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