Nuvoton
/
NuMaker-mbed-I2C0_MPU6500_Tiltangle
NuMaker-PFM-NUC472: I2C0 read on-board MPU6500 and calculate tilt angle
Diff: mpu6500.h
- Revision:
- 0:d1cab7bc0553
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mpu6500.h Mon Oct 17 06:34:27 2016 +0000 @@ -0,0 +1,113 @@ +#define MPU6500_SELF_TEST_X_GYRO 0x00 +#define MPU6500_SELF_TEST_Y_GYRO 0x01 +#define MPU6500_SELF_TEST_Z_GYRO 0x02 +#define MPU6500_SELF_TEST_X_ACCEL 0x0D +#define MPU6500_SELF_TEST_Y_ACCEL 0x0E +#define MPU6500_SELF_TEST_Z_ACCEL 0x0F +#define MPU6500_XG_OFFSET_H 0x13 +#define MPU6500_XG_OFFSET_L 0x14 +#define MPU6500_YG_OFFSET_H 0x15 +#define MPU6500_YG_OFFSET_L 0x16 +#define MPU6500_ZG_OFFSET_H 0x17 +#define MPU6500_ZG_OFFSET_L 0x18 +#define MPU6500_SMPLRT_DIV 0x19 +#define MPU6500_CONFIG 0x1A +#define MPU6500_GYRO_CONFIG 0x1B +#define MPU6500_ACCEL_CONFIG 0x1C +#define MPU6500_ACCEL_CONFIG2 0x1D +#define MPU6500_LP_ACCEL_ODR 0x1E +#define MPU6500_WOM_THR 0x1F +#define MPU6500_FIFO_EN 0x23 +#define MPU6500_I2C_MST_CTRL 0x24 +#define MPU6500_I2C_SLV0_ADDR 0x25 +#define MPU6500_I2C_SLV0_REG 0x26 +#define MPU6500_I2C_SLV0_CTRL 0x27 +#define MPU6500_I2C_SLV1_ADDR 0x28 +#define MPU6500_I2C_SLV1_REG 0x29 +#define MPU6500_I2C_SLV1_CTRL 0x2A +#define MPU6500_I2C_SLV2_ADDR 0x2B +#define MPU6500_I2C_SLV2_REG 0x2C +#define MPU6500_I2C_SLV2_CTRL 0x2D +#define MPU6500_I2C_SLV3_ADDR 0x2E +#define MPU6500_I2C_SLV3_REG 0x2F +#define MPU6500_I2C_SLV3_CTRL 0x30 +#define MPU6500_I2C_SLV4_ADDR 0x31 +#define MPU6500_I2C_SLV4_REG 0x32 +#define MPU6500_I2C_SLV4_DO 0x33 +#define MPU6500_I2C_SLV4_CTRL 0x34 +#define MPU6500_I2C_SLV4_DI 0x35 +#define MPU6500_I2C_MST_STATUS 0x36 +#define MPU6500_INT_PIN_CFG 0x37 +#define MPU6500_INT_ENABLE 0x38 +#define MPU6500_INT_STATUS 0x3A +#define MPU6500_ACCEL_XOUT_H 0x3B +#define MPU6500_ACCEL_XOUT_L 0x3C +#define MPU6500_ACCEL_YOUT_H 0x3D +#define MPU6500_ACCEL_YOUT_L 0x3E +#define MPU6500_ACCEL_ZOUT_H 0x3F +#define MPU6500_ACCEL_ZOUT_L 0x40 +#define MPU6500_TEMP_OUT_H 0x41 +#define MPU6500_TEMP_OUT_L 0x42 +#define MPU6500_GYRO_XOUT_H 0x43 +#define MPU6500_GYRO_XOUT_L 0x44 +#define MPU6500_GYRO_YOUT_H 0x45 +#define MPU6500_GYRO_YOUT_L 0x46 +#define MPU6500_GYRO_ZOUT_H 0x47 +#define MPU6500_GYRO_ZOUT_L 0x48 +#define MPU6500_EXT_SENS_DATA_00 0x49 +#define MPU6500_EXT_SENS_DATA_01 0x4A +#define MPU6500_EXT_SENS_DATA_02 0x4B +#define MPU6500_EXT_SENS_DATA_03 0x4C +#define MPU6500_EXT_SENS_DATA_04 0x4D +#define MPU6500_EXT_SENS_DATA_05 0x4E +#define MPU6500_EXT_SENS_DATA_06 0x4F +#define MPU6500_EXT_SENS_DATA_07 0x50 +#define MPU6500_EXT_SENS_DATA_08 0x51 +#define MPU6500_EXT_SENS_DATA_09 0x52 +#define MPU6500_EXT_SENS_DATA_10 0x53 +#define MPU6500_EXT_SENS_DATA_11 0x54 +#define MPU6500_EXT_SENS_DATA_12 0x55 +#define MPU6500_EXT_SENS_DATA_13 0x56 +#define MPU6500_EXT_SENS_DATA_14 0x57 +#define MPU6500_EXT_SENS_DATA_15 0x58 +#define MPU6500_EXT_SENS_DATA_16 0x59 +#define MPU6500_EXT_SENS_DATA_17 0x5A +#define MPU6500_EXT_SENS_DATA_18 0x5B +#define MPU6500_EXT_SENS_DATA_19 0x5C +#define MPU6500_EXT_SENS_DATA_20 0x5D +#define MPU6500_EXT_SENS_DATA_21 0x5E +#define MPU6500_EXT_SENS_DATA_22 0x5F +#define MPU6500_EXT_SENS_DATA_23 0x60 +#define MPU6500_I2C_SLV0_DO 0x63 +#define MPU6500_I2C_SLV1_DO 0x64 +#define MPU6500_I2C_SLV2_DO 0x65 +#define MPU6500_I2C_SLV3_DO 0x66 +#define MPU6500_I2C_MST_DELAY_CTRL 0x67 +#define MPU6500_SIGNAL_PATH_RESET 0x68 +#define MPU6500_ACCEL_INTEL_CTRL 0x69 +#define MPU6500_USER_CTRL 0x6A +#define MPU6500_PWR_MGMT_1 0x6B +#define MPU6500_PWR_MGMT_2 0x6C +#define MPU6500_FIFO_COUNT_H 0x72 +#define MPU6500_FIFO_COUNT_L 0x73 +#define MPU6500_FIFO_R_W 0x74 +#define MPU6500_WHO_AM_I 0x75 +#define MPU6500_XA_OFFSET_H 0x77 +#define MPU6500_XA_OFFSET_L 0x78 +#define MPU6500_YA_OFFSET_H 0x79 +#define MPU6500_YA_OFFSET_L 0x7A +#define MPU6500_ZA_OFFSET_H 0x7D +#define MPU6500_ZA_OFFSET_L 0x7E + +#define MPU6500_slave_addr 0xD0 + +class MPU6500 { + public: + void initialize(); + int16_t getAccelXvalue(); + int16_t getAccelYvalue(); + int16_t getAccelZvalue(); + int16_t getGyroXvalue(); + int16_t getGyroYvalue(); + int16_t getGyroZvalue(); +}; \ No newline at end of file