MPU6050 module library
All credit to kriswiner @https://github.com/kriswiner. Just changed some code for my own purposes
MPU6050_reg.h@0:8a2cac9ba89e, 2017-11-21 (annotated)
- Committer:
- kohlerba
- Date:
- Tue Nov 21 20:29:49 2017 +0000
- Revision:
- 0:8a2cac9ba89e
MPU6050 accelerometer;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kohlerba | 0:8a2cac9ba89e | 1 | #ifndef MPU6050_REG_H |
kohlerba | 0:8a2cac9ba89e | 2 | #define MPU6050_REG_H |
kohlerba | 0:8a2cac9ba89e | 3 | |
kohlerba | 0:8a2cac9ba89e | 4 | #define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD |
kohlerba | 0:8a2cac9ba89e | 5 | #define YGOFFS_TC 0x01 |
kohlerba | 0:8a2cac9ba89e | 6 | #define ZGOFFS_TC 0x02 |
kohlerba | 0:8a2cac9ba89e | 7 | #define X_FINE_GAIN 0x03 // [7:0] fine gain |
kohlerba | 0:8a2cac9ba89e | 8 | #define Y_FINE_GAIN 0x04 |
kohlerba | 0:8a2cac9ba89e | 9 | #define Z_FINE_GAIN 0x05 |
kohlerba | 0:8a2cac9ba89e | 10 | #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer |
kohlerba | 0:8a2cac9ba89e | 11 | #define XA_OFFSET_L_TC 0x07 |
kohlerba | 0:8a2cac9ba89e | 12 | #define YA_OFFSET_H 0x08 |
kohlerba | 0:8a2cac9ba89e | 13 | #define YA_OFFSET_L_TC 0x09 |
kohlerba | 0:8a2cac9ba89e | 14 | #define ZA_OFFSET_H 0x0A |
kohlerba | 0:8a2cac9ba89e | 15 | #define ZA_OFFSET_L_TC 0x0B |
kohlerba | 0:8a2cac9ba89e | 16 | #define SELF_TEST_X 0x0D |
kohlerba | 0:8a2cac9ba89e | 17 | #define SELF_TEST_Y 0x0E |
kohlerba | 0:8a2cac9ba89e | 18 | #define SELF_TEST_Z 0x0F |
kohlerba | 0:8a2cac9ba89e | 19 | #define SELF_TEST_A 0x10 |
kohlerba | 0:8a2cac9ba89e | 20 | #define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050? |
kohlerba | 0:8a2cac9ba89e | 21 | #define XG_OFFS_USRL 0x14 |
kohlerba | 0:8a2cac9ba89e | 22 | #define YG_OFFS_USRH 0x15 |
kohlerba | 0:8a2cac9ba89e | 23 | #define YG_OFFS_USRL 0x16 |
kohlerba | 0:8a2cac9ba89e | 24 | #define ZG_OFFS_USRH 0x17 |
kohlerba | 0:8a2cac9ba89e | 25 | #define ZG_OFFS_USRL 0x18 |
kohlerba | 0:8a2cac9ba89e | 26 | #define SMPLRT_DIV 0x19 |
kohlerba | 0:8a2cac9ba89e | 27 | #define CONFIG 0x1A |
kohlerba | 0:8a2cac9ba89e | 28 | #define GYRO_CONFIG 0x1B |
kohlerba | 0:8a2cac9ba89e | 29 | #define ACCEL_CONFIG 0x1C |
kohlerba | 0:8a2cac9ba89e | 30 | #define FF_THR 0x1D // Free-fall |
kohlerba | 0:8a2cac9ba89e | 31 | #define FF_DUR 0x1E // Free-fall |
kohlerba | 0:8a2cac9ba89e | 32 | #define MOT_THR 0x1F // Motion detection threshold bits [7:0] |
kohlerba | 0:8a2cac9ba89e | 33 | #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms |
kohlerba | 0:8a2cac9ba89e | 34 | #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] |
kohlerba | 0:8a2cac9ba89e | 35 | #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms |
kohlerba | 0:8a2cac9ba89e | 36 | #define FIFO_EN 0x23 |
kohlerba | 0:8a2cac9ba89e | 37 | #define I2C_MST_CTRL 0x24 |
kohlerba | 0:8a2cac9ba89e | 38 | #define I2C_SLV0_ADDR 0x25 |
kohlerba | 0:8a2cac9ba89e | 39 | #define I2C_SLV0_REG 0x26 |
kohlerba | 0:8a2cac9ba89e | 40 | #define I2C_SLV0_CTRL 0x27 |
kohlerba | 0:8a2cac9ba89e | 41 | #define I2C_SLV1_ADDR 0x28 |
kohlerba | 0:8a2cac9ba89e | 42 | #define I2C_SLV1_REG 0x29 |
kohlerba | 0:8a2cac9ba89e | 43 | #define I2C_SLV1_CTRL 0x2A |
kohlerba | 0:8a2cac9ba89e | 44 | #define I2C_SLV2_ADDR 0x2B |
kohlerba | 0:8a2cac9ba89e | 45 | #define I2C_SLV2_REG 0x2C |
kohlerba | 0:8a2cac9ba89e | 46 | #define I2C_SLV2_CTRL 0x2D |
kohlerba | 0:8a2cac9ba89e | 47 | #define I2C_SLV3_ADDR 0x2E |
kohlerba | 0:8a2cac9ba89e | 48 | #define I2C_SLV3_REG 0x2F |
kohlerba | 0:8a2cac9ba89e | 49 | #define I2C_SLV3_CTRL 0x30 |
kohlerba | 0:8a2cac9ba89e | 50 | #define I2C_SLV4_ADDR 0x31 |
kohlerba | 0:8a2cac9ba89e | 51 | #define I2C_SLV4_REG 0x32 |
kohlerba | 0:8a2cac9ba89e | 52 | #define I2C_SLV4_DO 0x33 |
kohlerba | 0:8a2cac9ba89e | 53 | #define I2C_SLV4_CTRL 0x34 |
kohlerba | 0:8a2cac9ba89e | 54 | #define I2C_SLV4_DI 0x35 |
kohlerba | 0:8a2cac9ba89e | 55 | #define I2C_MST_STATUS 0x36 |
kohlerba | 0:8a2cac9ba89e | 56 | #define INT_PIN_CFG 0x37 |
kohlerba | 0:8a2cac9ba89e | 57 | #define INT_ENABLE 0x38 |
kohlerba | 0:8a2cac9ba89e | 58 | #define DMP_INT_STATUS 0x39 // Check DMP interrupt |
kohlerba | 0:8a2cac9ba89e | 59 | #define INT_STATUS 0x3A |
kohlerba | 0:8a2cac9ba89e | 60 | #define ACCEL_XOUT_H 0x3B |
kohlerba | 0:8a2cac9ba89e | 61 | #define ACCEL_XOUT_L 0x3C |
kohlerba | 0:8a2cac9ba89e | 62 | #define ACCEL_YOUT_H 0x3D |
kohlerba | 0:8a2cac9ba89e | 63 | #define ACCEL_YOUT_L 0x3E |
kohlerba | 0:8a2cac9ba89e | 64 | #define ACCEL_ZOUT_H 0x3F |
kohlerba | 0:8a2cac9ba89e | 65 | #define ACCEL_ZOUT_L 0x40 |
kohlerba | 0:8a2cac9ba89e | 66 | #define TEMP_OUT_H 0x41 |
kohlerba | 0:8a2cac9ba89e | 67 | #define TEMP_OUT_L 0x42 |
kohlerba | 0:8a2cac9ba89e | 68 | #define GYRO_XOUT_H 0x43 |
kohlerba | 0:8a2cac9ba89e | 69 | #define GYRO_XOUT_L 0x44 |
kohlerba | 0:8a2cac9ba89e | 70 | #define GYRO_YOUT_H 0x45 |
kohlerba | 0:8a2cac9ba89e | 71 | #define GYRO_YOUT_L 0x46 |
kohlerba | 0:8a2cac9ba89e | 72 | #define GYRO_ZOUT_H 0x47 |
kohlerba | 0:8a2cac9ba89e | 73 | #define GYRO_ZOUT_L 0x48 |
kohlerba | 0:8a2cac9ba89e | 74 | #define EXT_SENS_DATA_00 0x49 |
kohlerba | 0:8a2cac9ba89e | 75 | #define EXT_SENS_DATA_01 0x4A |
kohlerba | 0:8a2cac9ba89e | 76 | #define EXT_SENS_DATA_02 0x4B |
kohlerba | 0:8a2cac9ba89e | 77 | #define EXT_SENS_DATA_03 0x4C |
kohlerba | 0:8a2cac9ba89e | 78 | #define EXT_SENS_DATA_04 0x4D |
kohlerba | 0:8a2cac9ba89e | 79 | #define EXT_SENS_DATA_05 0x4E |
kohlerba | 0:8a2cac9ba89e | 80 | #define EXT_SENS_DATA_06 0x4F |
kohlerba | 0:8a2cac9ba89e | 81 | #define EXT_SENS_DATA_07 0x50 |
kohlerba | 0:8a2cac9ba89e | 82 | #define EXT_SENS_DATA_08 0x51 |
kohlerba | 0:8a2cac9ba89e | 83 | #define EXT_SENS_DATA_09 0x52 |
kohlerba | 0:8a2cac9ba89e | 84 | #define EXT_SENS_DATA_10 0x53 |
kohlerba | 0:8a2cac9ba89e | 85 | #define EXT_SENS_DATA_11 0x54 |
kohlerba | 0:8a2cac9ba89e | 86 | #define EXT_SENS_DATA_12 0x55 |
kohlerba | 0:8a2cac9ba89e | 87 | #define EXT_SENS_DATA_13 0x56 |
kohlerba | 0:8a2cac9ba89e | 88 | #define EXT_SENS_DATA_14 0x57 |
kohlerba | 0:8a2cac9ba89e | 89 | #define EXT_SENS_DATA_15 0x58 |
kohlerba | 0:8a2cac9ba89e | 90 | #define EXT_SENS_DATA_16 0x59 |
kohlerba | 0:8a2cac9ba89e | 91 | #define EXT_SENS_DATA_17 0x5A |
kohlerba | 0:8a2cac9ba89e | 92 | #define EXT_SENS_DATA_18 0x5B |
kohlerba | 0:8a2cac9ba89e | 93 | #define EXT_SENS_DATA_19 0x5C |
kohlerba | 0:8a2cac9ba89e | 94 | #define EXT_SENS_DATA_20 0x5D |
kohlerba | 0:8a2cac9ba89e | 95 | #define EXT_SENS_DATA_21 0x5E |
kohlerba | 0:8a2cac9ba89e | 96 | #define EXT_SENS_DATA_22 0x5F |
kohlerba | 0:8a2cac9ba89e | 97 | #define EXT_SENS_DATA_23 0x60 |
kohlerba | 0:8a2cac9ba89e | 98 | #define MOT_DETECT_STATUS 0x61 |
kohlerba | 0:8a2cac9ba89e | 99 | #define I2C_SLV0_DO 0x63 |
kohlerba | 0:8a2cac9ba89e | 100 | #define I2C_SLV1_DO 0x64 |
kohlerba | 0:8a2cac9ba89e | 101 | #define I2C_SLV2_DO 0x65 |
kohlerba | 0:8a2cac9ba89e | 102 | #define I2C_SLV3_DO 0x66 |
kohlerba | 0:8a2cac9ba89e | 103 | #define I2C_MST_DELAY_CTRL 0x67 |
kohlerba | 0:8a2cac9ba89e | 104 | #define SIGNAL_PATH_RESET 0x68 |
kohlerba | 0:8a2cac9ba89e | 105 | #define MOT_DETECT_CTRL 0x69 |
kohlerba | 0:8a2cac9ba89e | 106 | #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP |
kohlerba | 0:8a2cac9ba89e | 107 | #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode |
kohlerba | 0:8a2cac9ba89e | 108 | #define PWR_MGMT_2 0x6C |
kohlerba | 0:8a2cac9ba89e | 109 | #define DMP_BANK 0x6D // Activates a specific bank in the DMP |
kohlerba | 0:8a2cac9ba89e | 110 | #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank |
kohlerba | 0:8a2cac9ba89e | 111 | #define DMP_REG 0x6F // Register in DMP from which to read or to which to write |
kohlerba | 0:8a2cac9ba89e | 112 | #define DMP_REG_1 0x70 |
kohlerba | 0:8a2cac9ba89e | 113 | #define DMP_REG_2 0x71 |
kohlerba | 0:8a2cac9ba89e | 114 | #define FIFO_COUNTH 0x72 |
kohlerba | 0:8a2cac9ba89e | 115 | #define FIFO_COUNTL 0x73 |
kohlerba | 0:8a2cac9ba89e | 116 | #define FIFO_R_W 0x74 |
kohlerba | 0:8a2cac9ba89e | 117 | #define WHO_AM_I_MPU6050 0x75 // Should return 0x68 |
kohlerba | 0:8a2cac9ba89e | 118 | |
kohlerba | 0:8a2cac9ba89e | 119 | #define ADO 0 |
kohlerba | 0:8a2cac9ba89e | 120 | #if ADO |
kohlerba | 0:8a2cac9ba89e | 121 | #define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1 |
kohlerba | 0:8a2cac9ba89e | 122 | #else |
kohlerba | 0:8a2cac9ba89e | 123 | #define MPU6050_ADDRESS 0x68<<1 // Device address when ADO = 0 |
kohlerba | 0:8a2cac9ba89e | 124 | #endif |
kohlerba | 0:8a2cac9ba89e | 125 | |
kohlerba | 0:8a2cac9ba89e | 126 | #endif |