pios_mpu.h

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/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 */

#ifndef PIOS_MPU_H
#define PIOS_MPU_H

#include "pios.h"

enum pios_mpu_error {
        PIOS_MPU_ERROR_NONE     = 0,
        PIOS_MPU_ERROR_NOCONFIG = 1,
        PIOS_MPU_ERROR_PROBEFAILED,
        PIOS_MPU_ERROR_WRITEFAILED,
        PIOS_MPU_ERROR_READFAILED,
        PIOS_MPU_ERROR_NOIRQ,
        PIOS_MPU_ERROR_SAMPLERATE,
        PIOS_MPU_ERROR_WHOAMI,
        PIOS_MPU_ERROR_MAGFAILED,
};

enum pios_mpu_type {
        PIOS_MPU60X0,   
        PIOS_MPU6500,   
        PIOS_MPU9150,   
        PIOS_MPU9250,   
        PIOS_ICM20608G, 
        PIOS_ICM20602,  
        PIOS_ICM20689,  
        PIOS_MPU_NUM    
};

enum pios_mpu60x0_gyro_filter {
        PIOS_MPU60X0_GYRO_LOWPASS_256_HZ = 0x00, // 8KHz sample mode
        PIOS_MPU60X0_GYRO_LOWPASS_188_HZ = 0x01,
        PIOS_MPU60X0_GYRO_LOWPASS_98_HZ  = 0x02,
        PIOS_MPU60X0_GYRO_LOWPASS_42_HZ  = 0x03,
        PIOS_MPU60X0_GYRO_LOWPASS_20_HZ  = 0x04,
        PIOS_MPU60X0_GYRO_LOWPASS_10_HZ  = 0x05,
        PIOS_MPU60X0_GYRO_LOWPASS_5_HZ   = 0x06
};

enum pios_mpu6500_gyro_filter {
        PIOS_MPU6500_GYRO_LOWPASS_250_HZ = 0x00, // 8KHz sample mode
        PIOS_MPU6500_GYRO_LOWPASS_184_HZ = 0x01,
        PIOS_MPU6500_GYRO_LOWPASS_92_HZ  = 0x02,
        PIOS_MPU6500_GYRO_LOWPASS_41_HZ  = 0x03,
        PIOS_MPU6500_GYRO_LOWPASS_20_HZ  = 0x04,
        PIOS_MPU6500_GYRO_LOWPASS_10_HZ  = 0x05,
        PIOS_MPU6500_GYRO_LOWPASS_5_HZ   = 0x06
};

enum pios_icm206xx_gyro_filter {
        PIOS_ICM206XX_GYRO_LOWPASS_250_HZ  = 0x00, // 8KHz sample mode
        PIOS_ICM206XX_GYRO_LOWPASS_176_HZ  = 0x01,
        PIOS_ICM206XX_GYRO_LOWPASS_92_HZ   = 0x02,
        PIOS_ICM206XX_GYRO_LOWPASS_41_HZ   = 0x03,
        PIOS_ICM206XX_GYRO_LOWPASS_20_HZ   = 0x04,
        PIOS_ICM206XX_GYRO_LOWPASS_10_HZ   = 0x05,
        PIOS_ICM206XX_GYRO_LOWPASS_5_HZ    = 0x06,
        PIOS_ICM206XX_GYRO_LOWPASS_3281_HZ = 0x07 // 8KHz sample mode
};

enum pios_mpu6500_accel_filter {
        PIOS_MPU6500_ACCEL_LOWPASS_460_HZ = 0x00,
        PIOS_MPU6500_ACCEL_LOWPASS_184_HZ = 0x01,
        PIOS_MPU6500_ACCEL_LOWPASS_92_HZ  = 0x02,
        PIOS_MPU6500_ACCEL_LOWPASS_41_HZ  = 0x03,
        PIOS_MPU6500_ACCEL_LOWPASS_20_HZ  = 0x04,
        PIOS_MPU6500_ACCEL_LOWPASS_10_HZ  = 0x05,
        PIOS_MPU6500_ACCEL_LOWPASS_5_HZ   = 0x06
};

enum pios_icm206xx_accel_filter {
        PIOS_ICM206XX_ACCEL_LOWPASS_218_HZ = 0x00, // 0x00 and 0x01 are identical.
        PIOS_ICM206XX_ACCEL_LOWPASS_99_HZ  = 0x02,
        PIOS_ICM206XX_ACCEL_LOWPASS_45_HZ  = 0x03,
        PIOS_ICM206XX_ACCEL_LOWPASS_21_HZ  = 0x04,
        PIOS_ICM206XX_ACCEL_LOWPASS_10_HZ  = 0x05,
        PIOS_ICM206XX_ACCEL_LOWPASS_5_HZ   = 0x06,
        PIOS_ICM206XX_ACCEL_LOWPASS_420_HZ = 0x07
};

enum pios_mpu_gyro_range {
        PIOS_MPU_SCALE_250_DEG  = 0x00,
        PIOS_MPU_SCALE_500_DEG  = 0x08,
        PIOS_MPU_SCALE_1000_DEG = 0x10,
        PIOS_MPU_SCALE_2000_DEG = 0x18
};

enum pios_mpu_accel_range {
        PIOS_MPU_SCALE_2G = 0x00,
        PIOS_MPU_SCALE_4G = 0x08,
        PIOS_MPU_SCALE_8G = 0x10,
        PIOS_MPU_SCALE_16G = 0x18
};

enum pios_mpu_orientation { // clockwise rotation from board forward
        PIOS_MPU_TOP_0DEG    = 0x00,
        PIOS_MPU_TOP_90DEG   = 0x01,
        PIOS_MPU_TOP_180DEG  = 0x02,
        PIOS_MPU_TOP_270DEG  = 0x03,
        PIOS_MPU_BOTTOM_0DEG  = 0x04,
        PIOS_MPU_BOTTOM_90DEG  = 0x05,
        PIOS_MPU_BOTTOM_180DEG  = 0x06,
        PIOS_MPU_BOTTOM_270DEG  = 0x07,
};

struct pios_mpu_cfg {
        const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */

        uint16_t default_samplerate;
        enum pios_mpu_orientation orientation;
        bool skip_startup_irq_check;
#ifdef PIOS_INCLUDE_MPU_MAG
        bool use_internal_mag;          /* Flag to indicate whether or not to use the internal mag on MPU9x50 devices */
#endif // PIOS_INCLUDE_MPU_MAG
};

typedef struct pios_mpu_dev * pios_mpu_dev_t;

int32_t PIOS_MPU_I2C_Init(pios_mpu_dev_t *dev, pios_i2c_t i2c_id, const struct pios_mpu_cfg *cfg);
int32_t PIOS_MPU_SPI_Init(pios_mpu_dev_t *dev, pios_spi_t spi_id, uint32_t slave_num, const struct pios_mpu_cfg *cfg);
int32_t PIOS_MPU_Test();
int32_t PIOS_MPU_SetGyroRange(enum pios_mpu_gyro_range range);
int32_t PIOS_MPU_SetAccelRange(enum pios_mpu_accel_range range);

int32_t PIOS_MPU_SetSampleRate(uint16_t samplerate_hz);

void PIOS_MPU_SetGyroBandwidth(uint16_t bandwidth);

void PIOS_MPU_SetAccelBandwidth(uint16_t bandwidth);

bool PIOS_MPU_IRQHandler(void);

enum pios_mpu_type PIOS_MPU_GetType(void);

#endif /* PIOS_MPU_H */