mirror of https://github.com/arendst/Tasmota.git
98 lines
2.8 KiB
C
98 lines
2.8 KiB
C
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/*
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Note: The MPU6886 is an I2C sensor and uses the Arduino Wire library.
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Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or
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a 3.3 V Teensy 3.1. We have disabled the internal pull-ups used by the Wire
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library in the Wire.h/twi.c utility file. We are also using the 400 kHz fast
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I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
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*/
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#ifndef _MPU6886_H_
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#define _MPU6886_H_
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#include <Wire.h>
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#include <Arduino.h>
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#include "MahonyAHRS.h"
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#define MPU6886_ADDRESS 0x68
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#define MPU6886_WHOAMI 0x75
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#define MPU6886_ACCEL_INTEL_CTRL 0x69
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#define MPU6886_SMPLRT_DIV 0x19
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#define MPU6886_INT_PIN_CFG 0x37
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#define MPU6886_INT_ENABLE 0x38
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#define MPU6886_ACCEL_XOUT_H 0x3B
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#define MPU6886_ACCEL_XOUT_L 0x3C
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#define MPU6886_ACCEL_YOUT_H 0x3D
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#define MPU6886_ACCEL_YOUT_L 0x3E
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#define MPU6886_ACCEL_ZOUT_H 0x3F
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#define MPU6886_ACCEL_ZOUT_L 0x40
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#define MPU6886_TEMP_OUT_H 0x41
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#define MPU6886_TEMP_OUT_L 0x42
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#define MPU6886_GYRO_XOUT_H 0x43
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#define MPU6886_GYRO_XOUT_L 0x44
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#define MPU6886_GYRO_YOUT_H 0x45
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#define MPU6886_GYRO_YOUT_L 0x46
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#define MPU6886_GYRO_ZOUT_H 0x47
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#define MPU6886_GYRO_ZOUT_L 0x48
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#define MPU6886_USER_CTRL 0x6A
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#define MPU6886_PWR_MGMT_1 0x6B
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#define MPU6886_PWR_MGMT_2 0x6C
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#define MPU6886_CONFIG 0x1A
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#define MPU6886_GYRO_CONFIG 0x1B
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#define MPU6886_ACCEL_CONFIG 0x1C
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#define MPU6886_ACCEL_CONFIG2 0x1D
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#define MPU6886_FIFO_EN 0x23
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//#define G (9.8)
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#define RtA 57.324841
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#define AtR 0.0174533
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#define Gyro_Gr 0.0010653
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class MPU6886 {
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public:
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enum Ascale {
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AFS_2G = 0,
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AFS_4G,
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AFS_8G,
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AFS_16G
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};
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enum Gscale {
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GFS_250DPS = 0,
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GFS_500DPS,
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GFS_1000DPS,
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GFS_2000DPS
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};
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Gscale Gyscale = GFS_2000DPS;
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Ascale Acscale = AFS_8G;
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public:
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MPU6886();
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int Init(void);
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void getAccelAdc(int16_t* ax, int16_t* ay, int16_t* az);
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void getGyroAdc(int16_t* gx, int16_t* gy, int16_t* gz);
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void getTempAdc(int16_t *t);
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void getAccelData(float* ax, float* ay, float* az);
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void getGyroData(float* gx, float* gy, float* gz);
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void getTempData(float *t);
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void SetGyroFsr(Gscale scale);
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void SetAccelFsr(Ascale scale);
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void getAhrsData(float *pitch,float *roll,float *yaw);
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public:
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float aRes, gRes;
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private:
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private:
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void I2C_Read_NBytes(uint8_t driver_Addr, uint8_t start_Addr, uint8_t number_Bytes, uint8_t *read_Buffer);
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void I2C_Write_NBytes(uint8_t driver_Addr, uint8_t start_Addr, uint8_t number_Bytes, uint8_t *write_Buffer);
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void getGres();
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void getAres();
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};
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#endif
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