MPU6050_reg.h

00001 #ifndef MPU6050_REG_H
00002 #define MPU6050_REG_H
00003 
00004 #define XGOFFS_TC        0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD                 
00005 #define YGOFFS_TC        0x01                                                                          
00006 #define ZGOFFS_TC        0x02
00007 #define X_FINE_GAIN      0x03 // [7:0] fine gain
00008 #define Y_FINE_GAIN      0x04
00009 #define Z_FINE_GAIN      0x05
00010 #define XA_OFFSET_H      0x06 // User-defined trim values for accelerometer
00011 #define XA_OFFSET_L_TC   0x07
00012 #define YA_OFFSET_H      0x08
00013 #define YA_OFFSET_L_TC   0x09
00014 #define ZA_OFFSET_H      0x0A
00015 #define ZA_OFFSET_L_TC   0x0B
00016 #define SELF_TEST_X      0x0D
00017 #define SELF_TEST_Y      0x0E    
00018 #define SELF_TEST_Z      0x0F
00019 #define SELF_TEST_A      0x10
00020 #define XG_OFFS_USRH     0x13  // User-defined trim values for gyroscope; supported in MPU-6050?
00021 #define XG_OFFS_USRL     0x14
00022 #define YG_OFFS_USRH     0x15
00023 #define YG_OFFS_USRL     0x16
00024 #define ZG_OFFS_USRH     0x17
00025 #define ZG_OFFS_USRL     0x18
00026 #define SMPLRT_DIV       0x19
00027 #define CONFIG           0x1A
00028 #define GYRO_CONFIG      0x1B
00029 #define ACCEL_CONFIG     0x1C
00030 #define FF_THR           0x1D  // Free-fall
00031 #define FF_DUR           0x1E  // Free-fall
00032 #define MOT_THR          0x1F  // Motion detection threshold bits [7:0]
00033 #define MOT_DUR          0x20  // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
00034 #define ZMOT_THR         0x21  // Zero-motion detection threshold bits [7:0]
00035 #define ZRMOT_DUR        0x22  // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
00036 #define FIFO_EN          0x23
00037 #define I2C_MST_CTRL     0x24   
00038 #define I2C_SLV0_ADDR    0x25
00039 #define I2C_SLV0_REG     0x26
00040 #define I2C_SLV0_CTRL    0x27
00041 #define I2C_SLV1_ADDR    0x28
00042 #define I2C_SLV1_REG     0x29
00043 #define I2C_SLV1_CTRL    0x2A
00044 #define I2C_SLV2_ADDR    0x2B
00045 #define I2C_SLV2_REG     0x2C
00046 #define I2C_SLV2_CTRL    0x2D
00047 #define I2C_SLV3_ADDR    0x2E
00048 #define I2C_SLV3_REG     0x2F
00049 #define I2C_SLV3_CTRL    0x30
00050 #define I2C_SLV4_ADDR    0x31
00051 #define I2C_SLV4_REG     0x32
00052 #define I2C_SLV4_DO      0x33
00053 #define I2C_SLV4_CTRL    0x34
00054 #define I2C_SLV4_DI      0x35
00055 #define I2C_MST_STATUS   0x36
00056 #define INT_PIN_CFG      0x37
00057 #define INT_ENABLE       0x38
00058 #define DMP_INT_STATUS   0x39  // Check DMP interrupt
00059 #define INT_STATUS       0x3A
00060 #define ACCEL_XOUT_H     0x3B
00061 #define ACCEL_XOUT_L     0x3C
00062 #define ACCEL_YOUT_H     0x3D
00063 #define ACCEL_YOUT_L     0x3E
00064 #define ACCEL_ZOUT_H     0x3F
00065 #define ACCEL_ZOUT_L     0x40
00066 #define TEMP_OUT_H       0x41
00067 #define TEMP_OUT_L       0x42
00068 #define GYRO_XOUT_H      0x43
00069 #define GYRO_XOUT_L      0x44
00070 #define GYRO_YOUT_H      0x45
00071 #define GYRO_YOUT_L      0x46
00072 #define GYRO_ZOUT_H      0x47
00073 #define GYRO_ZOUT_L      0x48
00074 #define EXT_SENS_DATA_00 0x49
00075 #define EXT_SENS_DATA_01 0x4A
00076 #define EXT_SENS_DATA_02 0x4B
00077 #define EXT_SENS_DATA_03 0x4C
00078 #define EXT_SENS_DATA_04 0x4D
00079 #define EXT_SENS_DATA_05 0x4E
00080 #define EXT_SENS_DATA_06 0x4F
00081 #define EXT_SENS_DATA_07 0x50
00082 #define EXT_SENS_DATA_08 0x51
00083 #define EXT_SENS_DATA_09 0x52
00084 #define EXT_SENS_DATA_10 0x53
00085 #define EXT_SENS_DATA_11 0x54
00086 #define EXT_SENS_DATA_12 0x55
00087 #define EXT_SENS_DATA_13 0x56
00088 #define EXT_SENS_DATA_14 0x57
00089 #define EXT_SENS_DATA_15 0x58
00090 #define EXT_SENS_DATA_16 0x59
00091 #define EXT_SENS_DATA_17 0x5A
00092 #define EXT_SENS_DATA_18 0x5B
00093 #define EXT_SENS_DATA_19 0x5C
00094 #define EXT_SENS_DATA_20 0x5D
00095 #define EXT_SENS_DATA_21 0x5E
00096 #define EXT_SENS_DATA_22 0x5F
00097 #define EXT_SENS_DATA_23 0x60
00098 #define MOT_DETECT_STATUS 0x61
00099 #define I2C_SLV0_DO      0x63
00100 #define I2C_SLV1_DO      0x64
00101 #define I2C_SLV2_DO      0x65
00102 #define I2C_SLV3_DO      0x66
00103 #define I2C_MST_DELAY_CTRL 0x67
00104 #define SIGNAL_PATH_RESET  0x68
00105 #define MOT_DETECT_CTRL   0x69
00106 #define USER_CTRL        0x6A  // Bit 7 enable DMP, bit 3 reset DMP
00107 #define PWR_MGMT_1       0x6B // Device defaults to the SLEEP mode
00108 #define PWR_MGMT_2       0x6C
00109 #define DMP_BANK         0x6D  // Activates a specific bank in the DMP
00110 #define DMP_RW_PNT       0x6E  // Set read/write pointer to a specific start address in specified DMP bank
00111 #define DMP_REG          0x6F  // Register in DMP from which to read or to which to write
00112 #define DMP_REG_1        0x70
00113 #define DMP_REG_2        0x71
00114 #define FIFO_COUNTH      0x72
00115 #define FIFO_COUNTL      0x73
00116 #define FIFO_R_W         0x74
00117 #define WHO_AM_I_MPU6050 0x75 // Should return 0x68
00118 
00119 #define ADO 0
00120 #if ADO
00121 #define MPU6050_ADDRESS 0x69<<1  // Device address when ADO = 1
00122 #else
00123 #define MPU6050_ADDRESS 0x68<<1  // Device address when ADO = 0
00124 #endif
00125 
00126 #endif