mirror of
https://github.com/zephyrproject-rtos/zephyr
synced 2025-09-03 12:51:57 +00:00
ac74d8b652
Replace the existing Apache 2.0 boilerplate header with an SPDX tag throughout the zephyr code tree. This patch was generated via a script run over the master branch. Also updated doc/porting/application.rst that had a dependency on line numbers in a literal include. Manually updated subsys/logging/sys_log.c that had a malformed header in the original file. Also cleanup several cases that already had a SPDX tag and we either got a duplicate or missed updating. Jira: ZEP-1457 Change-Id: I6131a1d4ee0e58f5b938300c2d2fc77d2e69572c Signed-off-by: David B. Kinder <david.b.kinder@intel.com> Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
83 lines
1.7 KiB
C
83 lines
1.7 KiB
C
/*
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* Copyright (c) 2016 Intel Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef __SENSOR_MPU6050_H__
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#define __SENSOR_MPU6050_H__
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#include <device.h>
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#include <gpio.h>
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#include <misc/util.h>
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#include <stdint.h>
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#define SYS_LOG_DOMAIN "MPU6050"
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#define SYS_LOG_LEVEL CONFIG_SYS_LOG_SENSOR_LEVEL
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#include <logging/sys_log.h>
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#define MPU6050_REG_CHIP_ID 0x75
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#define MPU6050_CHIP_ID 0x68
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#define MPU6050_REG_GYRO_CFG 0x1B
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#define MPU6050_GYRO_FS_SHIFT 3
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#define MPU6050_REG_ACCEL_CFG 0x1C
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#define MPU6050_ACCEL_FS_SHIFT 3
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#define MPU6050_REG_INT_EN 0x38
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#define MPU6050_DRDY_EN BIT(0)
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#define MPU6050_REG_DATA_START 0x3B
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#define MPU6050_REG_PWR_MGMT1 0x6B
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#define MPU6050_SLEEP_EN BIT(6)
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/* measured in degrees/sec x10 to avoid floating point */
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static const uint16_t mpu6050_gyro_sensitivity_x10[] = {
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1310, 655, 328, 164
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};
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struct mpu6050_data {
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struct device *i2c;
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int16_t accel_x;
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int16_t accel_y;
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int16_t accel_z;
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uint16_t accel_sensitivity_shift;
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int16_t temp;
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int16_t gyro_x;
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int16_t gyro_y;
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int16_t gyro_z;
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uint16_t gyro_sensitivity_x10;
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#ifdef CONFIG_MPU6050_TRIGGER
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struct device *gpio;
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struct gpio_callback gpio_cb;
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struct sensor_trigger data_ready_trigger;
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sensor_trigger_handler_t data_ready_handler;
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#if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD)
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char __stack thread_stack[CONFIG_MPU6050_THREAD_STACK_SIZE];
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struct k_sem gpio_sem;
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#elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD)
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struct k_work work;
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struct device *dev;
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#endif
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#endif /* CONFIG_MPU6050_TRIGGER */
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};
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#ifdef CONFIG_MPU6050_TRIGGER
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int mpu6050_trigger_set(struct device *dev,
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const struct sensor_trigger *trig,
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sensor_trigger_handler_t handler);
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int mpu6050_init_interrupt(struct device *dev);
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#endif
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#endif /* __SENSOR_MPU6050__ */
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