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93 lines
2.8 KiB
C
93 lines
2.8 KiB
C
/*
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* Copyright (C) 2012 Lorenz Meier. 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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*
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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
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name of the author or the names of contributors may be
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* used to endorse or promote products derived from this software
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* 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 OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/*
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* Driver for the Invense MPU-6000 gyroscope
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*/
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/* IMPORTANT NOTES:
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*
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* SPI max. clock frequency: 10 Mhz
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* CS has to be high before transfer,
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* go low right before transfer and
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* go high again right after transfer
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*
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*/
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#include <sys/ioctl.h>
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#define _MPU6000BASE 0x7600
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#define MPU6000C(_x) _IOC(_MPU6000BASE, _x)
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/*
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* Sets the sensor internal sampling rate, and if a buffer
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* has been configured, the rate at which entries will be
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* added to the buffer.
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*/
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#define MPU6000_SETRATE MPU6000C(1)
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#define MPU6000_RATE_95HZ_LP_12_5HZ ((0<<7) | (0<<6) | (0<<5) | (0<<4))
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/*
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* Sets the sensor internal range.
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*/
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#define MPU6000_SETRANGE MPU6000C(2)
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#define MPU6000_RANGE_250DPS (0<<4)
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#define MPU6000_RATE_95HZ ((0<<6) | (0<<4))
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/*
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* Sets the address of a shared MPU6000_buffer
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* structure that is maintained by the driver.
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*
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* If zero is passed as the address, disables
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* the buffer updating.
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*/
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#define MPU6000_SETBUFFER MPU6000C(3)
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struct MPU6000_buffer {
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uint32_t size; /* number of entries in the samples[] array */
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uint32_t next; /* the next entry that will be populated */
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struct {
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uint16_t x;
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uint16_t y;
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uint16_t z;
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uint16_t roll;
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uint16_t pitch;
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uint16_t yaw;
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} samples[];
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};
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extern int mpu6000_attach(struct spi_dev_s *spi, int spi_id);
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