mpu9x50.h

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/*
 * SPDX-FileCopyrightText: 2015 Freie Universität Berlin
 * SPDX-FileCopyrightText: 2019 HAW Hamburg
 * SPDX-License-Identifier: LGPL-2.1-only
 */
 
#pragma once

 
#include "periph/i2c.h"
 
#ifdef __cplusplus
extern "C" {
#endif

#define MPU9X50_MIN_SAMPLE_RATE     (4)
#define MPU9X50_MAX_SAMPLE_RATE     (1000)
#define MPU9X50_DEFAULT_SAMPLE_RATE (50)
#define MPU9X50_MIN_COMP_SMPL_RATE  (1)
#define MPU9X50_MAX_COMP_SMPL_RATE  (100)

typedef enum {
    MPU9X50_SENSOR_PWR_OFF = 0x00,
    MPU9X50_SENSOR_PWR_ON = 0x01,
} mpu9x50_pwr_t;

typedef enum {
    MPU9X50_HW_ADDR_HEX_68 = 0x68,
    MPU9X50_HW_ADDR_HEX_69 = 0x69,
} mpu9x50_hw_addr_t;

typedef enum {
    MPU9X50_COMP_ADDR_HEX_0C = 0x0C,
    MPU9X50_COMP_ADDR_HEX_0D = 0x0D,
    MPU9X50_COMP_ADDR_HEX_0E = 0x0E,
    MPU9X50_COMP_ADDR_HEX_0F = 0x0F,
} mpu9x50_comp_addr_t;

typedef enum {
    MPU9X50_GYRO_FSR_250DPS = 0x00,
    MPU9X50_GYRO_FSR_500DPS = 0x01,
    MPU9X50_GYRO_FSR_1000DPS = 0x02,
    MPU9X50_GYRO_FSR_2000DPS = 0x03,
} mpu9x50_gyro_ranges_t;

typedef enum {
    MPU9X50_ACCEL_FSR_2G = 0x00,
    MPU9X50_ACCEL_FSR_4G = 0x01,
    MPU9X50_ACCEL_FSR_8G = 0x02,
    MPU9X50_ACCEL_FSR_16G = 0x03,
} mpu9x50_accel_ranges_t;

typedef enum {
    MPU9X50_FILTER_188HZ = 0x01,
    MPU9X50_FILTER_98HZ = 0x02,
    MPU9X50_FILTER_42HZ = 0x03,
    MPU9X50_FILTER_20HZ = 0x04,
    MPU9X50_FILTER_10HZ = 0x05,
    MPU9X50_FILTER_5HZ = 0x06,
} mpu9x50_lpf_t;

typedef struct {
    int16_t x_axis;             
    int16_t y_axis;             
    int16_t z_axis;             
} mpu9x50_results_t;

typedef struct {
    mpu9x50_pwr_t accel_pwr;            
    mpu9x50_pwr_t gyro_pwr;             
    mpu9x50_pwr_t compass_pwr;          
    mpu9x50_gyro_ranges_t gyro_fsr;     
    mpu9x50_accel_ranges_t accel_fsr;   
    uint16_t sample_rate;               
    uint8_t compass_sample_rate;        
    uint8_t compass_x_adj;              
    uint8_t compass_y_adj;              
    uint8_t compass_z_adj;              
} mpu9x50_status_t;

typedef struct {
    i2c_t i2c;                  
    uint8_t addr;               
    uint8_t comp_addr;          
    uint16_t sample_rate;       
} mpu9x50_params_t;

typedef struct {
    mpu9x50_params_t params;    
    mpu9x50_status_t conf;      
} mpu9x50_t;

int mpu9x50_init(mpu9x50_t *dev, const mpu9x50_params_t *params);

int mpu9x50_set_accel_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf);

int mpu9x50_set_gyro_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf);

int mpu9x50_set_compass_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf);

int mpu9x50_read_gyro(const mpu9x50_t *dev, mpu9x50_results_t *output);

int mpu9x50_read_accel(const mpu9x50_t *dev, mpu9x50_results_t *output);

int mpu9x50_read_compass(const mpu9x50_t *dev, mpu9x50_results_t *output);

int mpu9x50_read_temperature(const mpu9x50_t *dev, int32_t *output);

int mpu9x50_set_gyro_fsr(mpu9x50_t *dev, mpu9x50_gyro_ranges_t fsr);

int mpu9x50_set_accel_fsr(mpu9x50_t *dev, mpu9x50_accel_ranges_t fsr);

int mpu9x50_set_sample_rate(mpu9x50_t *dev, uint16_t rate);

int mpu9x50_set_compass_sample_rate(mpu9x50_t *dev, uint8_t rate);
 
#ifdef __cplusplus
}
#endif