STM32 L476RG
Diff: MPU6050RegDef.h
- Revision:
- 0:954f15bd95f1
- Child:
- 3:a173ad187e67
diff -r 000000000000 -r 954f15bd95f1 MPU6050RegDef.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050RegDef.h Thu Jul 09 12:13:56 2015 +0000 @@ -0,0 +1,130 @@ +// Taken from Kris Winer's MPU6050 library + +// Define registers per MPU6050, Register Map and Descriptions, Rev 4.2, 08/19/2013 6 DOF Motion sensor fusion device +// Invensense Inc., www.invensense.com +// See also MPU-6050 Register Map and Descriptions, Revision 4.0, RM-MPU-6050A-00, 9/12/2012 for registers not listed in +// above document; the MPU6050 and MPU 9150 are virtually identical but the latter has an on-board magnetic sensor +// +#define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD +#define YGOFFS_TC 0x01 +#define ZGOFFS_TC 0x02 +#define X_FINE_GAIN 0x03 // [7:0] fine gain +#define Y_FINE_GAIN 0x04 +#define Z_FINE_GAIN 0x05 +#define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer +#define XA_OFFSET_L_TC 0x07 +#define YA_OFFSET_H 0x08 +#define YA_OFFSET_L_TC 0x09 +#define ZA_OFFSET_H 0x0A +#define ZA_OFFSET_L_TC 0x0B +#define SELF_TEST_X 0x0D +#define SELF_TEST_Y 0x0E +#define SELF_TEST_Z 0x0F +#define SELF_TEST_A 0x10 +#define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050? +#define XG_OFFS_USRL 0x14 +#define YG_OFFS_USRH 0x15 +#define YG_OFFS_USRL 0x16 +#define ZG_OFFS_USRH 0x17 +#define ZG_OFFS_USRL 0x18 +#define SMPLRT_DIV 0x19 +#define CONFIG 0x1A +#define GYRO_CONFIG 0x1B +#define ACCEL_CONFIG 0x1C +#define FF_THR 0x1D // Free-fall +#define FF_DUR 0x1E // Free-fall +#define MOT_THR 0x1F // Motion detection threshold bits [7:0] +#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms +#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] +#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms +#define FIFO_EN 0x23 +#define I2C_MST_CTRL 0x24 +#define I2C_SLV0_ADDR 0x25 +#define I2C_SLV0_REG 0x26 +#define I2C_SLV0_CTRL 0x27 +#define I2C_SLV1_ADDR 0x28 +#define I2C_SLV1_REG 0x29 +#define I2C_SLV1_CTRL 0x2A +#define I2C_SLV2_ADDR 0x2B +#define I2C_SLV2_REG 0x2C +#define I2C_SLV2_CTRL 0x2D +#define I2C_SLV3_ADDR 0x2E +#define I2C_SLV3_REG 0x2F +#define I2C_SLV3_CTRL 0x30 +#define I2C_SLV4_ADDR 0x31 +#define I2C_SLV4_REG 0x32 +#define I2C_SLV4_DO 0x33 +#define I2C_SLV4_CTRL 0x34 +#define I2C_SLV4_DI 0x35 +#define I2C_MST_STATUS 0x36 +#define INT_PIN_CFG 0x37 +#define INT_ENABLE 0x38 +#define DMP_INT_STATUS 0x39 // Check DMP interrupt +#define INT_STATUS 0x3A +#define ACCEL_XOUT_H 0x3B +#define ACCEL_XOUT_L 0x3C +#define ACCEL_YOUT_H 0x3D +#define ACCEL_YOUT_L 0x3E +#define ACCEL_ZOUT_H 0x3F +#define ACCEL_ZOUT_L 0x40 +#define TEMP_OUT_H 0x41 +#define TEMP_OUT_L 0x42 +#define GYRO_XOUT_H 0x43 +#define GYRO_XOUT_L 0x44 +#define GYRO_YOUT_H 0x45 +#define GYRO_YOUT_L 0x46 +#define GYRO_ZOUT_H 0x47 +#define GYRO_ZOUT_L 0x48 +#define EXT_SENS_DATA_00 0x49 +#define EXT_SENS_DATA_01 0x4A +#define EXT_SENS_DATA_02 0x4B +#define EXT_SENS_DATA_03 0x4C +#define EXT_SENS_DATA_04 0x4D +#define EXT_SENS_DATA_05 0x4E +#define EXT_SENS_DATA_06 0x4F +#define EXT_SENS_DATA_07 0x50 +#define EXT_SENS_DATA_08 0x51 +#define EXT_SENS_DATA_09 0x52 +#define EXT_SENS_DATA_10 0x53 +#define EXT_SENS_DATA_11 0x54 +#define EXT_SENS_DATA_12 0x55 +#define EXT_SENS_DATA_13 0x56 +#define EXT_SENS_DATA_14 0x57 +#define EXT_SENS_DATA_15 0x58 +#define EXT_SENS_DATA_16 0x59 +#define EXT_SENS_DATA_17 0x5A +#define EXT_SENS_DATA_18 0x5B +#define EXT_SENS_DATA_19 0x5C +#define EXT_SENS_DATA_20 0x5D +#define EXT_SENS_DATA_21 0x5E +#define EXT_SENS_DATA_22 0x5F +#define EXT_SENS_DATA_23 0x60 +#define MOT_DETECT_STATUS 0x61 +#define I2C_SLV0_DO 0x63 +#define I2C_SLV1_DO 0x64 +#define I2C_SLV2_DO 0x65 +#define I2C_SLV3_DO 0x66 +#define I2C_MST_DELAY_CTRL 0x67 +#define SIGNAL_PATH_RESET 0x68 +#define MOT_DETECT_CTRL 0x69 +#define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP +#define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode +#define PWR_MGMT_2 0x6C +#define DMP_BANK 0x6D // Activates a specific bank in the DMP +#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank +#define DMP_REG 0x6F // Register in DMP from which to read or to which to write +#define DMP_REG_1 0x70 +#define DMP_REG_2 0x71 +#define FIFO_COUNTH 0x72 +#define FIFO_COUNTL 0x73 +#define FIFO_R_W 0x74 +#define WHO_AM_I_MPU6050 0x75 // Should return 0x68 + +// Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor +// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1 +#define ADO 0 +#if ADO +#define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1 +#else +#define MPU6050_ADDRESS 0x68<<1 // Device address when ADO = 0 +#endif \ No newline at end of file