Diff: mpu6500.h

Revision:

0:95e46ae24046

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mpu6500.h	Fri Oct 21 02:52:40 2016 +0000
@@ -0,0 +1,113 @@
+#define MPU6500_SELF_TEST_X_GYRO    0x00 
+#define MPU6500_SELF_TEST_Y_GYRO    0x01
+#define MPU6500_SELF_TEST_Z_GYRO    0x02
+#define MPU6500_SELF_TEST_X_ACCEL   0x0D
+#define MPU6500_SELF_TEST_Y_ACCEL   0x0E
+#define MPU6500_SELF_TEST_Z_ACCEL   0x0F
+#define MPU6500_XG_OFFSET_H         0x13
+#define MPU6500_XG_OFFSET_L         0x14
+#define MPU6500_YG_OFFSET_H         0x15
+#define MPU6500_YG_OFFSET_L         0x16
+#define MPU6500_ZG_OFFSET_H         0x17
+#define MPU6500_ZG_OFFSET_L         0x18
+#define MPU6500_SMPLRT_DIV          0x19
+#define MPU6500_CONFIG              0x1A
+#define MPU6500_GYRO_CONFIG         0x1B
+#define MPU6500_ACCEL_CONFIG        0x1C
+#define MPU6500_ACCEL_CONFIG2       0x1D
+#define MPU6500_LP_ACCEL_ODR        0x1E
+#define MPU6500_WOM_THR             0x1F
+#define MPU6500_FIFO_EN             0x23
+#define MPU6500_I2C_MST_CTRL        0x24
+#define MPU6500_I2C_SLV0_ADDR       0x25
+#define MPU6500_I2C_SLV0_REG        0x26
+#define MPU6500_I2C_SLV0_CTRL       0x27
+#define MPU6500_I2C_SLV1_ADDR       0x28
+#define MPU6500_I2C_SLV1_REG        0x29
+#define MPU6500_I2C_SLV1_CTRL       0x2A
+#define MPU6500_I2C_SLV2_ADDR       0x2B
+#define MPU6500_I2C_SLV2_REG        0x2C
+#define MPU6500_I2C_SLV2_CTRL       0x2D
+#define MPU6500_I2C_SLV3_ADDR       0x2E
+#define MPU6500_I2C_SLV3_REG        0x2F
+#define MPU6500_I2C_SLV3_CTRL       0x30
+#define MPU6500_I2C_SLV4_ADDR       0x31
+#define MPU6500_I2C_SLV4_REG        0x32
+#define MPU6500_I2C_SLV4_DO         0x33
+#define MPU6500_I2C_SLV4_CTRL       0x34
+#define MPU6500_I2C_SLV4_DI         0x35
+#define MPU6500_I2C_MST_STATUS      0x36
+#define MPU6500_INT_PIN_CFG         0x37
+#define MPU6500_INT_ENABLE          0x38
+#define MPU6500_INT_STATUS          0x3A
+#define MPU6500_ACCEL_XOUT_H        0x3B
+#define MPU6500_ACCEL_XOUT_L        0x3C
+#define MPU6500_ACCEL_YOUT_H        0x3D
+#define MPU6500_ACCEL_YOUT_L        0x3E
+#define MPU6500_ACCEL_ZOUT_H        0x3F
+#define MPU6500_ACCEL_ZOUT_L        0x40
+#define MPU6500_TEMP_OUT_H          0x41
+#define MPU6500_TEMP_OUT_L          0x42
+#define MPU6500_GYRO_XOUT_H         0x43
+#define MPU6500_GYRO_XOUT_L         0x44
+#define MPU6500_GYRO_YOUT_H         0x45
+#define MPU6500_GYRO_YOUT_L         0x46
+#define MPU6500_GYRO_ZOUT_H         0x47
+#define MPU6500_GYRO_ZOUT_L         0x48
+#define MPU6500_EXT_SENS_DATA_00    0x49
+#define MPU6500_EXT_SENS_DATA_01    0x4A
+#define MPU6500_EXT_SENS_DATA_02    0x4B
+#define MPU6500_EXT_SENS_DATA_03    0x4C
+#define MPU6500_EXT_SENS_DATA_04    0x4D
+#define MPU6500_EXT_SENS_DATA_05    0x4E
+#define MPU6500_EXT_SENS_DATA_06    0x4F
+#define MPU6500_EXT_SENS_DATA_07    0x50
+#define MPU6500_EXT_SENS_DATA_08    0x51
+#define MPU6500_EXT_SENS_DATA_09    0x52
+#define MPU6500_EXT_SENS_DATA_10    0x53
+#define MPU6500_EXT_SENS_DATA_11    0x54
+#define MPU6500_EXT_SENS_DATA_12    0x55
+#define MPU6500_EXT_SENS_DATA_13    0x56
+#define MPU6500_EXT_SENS_DATA_14    0x57
+#define MPU6500_EXT_SENS_DATA_15    0x58
+#define MPU6500_EXT_SENS_DATA_16    0x59
+#define MPU6500_EXT_SENS_DATA_17    0x5A
+#define MPU6500_EXT_SENS_DATA_18    0x5B
+#define MPU6500_EXT_SENS_DATA_19    0x5C
+#define MPU6500_EXT_SENS_DATA_20    0x5D
+#define MPU6500_EXT_SENS_DATA_21    0x5E
+#define MPU6500_EXT_SENS_DATA_22    0x5F
+#define MPU6500_EXT_SENS_DATA_23    0x60
+#define MPU6500_I2C_SLV0_DO         0x63
+#define MPU6500_I2C_SLV1_DO         0x64
+#define MPU6500_I2C_SLV2_DO         0x65
+#define MPU6500_I2C_SLV3_DO         0x66
+#define MPU6500_I2C_MST_DELAY_CTRL  0x67
+#define MPU6500_SIGNAL_PATH_RESET   0x68
+#define MPU6500_ACCEL_INTEL_CTRL    0x69
+#define MPU6500_USER_CTRL           0x6A
+#define MPU6500_PWR_MGMT_1          0x6B
+#define MPU6500_PWR_MGMT_2          0x6C
+#define MPU6500_FIFO_COUNT_H        0x72
+#define MPU6500_FIFO_COUNT_L        0x73
+#define MPU6500_FIFO_R_W            0x74
+#define MPU6500_WHO_AM_I            0x75
+#define MPU6500_XA_OFFSET_H         0x77
+#define MPU6500_XA_OFFSET_L         0x78
+#define MPU6500_YA_OFFSET_H         0x79
+#define MPU6500_YA_OFFSET_L         0x7A
+#define MPU6500_ZA_OFFSET_H         0x7D
+#define MPU6500_ZA_OFFSET_L         0x7E
+
+#define MPU6500_slave_addr          0xD0
+
+class MPU6500 {
+    public:
+        void    initialize();
+        int16_t getAccelXvalue();
+        int16_t getAccelYvalue();
+        int16_t getAccelZvalue();
+        int16_t getGyroXvalue();
+        int16_t getGyroYvalue();
+        int16_t getGyroZvalue();
+};
\ No newline at end of file