Diff: MPU6050RegDef.h

Revision:

0:cf17b1f16335

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+++ b/MPU6050RegDef.h	Tue Oct 24 20:12:54 2017 +0000
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+/*     
+*   Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
+*
+*   Permission is hereby granted, free of charge, to any person obtaining a copy
+*   of this software and associated documentation files (the "Software"), to deal
+*   in the Software without restriction, including without limitation the rights
+*   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+*   copies of the Software, and to permit persons to whom the Software is
+*   furnished to do so, subject to the following conditions:
+*
+*   The above copyright notice and this permission notice shall be included in
+*   all copies or substantial portions of the Software.
+*
+*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+*   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+*   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+*   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+*   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+*   THE SOFTWARE.
+*
+*/
+
+// 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
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