1 files changed, 92 insertions, 0 deletions
diff --git a/nuttx/configs/px4fmu/include/drv_mpu6000.h b/nuttx/configs/px4fmu/include/drv_mpu6000.h
new file mode 100644
index 000000000..0a5a48b70
--- /dev/null
+++ b/nuttx/configs/px4fmu/include/drv_mpu6000.h
@@ -0,0 +1,92 @@
+/*
+ *   Copyright (C) 2012 Lorenz Meier. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name of the author or the names of contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/*
+ * Driver for the Invense MPU-6000 gyroscope
+ */
+
+/* IMPORTANT NOTES:
+ *
+ * SPI max. clock frequency: 10 Mhz
+ * CS has to be high before transfer,
+ * go low right before transfer and
+ * go high again right after transfer
+ *
+ */
+
+#include <sys/ioctl.h>
+
+#define _MPU6000BASE	0x7600
+#define MPU6000C(_x)	_IOC(_MPU6000BASE, _x)
+
+/* 
+ * Sets the sensor internal sampling rate, and if a buffer
+ * has been configured, the rate at which entries will be
+ * added to the buffer.
+ */
+#define MPU6000_SETRATE		MPU6000C(1)
+
+#define MPU6000_RATE_95HZ_LP_12_5HZ		((0<<7) | (0<<6) | (0<<5) | (0<<4))
+
+/*
+ * Sets the sensor internal range.
+ */
+#define MPU6000_SETRANGE		MPU6000C(2)
+
+#define MPU6000_RANGE_250DPS			(0<<4)
+
+#define MPU6000_RATE_95HZ			((0<<6) | (0<<4))
+
+
+
+/*
+ * Sets the address of a shared MPU6000_buffer
+ * structure that is maintained by the driver.
+ *
+ * If zero is passed as the address, disables
+ * the buffer updating.
+ */
+#define MPU6000_SETBUFFER	MPU6000C(3)
+
+struct MPU6000_buffer {
+	uint32_t	size;		/* number of entries in the samples[] array */
+	uint32_t	next;		/* the next entry that will be populated */
+	struct {
+		uint16_t	x;
+		uint16_t	y;
+		uint16_t	z;
+		uint16_t	roll;
+		uint16_t	pitch;
+		uint16_t	yaw;
+	} samples[];
+};
+
+extern int	mpu6000_attach(struct spi_dev_s *spi, int spi_id);