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drivers/sensors/mpu60x0.c: Initial support for TDK InvenSense MPU6000 and MPU6050 6-axis gyroscope and accelerometers. This commit supports SPI media only.
This commit is contained in:
Bill Gatliff
committed by
Gregory Nutt
Gregory Nutt
parent
868796acac
commit
a8744defe2
@@ -431,6 +431,48 @@ config SENSORS_ADXL372
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---help---
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Enable driver support for the Analog Devices ADXL372 Sensor.
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config SENSORS_MPU60X0
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bool "Invensense MPU60x0 Sensor support"
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default n
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---help---
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Enable driver support for Invensense MPU60x0 MotionTracker(tm) device.
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if SENSORS_MPU60X0
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choice
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prompt "MPU60x0 Interface"
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default MPU60X0_SPI
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config MPU60X0_SPI
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bool "MPU6000 SPI Interface"
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select SPI
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---help---
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Enables support for the SPI interface (MPU6000 only)
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config MPU60X0_I2C
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bool "MPU60x0 I2C Interface"
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select I2C
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---help---
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Enables support for the I2C interface (MPU6000
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or MPU6050, autodetected during driver initialization)
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endchoice
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config MPU60X0_EXTI
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bool "Enable interrupts"
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default n
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---help---
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Select this when the MPU60x0's INT pin is connected to an
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interrupt line on the host processor, and identify the pin
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during device registration. The driver will use interrupts to
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manage FIFO-full and/or sample-ready events, depending on how
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the device is being used. The interface will block until the
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next sample is ready, which will naturally synchronize the user
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to the sampling rate chosen during operation.
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Default: No interrupts or blocking, i.e. user-driven sampling.
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endif # SENSORS_MPU60X0
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config SENSORS_MAX44009
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bool "Maxim MAX44009 ALS sensor"
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default n
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@@ -182,6 +182,7 @@ endif # CONFIG_I2C
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# These drivers depend on SPI support
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ifeq ($(CONFIG_SPI),y)
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ifeq ($(CONFIG_ADXL345_SPI),y)
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CSRCS += adxl345_spi.c
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endif
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@@ -198,6 +199,10 @@ ifeq ($(CONFIG_LIS3DH),y)
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CSRCS += lis3dh.c
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endif
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ifeq ($(CONFIG_SENSORS_MPU60X0),y)
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CSRCS += mpu60x0.c
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endif
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ifeq ($(CONFIG_SENSORS_MAX31855),y)
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CSRCS += max31855.c
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endif
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,127 @@
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/****************************************************************************
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* include/nuttx/sensors/mpu60x0.h
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*
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* Support for the Invensense MPU6000 and MPU6050 MotionTracking(tm)
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* 6-axis accelerometer and gyroscope.
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*
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* Copyright (C) 2019 Bill Gatliff. All rights reserved.
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* Author: Bill Gatliff <bgat@billgatliff.com>
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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 NuttX nor the names of its 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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#ifndef __INCLUDE_NUTTX_SENSORS_MPU60X0_H
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#define __INCLUDE_NUTTX_SENSORS_MPU60X0_H
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/****************************************************************************
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* Included Files
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*****************************************************************************/
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#include <nuttx/config.h>
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/****************************************************************************
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* Public Types
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*****************************************************************************/
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/* These structures are defined elsewhere, and we don't need their definitions
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* here.
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*/
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struct spi_dev_s;
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struct i2c_master_s;
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/* Specifies the initial chip configuration and location.
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*
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* The chip supports both SPI and I2C interfaces, but you wouldn't use
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* both at the same time on the same chip. It isn't an error to have
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* one chip of each flavor in the system, though, so it's not an
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* either-or configuration item.
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*
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* Important note :
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*
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* The driver determines which interface type to use according to
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* which of the two groups of fields is non-NULL. Since support for
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* I2C and SPI are individually configurable, however, users should
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* let the compiler clear unused fields instead of setting unused
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* fields to NULL directly. For example, if using SPI and a
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* stack-allocated instance:
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*
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* struct mpu_config_s mpuc;
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* memset(&mpuc, 0, sizeof(mpuc)); * sets i2c to NULL, if present *
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* mpuc.spi = ...;
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*
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* Or, if using dynamic memory allocation and I2C:
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*
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* struct mpu_config_s* mpuc;
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* mpuc = malloc(sizeof(*mpuc));
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* memset(mpuc, 0, sizeof(*mpuc)); * sets spi to NULL, if present *
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* mpuc.i2c = ...;
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*
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* The above examples will avoid compile-time errors unless the user
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* forgets to enable their preferred interface type, and will allow
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* them to disable or enable the unused interface type without
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* changing their code.
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*
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* Note, I2C support is unimplemented at present.
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*/
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struct mpu_config_s
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{
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#ifdef CONFIG_SPI
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/* For users on SPI.
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*
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* spi_devid : the SPI master's slave-select number
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* for the chip, as used in SPI_SELECT(..., dev_id, ...)
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* spi : the SPI master device, as used in SPI_SELECT(spi, ..., ...)
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*/
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FAR struct spi_dev_s *spi;
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int spi_devid;
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#endif
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#ifdef CONFIG_I2C
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/* For users on I2C. (Unimplemented.) */
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FAR struct i2c_master_s *i2c;
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#endif
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};
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/* Declares the existence of an mpu60x0 chip, wired according to
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* config; creates an interface to it at path.
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*
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* Returns 0 on success, or negative errno.
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*/
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int mpu60x0_register(FAR const char *path, FAR struct mpu_config_s *config);
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#endif /* __INCLUDE_NUTTX_SENSORS_MPU60X0_H */
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