenario, the caller can simply keep calling
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* value() for subsequent readings, but having the sensor on will consume
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* more energy, especially if both accelerometer and the gyro are on.
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* @{
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*
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* \file
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* Header file for the Sensortag Invensense MPU9250 motion processing unit
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*/
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/*---------------------------------------------------------------------------*/
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#ifndef MPU_9250_SENSOR_H_
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#define MPU_9250_SENSOR_H_
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/*---------------------------------------------------------------------------*/
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/* ACC / Gyro Axes */
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#define MPU_9250_SENSOR_TYPE_GYRO_Z 0x01
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#define MPU_9250_SENSOR_TYPE_GYRO_Y 0x02
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#define MPU_9250_SENSOR_TYPE_GYRO_X 0x04
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#define MPU_9250_SENSOR_TYPE_GYRO_ALL 0x07
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#define MPU_9250_SENSOR_TYPE_ACC_Z 0x08
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#define MPU_9250_SENSOR_TYPE_ACC_Y 0x10
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#define MPU_9250_SENSOR_TYPE_ACC_X 0x20
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#define MPU_9250_SENSOR_TYPE_ACC_ALL 0x38
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#define MPU_9250_SENSOR_TYPE_MASK 0x3F
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#define MPU_9250_SENSOR_TYPE_ACC 0x38
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#define MPU_9250_SENSOR_TYPE_GYRO 0x07
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#define MPU_9250_SENSOR_TYPE_NONE 0
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#define MPU_9250_SENSOR_TYPE_ALL (MPU_9250_SENSOR_TYPE_ACC | \
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MPU_9250_SENSOR_TYPE_GYRO)
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/*---------------------------------------------------------------------------*/
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/* Accelerometer range */
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#define MPU_9250_SENSOR_ACC_RANGE_2G 0
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#define MPU_9250_SENSOR_ACC_RANGE_4G 1
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#define MPU_9250_SENSOR_ACC_RANGE_8G 2
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#define MPU_9250_SENSOR_ACC_RANGE_16G 3
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/*---------------------------------------------------------------------------*/
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/* Accelerometer range configuration */
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#ifdef MPU_9250_SENSOR_CONF_ACC_RANGE
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#define MPU_9250_SENSOR_ACC_RANGE MPU_9250_SENSOR_CONF_ACC_RANGE
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#else
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#define MPU_9250_SENSOR_ACC_RANGE MPU_9250_SENSOR_ACC_RANGE_2G
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#endif
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/*---------------------------------------------------------------------------*/
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extern const struct sensors_sensor mpu_9250_sensor;
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/*---------------------------------------------------------------------------*/
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#endif /* MPU_9250_SENSOR_H_ */
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/*---------------------------------------------------------------------------*/
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/**
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* @}
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* @}
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*/
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