drivers/sensors: add support of InvenSense MPU-9250 sensor
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zouboan
Alan Carvalho de Assis
parent
b3e1004658
commit
90ff76dfd6
@ -791,6 +791,110 @@ config MPU60X0_ACCEL_AFS_SEL
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endif # SENSORS_MPU60X0
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config SENSORS_MPU9250
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bool "Invensense MPU9250 Sensor support"
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default n
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---help---
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Enable driver support for Invensense MPU9250 MotionTracker device.
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if SENSORS_MPU9250
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choice
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prompt "MPU9250 Interface"
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default MPU9250_SPI
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config MPU9250_SPI
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bool "MPU9250 SPI Interface"
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select SPI
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---help---
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Enables support for the SPI interface
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config MPU9250_I2C
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bool "MPU9250 I2C Interface"
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select I2C
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---help---
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Enables support for the I2C interface
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endchoice
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config MPU9250_I2C_FREQ
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int "MPU9250 I2C Frequency"
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depends on MPU9250_I2C
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default 400000
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config MPU9250_MEASURE_FREQ
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int "Default data output rate in Hz"
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default 1000
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---help---
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Default data output rate in Hz
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config MPU9250_THREAD_STACKSIZE
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int "Worker thread stack size"
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default 1024
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---help---
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The stack size for the worker thread
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config MPU9250_EXT_SYNC_SET
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int "MPU9250 frame sync bit position"
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default 0
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---help---
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EXT_SYNC_SET[2..0]
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EXT_SYNC_SET: frame sync bit position
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config MPU9250_DLPF_CFG
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int "MPU9250 gyroscope and temperature low-pass filter setting"
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default 1
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---help---
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DLPF_CFG[2..0]
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DLPF_CFG: digital low-pass filter bandwidth
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config MPU9250_ACCEL_FCHOICE_B
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int "Inverted version of accel_fchoice"
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default 0
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---help---
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The data output rate of the DLPF filter block can be further
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reduced by a factor of 1/(1+SMPLRT_DIV).
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where SMPLRT_DIV is an 8-bit integer
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config MPU9250_A_DLPF_CFG
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int "MPU9250 Accelerometer low pass filter setting"
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default 1
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---help---
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A_DLPF_CFG[2..0]
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A_DLPF_CFG: Accelerometer digital low-pass filter bandwidth
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config MPU9250_GYRO_FS_SEL
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int "MPU9250 Gyro FS_SEL"
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default 2
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---help---
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Sets the @fs_sel bit in GYRO_CONFIG to the value provided. Per
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the datasheet, the meaning of @fs_sel is as follows:
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GYRO_CONFIG(0x1b) : XG_ST YG_ST ZG_ST FS_SEL1 FS_SEL0 x x x
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XG_ST, YG_ST, ZG_ST : self-test (unsupported in this driver)
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1 -> activate self-test on X, Y, and/or Z gyros
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FS_SEL[10] : full-scale range select
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0 -> ± 250 deg/sec
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1 -> ± 500 deg/sec
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2 -> ± 1000 deg/sec
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3 -> ± 2000 deg/sec
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config MPU9250_ACCEL_AFS_SEL
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int "MPU9250 Accelerometer AFS_SEL"
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default 2
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---help---
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Sets the @afs_sel bit in ACCEL_CONFIG to the value provided. Per
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the datasheet, the meaning of @afs_sel is as follows:
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ACCEL_CONFIG(0x1c) : XA_ST YA_ST ZA_ST AFS_SEL1 AFS_SEL0 x x x
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XA_ST, YA_ST, ZA_ST : self-test (unsupported in this driver)
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1 -> activate self-test on X, Y, and/or Z accelerometers
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AFS_SEL[10] : full-scale range select
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0 -> ± 2 g
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1 -> ± 4 g
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2 -> ± 8 g
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3 -> ± 16 g
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endif # SENSORS_MPU9250
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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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@ -302,6 +302,10 @@ ifeq ($(CONFIG_SENSORS_MPU60X0),y)
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CSRCS += mpu60x0.c
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endif
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ifeq ($(CONFIG_SENSORS_MPU9250),y)
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CSRCS += mpu9250.c
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endif
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# Quadrature encoder upper half
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ifeq ($(CONFIG_SENSORS_QENCODER),y)
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2045
drivers/sensors/mpu9250.c
Normal file
2045
drivers/sensors/mpu9250.c
Normal file
File diff suppressed because it is too large
Load Diff
170
include/nuttx/sensors/mpu9250.h
Normal file
170
include/nuttx/sensors/mpu9250.h
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@ -0,0 +1,170 @@
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/****************************************************************************
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* include/nuttx/sensors/mpu9250.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. 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, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_SENSORS_MPU9250_H
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#define __INCLUDE_NUTTX_SENSORS_MPU9250_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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#include <nuttx/sensors/sensor.h>
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#include <nuttx/sensors/ioctl.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Sets bit @n */
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#define BIT(n) (1 << (n))
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/* Creates a mask of @m bits, i.e. MASK(2) -> 00000011 */
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#define MASK(m) (BIT(m) - 1)
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/* Masks and shifts @v into bit field @m */
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#define TO_BITFIELD(m,v) (((v) & MASK(m ##_WIDTH)) << (m ##_SHIFT))
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/* Un-masks and un-shifts bit field @m from @v */
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#define FROM_BITFIELD(m,v) (((v) >> (m ##_SHIFT)) & MASK(m ##_WIDTH))
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/* SPI read/write codes */
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#define MPU_REG_READ 0x80
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#define MPU_REG_WRITE 0
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#define CONSTANTS_ONE_G 9.8f
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/* GYRO_CONFIG */
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enum gyro_config_bit
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{
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/* GYRO_FS_SEL [4:3] */
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GYRO_FS_SEL_250_DPS = 0, /* 0b00000 */
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GYRO_FS_SEL_500_DPS = 1, /* 0b01000 */
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GYRO_FS_SEL_1000_DPS = 2, /* 0b10000 */
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GYRO_FS_SEL_2000_DPS = 3, /* 0b11000 */
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/* FCHOICE_B [1:0] */
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FCHOICE_B_BYPASS_DLPF = BIT(1) | BIT(0),
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};
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/* ACCEL_CONFIG */
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enum accel_config_bit
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{
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/* ACCEL_FS_SEL [4:3] */
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ACCEL_FS_SEL_2G = 0, /* 0b00000 */
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ACCEL_FS_SEL_4G = 1, /* 0b01000 */
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ACCEL_FS_SEL_8G = 2, /* 0b10000 */
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ACCEL_FS_SEL_16G = 3, /* 0b11000 */
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};
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/* These structures are defined elsewhere, and we don't need their
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* definitions here.
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*/
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#ifdef CONFIG_MPU9250_SPI
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struct spi_dev_s;
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#else
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struct i2c_master_s;
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#endif
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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 = kmm_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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*/
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struct mpu9250_config_s
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{
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#ifdef CONFIG_MPU9250_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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#else
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/* For users on I2C.
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*
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* i2c : the I2C master device
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* addr : the I2C address.
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*/
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FAR struct i2c_master_s *i2c;
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int addr;
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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 mpu9250 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 mpu9250_register(int devno, FAR struct mpu9250_config_s *config);
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#endif /* __INCLUDE_NUTTX_SENSORS_MPU9250_H */
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