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MPU6050RegDef.h
00001 /* 00002 * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy 00005 * of this software and associated documentation files (the "Software"), to deal 00006 * in the Software without restriction, including without limitation the rights 00007 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00008 * copies of the Software, and to permit persons to whom the Software is 00009 * furnished to do so, subject to the following conditions: 00010 * 00011 * The above copyright notice and this permission notice shall be included in 00012 * all copies or substantial portions of the Software. 00013 * 00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00015 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00016 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00017 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00018 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00019 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00020 * THE SOFTWARE. 00021 * 00022 */ 00023 00024 // Taken from Kris Winer's MPU6050 library 00025 00026 // Define registers per MPU6050, Register Map and Descriptions, Rev 4.2, 08/19/2013 6 DOF Motion sensor fusion device 00027 // Invensense Inc., www.invensense.com 00028 // See also MPU-6050 Register Map and Descriptions, Revision 4.0, RM-MPU-6050A-00, 9/12/2012 for registers not listed in 00029 // above document; the MPU6050 and MPU 9150 are virtually identical but the latter has an on-board magnetic sensor 00030 // 00031 #define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD 00032 #define YGOFFS_TC 0x01 00033 #define ZGOFFS_TC 0x02 00034 #define X_FINE_GAIN 0x03 // [7:0] fine gain 00035 #define Y_FINE_GAIN 0x04 00036 #define Z_FINE_GAIN 0x05 00037 #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer 00038 #define XA_OFFSET_L_TC 0x07 00039 #define YA_OFFSET_H 0x08 00040 #define YA_OFFSET_L_TC 0x09 00041 #define ZA_OFFSET_H 0x0A 00042 #define ZA_OFFSET_L_TC 0x0B 00043 #define SELF_TEST_X 0x0D 00044 #define SELF_TEST_Y 0x0E 00045 #define SELF_TEST_Z 0x0F 00046 #define SELF_TEST_A 0x10 00047 #define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050? 00048 #define XG_OFFS_USRL 0x14 00049 #define YG_OFFS_USRH 0x15 00050 #define YG_OFFS_USRL 0x16 00051 #define ZG_OFFS_USRH 0x17 00052 #define ZG_OFFS_USRL 0x18 00053 #define SMPLRT_DIV 0x19 00054 #define CONFIG 0x1A 00055 #define GYRO_CONFIG 0x1B 00056 #define ACCEL_CONFIG 0x1C 00057 #define FF_THR 0x1D // Free-fall 00058 #define FF_DUR 0x1E // Free-fall 00059 #define MOT_THR 0x1F // Motion detection threshold bits [7:0] 00060 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms 00061 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] 00062 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms 00063 #define FIFO_EN 0x23 00064 #define I2C_MST_CTRL 0x24 00065 #define I2C_SLV0_ADDR 0x25 00066 #define I2C_SLV0_REG 0x26 00067 #define I2C_SLV0_CTRL 0x27 00068 #define I2C_SLV1_ADDR 0x28 00069 #define I2C_SLV1_REG 0x29 00070 #define I2C_SLV1_CTRL 0x2A 00071 #define I2C_SLV2_ADDR 0x2B 00072 #define I2C_SLV2_REG 0x2C 00073 #define I2C_SLV2_CTRL 0x2D 00074 #define I2C_SLV3_ADDR 0x2E 00075 #define I2C_SLV3_REG 0x2F 00076 #define I2C_SLV3_CTRL 0x30 00077 #define I2C_SLV4_ADDR 0x31 00078 #define I2C_SLV4_REG 0x32 00079 #define I2C_SLV4_DO 0x33 00080 #define I2C_SLV4_CTRL 0x34 00081 #define I2C_SLV4_DI 0x35 00082 #define I2C_MST_STATUS 0x36 00083 #define INT_PIN_CFG 0x37 00084 #define INT_ENABLE 0x38 00085 #define DMP_INT_STATUS 0x39 // Check DMP interrupt 00086 #define INT_STATUS 0x3A 00087 #define ACCEL_XOUT_H 0x3B 00088 #define ACCEL_XOUT_L 0x3C 00089 #define ACCEL_YOUT_H 0x3D 00090 #define ACCEL_YOUT_L 0x3E 00091 #define ACCEL_ZOUT_H 0x3F 00092 #define ACCEL_ZOUT_L 0x40 00093 #define TEMP_OUT_H 0x41 00094 #define TEMP_OUT_L 0x42 00095 #define GYRO_XOUT_H 0x43 00096 #define GYRO_XOUT_L 0x44 00097 #define GYRO_YOUT_H 0x45 00098 #define GYRO_YOUT_L 0x46 00099 #define GYRO_ZOUT_H 0x47 00100 #define GYRO_ZOUT_L 0x48 00101 #define EXT_SENS_DATA_00 0x49 00102 #define EXT_SENS_DATA_01 0x4A 00103 #define EXT_SENS_DATA_02 0x4B 00104 #define EXT_SENS_DATA_03 0x4C 00105 #define EXT_SENS_DATA_04 0x4D 00106 #define EXT_SENS_DATA_05 0x4E 00107 #define EXT_SENS_DATA_06 0x4F 00108 #define EXT_SENS_DATA_07 0x50 00109 #define EXT_SENS_DATA_08 0x51 00110 #define EXT_SENS_DATA_09 0x52 00111 #define EXT_SENS_DATA_10 0x53 00112 #define EXT_SENS_DATA_11 0x54 00113 #define EXT_SENS_DATA_12 0x55 00114 #define EXT_SENS_DATA_13 0x56 00115 #define EXT_SENS_DATA_14 0x57 00116 #define EXT_SENS_DATA_15 0x58 00117 #define EXT_SENS_DATA_16 0x59 00118 #define EXT_SENS_DATA_17 0x5A 00119 #define EXT_SENS_DATA_18 0x5B 00120 #define EXT_SENS_DATA_19 0x5C 00121 #define EXT_SENS_DATA_20 0x5D 00122 #define EXT_SENS_DATA_21 0x5E 00123 #define EXT_SENS_DATA_22 0x5F 00124 #define EXT_SENS_DATA_23 0x60 00125 #define MOT_DETECT_STATUS 0x61 00126 #define I2C_SLV0_DO 0x63 00127 #define I2C_SLV1_DO 0x64 00128 #define I2C_SLV2_DO 0x65 00129 #define I2C_SLV3_DO 0x66 00130 #define I2C_MST_DELAY_CTRL 0x67 00131 #define SIGNAL_PATH_RESET 0x68 00132 #define MOT_DETECT_CTRL 0x69 00133 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP 00134 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode 00135 #define PWR_MGMT_2 0x6C 00136 #define DMP_BANK 0x6D // Activates a specific bank in the DMP 00137 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank 00138 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write 00139 #define DMP_REG_1 0x70 00140 #define DMP_REG_2 0x71 00141 #define FIFO_COUNTH 0x72 00142 #define FIFO_COUNTL 0x73 00143 #define FIFO_R_W 0x74 00144 #define CHECKADDRESS_MPU6050 0x75 // Should return 0x68 00145 00146 // Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor 00147 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1 00148 #define ADO 0 00149 #if ADO 00150 #define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1 00151 #else 00152 #define MPU6050_ADDRESS 0x68<<1 // Device address when ADO = 0 00153 #endif
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