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/*
* 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);
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