mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-STM.git
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9edd22b6b7
Major: - Improved UART Timeout: Apparently, the UART data Rx/Tx is quite unreliable (especially under motor load) leading to very often out-of-sync issues. This change allows to reset the DMA more often, leading to a faster re-sync of the UART transmission and thus avoiding UART timeout. Issue #1 Minor: - added #define MPU_SENSOR_ENABLE to allow to enable/disable the MPU6050 sensor and save code size if the sensors is not needed - fixed the orientation in the Processing sketch - updated ReadMe
149 lines
5.2 KiB
C
149 lines
5.2 KiB
C
/**
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* This file was taken from InvenSense MotionApps v6.12 library and
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* refactored for the hoverboard-sideboard-hack project.
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*
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* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
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* Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Define to prevent recursive inclusion
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#ifndef MPU6050_H
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#define MPU6050_H
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#ifdef MPU_SENSOR_ENABLE
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#include <stdint.h>
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#include "defines.h"
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//--------------------------------------------
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#define INV_X_GYRO (0x40)
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#define INV_Y_GYRO (0x20)
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#define INV_Z_GYRO (0x10)
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#define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
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#define INV_XYZ_ACCEL (0x08)
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#define INV_XYZ_COMPASS (0x01)
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#define MPU_INT_STATUS_DATA_READY (0x0001)
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#define MPU_INT_STATUS_DMP (0x0002)
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#define MPU_INT_STATUS_PLL_READY (0x0004)
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#define MPU_INT_STATUS_I2C_MST (0x0008)
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#define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010)
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#define MPU_INT_STATUS_ZMOT (0x0020)
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#define MPU_INT_STATUS_MOT (0x0040)
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#define MPU_INT_STATUS_FREE_FALL (0x0080)
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#define MPU_INT_STATUS_DMP_0 (0x0100)
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#define MPU_INT_STATUS_DMP_1 (0x0200)
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#define MPU_INT_STATUS_DMP_2 (0x0400)
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#define MPU_INT_STATUS_DMP_3 (0x0800)
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#define MPU_INT_STATUS_DMP_4 (0x1000)
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#define MPU_INT_STATUS_DMP_5 (0x2000)
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/* Set up APIs */
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int mpu_init(void);
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int mpu_init_slave(void);
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int mpu_set_bypass(unsigned char bypass_on);
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/* Configuration APIs */
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int mpu_lp_accel_mode(unsigned short rate);
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int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, unsigned short lpa_freq);
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int mpu_set_int_level(unsigned char active_low);
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int mpu_set_int_latched(unsigned char enable);
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int mpu_set_dmp_state(unsigned char enable);
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int mpu_get_dmp_state(unsigned char *enabled);
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int mpu_get_lpf(unsigned short *lpf);
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int mpu_set_lpf(unsigned short lpf);
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int mpu_get_gyro_fsr(unsigned short *fsr);
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int mpu_set_gyro_fsr(unsigned short fsr);
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int mpu_get_accel_fsr(unsigned char *fsr);
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int mpu_set_accel_fsr(unsigned char fsr);
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int mpu_get_compass_fsr(unsigned short *fsr);
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int mpu_get_gyro_sens(float *sens);
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int mpu_get_accel_sens(unsigned short *sens);
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int mpu_get_sample_rate(unsigned short *rate);
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int mpu_set_sample_rate(unsigned short rate);
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int mpu_get_compass_sample_rate(unsigned short *rate);
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int mpu_set_compass_sample_rate(unsigned short rate);
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int mpu_get_fifo_config(unsigned char *sensors);
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int mpu_configure_fifo(unsigned char sensors);
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int mpu_get_power_state(unsigned char *power_on);
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int mpu_set_sensors(unsigned char sensors);
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int mpu_read_6500_accel_bias(long *accel_bias);
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int mpu_set_gyro_bias_reg(long * gyro_bias);
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int mpu_set_accel_bias_6500_reg(const long *accel_bias);
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int mpu_read_6050_accel_bias(long *accel_bias);
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int mpu_set_accel_bias_6050_reg(const long *accel_bias);
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/* Data getter/setter APIs */
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int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
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int mpu_get_accel_reg(short *data, unsigned long *timestamp);
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int mpu_get_compass_reg(short *data, unsigned long *timestamp);
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int mpu_get_temperature(long *data, unsigned long *timestamp);
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int mpu_get_int_status(short *status);
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int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
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unsigned char *sensors, unsigned char *more);
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int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
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unsigned char *more);
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int mpu_reset_fifo(void);
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int mpu_write_mem(unsigned short mem_addr, unsigned short length,
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unsigned char *data);
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int mpu_read_mem(unsigned short mem_addr, unsigned short length,
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unsigned char *data);
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int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
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unsigned short start_addr, unsigned short sample_rate);
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int mpu_reg_dump(void);
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int mpu_read_reg(unsigned char reg, unsigned char *data);
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int mpu_run_self_test(long *gyro, long *accel);
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int mpu_run_6500_self_test(long *gyro, long *accel, unsigned char debug);
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void mpu_start_self_test(void);
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void mpu_setup_gyro(void);
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unsigned short inv_row_2_scale(const signed char *row);
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unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx);
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/* MPU configuration */
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int mpu_config(void);
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/* MPU get packet data */
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void mpu_get_data(void);
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/* Data post-processing */
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void mpu_read_gyro_raw(void);
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void mpu_read_accel_raw(void);
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void mpu_calc_euler_angles(void);
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void mpu_tap_func(unsigned char direction, unsigned char count);
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void mpu_android_orient_func(unsigned char orientation);
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/* Handle user input commands */
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void mpu_handle_input(char c);
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void mpu_print_to_console(void);
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#endif // MPU_SENSOR_ENABLE
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#endif // MPU6050_H
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