/* * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ #ifndef __MPU6050_H_ #define __MPU6050_H_ #ifdef __cplusplus extern "C" { #endif #include "i2c_bus.h" #define MPU6050_I2C_ADDRESS 0x68 /*!< slave address for MPU6050 sensor */ /* MPU6050 register */ #define MPU6050_SELF_TEST_X 0x0D #define MPU6050_SELF_TEST_Y 0x0E #define MPU6050_SELF_TEST_Z 0x0F #define MPU6050_SELF_TEST_A 0x10 #define MPU6050_SMPLRT_DIV 0x19 #define MPU6050_CONFIG 0x1A #define MPU6050_GYRO_CONFIG 0x1B #define MPU6050_ACCEL_CONFIG 0x1C #define MPU6050_FIFO_EN 0x23 #define MPU6050_I2C_MST_CTRL 0x24 #define MPU6050_I2C_SLV0_ADDR 0x25 #define MPU6050_I2C_SLV0_REG 0x26 #define MPU6050_I2C_SLV0_CTRL 0x27 #define MPU6050_I2C_SLV1_ADDR 0x28 #define MPU6050_I2C_SLV1_REG 0x29 #define MPU6050_I2C_SLV1_CTRL 0x2A #define MPU6050_I2C_SLV2_ADDR 0x2B #define MPU6050_I2C_SLV2_REG 0x2C #define MPU6050_I2C_SLV2_CTRL 0x2D #define MPU6050_I2C_SLV3_ADDR 0x2E #define MPU6050_I2C_SLV3_REG 0x2F #define MPU6050_I2C_SLV3_CTRL 0x30 #define MPU6050_I2C_SLV4_ADDR 0x31 #define MPU6050_I2C_SLV4_REG 0x32 #define MPU6050_I2C_SLV4_DO 0x33 #define MPU6050_I2C_SLV4_CTRL 0x34 #define MPU6050_I2C_SLV4_DI 0x35 #define MPU6050_I2C_MST_STATUS 0x36 #define MPU6050_INT_PIN_CFG 0x37 #define MPU6050_INT_ENABLE 0x38 #define MPU6050_DMP_INT_STATUS 0x39 #define MPU6050_INT_STATUS 0x3A #define MPU6050_ACCEL_XOUT_H 0x3B #define MPU6050_ACCEL_XOUT_L 0x3C #define MPU6050_ACCEL_YOUT_H 0x3D #define MPU6050_ACCEL_YOUT_L 0x3E #define MPU6050_ACCEL_ZOUT_H 0x3F #define MPU6050_ACCEL_ZOUT_L 0x40 #define MPU6050_TEMP_OUT_H 0x41 #define MPU6050_TEMP_OUT_L 0x42 #define MPU6050_GYRO_XOUT_H 0x43 #define MPU6050_GYRO_XOUT_L 0x44 #define MPU6050_GYRO_YOUT_H 0x45 #define MPU6050_GYRO_YOUT_L 0x46 #define MPU6050_GYRO_ZOUT_H 0x47 #define MPU6050_GYRO_ZOUT_L 0x48 #define MPU6050_EXT_SENS_DATA_00 0x49 #define MPU6050_EXT_SENS_DATA_01 0x4A #define MPU6050_EXT_SENS_DATA_02 0x4B #define MPU6050_EXT_SENS_DATA_03 0x4C #define MPU6050_EXT_SENS_DATA_04 0x4D #define MPU6050_EXT_SENS_DATA_05 0x4E #define MPU6050_EXT_SENS_DATA_06 0x4F #define MPU6050_EXT_SENS_DATA_07 0x50 #define MPU6050_EXT_SENS_DATA_08 0x51 #define MPU6050_EXT_SENS_DATA_09 0x52 #define MPU6050_EXT_SENS_DATA_10 0x53 #define MPU6050_EXT_SENS_DATA_11 0x54 #define MPU6050_EXT_SENS_DATA_12 0x55 #define MPU6050_EXT_SENS_DATA_13 0x56 #define MPU6050_EXT_SENS_DATA_14 0x57 #define MPU6050_EXT_SENS_DATA_15 0x58 #define MPU6050_EXT_SENS_DATA_16 0x59 #define MPU6050_EXT_SENS_DATA_17 0x5A #define MPU6050_EXT_SENS_DATA_18 0x5B #define MPU6050_EXT_SENS_DATA_19 0x5C #define MPU6050_EXT_SENS_DATA_20 0x5D #define MPU6050_EXT_SENS_DATA_21 0x5E #define MPU6050_EXT_SENS_DATA_22 0x5F #define MPU6050_EXT_SENS_DATA_23 0x60 #define MPU6050_I2C_SLV0_DO 0x63 #define MPU6050_I2C_SLV1_DO 0x64 #define MPU6050_I2C_SLV2_DO 0x65 #define MPU6050_I2C_SLV3_DO 0x66 #define MPU6050_I2C_MST_DELAY_CTRL 0x67 #define MPU6050_SIGNAL_PATH_RESET 0x68 #define MPU6050_USER_CTRL 0x6A #define MPU6050_PWR_MGMT_1 0x6B #define MPU6050_PWR_MGMT_2 0x6C #define MPU6050_FIFO_COUNTH 0x72 #define MPU6050_FIFO_COUNTL 0x73 #define MPU6050_FIFO_R_W 0x74 #define MPU6050_WHO_AM_I 0x75 typedef enum { ACCE_FS_2G = 0, /*!< Accelerometer full scale range is +/- 2g */ ACCE_FS_4G = 1, /*!< Accelerometer full scale range is +/- 4g */ ACCE_FS_8G = 2, /*!< Accelerometer full scale range is +/- 8g */ ACCE_FS_16G = 3, /*!< Accelerometer full scale range is +/- 16g */ } mpu6050_acce_fs_t; typedef enum { GYRO_FS_250DPS = 0, /*!< Gyroscope full scale range is +/- 250 degree per second */ GYRO_FS_500DPS = 1, /*!< Gyroscope full scale range is +/- 500 degree per second */ GYRO_FS_1000DPS = 2, /*!< Gyroscope full scale range is +/- 1000 degree per second */ GYRO_FS_2000DPS = 3, /*!< Gyroscope full scale range is +/- 2000 degree per second */ } mpu6050_gyro_fs_t; typedef struct { int16_t raw_acce_x; int16_t raw_acce_y; int16_t raw_acce_z; } mpu6050_raw_acce_value_t; typedef struct { int16_t raw_gyro_x; int16_t raw_gyro_y; int16_t raw_gyro_z; } mpu6050_raw_gyro_value_t; typedef struct { float acce_x; float acce_y; float acce_z; } mpu6050_acce_value_t; typedef struct { float gyro_x; float gyro_y; float gyro_z; } mpu6050_gyro_value_t; typedef struct { float roll; float pitch; } complimentary_angle_t; typedef void *mpu6050_handle_t; /** * @brief Create and init sensor object and return a sensor handle * * @param bus I2C bus object handle * @param dev_addr I2C device address of sensor * * @return * - NULL Fail * - Others Success */ mpu6050_handle_t mpu6050_create(i2c_bus_handle_t bus, uint8_t dev_addr); /** * @brief Delete and release a sensor object * * @param sensor point to object handle of mpu6050 * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_delete(mpu6050_handle_t *sensor); /** * @brief Get device identification of MPU6050 * * @param sensor object handle of mpu6050 * @param deviceid a pointer of device ID * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_get_deviceid(mpu6050_handle_t sensor, uint8_t *deviceid); /** * @brief Wake up MPU6050 * * @param sensor object handle of mpu6050 * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_wake_up(mpu6050_handle_t sensor); /** * @brief Enter sleep mode * * @param sensor object handle of mpu6050 * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_sleep(mpu6050_handle_t sensor); /** * @brief Set accelerometer full scale range * * @param sensor object handle of mpu6050 * @param acce_fs accelerometer full scale range * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_set_acce_fs(mpu6050_handle_t sensor, mpu6050_acce_fs_t acce_fs); /** * @brief Set gyroscope full scale range * * @param sensor object handle of mpu6050 * @param gyro_fs gyroscope full scale range * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_set_gyro_fs(mpu6050_handle_t sensor, mpu6050_gyro_fs_t gyro_fs); /** * @brief Get accelerometer full scale range * * @param sensor object handle of mpu6050 * @param acce_fs accelerometer full scale range * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_get_acce_fs(mpu6050_handle_t sensor, mpu6050_acce_fs_t *acce_fs); /** * @brief Get gyroscope full scale range * * @param sensor object handle of mpu6050 * @param gyro_fs gyroscope full scale range * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_get_gyro_fs(mpu6050_handle_t sensor, mpu6050_gyro_fs_t *gyro_fs); /** * @brief Get accelerometer sensitivity * * @param sensor object handle of mpu6050 * @param acce_sensitivity accelerometer sensitivity * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_get_acce_sensitivity(mpu6050_handle_t sensor, float *acce_sensitivity); /** * @brief Get gyroscope sensitivity * * @param sensor object handle of mpu6050 * @param gyro_sensitivity gyroscope sensitivity * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_get_gyro_sensitivity(mpu6050_handle_t sensor, float *gyro_sensitivity); /** * @brief Read raw accelerometer measurements * * @param sensor object handle of mpu6050 * @param acce_value raw accelerometer measurements * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_get_raw_acce(mpu6050_handle_t sensor, mpu6050_raw_acce_value_t *raw_acce_value); /** * @brief Read raw gyroscope measurements * * @param sensor object handle of mpu6050 * @param gyro_value raw gyroscope measurements * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_get_raw_gyro(mpu6050_handle_t sensor, mpu6050_raw_gyro_value_t *raw_gyro_value); /** * @brief Read accelerometer measurements * * @param sensor object handle of mpu6050 * @param acce_value accelerometer measurements * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_get_acce(mpu6050_handle_t sensor, mpu6050_acce_value_t *acce_value); /** * @brief Read gyro values * * @param sensor object handle of mpu6050 * @param gyro_value gyroscope measurements * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_get_gyro(mpu6050_handle_t sensor, mpu6050_gyro_value_t *gyro_value); /** * @brief use complimentory filter to calculate roll and pitch * * @param acce_value accelerometer measurements * @param gyro_value gyroscope measurements * @param complimentary_angle complimentary angle * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t mpu6050_complimentory_filter(mpu6050_handle_t sensor, mpu6050_acce_value_t *acce_value, mpu6050_gyro_value_t *gyro_value, complimentary_angle_t *complimentary_angle); /***implements of imu hal interface****/ #ifdef CONFIG_SENSOR_IMU_INCLUDED_MPU6050 /** * @brief initialize mpu6050 with default configurations * * @param i2c_bus i2c bus handle the sensor will attached to * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t imu_mpu6050_init(i2c_bus_handle_t i2c_bus); /** * @brief de-initialize mpu6050 * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t imu_mpu6050_deinit(void); /** * @brief test if mpu6050 is active * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t imu_mpu6050_test(void); /** * @brief acquire mpu6050 accelerometer result one time. * * @param acce_x result data (unit:g) * @param acce_y result data (unit:g) * @param acce_z result data (unit:g) * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t imu_mpu6050_acquire_acce(float *acce_x, float *acce_y, float *acce_z); /** * @brief acquire mpu6050 gyroscope result one time. * * @param gyro_x result data (unit:dps) * @param gyro_y result data (unit:dps) * @param gyro_z result data (unit:dps) * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t imu_mpu6050_acquire_gyro(float *gyro_x, float *gyro_y, float *gyro_z); /** * @brief set mpu6050 to sleep mode. * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t imu_mpu6050_sleep(void); /** * @brief wakeup mpu6050 from sleep mode. * * @return * - ESP_OK Success * - ESP_FAIL Fail */ esp_err_t imu_mpu6050_wakeup(void); #endif #ifdef __cplusplus } #endif #endif