Jessica Alcaide / MPU6050

Used to control two motors

Fork of MPU6050 by Baser Kandehir

MPU6050RegDef.h@3:a173ad187e67, 2015-07-21 (annotated)

Committer:
BaserK
Date:
Tue Jul 21 08:16:36 2015 +0000
Revision:
3:a173ad187e67
Parent:
0:954f15bd95f1 
MIT license is added

Who changed what in which revision?

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BaserK 3:a173ad187e67 1 /*
BaserK 3:a173ad187e67 2 * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
BaserK 3:a173ad187e67 3 *
BaserK 3:a173ad187e67 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
BaserK 3:a173ad187e67 5 * of this software and associated documentation files (the "Software"), to deal
BaserK 3:a173ad187e67 6 * in the Software without restriction, including without limitation the rights
BaserK 3:a173ad187e67 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
BaserK 3:a173ad187e67 8 * copies of the Software, and to permit persons to whom the Software is
BaserK 3:a173ad187e67 9 * furnished to do so, subject to the following conditions:
BaserK 3:a173ad187e67 10 *
BaserK 3:a173ad187e67 11 * The above copyright notice and this permission notice shall be included in
BaserK 3:a173ad187e67 12 * all copies or substantial portions of the Software.
BaserK 3:a173ad187e67 13 *
BaserK 3:a173ad187e67 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
BaserK 3:a173ad187e67 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
BaserK 3:a173ad187e67 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
BaserK 3:a173ad187e67 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
BaserK 3:a173ad187e67 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
BaserK 3:a173ad187e67 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
BaserK 3:a173ad187e67 20 * THE SOFTWARE.
BaserK 3:a173ad187e67 21 *
BaserK 3:a173ad187e67 22 */
BaserK 3:a173ad187e67 23
BaserK 0:954f15bd95f1 24 // Taken from Kris Winer's MPU6050 library
BaserK 0:954f15bd95f1 25
BaserK 0:954f15bd95f1 26 // Define registers per MPU6050, Register Map and Descriptions, Rev 4.2, 08/19/2013 6 DOF Motion sensor fusion device
BaserK 0:954f15bd95f1 27 // Invensense Inc., www.invensense.com
BaserK 0:954f15bd95f1 28 // See also MPU-6050 Register Map and Descriptions, Revision 4.0, RM-MPU-6050A-00, 9/12/2012 for registers not listed in
BaserK 0:954f15bd95f1 29 // above document; the MPU6050 and MPU 9150 are virtually identical but the latter has an on-board magnetic sensor
BaserK 0:954f15bd95f1 30 //
BaserK 0:954f15bd95f1 31 #define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD
BaserK 0:954f15bd95f1 32 #define YGOFFS_TC 0x01
BaserK 0:954f15bd95f1 33 #define ZGOFFS_TC 0x02
BaserK 0:954f15bd95f1 34 #define X_FINE_GAIN 0x03 // [7:0] fine gain
BaserK 0:954f15bd95f1 35 #define Y_FINE_GAIN 0x04
BaserK 0:954f15bd95f1 36 #define Z_FINE_GAIN 0x05
BaserK 0:954f15bd95f1 37 #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
BaserK 0:954f15bd95f1 38 #define XA_OFFSET_L_TC 0x07
BaserK 0:954f15bd95f1 39 #define YA_OFFSET_H 0x08
BaserK 0:954f15bd95f1 40 #define YA_OFFSET_L_TC 0x09
BaserK 0:954f15bd95f1 41 #define ZA_OFFSET_H 0x0A
BaserK 0:954f15bd95f1 42 #define ZA_OFFSET_L_TC 0x0B
BaserK 0:954f15bd95f1 43 #define SELF_TEST_X 0x0D
BaserK 0:954f15bd95f1 44 #define SELF_TEST_Y 0x0E
BaserK 0:954f15bd95f1 45 #define SELF_TEST_Z 0x0F
BaserK 0:954f15bd95f1 46 #define SELF_TEST_A 0x10
BaserK 0:954f15bd95f1 47 #define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050?
BaserK 0:954f15bd95f1 48 #define XG_OFFS_USRL 0x14
BaserK 0:954f15bd95f1 49 #define YG_OFFS_USRH 0x15
BaserK 0:954f15bd95f1 50 #define YG_OFFS_USRL 0x16
BaserK 0:954f15bd95f1 51 #define ZG_OFFS_USRH 0x17
BaserK 0:954f15bd95f1 52 #define ZG_OFFS_USRL 0x18
BaserK 0:954f15bd95f1 53 #define SMPLRT_DIV 0x19
BaserK 0:954f15bd95f1 54 #define CONFIG 0x1A
BaserK 0:954f15bd95f1 55 #define GYRO_CONFIG 0x1B
BaserK 0:954f15bd95f1 56 #define ACCEL_CONFIG 0x1C
BaserK 0:954f15bd95f1 57 #define FF_THR 0x1D // Free-fall
BaserK 0:954f15bd95f1 58 #define FF_DUR 0x1E // Free-fall
BaserK 0:954f15bd95f1 59 #define MOT_THR 0x1F // Motion detection threshold bits [7:0]
BaserK 0:954f15bd95f1 60 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
BaserK 0:954f15bd95f1 61 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
BaserK 0:954f15bd95f1 62 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
BaserK 0:954f15bd95f1 63 #define FIFO_EN 0x23
BaserK 0:954f15bd95f1 64 #define I2C_MST_CTRL 0x24
BaserK 0:954f15bd95f1 65 #define I2C_SLV0_ADDR 0x25
BaserK 0:954f15bd95f1 66 #define I2C_SLV0_REG 0x26
BaserK 0:954f15bd95f1 67 #define I2C_SLV0_CTRL 0x27
BaserK 0:954f15bd95f1 68 #define I2C_SLV1_ADDR 0x28
BaserK 0:954f15bd95f1 69 #define I2C_SLV1_REG 0x29
BaserK 0:954f15bd95f1 70 #define I2C_SLV1_CTRL 0x2A
BaserK 0:954f15bd95f1 71 #define I2C_SLV2_ADDR 0x2B
BaserK 0:954f15bd95f1 72 #define I2C_SLV2_REG 0x2C
BaserK 0:954f15bd95f1 73 #define I2C_SLV2_CTRL 0x2D
BaserK 0:954f15bd95f1 74 #define I2C_SLV3_ADDR 0x2E
BaserK 0:954f15bd95f1 75 #define I2C_SLV3_REG 0x2F
BaserK 0:954f15bd95f1 76 #define I2C_SLV3_CTRL 0x30
BaserK 0:954f15bd95f1 77 #define I2C_SLV4_ADDR 0x31
BaserK 0:954f15bd95f1 78 #define I2C_SLV4_REG 0x32
BaserK 0:954f15bd95f1 79 #define I2C_SLV4_DO 0x33
BaserK 0:954f15bd95f1 80 #define I2C_SLV4_CTRL 0x34
BaserK 0:954f15bd95f1 81 #define I2C_SLV4_DI 0x35
BaserK 0:954f15bd95f1 82 #define I2C_MST_STATUS 0x36
BaserK 0:954f15bd95f1 83 #define INT_PIN_CFG 0x37
BaserK 0:954f15bd95f1 84 #define INT_ENABLE 0x38
BaserK 0:954f15bd95f1 85 #define DMP_INT_STATUS 0x39 // Check DMP interrupt
BaserK 0:954f15bd95f1 86 #define INT_STATUS 0x3A
BaserK 0:954f15bd95f1 87 #define ACCEL_XOUT_H 0x3B
BaserK 0:954f15bd95f1 88 #define ACCEL_XOUT_L 0x3C
BaserK 0:954f15bd95f1 89 #define ACCEL_YOUT_H 0x3D
BaserK 0:954f15bd95f1 90 #define ACCEL_YOUT_L 0x3E
BaserK 0:954f15bd95f1 91 #define ACCEL_ZOUT_H 0x3F
BaserK 0:954f15bd95f1 92 #define ACCEL_ZOUT_L 0x40
BaserK 0:954f15bd95f1 93 #define TEMP_OUT_H 0x41
BaserK 0:954f15bd95f1 94 #define TEMP_OUT_L 0x42
BaserK 0:954f15bd95f1 95 #define GYRO_XOUT_H 0x43
BaserK 0:954f15bd95f1 96 #define GYRO_XOUT_L 0x44
BaserK 0:954f15bd95f1 97 #define GYRO_YOUT_H 0x45
BaserK 0:954f15bd95f1 98 #define GYRO_YOUT_L 0x46
BaserK 0:954f15bd95f1 99 #define GYRO_ZOUT_H 0x47
BaserK 0:954f15bd95f1 100 #define GYRO_ZOUT_L 0x48
BaserK 0:954f15bd95f1 101 #define EXT_SENS_DATA_00 0x49
BaserK 0:954f15bd95f1 102 #define EXT_SENS_DATA_01 0x4A
BaserK 0:954f15bd95f1 103 #define EXT_SENS_DATA_02 0x4B
BaserK 0:954f15bd95f1 104 #define EXT_SENS_DATA_03 0x4C
BaserK 0:954f15bd95f1 105 #define EXT_SENS_DATA_04 0x4D
BaserK 0:954f15bd95f1 106 #define EXT_SENS_DATA_05 0x4E
BaserK 0:954f15bd95f1 107 #define EXT_SENS_DATA_06 0x4F
BaserK 0:954f15bd95f1 108 #define EXT_SENS_DATA_07 0x50
BaserK 0:954f15bd95f1 109 #define EXT_SENS_DATA_08 0x51
BaserK 0:954f15bd95f1 110 #define EXT_SENS_DATA_09 0x52
BaserK 0:954f15bd95f1 111 #define EXT_SENS_DATA_10 0x53
BaserK 0:954f15bd95f1 112 #define EXT_SENS_DATA_11 0x54
BaserK 0:954f15bd95f1 113 #define EXT_SENS_DATA_12 0x55
BaserK 0:954f15bd95f1 114 #define EXT_SENS_DATA_13 0x56
BaserK 0:954f15bd95f1 115 #define EXT_SENS_DATA_14 0x57
BaserK 0:954f15bd95f1 116 #define EXT_SENS_DATA_15 0x58
BaserK 0:954f15bd95f1 117 #define EXT_SENS_DATA_16 0x59
BaserK 0:954f15bd95f1 118 #define EXT_SENS_DATA_17 0x5A
BaserK 0:954f15bd95f1 119 #define EXT_SENS_DATA_18 0x5B
BaserK 0:954f15bd95f1 120 #define EXT_SENS_DATA_19 0x5C
BaserK 0:954f15bd95f1 121 #define EXT_SENS_DATA_20 0x5D
BaserK 0:954f15bd95f1 122 #define EXT_SENS_DATA_21 0x5E
BaserK 0:954f15bd95f1 123 #define EXT_SENS_DATA_22 0x5F
BaserK 0:954f15bd95f1 124 #define EXT_SENS_DATA_23 0x60
BaserK 0:954f15bd95f1 125 #define MOT_DETECT_STATUS 0x61
BaserK 0:954f15bd95f1 126 #define I2C_SLV0_DO 0x63
BaserK 0:954f15bd95f1 127 #define I2C_SLV1_DO 0x64
BaserK 0:954f15bd95f1 128 #define I2C_SLV2_DO 0x65
BaserK 0:954f15bd95f1 129 #define I2C_SLV3_DO 0x66
BaserK 0:954f15bd95f1 130 #define I2C_MST_DELAY_CTRL 0x67
BaserK 0:954f15bd95f1 131 #define SIGNAL_PATH_RESET 0x68
BaserK 0:954f15bd95f1 132 #define MOT_DETECT_CTRL 0x69
BaserK 0:954f15bd95f1 133 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
BaserK 0:954f15bd95f1 134 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
BaserK 0:954f15bd95f1 135 #define PWR_MGMT_2 0x6C
BaserK 0:954f15bd95f1 136 #define DMP_BANK 0x6D // Activates a specific bank in the DMP
BaserK 0:954f15bd95f1 137 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
BaserK 0:954f15bd95f1 138 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
BaserK 0:954f15bd95f1 139 #define DMP_REG_1 0x70
BaserK 0:954f15bd95f1 140 #define DMP_REG_2 0x71
BaserK 0:954f15bd95f1 141 #define FIFO_COUNTH 0x72
BaserK 0:954f15bd95f1 142 #define FIFO_COUNTL 0x73
BaserK 0:954f15bd95f1 143 #define FIFO_R_W 0x74
BaserK 0:954f15bd95f1 144 #define WHO_AM_I_MPU6050 0x75 // Should return 0x68
BaserK 0:954f15bd95f1 145
BaserK 0:954f15bd95f1 146 // Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor
BaserK 0:954f15bd95f1 147 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
BaserK 0:954f15bd95f1 148 #define ADO 0
BaserK 0:954f15bd95f1 149 #if ADO
BaserK 0:954f15bd95f1 150 #define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1
BaserK 0:954f15bd95f1 151 #else
BaserK 0:954f15bd95f1 152 #define MPU6050_ADDRESS 0x68<<1 // Device address when ADO = 0
BaserK 0:954f15bd95f1 153 #endif