Add MPU9250

include/mgos_mpu9250.h

@@ -0,0 +1,92 @@
+/*
+ * Copyright 2018 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include "mgos.h"
+#include "mgos_i2c.h"
+
+#define MGOS_MPU9250_READ_DELAY    (2)
+
+#ifdef __cplusplus
+extern "C" {
+  #endif
+
+struct mgos_mpu9250;
+
+enum mgos_mpu9250_accelerometer_range {
+  RANGE_16G = 3,
+  RANGE_8G  = 2,
+  RANGE_4G  = 1,
+  RANGE_2G  = 0
+};
+
+enum mgos_mpu9250_gyroscope_range {
+  RANGE_GYRO_2000 = 3,
+  RANGE_GYRO_1000 = 2,
+  RANGE_GYRO_500  = 1,
+  RANGE_GYRO_250  = 0
+};
+
+enum mgos_mpu9250_magnetometer_scale {
+  SCALE_14_BITS = 0,
+  SCALE_16_BITS = 1
+};
+
+enum mgos_mpu9250_magnetometer_speed {
+  MAG_8_HZ   = 0,
+  MAG_100_HZ = 1
+};
+
+
+/*
+ * Initialize a MPU9250 on the I2C bus `i2c` at address specified in `i2caddr`
+ * parameter (default MPU9250 is on address 0x68). The sensor will be polled for
+ * validity, upon success a new `struct mgos_mpu9250` is allocated and
+ * returned. If the device could not be found, NULL is returned.
+ */
+struct mgos_mpu9250 *mgos_mpu9250_create(struct mgos_i2c *i2c, uint8_t i2caddr);
+
+/*
+ * Destroy the data structure associated with a MPU9250 device. The reference
+ * to the pointer of the `struct mgos_mpu9250` has to be provided, and upon
+ * successful destruction, its associated memory will be freed and the pointer
+ * set to NULL.
+ */
+void mgos_mpu9250_destroy(struct mgos_mpu9250 **sensor);
+
+bool mgos_mpu9250_set_accelerometer_range(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_accelerometer_range range);
+bool mgos_mpu9250_get_accelerometer_range(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_accelerometer_range *range);
+bool mgos_mpu9250_get_accelerometer(struct mgos_mpu9250 *sensor, float *x, float *y, float *z);
+
+bool mgos_mpu9250_set_gyroscope_range(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_gyroscope_range range);
+bool mgos_mpu9250_get_gyroscope_range(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_gyroscope_range *range);
+bool mgos_mpu9250_get_gyroscope(struct mgos_mpu9250 *sensor, float *x, float *y, float *z);
+
+bool mgos_mpu9250_set_magnetometer_scale(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_magnetometer_scale scale);
+bool mgos_mpu9250_get_magnetometer_scale(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_magnetometer_scale *scale);
+bool mgos_mpu9250_set_magnetometer_speed(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_magnetometer_speed speed);
+bool mgos_mpu9250_get_magnetometer_speed(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_magnetometer_speed *speed);
+bool mgos_mpu9250_get_magnetometer(struct mgos_mpu9250 *sensor, float *x, float *y, float *z);
+
+/*
+ * Initialization function for MGOS -- currently a noop.
+ */
+bool mgos_mpu9250_i2c_init(void);
+
+  #ifdef __cplusplus
+}
+#endif