Merge pull request #425 from BernardXiong/master

[DeviceDrivers] Add more sensor drivers.

components/drivers/sensors/SConscript

@@ -3,10 +3,15 @@
 from building import *
 
 cwd = GetCurrentDir()
-src = Glob('*.c') + Glob('*.cpp') 
+src = ['sensor.cpp']
 CPPPATH = [cwd, cwd + '/../include']
 
+if GetDepend('SENSOR_USING_MPU6050') and GetDepend('RT_USING_I2C'):
+    src += ['mpu6050_sensor.cpp'];
+
+if GetDepend('SENSOR_USING_BMI055') and GetDepend('RT_USING_I2C'):
+    src += ['bmi055_sensor.cpp']
+
 group = DefineGroup('Sensors', src, depend = ['RT_USING_SENSOR', 'RT_USING_DEVICE'], CPPPATH = CPPPATH)
 
 Return('group')
-

components/drivers/sensors/bmi055_sensor.cpp

+/*
+ * File      : bmi055_sensor.cpp
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2014, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author           Notes
+ * 2015-1-11     RT_learning      the first version
+ */
+
+#include <string.h>
+#include <stdio.h>
+#include <rtdevice.h>
+#include "bmi055_sensor.h"
+
+
+const static sensor_t _BMI055_sensor[] = 
+{
+    {
+    .name = "Accelerometer",
+    .vendor = "Bosch",
+    .version = sizeof(sensor_t), 
+    .handle = 0, 
+    .type = SENSOR_TYPE_ACCELEROMETER, 
+    .maxRange = SENSOR_ACCEL_RANGE_16G,
+    .resolution = 1.0f, 
+    .power = 0.5f,
+    .minDelay = 10000, 
+    .fifoReservedEventCount = 0, 
+    .fifoMaxEventCount = 64, 
+    },
+    {
+    .name = "Gyroscope",
+    .vendor = "Bosch",
+    .version = sizeof(sensor_t), 
+    .handle = 0, 
+    .type = SENSOR_TYPE_GYROSCOPE, 
+    .maxRange = SENSOR_GYRO_RANGE_2000DPS,
+    .resolution = 1.0f,
+    .power = 0.5f,
+    .minDelay = 10000, 
+    .fifoReservedEventCount = 0, 
+    .fifoMaxEventCount = 64, 
+    }
+};
+
+BMI055::BMI055(int sensor_type, const char* iic_bus, int addr)
+	: SensorBase(sensor_type)
+{
+    this->i2c_bus = (struct rt_i2c_bus_device *)rt_device_find(iic_bus);
+    if (this->i2c_bus == NULL) 
+    {
+        printf("BMI055: No IIC device:%s\n", iic_bus);
+        return;
+    }
+
+    this->i2c_addr = addr;
+
+    /* register to sensor manager */
+    SensorManager::registerSensor(this);
+}
+
+int BMI055::read_reg(rt_uint8_t reg, rt_uint8_t *value)
+{
+    struct rt_i2c_msg msgs[2];
+
+    msgs[0].addr  = this->i2c_addr;
+    msgs[0].flags = RT_I2C_WR;
+    msgs[0].buf   = &reg;
+    msgs[0].len   = 1;
+
+    msgs[1].addr  = this->i2c_addr;
+    msgs[1].flags = RT_I2C_RD; /* Read from slave */
+    msgs[1].buf   = (rt_uint8_t *)value;
+    msgs[1].len   = 1;
+
+    if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+        return RT_EOK;
+
+    return -RT_ERROR;
+}
+
+int BMI055::read_buffer(rt_uint8_t reg, rt_uint8_t* value, rt_size_t size)
+{
+    struct rt_i2c_msg msgs[2];
+
+    msgs[0].addr  = this->i2c_addr;
+    msgs[0].flags = RT_I2C_WR;
+    msgs[0].buf   = &reg;
+    msgs[0].len   = 1;
+
+    msgs[1].addr  = this->i2c_addr;
+    msgs[1].flags = RT_I2C_RD; /* Read from slave */
+    msgs[1].buf   = (rt_uint8_t *)value;
+    msgs[1].len   = size;
+
+    if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+        return RT_EOK;
+
+    return -RT_ERROR;
+}
+
+int BMI055::write_reg(rt_uint8_t reg, rt_uint8_t value)
+{
+    struct rt_i2c_msg msgs[2];
+
+    msgs[0].addr  = this->i2c_addr;
+    msgs[0].flags = RT_I2C_WR;
+    msgs[0].buf   = &reg;
+    msgs[0].len   = 1;
+
+    msgs[1].addr  = this->i2c_addr;
+    msgs[1].flags = RT_I2C_WR | RT_I2C_NO_START;
+    msgs[1].buf   = (rt_uint8_t *)&value;
+    msgs[1].len   = 1;
+
+    if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+        return RT_EOK;
+    
+    return -RT_ERROR;
+}
+
+
+BMI055_Accelerometer::BMI055_Accelerometer(const char* iic_name, int addr)
+    : BMI055(SENSOR_TYPE_ACCELEROMETER, iic_name, addr)
+{
+	int index;
+	uint8_t id;
+	rt_uint8_t value[6] = {0};
+	rt_int32_t x, y, z;
+    SensorConfig config = {SENSOR_MODE_NORMAL, SENSOR_DATARATE_400HZ, SENSOR_ACCEL_RANGE_2G};
+	
+	write_reg(BMI055_BGW_SOFTRESET, 0xB6);			/* reset of the sensor  P57							*/
+	write_reg(BMI055_PMU_LPW, 0x00);				/* PMU_LPW   NORMAL mode P55						*/
+	write_reg(BMI055_PMU_BW, 0x0A);					/* 01010b  31.25 Hz P55								*/
+	write_reg(BMI055_PMU_RANGE, 0x05);				/* 0101b  ±4g range PMU_RANGE set acc +-4g/s  P54	*/
+	
+		
+	x_offset = y_offset = z_offset = 0;
+	x = y = z = 0;
+
+	/* read BMI055 id */
+	read_buffer(BMI055_ACC_BGW_CHIPID, &id, 1);		/* BGW_CHIPID P47*/
+	if (id != BMI055_ACC_BGW_CHIPID_VALUE)
+	{
+		printf("Warning: not found BMI055 id: %02x\n", id);
+	}
+
+	/* get offset */
+	for (index = 0; index < 200; index ++)
+	{
+		read_buffer(BMI055_ACCD_X_LSB, value, 6);					/*ACCD_X_LSB P47 */
+		
+		x += (((rt_int16_t)value[1] << 8)   | value[0]);
+		y += (((rt_int16_t)value[3] << 8)   | value[2]);
+		z += (((rt_int16_t)value[5] << 8)   | value[4]);		
+	}
+	x_offset = x / 200;
+	y_offset = y / 200;
+	z_offset = z / 200;
+    
+	this->enable = RT_FALSE;
+	this->sensitivity = SENSOR_ACCEL_SENSITIVITY_2G;
+    this->config = config;
+}
+
+int 
+BMI055_Accelerometer::configure(SensorConfig *config)
+{
+	int range;
+	uint8_t value;
+
+	if (config == RT_NULL) return -1;
+
+	/* TODO: set datarate */
+
+	/* get range and calc the sensitivity */
+	range = config->range.accel_range;
+	switch (range)
+	{
+	case SENSOR_ACCEL_RANGE_2G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_2G;
+		range = 0x03;		//0011b
+		break;
+	case SENSOR_ACCEL_RANGE_4G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_4G;
+		range = 0x05;		//0101b
+		break;
+	case SENSOR_ACCEL_RANGE_8G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_8G;
+		range = 0x01 << 3;	//1000b
+		break;
+	case SENSOR_ACCEL_RANGE_16G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_16G;
+		range = 0x03 << 2;	//1100b
+		break;
+	default:
+		return -1;
+	}
+
+	/* set range to sensor */
+	read_reg(BMI055_PMU_RANGE, &value);		/* PMU_RANGE P54 */
+	value &= 0xF0;
+	value |= range;
+	write_reg(BMI055_PMU_RANGE, value);
+
+    return 0;
+}
+
+int 
+BMI055_Accelerometer::activate(int enable)
+{
+	uint8_t value;
+
+    if (enable && this->enable == RT_FALSE)
+    {
+        /* enable accelerometer */
+		read_reg(BMI055_PMU_LPW, &value); 	/* P55 */
+		value &= ~(0x07 << 7);
+		write_reg(BMI055_PMU_LPW, value);
+    }
+
+	if (!enable && this->enable == RT_TRUE)
+    {
+        /* disable accelerometer */
+		read_reg(BMI055_PMU_LPW, &value); 
+		value &= ~(0x07 << 7);
+		value |= (0x01 << 7);
+		write_reg(BMI055_PMU_LPW, value);
+    }
+
+	if (enable) this->enable = RT_TRUE;
+	else this->enable = RT_FALSE;
+
+    return 0;
+}
+
+int 
+BMI055_Accelerometer::poll(sensors_event_t *event)
+{
+	rt_uint8_t value[6];
+	rt_int16_t x, y, z;
+
+    /* parameters check */
+    if (event == NULL) return -1;
+
+	/* get event data */
+	event->version = sizeof(sensors_event_t);
+	event->sensor = (int32_t) this;
+	event->timestamp = rt_tick_get();
+	event->type = SENSOR_TYPE_ACCELEROMETER;
+
+	read_buffer(0x02, value, 6);
+
+	/* get raw data */
+	x = (((rt_int16_t)value[1] << 8) | value[0]);
+	y = (((rt_int16_t)value[3] << 8) | value[2]);
+	z = (((rt_int16_t)value[5] << 8) | value[4]);
+
+	if (config.mode == SENSOR_MODE_RAW)
+	{
+		event->raw_acceleration.x = x;
+		event->raw_acceleration.y = y;
+		event->raw_acceleration.z = z;
+	}
+	else
+	{
+
+		x -= x_offset; y -= y_offset; z -= z_offset;
+		event->acceleration.x = x * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+		event->acceleration.y = y * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+		event->acceleration.z = z * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+	}
+	
+	return 0;
+}
+
+void 
+BMI055_Accelerometer::getSensor(sensor_t *sensor)
+{
+    /* get sensor description */
+    if (sensor)
+    {
+        memcpy(sensor, &_BMI055_sensor[0], sizeof(sensor_t));
+    }
+}
+
+BMI055_Gyroscope::BMI055_Gyroscope(const char* iic_name, int addr)
+    : BMI055(SENSOR_TYPE_GYROSCOPE, iic_name, addr)
+{
+	int index;
+	uint8_t id;
+	rt_uint8_t value[6];
+	rt_int32_t x, y, z;
+
+    /* initialize BMI055 */
+    write_reg(BMI055_MODE_LPM1_ADDR, 0x00);			/* normal mode 						*/
+	write_reg(BMI055_MODE_LPM2_ADDR, 0x80);			/* fast powerup 					*/
+    write_reg(BMI055_BW_ADDR,        0x03);			/* ODR:400Hz Filter Bandwidth:47Hz	*/
+	write_reg(BMI055_RANGE_ADDR,     0x00);			/* 2000dps 							*/
+	
+
+	x_offset = y_offset = z_offset = 0;
+	x = y = z = 0;
+
+	/* read BMI055 id */
+	read_buffer(BMI055_CHIP_ID_ADDR, &id, 1);
+	if (id != BMI055_GRRO_CHIP_ID)
+	{
+		printf("Warning: not found BMI055 id: %02x\n", id);
+	}
+
+	/* get offset */
+	for (index = 0; index < 200; index ++)
+	{
+		read_buffer(BMI055_RATE_X_LSB_ADDR, value, 6);
+
+		x += (((rt_int16_t)value[1] << 8)   | value[0]);
+		y += (((rt_int16_t)value[3] << 8)   | value[2]);
+		z += (((rt_int16_t)value[5] << 8)   | value[4]);		
+	}
+	x_offset = x / 200;
+	y_offset = y / 200;
+	z_offset = z / 200;
+
+	this->enable = RT_FALSE;
+	this->sensitivity = SENSOR_GYRO_SENSITIVITY_250DPS;
+}
+
+int 
+BMI055_Gyroscope::configure(SensorConfig *config)
+{
+	int range;
+	uint8_t value;
+
+	if (config == RT_NULL) return -1;
+
+	/* TODO: set datarate */
+
+	/* get range and calc the sensitivity */
+	range = config->range.gyro_range;
+	switch (range)
+	{
+	//to do add more range e.g   125DPS
+	//case 
+	case SENSOR_GYRO_RANGE_250DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_250DPS;
+		range = 0x11;
+		break;
+	case SENSOR_GYRO_RANGE_500DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_500DPS;
+		range = 0x10;
+		break;
+	case SENSOR_GYRO_RANGE_1000DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_1000DPS;
+		range = 0x01;
+		break;
+	case SENSOR_GYRO_RANGE_2000DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_2000DPS;
+		range = 0x00;
+		break;
+	default:
+		return -1;
+	}
+
+	/* set range to sensor */
+	read_reg(BMI055_RANGE_ADDR, &value);
+	value &= ~0x07;
+	value |= range;
+	write_reg(BMI055_RANGE_ADDR, value);
+
+    return 0;
+}
+
+int 
+BMI055_Gyroscope::activate(int enable)
+{
+	uint8_t value;
+	
+    if (enable && this->enable == RT_FALSE)
+    {
+        /* enable gyroscope */
+		read_reg(BMI055_MODE_LPM1_ADDR, &value);   
+		value &= ~(0x1010 << 4);					//{0; 0}  NORMAL mode
+		write_reg(BMI055_MODE_LPM1_ADDR, value);	//P101 NORMAL mode
+    }
+
+	if (!enable && this->enable == RT_TRUE)
+    {
+        /* disable gyroscope */
+		read_reg(BMI055_MODE_LPM1_ADDR, &value); 
+		value &= ~(0x01 << 5);						//set bit5 deep_suspend 0
+		value |= (0x01 << 7);						//set bit1 suspend 1   
+		write_reg(BMI055_MODE_LPM1_ADDR, value);	//{1; 0} SUSPEND mode
+    }
+
+	if (enable) this->enable = RT_TRUE;
+	else this->enable = RT_FALSE;
+
+    return 0;
+}
+
+int 
+BMI055_Gyroscope::poll(sensors_event_t *event)
+{
+	rt_uint8_t value[6];
+	rt_int16_t x, y, z;
+
+	/* parameters check */
+	if (event == NULL) return -1;
+
+	/* get event data */
+	event->version = sizeof(sensors_event_t);
+	event->sensor = (int32_t) this;
+	event->timestamp = rt_tick_get();
+	event->type = SENSOR_TYPE_GYROSCOPE;
+
+	read_buffer(BMI055_RATE_X_LSB_ADDR, value, 6);
+
+	/* get raw data */
+	x = (((rt_int16_t)value[1] << 8) | value[0]);
+	y = (((rt_int16_t)value[3] << 8) | value[2]);
+	z = (((rt_int16_t)value[5] << 8) | value[4]);
+
+	
+	if (config.mode == SENSOR_MODE_RAW)
+	{
+		event->raw_gyro.x = x;
+		event->raw_gyro.y = y;
+		event->raw_gyro.z = z;
+	}
+	else
+	{
+		x -= x_offset; y -= y_offset; z -= z_offset;
+		event->gyro.x = x * this->sensitivity * SENSORS_DPS_TO_RADS;
+		event->gyro.y = y * this->sensitivity * SENSORS_DPS_TO_RADS;
+		event->gyro.z = z * this->sensitivity * SENSORS_DPS_TO_RADS;
+	}
+	
+	return 0;
+}
+
+void 
+BMI055_Gyroscope::getSensor(sensor_t *sensor)
+{
+    /* get sensor description */
+    if (sensor)
+    {
+        memcpy(sensor, &_BMI055_sensor[1], sizeof(sensor_t));
+    }
+}

components/drivers/sensors/bmi055_sensor.h

+/*
+ * File      : bmi055_sensor.h
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2014, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author           Notes
+ * 2015-1-11     RT_learning      the first version
+ */
+#ifndef __BMI055_H__
+#define __BMI055_H__
+
+#include <sensor.h>
+
+/**************************************************************************************************/
+/************************************Register map accelerometer************************************/
+
+#define	BMI055_ACC_I2C_ADDR1			   	0x18        //SDO is low(GND)
+#define BMI055_ACC_I2C_ADDR2			   	0x19		//SDO is high(VCC)
+
+#define BMI055_ACC_DEFAULT_ADDRESS     BMI055_ACC_I2C_ADDR2	//in the LPC54102 SPM-S 
+
+#define BMI055_ACC_BGW_CHIPID_VALUE			0xFA
+
+#define BMI055_ACC_BGW_CHIPID			   	0x00
+/**<Address of ACC Chip ID Register					 	   	*/
+#define	BMI055_ACCD_X_LSB					0x02		   
+/**<        Address of X axis ACC LSB Register       	   	*/
+#define	BMI055_ACCD_X_MSB					0x03		   
+/**<        Address of X axis ACC MSB Register       	   	*/
+#define	BMI055_ACCD_Y_LSB					0x04		   
+/**<        Address of Y axis ACC LSB Register       	   	*/
+#define	BMI055_ACCD_Y_MSB					0x05		   
+/**<        Address of Y axis ACC MSB Register       	   	*/
+#define	BMI055_ACCD_Z_LSB					0x06		   
+/**<        Address of Z axis ACC LSB Register       	   	*/
+#define BMI055_ACCD_Z_MSB					0x07		   
+/**<        Address of Z axis ACC MSB Register       	   	*/
+#define BMI055_ACCD_TEMP					0x08		   
+/**<        Address of Temperature Data  Register  	 	   	*/
+		                                                   
+/* Status Register */		                               
+#define BMI055_INT_STATUS_0					0x09		   
+/**<        Address of Interrupt status Register 0   	    */
+#define BMI055_INT_STATUS_1					0x0A		   
+/**<        Address of Interrupt status Register 1   	    */
+#define BMI055_INT_STATUS_2					0x0B		   
+/**<        Address of Interrupt status Register 2   	    */
+#define BMI055_INT_STATUS_3					0x0C		   
+/**<        Address of Interrupt status Register 3   	    */
+#define BMI055_FIFO_STATUS					0x0E		   
+/**<        Address of FIFO status Register          	    */
+
+/* Control Register */
+#define BMI055_PMU_RANGE					0x0F
+/**<        Address of Range address Register     	  		*/
+#define BMI055_PMU_BW						0x10		    
+/**<        Address of Bandwidth Register             		*/
+#define BMI055_PMU_LPW						0x11		    
+/**<        Address of PMU LPW			             		*/
+#define BMI055_PMU_LOW_POWER				0x12	  		
+/**<        Address of PMU LOW POWER     	        		*/
+#define	BMI055_ACCD_HBW						0x13	  		
+/**<        Address of ACCD HBW			             		*/
+#define	BMI055_BGW_SOFTRESET				0x14	  		
+/**<        Address of BGW SOFTRESET	             		*/	
+#define	BMI055_INT_EN_0						0x16	  		
+/**<        Address of interrupt engines in group 0    		*/
+#define	BMI055_INT_EN_1						0x17	  		
+/**<        Address of interrupt engines in group 1   		*/
+#define	BMI055_INT_EN_2						0x18	  			
+/**<        Address of interrupt engines in group 2   		*/
+#define	BMI055_INT_MAP_0					0x19	  		
+/**<        Address of Interrupt MAP 0				   		*/
+#define BMI055_INT_MAP_1					0x1A
+/**<        Address of Interrupt MAP 1			     		*/
+#define BMI055_INT_MAP_2					0x1B
+/**<        Address of Interrupt MAP 2	             		*/
+#define BMI055_INT_SRC						0x1E
+/**<        Address of Interrupt source             		*/
+#define BMI055_INT_OUT_CTRL					0x20
+/**<        Address of Interrupt Register             		*/
+#define BMI055_INT_RST_LATCH				0x21
+/**<        Address of Interrupt reset and mode  Register	*/
+#define BMI055_INT_0						0x22
+/**<        Address of low-g Interrupt delay time Register	*/
+#define BMI055_INT_1						0x23
+/**<        Address of low-g Interrupt threshold Register	*/
+#define BMI055_INT_2						0x24
+/**<        Address of Interrupt 2 Register					*/
+#define BMI055_INT_3						0x25
+/**<        Address of high-g Interrupt delay time Register */
+#define BMI055_INT_4						0x26
+/**<        Address of high-g Interrupt threshold Register  */
+#define BMI055_INT_5						0x27
+/**<        Address of high-g Interrupt 5 Register		    */
+#define BMI055_INT_6						0x28
+/**<   Address of any-motion Interrupt threshold Register   */
+#define BMI055_INT_7						0x29
+/**< Address of slow/no-motion interrupt threshold Register */
+#define BMI055_INT_8						0x2A
+/**<        Address of high-g Interrupt 8 Register		    */
+#define BMI055_INT_9						0x2B
+/**<        Address of high-g Interrupt 9 Register		    */
+#define BMI055_INT_A						0x2C
+/**<        Address of Interrupt A Register		    		*/
+#define BMI055_INT_B						0x2D
+/**<        Address of Interrupt B Register		    		*/
+#define BMI055_INT_C						0x2E
+/**<        Address of Interrupt C Register		    		*/
+#define BMI055_INT_D						0x2F
+/**<        Address of Interrupt D Register		    		*/
+#define BMI055_FIFO_CONFIG_0				0x30
+/**<        Address of FIFO CONFIG 0 Register		    	*/
+#define BMI055_PMU_SELF_TEST				0x32
+/**<        Address of PMU SELF TEST Register		    	*/
+#define BMI055_TRIM_NVM_CTRL				0x33
+/**<        Address of TRIM NVM CTRL Register		    	*/
+#define BMI055_BGW_SPI3_WDT					0x34
+/**<        Address of BGW SPI3 WDT Register		    	*/
+#define BMI055_OFC_CTRL						0x36
+/**<        Address of OFC CTRL Register			    	*/
+#define BMI055_OFC_SETTING					0x37
+/**<        Address of OFC SETTING Register			    	*/
+#define BMI055_OFC_OFFSET_X					0x38
+/**<        Address of OFC OFFSET X Register			    */
+#define BMI055_OFC_OFFSET_Y					0x39
+/**<        Address of OFC OFFSET Y Register			    */
+#define BMI055_OFC_OFFSET_Z					0x3A
+/**<        Address of OFC OFFSET Z Register			    */
+
+/* Trim Register */
+#define BMI055_TRIM_GP0						0x3B
+/**<        Address of TRIM GP0 Register				    */
+#define BMI055_TRIM_GP1						0x3C
+/**<        Address of TRIM GP1 Register				    */
+
+/* Control Register */
+#define BMI055_FIFO_CONFIG_1				0x3E
+/**<        Address of FIFO CONFIG 1 Register			    */
+
+/* Data Register */
+#define BMI055_FIFO_DATA					0x3F
+/**<        Address of FIFO DATA Register				    */
+
+
+/**************************************************************************************************/
+
+
+
+
+/**************************************************************************************************/
+/************************************Register map gyroscope****************************************/
+
+
+/**< This refers BMI055 return type as signed */
+
+// #define	BMI055_I2C_ADDR1				0x68		//SDO is low(GND)
+// #define	BMI055_I2C_ADDR2				0x69		//SDO is high(VCC)
+#define	BMI055_GYRO_I2C_ADDR1				0x68		//SDO is low(GND)
+#define	BMI055_GYRO_I2C_ADDR2				0x69		//SDO is high(VCC)
+
+#define BMI055_GYRO_DEFAULT_ADDRESS     BMI055_GYRO_I2C_ADDR2
+
+#define BMI055_GRRO_CHIP_ID					0x0F
+
+/*Define of registers*/
+
+/* Hard Wired */
+#define BMI055_CHIP_ID_ADDR						 0x00
+/**<Address of Chip ID Register*/
+
+/* Data Register */
+#define BMI055_RATE_X_LSB_ADDR                    0x02
+/**<        Address of X axis Rate LSB Register       		*/	
+#define BMI055_RATE_X_MSB_ADDR                    0x03		
+/**<        Address of X axis Rate MSB Register       		*/	
+#define BMI055_RATE_Y_LSB_ADDR                    0x04		
+/**<        Address of Y axis Rate LSB Register       		*/	
+#define BMI055_RATE_Y_MSB_ADDR                     0x05		
+/**<        Address of Y axis Rate MSB Register      		*/	
+#define BMI055_RATE_Z_LSB_ADDR                     0x06		
+/**<        Address of Z axis Rate LSB Register       		*/	
+#define BMI055_RATE_Z_MSB_ADDR                     0x07		
+/**<        Address of Z axis Rate MSB Register       		*/	
+#define BMI055_TEMP_ADDR                           0x08		
+/**<        Address of Temperature Data LSB Register  		*/	
+		                                                    
+/* Status Register */		                                
+#define BMI055_INTR_STAT0_ADDR                     0x09		
+/**<        Address of Interrupt status Register 0    		*/	
+#define BMI055_INTR_STAT1_ADDR                     0x0A		
+/**<        Address of Interrupt status Register 1    		*/	
+#define BMI055_INTR_STAT2_ADDR                     0x0B		
+/**<        Address of Interrupt status Register 2    		*/	
+#define BMI055_INTR_STAT3_ADDR                     0x0C		
+/**<        Address of Interrupt status Register 3    		*/	
+#define BMI055_FIFO_STAT_ADDR                      0x0E		
+/**<        Address of FIFO status Register           		*/	
+
+/* Control Register */
+#define BMI055_RANGE_ADDR                         0x0F
+/**<        Address of Range address Register     			*/
+#define BMI055_BW_ADDR                            0x10
+/**<        Address of Bandwidth Register         			*/
+#define BMI055_MODE_LPM1_ADDR                     0x11
+/**<        Address of Mode LPM1 Register         			*/
+#define BMI055_MODE_LPM2_ADDR                     0x12
+/**<        Address of Mode LPM2 Register         			*/
+#define BMI055_HIGH_BW_ADDR                       0x13
+/**<        Address of Rate HIGH_BW Register       			*/
+#define BMI055_BGW_SOFT_RST_ADDR                  0x14
+/**<        Address of BGW Softreset Register      			*/
+#define BMI055_INTR_ENABLE0_ADDR                  0x15
+/**<        Address of Interrupt Enable 0             		*/
+#define BMI055_INTR_ENABLE1_ADDR                  0x16
+/**<        Address of Interrupt Enable 1             		*/
+#define BMI055_INTR_MAP_ZERO_ADDR                 0x17
+/**<        Address of Interrupt MAP 0                		*/
+#define BMI055_INTR_MAP_ONE_ADDR                  0x18
+/**<        Address of Interrupt MAP 1                		*/
+#define BMI055_INTR_MAP_TWO_ADDR                  0x19
+/**<        Address of Interrupt MAP 2                		*/
+#define BMI055_INTR_ZERO_ADDR                     0x1A
+/**<        Address of Interrupt 0 register   				*/
+#define BMI055_INTR_ONE_ADDR                      0x1B
+/**<        Address of Interrupt 1 register   				*/
+#define BMI055_INTR_TWO_ADDR                      0x1C
+/**<        Address of Interrupt 2 register   				*/
+#define BMI055_INTR_4_ADDR                        0x1E
+/**<        Address of Interrupt 4 register   				*/
+#define BMI055_RST_LATCH_ADDR                     0x21
+/**<        Address of Reset Latch Register           		*/
+#define BMI055_HIGHRATE_THRES_X_ADDR              0x22
+/**<        Address of High Th x Address register     		*/
+#define BMI055_HIGHRATE_DURN_X_ADDR               0x23
+/**<        Address of High Dur x Address register    		*/
+#define BMI055_HIGHRATE_THRES_Y_ADDR              0x24
+/**<        Address of High Th y  Address register    		*/
+#define BMI055_HIGHRATE_DURN_Y_ADDR               0x25
+/**<        Address of High Dur y Address register    		*/
+#define BMI055_HIGHRATE_THRES_Z_ADDR              0x26
+/**<        Address of High Th z Address register  			*/
+#define BMI055_HIGHRATE_DURN_Z_ADDR               0x27
+/**<        Address of High Dur z Address register  		*/
+#define BMI055_SOC_ADDR                           0x31
+/**<        Address of SOC register        					*/
+#define BMI055_A_FOC_ADDR                         0x32
+/**<        Address of A_FOC Register        				*/
+#define BMI055_TRIM_NVM_CTRL_ADDR                 0x33
+/**<        Address of Trim NVM control register    		*/
+#define BMI055_BGW_SPI3_WDT_ADDR                  0x34
+/**<        Address of BGW SPI3,WDT Register           		*/
+
+/* Trim Register */
+#define BMI055_OFC1_ADDR                   0x36
+/**<        Address of OFC1 Register          				*/
+#define BMI055_OFC2_ADDR                   0x37
+/**<        Address of OFC2 Register          				*/
+#define BMI055_OFC3_ADDR                   0x38
+/**<        Address of OFC3 Register          				*/
+#define BMI055_OFC4_ADDR                   0x39
+/**<        Address of OFC4 Register          				*/
+#define BMI055_TRIM_GP0_ADDR               0x3A
+/**<        Address of Trim GP0 Register              		*/
+#define BMI055_TRIM_GP1_ADDR               0x3B
+/**<        Address of Trim GP1 Register              		*/
+#define BMI055_SELECTF_TEST_ADDR            0x3C
+/**<        Address of BGW Self test Register         		*/
+
+/* Control Register */
+#define BMI055_FIFO_CGF1_ADDR              0x3D
+/**<        Address of FIFO CGF0 Register             		*/
+#define BMI055_FIFO_CGF0_ADDR              0x3E
+/**<        Address of FIFO CGF1 Register             		*/
+
+/* Data Register */
+#define BMI055_FIFO_DATA_ADDR              0x3F
+/**<        Address of FIFO Data Register             		*/
+
+
+/**************************************************************************************************/
+
+class BMI055 :public SensorBase
+{
+public:
+    BMI055(int sensor_type, const char* iic_bus, int addr);
+
+    int read_reg(rt_uint8_t reg, rt_uint8_t* value);
+    int write_reg(rt_uint8_t reg, rt_uint8_t value);
+    int read_buffer(rt_uint8_t reg, rt_uint8_t* value, rt_size_t size);
+
+private:
+    struct rt_i2c_bus_device *i2c_bus;
+    int i2c_addr;
+};
+
+class BMI055_Accelerometer:public BMI055
+{
+public:
+    BMI055_Accelerometer(const char* iic_name, int addr);
+
+    virtual int configure(SensorConfig *config);
+    virtual int activate(int enable);
+
+    virtual int poll(sensors_event_t *event);
+    virtual void getSensor(sensor_t *sensor);
+
+private:
+	rt_int16_t x_offset, y_offset, z_offset;
+	
+	rt_bool_t enable;
+	float sensitivity;
+};
+
+class BMI055_Gyroscope:public BMI055
+{
+public:
+    BMI055_Gyroscope(const char* iic_name, int addr);
+
+    virtual int configure(SensorConfig *config);
+    virtual int activate(int enable);
+
+    virtual int poll(sensors_event_t *event);
+    virtual void getSensor(sensor_t *sensor);
+
+private:
+	rt_int16_t x_offset, y_offset, z_offset;
+	
+	rt_bool_t enable;
+	float sensitivity;
+};
+
+#endif

components/drivers/sensors/mpu6050_sensor.cpp

+/*
+ * File      : MPU6050_sensor.cpp
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2014, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2014-12-20     Bernard      the first version
+ * 2015-1-11      RT_learning  modify the mpu6050 initialize
+ */
+
+#include <string.h>
+#include <stdio.h>
+#include <rtdevice.h>
+
+#include "mpu6050_sensor.h"
+
+
+const static sensor_t _MPU6050_sensor[] = 
+{
+    {
+    .name = "Accelerometer",
+    .vendor = "Invensense",
+    .version = sizeof(sensor_t), 
+    .handle = 0, 
+    .type = SENSOR_TYPE_ACCELEROMETER, 
+    .maxRange = SENSOR_ACCEL_RANGE_16G,
+    .resolution = 1.0f, 
+    .power = 0.5f,
+    .minDelay = 10000, 
+    .fifoReservedEventCount = 0, 
+    .fifoMaxEventCount = 64, 
+    },
+    {
+    .name = "Gyroscope",
+    .vendor = "Invensense",
+    .version = sizeof(sensor_t), 
+    .handle = 0, 
+    .type = SENSOR_TYPE_GYROSCOPE, 
+    .maxRange = SENSOR_GYRO_RANGE_2000DPS,
+    .resolution = 1.0f,
+    .power = 0.5f,
+    .minDelay = 10000, 
+    .fifoReservedEventCount = 0, 
+    .fifoMaxEventCount = 64, 
+    }
+};
+
+MPU6050::MPU6050(int sensor_type, const char* iic_bus, int addr)
+	: SensorBase(sensor_type)
+{
+    this->i2c_bus = (struct rt_i2c_bus_device *)rt_device_find(iic_bus);
+    if (this->i2c_bus == NULL) 
+    {
+        printf("MPU6050: No IIC device:%s\n", iic_bus);
+        return;
+    }
+
+    this->i2c_addr = addr;
+
+    /* register to sensor manager */
+    SensorManager::registerSensor(this);
+}
+
+int MPU6050::read_reg(rt_uint8_t reg, rt_uint8_t *value)
+{
+    struct rt_i2c_msg msgs[2];
+
+    msgs[0].addr  = this->i2c_addr;
+    msgs[0].flags = RT_I2C_WR;
+    msgs[0].buf   = &reg;
+    msgs[0].len   = 1;
+
+    msgs[1].addr  = this->i2c_addr;
+    msgs[1].flags = RT_I2C_RD; /* Read from slave */
+    msgs[1].buf   = (rt_uint8_t *)value;
+    msgs[1].len   = 1;
+
+    if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+        return RT_EOK;
+
+    return -RT_ERROR;
+}
+
+int MPU6050::read_buffer(rt_uint8_t reg, rt_uint8_t* value, rt_size_t size)
+{
+    struct rt_i2c_msg msgs[2];
+
+    msgs[0].addr  = this->i2c_addr;
+    msgs[0].flags = RT_I2C_WR;
+    msgs[0].buf   = &reg;
+    msgs[0].len   = 1;
+
+    msgs[1].addr  = this->i2c_addr;
+    msgs[1].flags = RT_I2C_RD; /* Read from slave */
+    msgs[1].buf   = (rt_uint8_t *)value;
+    msgs[1].len   = size;
+
+    if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+        return RT_EOK;
+
+    return -RT_ERROR;
+}
+
+int MPU6050::write_reg(rt_uint8_t reg, rt_uint8_t value)
+{
+    struct rt_i2c_msg msgs[2];
+
+    msgs[0].addr  = this->i2c_addr;
+    msgs[0].flags = RT_I2C_WR;
+    msgs[0].buf   = &reg;
+    msgs[0].len   = 1;
+
+    msgs[1].addr  = this->i2c_addr;
+    msgs[1].flags = RT_I2C_WR | RT_I2C_NO_START;
+    msgs[1].buf   = (rt_uint8_t *)&value;
+    msgs[1].len   = 1;
+
+    if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+        return RT_EOK;
+    
+    return -RT_ERROR;
+}
+
+
+MPU6050_Accelerometer::MPU6050_Accelerometer(const char* iic_name, int addr)
+    : MPU6050(SENSOR_TYPE_ACCELEROMETER, iic_name, addr)
+{
+	int index;
+	uint8_t id;
+	rt_uint8_t value[6] = {0};
+	rt_int32_t x, y, z;
+    SensorConfig config = {SENSOR_MODE_NORMAL, SENSOR_DATARATE_400HZ, SENSOR_ACCEL_RANGE_2G};
+
+	/* initialize MPU6050 */
+    write_reg(MPU6050_PWR_MGMT_1,   0x80);			/* reset mpu6050 device 									*/
+	write_reg(MPU6050_SMPLRT_DIV,   0x00);			/* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) 	*/
+    write_reg(MPU6050_PWR_MGMT_1,   0x03);			/* Wake up device , set device clock Z axis gyroscope		*/
+	write_reg(MPU6050_CONFIG,   	0x03);			/* set DLPF_CFG 42Hz										*/
+    write_reg(MPU6050_GYRO_CONFIG,  0x18);			/* set gyro 2000deg/s 										*/
+    write_reg(MPU6050_ACCEL_CONFIG, 0x08);			/* set acc +-4g/s 											*/
+	
+		
+	x_offset = y_offset = z_offset = 0;
+	x = y = z = 0;
+
+	/* read MPU6050 id */
+	read_buffer(MPU6050_WHOAMI, &id, 1);
+	if (id != MPU6050_ID)
+	{
+		printf("Warning: not found MPU6050 id: %02x\n", id);
+	}
+
+	/* get offset */
+	for (index = 0; index < 200; index ++)
+	{
+		read_buffer(MPU6050_ACCEL_XOUT_H, value, 6);
+		
+		x += (((rt_int16_t)value[0] << 8)   | value[1]);
+		y += (((rt_int16_t)value[2] << 8)   | value[3]);
+		z += (((rt_int16_t)value[4] << 8)   | value[5]);		
+	}
+	x_offset = x / 200;
+	y_offset = y / 200;
+	z_offset = z / 200;
+    
+	this->enable = RT_FALSE;
+	this->sensitivity = SENSOR_ACCEL_SENSITIVITY_2G;
+  this->config = config;
+}
+
+int 
+MPU6050_Accelerometer::configure(SensorConfig *config)
+{
+	int range;
+	uint8_t value;
+
+	if (config == RT_NULL) return -1;
+
+	/* TODO: set datarate */
+
+	/* get range and calc the sensitivity */
+	range = config->range.accel_range;
+	switch (range)
+	{
+	case SENSOR_ACCEL_RANGE_2G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_2G;
+		range = 0;
+		break;
+	case SENSOR_ACCEL_RANGE_4G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_4G;
+		range = 0x01 << 2;
+		break;
+	case SENSOR_ACCEL_RANGE_8G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_8G;
+		range = 0x02 << 2;
+		break;
+	case SENSOR_ACCEL_RANGE_16G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_16G;
+		range = 0x03 << 2;
+		break;
+	default:
+		return -1;
+	}
+
+	/* set range to sensor */
+	read_reg(MPU6050_ACCEL_CONFIG, &value);
+	value &= ~(0x3 << 2);
+	value |= range;
+	write_reg(MPU6050_ACCEL_CONFIG, value);
+
+    return 0;
+}
+
+int 
+MPU6050_Accelerometer::activate(int enable)
+{
+	uint8_t value;
+
+    if (enable && this->enable == RT_FALSE)
+    {
+        /* enable accelerometer */
+		read_reg(MPU6050_PWR_MGMT_2, &value); 
+		value &= ~(0x07 << 2);
+		write_reg(MPU6050_PWR_MGMT_2, value);
+    }
+
+	if (!enable && this->enable == RT_TRUE)
+    {
+        /* disable accelerometer */
+		read_reg(MPU6050_PWR_MGMT_2, &value); 
+		value |= (0x07 << 2);
+		write_reg(MPU6050_PWR_MGMT_2, value);
+    }
+
+	if (enable) this->enable = RT_TRUE;
+	else this->enable = RT_FALSE;
+
+    return 0;
+}
+
+int 
+MPU6050_Accelerometer::poll(sensors_event_t *event)
+{
+	rt_uint8_t value[6];
+	rt_int16_t x, y, z;
+
+    /* parameters check */
+    if (event == NULL) return -1;
+
+	/* get event data */
+	event->version = sizeof(sensors_event_t);
+	event->sensor = (int32_t) this;
+	event->timestamp = rt_tick_get();
+	event->type = SENSOR_TYPE_ACCELEROMETER;
+
+	read_buffer(MPU6050_ACCEL_XOUT_H, value, 6);
+
+	/* get raw data */
+	x = (((rt_int16_t)value[0] << 8) | value[1]);
+	y = (((rt_int16_t)value[2] << 8) | value[3]);
+	z = (((rt_int16_t)value[4] << 8) | value[5]);
+
+	if (config.mode == SENSOR_MODE_RAW)
+	{
+		event->raw_acceleration.x = x;
+		event->raw_acceleration.y = y;
+		event->raw_acceleration.z = z;
+	}
+	else
+	{
+
+		x -= x_offset; y -= y_offset; z -= z_offset;
+		event->acceleration.x = x * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+		event->acceleration.y = y * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+		event->acceleration.z = z * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+	}
+	
+	return 0;
+}
+
+void 
+MPU6050_Accelerometer::getSensor(sensor_t *sensor)
+{
+    /* get sensor description */
+    if (sensor)
+    {
+        memcpy(sensor, &_MPU6050_sensor[0], sizeof(sensor_t));
+    }
+}
+
+MPU6050_Gyroscope::MPU6050_Gyroscope(const char* iic_name, int addr)
+    : MPU6050(SENSOR_TYPE_GYROSCOPE, iic_name, addr)
+{
+	int index;
+	uint8_t id;
+	rt_uint8_t value[6];
+	rt_int32_t x, y, z;
+
+    /* initialize MPU6050 */
+    write_reg(MPU6050_PWR_MGMT_1,   0x80);			/* reset mpu6050 device 									*/
+	write_reg(MPU6050_SMPLRT_DIV,   0x00);			/* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) 	*/
+    write_reg(MPU6050_PWR_MGMT_1,   0x03);			/* Wake up device , set device clock Z axis gyroscope		*/
+	write_reg(MPU6050_CONFIG,   	0x03);			/* set DLPF_CFG 42Hz 										*/
+    write_reg(MPU6050_GYRO_CONFIG,  0x18);			/* set gyro 2000deg/s										*/
+    write_reg(MPU6050_ACCEL_CONFIG, 0x08);			/* set acc +-4g/s 											*/
+
+	x_offset = y_offset = z_offset = 0;
+	x = y = z = 0;
+
+	/* read MPU6050 id */
+	read_reg(MPU6050_WHOAMI, &id);
+	if (id != MPU6050_ID)
+	{
+		printf("Warning: not found MPU6050 id: %02x\n", id);
+	}
+
+	/* get offset */
+	for (index = 0; index < 200; index ++)
+	{
+		read_buffer(MPU6050_GYRO_XOUT_H, value, 6);
+
+		x += (((rt_int16_t)value[0] << 8)   | value[1]);
+		y += (((rt_int16_t)value[2] << 8)   | value[3]);
+		z += (((rt_int16_t)value[4] << 8)   | value[5]);		
+	}
+	x_offset = x / 200;
+	y_offset = y / 200;
+	z_offset = z / 200;
+
+	this->enable = RT_FALSE;
+	this->sensitivity = SENSOR_GYRO_SENSITIVITY_250DPS;
+}
+
+int 
+MPU6050_Gyroscope::configure(SensorConfig *config)
+{
+	int range;
+	uint8_t value;
+
+	if (config == RT_NULL) return -1;
+
+	/* TODO: set datarate */
+
+	/* get range and calc the sensitivity */
+	range = config->range.gyro_range;
+	switch (range)
+	{
+	case SENSOR_GYRO_RANGE_250DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_250DPS;
+		range = 0;
+		break;
+	case SENSOR_GYRO_RANGE_500DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_500DPS;
+		range = 0x01 << 2;
+		break;
+	case SENSOR_GYRO_RANGE_1000DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_1000DPS;
+		range = 0x02 << 2;
+		break;
+	case SENSOR_GYRO_RANGE_2000DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_2000DPS;
+		range = 0x03 << 2;
+		break;
+	default:
+		return -1;
+	}
+
+	/* set range to sensor */
+	read_reg(MPU6050_GYRO_CONFIG, &value);
+	value &= ~(0x3 << 2);
+	value |= range;
+	write_reg(MPU6050_GYRO_CONFIG, value);
+
+    return 0;
+}
+
+int 
+MPU6050_Gyroscope::activate(int enable)
+{
+	uint8_t value;
+	
+    if (enable && this->enable == RT_FALSE)
+    {
+        /* enable gyroscope */
+		read_reg(MPU6050_PWR_MGMT_1, &value);
+		value &= ~(0x01 << 4);
+		write_reg(MPU6050_PWR_MGMT_1, value);
+
+		read_reg(MPU6050_PWR_MGMT_2, &value); 
+		value &= ~(0x07 << 0);
+		write_reg(MPU6050_PWR_MGMT_2, value);
+    }
+
+	if (!enable && this->enable == RT_TRUE)
+    {
+        /* disable gyroscope */
+		read_reg(MPU6050_PWR_MGMT_2, &value); 
+		value |= (0x07 << 0);
+		write_reg(MPU6050_PWR_MGMT_2, value);
+    }
+
+	if (enable) this->enable = RT_TRUE;
+	else this->enable = RT_FALSE;
+
+    return 0;
+}
+
+int 
+MPU6050_Gyroscope::poll(sensors_event_t *event)
+{
+	rt_uint8_t value[6];
+	rt_int16_t x, y, z;
+
+	/* parameters check */
+	if (event == NULL) return -1;
+
+	/* get event data */
+	event->version = sizeof(sensors_event_t);
+	event->sensor = (int32_t) this;
+	event->timestamp = rt_tick_get();
+	event->type = SENSOR_TYPE_GYROSCOPE;
+
+	read_buffer(MPU6050_GYRO_XOUT_H, value, 6);
+
+	/* get raw data */
+	x = (((rt_int16_t)value[0] << 8) | value[1]);
+	y = (((rt_int16_t)value[2] << 8) | value[3]);
+	z = (((rt_int16_t)value[4] << 8) | value[5]);
+
+	
+	if (config.mode == SENSOR_MODE_RAW)
+	{
+		event->raw_gyro.x = x;
+		event->raw_gyro.y = y;
+		event->raw_gyro.z = z;
+	}
+	else
+	{
+		x -= x_offset; y -= y_offset; z -= z_offset;
+		event->gyro.x = x * this->sensitivity * SENSORS_DPS_TO_RADS;
+		event->gyro.y = y * this->sensitivity * SENSORS_DPS_TO_RADS;
+		event->gyro.z = z * this->sensitivity * SENSORS_DPS_TO_RADS;
+	}
+	
+	return 0;
+}
+
+void 
+MPU6050_Gyroscope::getSensor(sensor_t *sensor)
+{
+    /* get sensor description */
+    if (sensor)
+    {
+        memcpy(sensor, &_MPU6050_sensor[1], sizeof(sensor_t));
+    }
+}
+

components/drivers/sensors/mpu6050_sensor.h

+/*
+ * File      : MPU6050_sensor.h
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2014, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2014-12-20     Bernard      the first version
+ * 2015-1-11     RT_learning   modify the mpu6050 ID
+ */
+
+#ifndef MPU6050_SENSOR_H__
+#define MPU6050_SENSOR_H__
+
+#include <sensor.h>
+
+#define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
+#define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
+#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW
+
+#define MPU6050_XG_OFFS_TC          0x00
+#define MPU6050_YG_OFFS_TC          0x01
+#define MPU6050_ZG_OFFS_TC          0x02
+#define MPU6050_X_FINE_GAIN         0x03
+#define MPU6050_Y_FINE_GAIN         0x04
+#define MPU6050_Z_FINE_GAIN         0x05
+#define MPU6050_XA_OFFS_H           0x06
+#define MPU6050_XA_OFFS_L           0x07
+#define MPU6050_YA_OFFS_H           0x08
+#define MPU6050_YA_OFFS_L           0x09
+#define MPU6050_ZA_OFFS_H           0x0A
+#define MPU6050_ZA_OFFS_L           0x0B
+#define MPU6050_PRODUCT_ID          0x0C
+#define MPU6050_SELF_TEST_X         0x0D
+#define MPU6050_SELF_TEST_Y         0x0E
+#define MPU6050_SELF_TEST_Z         0x0F
+#define MPU6050_SELF_TEST_A         0x10
+#define MPU6050_XG_OFFS_USRH        0x13
+#define MPU6050_XG_OFFS_USRL        0x14
+#define MPU6050_YG_OFFS_USRH        0x15
+#define MPU6050_YG_OFFS_USRL        0x16
+#define MPU6050_ZG_OFFS_USRH        0x17
+#define MPU6050_ZG_OFFS_USRL        0x18
+#define MPU6050_SMPLRT_DIV          0x19
+#define MPU6050_CONFIG              0x1A
+#define MPU6050_GYRO_CONFIG         0x1B
+#define MPU6050_ACCEL_CONFIG        0x1C
+#define MPU6050_ACCEL_CONFIG_2      0x1D
+#define MPU6050_LP_ACCEL_ODR        0x1E
+#define MPU6050_MOT_THR             0x1F
+#define MPU6050_FIFO_EN             0x23
+#define MPU6050_I2C_MST_CTRL        0x24
+#define MPU6050_I2C_SLV0_ADDR       0x25
+#define MPU6050_I2C_SLV0_REG        0x26
+#define MPU6050_I2C_SLV0_CTRL       0x27
+#define MPU6050_I2C_SLV1_ADDR       0x28
+#define MPU6050_I2C_SLV1_REG        0x29
+#define MPU6050_I2C_SLV1_CTRL       0x2A
+#define MPU6050_I2C_SLV2_ADDR       0x2B
+#define MPU6050_I2C_SLV2_REG        0x2C
+#define MPU6050_I2C_SLV2_CTRL       0x2D
+#define MPU6050_I2C_SLV3_ADDR       0x2E
+#define MPU6050_I2C_SLV3_REG        0x2F
+#define MPU6050_I2C_SLV3_CTRL       0x30
+#define MPU6050_I2C_SLV4_ADDR       0x31
+#define MPU6050_I2C_SLV4_REG        0x32
+#define MPU6050_I2C_SLV4_DO         0x33
+#define MPU6050_I2C_SLV4_CTRL       0x34
+#define MPU6050_I2C_SLV4_DI         0x35
+#define MPU6050_I2C_MST_STATUS      0x36
+#define MPU6050_INT_PIN_CFG         0x37
+#define MPU6050_INT_ENABLE          0x38
+#define MPU6050_ACCEL_XOUT_H        0x3B
+#define MPU6050_ACCEL_XOUT_L        0x3C
+#define MPU6050_ACCEL_YOUT_H        0x3D
+#define MPU6050_ACCEL_YOUT_L        0x3E
+#define MPU6050_ACCEL_ZOUT_H        0x3F
+#define MPU6050_ACCEL_ZOUT_L        0x40
+#define MPU6050_TEMP_OUT_H          0x41
+#define MPU6050_TEMP_OUT_L          0x42
+#define MPU6050_GYRO_XOUT_H         0x43
+#define MPU6050_GYRO_XOUT_L         0x44
+#define MPU6050_GYRO_YOUT_H         0x45
+#define MPU6050_GYRO_YOUT_L         0x46
+#define MPU6050_GYRO_ZOUT_H         0x47
+#define MPU6050_GYRO_ZOUT_L         0x48
+#define MPU6050_EXT_SENS_DATA_00    0x49
+#define MPU6050_EXT_SENS_DATA_01    0x4A
+#define MPU6050_EXT_SENS_DATA_02    0x4B
+#define MPU6050_EXT_SENS_DATA_03    0x4C
+#define MPU6050_EXT_SENS_DATA_04    0x4D
+#define MPU6050_EXT_SENS_DATA_05    0x4E
+#define MPU6050_EXT_SENS_DATA_06    0x4F
+#define MPU6050_EXT_SENS_DATA_07    0x50
+#define MPU6050_EXT_SENS_DATA_08    0x51
+#define MPU6050_EXT_SENS_DATA_09    0x52
+#define MPU6050_EXT_SENS_DATA_10    0x53
+#define MPU6050_EXT_SENS_DATA_11    0x54
+#define MPU6050_EXT_SENS_DATA_12    0x55
+#define MPU6050_EXT_SENS_DATA_13    0x56
+#define MPU6050_EXT_SENS_DATA_14    0x57
+#define MPU6050_EXT_SENS_DATA_15    0x58
+#define MPU6050_EXT_SENS_DATA_16    0x59
+#define MPU6050_EXT_SENS_DATA_17    0x5A
+#define MPU6050_EXT_SENS_DATA_18    0x5B
+#define MPU6050_EXT_SENS_DATA_19    0x5C
+#define MPU6050_EXT_SENS_DATA_20    0x5D
+#define MPU6050_EXT_SENS_DATA_21    0x5E
+#define MPU6050_EXT_SENS_DATA_22    0x5F
+#define MPU6050_EXT_SENS_DATA_23    0x60
+#define MPU6050_I2C_SLV0_DO         0x63
+#define MPU6050_I2C_SLV1_DO         0x64
+#define MPU6050_I2C_SLV2_DO         0x65
+#define MPU6050_I2C_SLV3_DO         0x66
+#define MPU6050_I2C_MST_DELAY_CTRL  0x67
+#define MPU6050_SIGNAL_PATH_RESET   0x68
+#define MPU6050_MOT_DETECT_CTRL     0x69
+#define MPU6050_USER_CTRL           0x6A
+#define MPU6050_PWR_MGMT_1          0x6B
+#define MPU6050_PWR_MGMT_2          0x6C
+#define MPU6050_BANK_SEL            0x6D
+#define MPU6050_MEM_START_ADDR      0x6E
+#define MPU6050_MEM_R_W             0x6F
+#define MPU6050_DMP_CFG_1           0x70
+#define MPU6050_DMP_CFG_2           0x71
+#define MPU6050_FIFO_COUNTH         0x72
+#define MPU6050_FIFO_COUNTL         0x73
+#define MPU6050_FIFO_R_W            0x74
+#define MPU6050_WHOAMI              0x75
+#define MPU6050_XA_OFFSET_H         0x77
+#define MPU6050_XA_OFFSET_L         0x78
+#define MPU6050_YA_OFFSET_H         0x7A
+#define MPU6050_YA_OFFSET_L         0x7B
+#define MPU6050_ZA_OFFSET_H         0x7D
+#define MPU6050_ZA_OFFSET_L         0x7E
+
+#define MPU6050_ID					0x68
+
+class MPU6050 :public SensorBase
+{
+public:
+    MPU6050(int sensor_type, const char* iic_bus, int addr);
+
+    int read_reg(rt_uint8_t reg, rt_uint8_t* value);
+    int write_reg(rt_uint8_t reg, rt_uint8_t value);
+    int read_buffer(rt_uint8_t reg, rt_uint8_t* value, rt_size_t size);
+
+private:
+    struct rt_i2c_bus_device *i2c_bus;
+    int i2c_addr;
+};
+
+class MPU6050_Accelerometer:public MPU6050
+{
+public:
+    MPU6050_Accelerometer(const char* iic_name, int addr);
+
+    virtual int configure(SensorConfig *config);
+    virtual int activate(int enable);
+
+    virtual int poll(sensors_event_t *event);
+    virtual void getSensor(sensor_t *sensor);
+
+private:
+	rt_int16_t x_offset, y_offset, z_offset;
+	
+	rt_bool_t enable;
+	float sensitivity;
+};
+
+class MPU6050_Gyroscope:public MPU6050
+{
+public:
+    MPU6050_Gyroscope(const char* iic_name, int addr);
+
+    virtual int configure(SensorConfig *config);
+    virtual int activate(int enable);
+
+    virtual int poll(sensors_event_t *event);
+    virtual void getSensor(sensor_t *sensor);
+
+private:
+	rt_int16_t x_offset, y_offset, z_offset;
+	
+	rt_bool_t enable;
+	float sensitivity;
+};
+
+#endif