涂 桂旺
1.updata mbed os 5. 2.restore I2C SDA lock low.
Fork of
MPU9150_DMP_Nucleo
by 
Akash Vibhute
registers.h@0:74f0ae286b03, 2014-08-31 (annotated)
- Committer:
- p3p
- Date:
- Sun Aug 31 12:52:29 2014 +0000
- Revision:
- 0:74f0ae286b03
MPU9150 api using its DMP for quaternions
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| p3p | 0:74f0ae286b03 | 1 | //registers ripped from sparkfun github |
| p3p | 0:74f0ae286b03 | 2 | |
| p3p | 0:74f0ae286b03 | 3 | /* ============================================ |
| p3p | 0:74f0ae286b03 | 4 | I2Cdev device library code is placed under the MIT license |
| p3p | 0:74f0ae286b03 | 5 | Copyright (c) 2012 Jeff Rowberg |
| p3p | 0:74f0ae286b03 | 6 | |
| p3p | 0:74f0ae286b03 | 7 | Permission is hereby granted, free of charge, to any person obtaining a copy |
| p3p | 0:74f0ae286b03 | 8 | of this software and associated documentation files (the "Software"), to deal |
| p3p | 0:74f0ae286b03 | 9 | in the Software without restriction, including without limitation the rights |
| p3p | 0:74f0ae286b03 | 10 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| p3p | 0:74f0ae286b03 | 11 | copies of the Software, and to permit persons to whom the Software is |
| p3p | 0:74f0ae286b03 | 12 | furnished to do so, subject to the following conditions: |
| p3p | 0:74f0ae286b03 | 13 | |
| p3p | 0:74f0ae286b03 | 14 | The above copyright notice and this permission notice shall be included in |
| p3p | 0:74f0ae286b03 | 15 | all copies or substantial portions of the Software. |
| p3p | 0:74f0ae286b03 | 16 | |
| p3p | 0:74f0ae286b03 | 17 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| p3p | 0:74f0ae286b03 | 18 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| p3p | 0:74f0ae286b03 | 19 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| p3p | 0:74f0ae286b03 | 20 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| p3p | 0:74f0ae286b03 | 21 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| p3p | 0:74f0ae286b03 | 22 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| p3p | 0:74f0ae286b03 | 23 | THE SOFTWARE. |
| p3p | 0:74f0ae286b03 | 24 | =============================================== |
| p3p | 0:74f0ae286b03 | 25 | */ |
| p3p | 0:74f0ae286b03 | 26 | |
| p3p | 0:74f0ae286b03 | 27 | //Magnetometer Registers |
| p3p | 0:74f0ae286b03 | 28 | #define MPU9150_RA_MAG_ADDRESS 0x0C |
| p3p | 0:74f0ae286b03 | 29 | #define MPU9150_RA_MAG_XOUT_L 0x03 |
| p3p | 0:74f0ae286b03 | 30 | #define MPU9150_RA_MAG_XOUT_H 0x04 |
| p3p | 0:74f0ae286b03 | 31 | #define MPU9150_RA_MAG_YOUT_L 0x05 |
| p3p | 0:74f0ae286b03 | 32 | #define MPU9150_RA_MAG_YOUT_H 0x06 |
| p3p | 0:74f0ae286b03 | 33 | #define MPU9150_RA_MAG_ZOUT_L 0x07 |
| p3p | 0:74f0ae286b03 | 34 | #define MPU9150_RA_MAG_ZOUT_H 0x08 |
| p3p | 0:74f0ae286b03 | 35 | #define MPU9150_RA_MAG_CTRL 0x0A |
| p3p | 0:74f0ae286b03 | 36 | |
| p3p | 0:74f0ae286b03 | 37 | #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board |
| p3p | 0:74f0ae286b03 | 38 | #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) |
| p3p | 0:74f0ae286b03 | 39 | #define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW |
| p3p | 0:74f0ae286b03 | 40 | |
| p3p | 0:74f0ae286b03 | 41 | #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD |
| p3p | 0:74f0ae286b03 | 42 | #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD |
| p3p | 0:74f0ae286b03 | 43 | #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD |
| p3p | 0:74f0ae286b03 | 44 | #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN |
| p3p | 0:74f0ae286b03 | 45 | #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN |
| p3p | 0:74f0ae286b03 | 46 | #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN |
| p3p | 0:74f0ae286b03 | 47 | #define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS |
| p3p | 0:74f0ae286b03 | 48 | #define MPU6050_RA_XA_OFFS_L_TC 0x07 |
| p3p | 0:74f0ae286b03 | 49 | #define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS |
| p3p | 0:74f0ae286b03 | 50 | #define MPU6050_RA_YA_OFFS_L_TC 0x09 |
| p3p | 0:74f0ae286b03 | 51 | #define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS |
| p3p | 0:74f0ae286b03 | 52 | #define MPU6050_RA_ZA_OFFS_L_TC 0x0B |
| p3p | 0:74f0ae286b03 | 53 | #define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR |
| p3p | 0:74f0ae286b03 | 54 | #define MPU6050_RA_XG_OFFS_USRL 0x14 |
| p3p | 0:74f0ae286b03 | 55 | #define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR |
| p3p | 0:74f0ae286b03 | 56 | #define MPU6050_RA_YG_OFFS_USRL 0x16 |
| p3p | 0:74f0ae286b03 | 57 | #define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR |
| p3p | 0:74f0ae286b03 | 58 | #define MPU6050_RA_ZG_OFFS_USRL 0x18 |
| p3p | 0:74f0ae286b03 | 59 | #define MPU6050_RA_SMPLRT_DIV 0x19 |
| p3p | 0:74f0ae286b03 | 60 | #define MPU6050_RA_CONFIG 0x1A |
| p3p | 0:74f0ae286b03 | 61 | #define MPU6050_RA_GYRO_CONFIG 0x1B |
| p3p | 0:74f0ae286b03 | 62 | #define MPU6050_RA_ACCEL_CONFIG 0x1C |
| p3p | 0:74f0ae286b03 | 63 | #define MPU6050_RA_FF_THR 0x1D |
| p3p | 0:74f0ae286b03 | 64 | #define MPU6050_RA_FF_DUR 0x1E |
| p3p | 0:74f0ae286b03 | 65 | #define MPU6050_RA_MOT_THR 0x1F |
| p3p | 0:74f0ae286b03 | 66 | #define MPU6050_RA_MOT_DUR 0x20 |
| p3p | 0:74f0ae286b03 | 67 | #define MPU6050_RA_ZRMOT_THR 0x21 |
| p3p | 0:74f0ae286b03 | 68 | #define MPU6050_RA_ZRMOT_DUR 0x22 |
| p3p | 0:74f0ae286b03 | 69 | #define MPU6050_RA_FIFO_EN 0x23 |
| p3p | 0:74f0ae286b03 | 70 | #define MPU6050_RA_I2C_MST_CTRL 0x24 |
| p3p | 0:74f0ae286b03 | 71 | #define MPU6050_RA_I2C_SLV0_ADDR 0x25 |
| p3p | 0:74f0ae286b03 | 72 | #define MPU6050_RA_I2C_SLV0_REG 0x26 |
| p3p | 0:74f0ae286b03 | 73 | #define MPU6050_RA_I2C_SLV0_CTRL 0x27 |
| p3p | 0:74f0ae286b03 | 74 | #define MPU6050_RA_I2C_SLV1_ADDR 0x28 |
| p3p | 0:74f0ae286b03 | 75 | #define MPU6050_RA_I2C_SLV1_REG 0x29 |
| p3p | 0:74f0ae286b03 | 76 | #define MPU6050_RA_I2C_SLV1_CTRL 0x2A |
| p3p | 0:74f0ae286b03 | 77 | #define MPU6050_RA_I2C_SLV2_ADDR 0x2B |
| p3p | 0:74f0ae286b03 | 78 | #define MPU6050_RA_I2C_SLV2_REG 0x2C |
| p3p | 0:74f0ae286b03 | 79 | #define MPU6050_RA_I2C_SLV2_CTRL 0x2D |
| p3p | 0:74f0ae286b03 | 80 | #define MPU6050_RA_I2C_SLV3_ADDR 0x2E |
| p3p | 0:74f0ae286b03 | 81 | #define MPU6050_RA_I2C_SLV3_REG 0x2F |
| p3p | 0:74f0ae286b03 | 82 | #define MPU6050_RA_I2C_SLV3_CTRL 0x30 |
| p3p | 0:74f0ae286b03 | 83 | #define MPU6050_RA_I2C_SLV4_ADDR 0x31 |
| p3p | 0:74f0ae286b03 | 84 | #define MPU6050_RA_I2C_SLV4_REG 0x32 |
| p3p | 0:74f0ae286b03 | 85 | #define MPU6050_RA_I2C_SLV4_DO 0x33 |
| p3p | 0:74f0ae286b03 | 86 | #define MPU6050_RA_I2C_SLV4_CTRL 0x34 |
| p3p | 0:74f0ae286b03 | 87 | #define MPU6050_RA_I2C_SLV4_DI 0x35 |
| p3p | 0:74f0ae286b03 | 88 | #define MPU6050_RA_I2C_MST_STATUS 0x36 |
| p3p | 0:74f0ae286b03 | 89 | #define MPU6050_RA_INT_PIN_CFG 0x37 |
| p3p | 0:74f0ae286b03 | 90 | #define MPU6050_RA_INT_ENABLE 0x38 |
| p3p | 0:74f0ae286b03 | 91 | #define MPU6050_RA_DMP_INT_STATUS 0x39 |
| p3p | 0:74f0ae286b03 | 92 | #define MPU6050_RA_INT_STATUS 0x3A |
| p3p | 0:74f0ae286b03 | 93 | #define MPU6050_RA_ACCEL_XOUT_H 0x3B |
| p3p | 0:74f0ae286b03 | 94 | #define MPU6050_RA_ACCEL_XOUT_L 0x3C |
| p3p | 0:74f0ae286b03 | 95 | #define MPU6050_RA_ACCEL_YOUT_H 0x3D |
| p3p | 0:74f0ae286b03 | 96 | #define MPU6050_RA_ACCEL_YOUT_L 0x3E |
| p3p | 0:74f0ae286b03 | 97 | #define MPU6050_RA_ACCEL_ZOUT_H 0x3F |
| p3p | 0:74f0ae286b03 | 98 | #define MPU6050_RA_ACCEL_ZOUT_L 0x40 |
| p3p | 0:74f0ae286b03 | 99 | #define MPU6050_RA_TEMP_OUT_H 0x41 |
| p3p | 0:74f0ae286b03 | 100 | #define MPU6050_RA_TEMP_OUT_L 0x42 |
| p3p | 0:74f0ae286b03 | 101 | #define MPU6050_RA_GYRO_XOUT_H 0x43 |
| p3p | 0:74f0ae286b03 | 102 | #define MPU6050_RA_GYRO_XOUT_L 0x44 |
| p3p | 0:74f0ae286b03 | 103 | #define MPU6050_RA_GYRO_YOUT_H 0x45 |
| p3p | 0:74f0ae286b03 | 104 | #define MPU6050_RA_GYRO_YOUT_L 0x46 |
| p3p | 0:74f0ae286b03 | 105 | #define MPU6050_RA_GYRO_ZOUT_H 0x47 |
| p3p | 0:74f0ae286b03 | 106 | #define MPU6050_RA_GYRO_ZOUT_L 0x48 |
| p3p | 0:74f0ae286b03 | 107 | #define MPU6050_RA_EXT_SENS_DATA_00 0x49 |
| p3p | 0:74f0ae286b03 | 108 | #define MPU6050_RA_EXT_SENS_DATA_01 0x4A |
| p3p | 0:74f0ae286b03 | 109 | #define MPU6050_RA_EXT_SENS_DATA_02 0x4B |
| p3p | 0:74f0ae286b03 | 110 | #define MPU6050_RA_EXT_SENS_DATA_03 0x4C |
| p3p | 0:74f0ae286b03 | 111 | #define MPU6050_RA_EXT_SENS_DATA_04 0x4D |
| p3p | 0:74f0ae286b03 | 112 | #define MPU6050_RA_EXT_SENS_DATA_05 0x4E |
| p3p | 0:74f0ae286b03 | 113 | #define MPU6050_RA_EXT_SENS_DATA_06 0x4F |
| p3p | 0:74f0ae286b03 | 114 | #define MPU6050_RA_EXT_SENS_DATA_07 0x50 |
| p3p | 0:74f0ae286b03 | 115 | #define MPU6050_RA_EXT_SENS_DATA_08 0x51 |
| p3p | 0:74f0ae286b03 | 116 | #define MPU6050_RA_EXT_SENS_DATA_09 0x52 |
| p3p | 0:74f0ae286b03 | 117 | #define MPU6050_RA_EXT_SENS_DATA_10 0x53 |
| p3p | 0:74f0ae286b03 | 118 | #define MPU6050_RA_EXT_SENS_DATA_11 0x54 |
| p3p | 0:74f0ae286b03 | 119 | #define MPU6050_RA_EXT_SENS_DATA_12 0x55 |
| p3p | 0:74f0ae286b03 | 120 | #define MPU6050_RA_EXT_SENS_DATA_13 0x56 |
| p3p | 0:74f0ae286b03 | 121 | #define MPU6050_RA_EXT_SENS_DATA_14 0x57 |
| p3p | 0:74f0ae286b03 | 122 | #define MPU6050_RA_EXT_SENS_DATA_15 0x58 |
| p3p | 0:74f0ae286b03 | 123 | #define MPU6050_RA_EXT_SENS_DATA_16 0x59 |
| p3p | 0:74f0ae286b03 | 124 | #define MPU6050_RA_EXT_SENS_DATA_17 0x5A |
| p3p | 0:74f0ae286b03 | 125 | #define MPU6050_RA_EXT_SENS_DATA_18 0x5B |
| p3p | 0:74f0ae286b03 | 126 | #define MPU6050_RA_EXT_SENS_DATA_19 0x5C |
| p3p | 0:74f0ae286b03 | 127 | #define MPU6050_RA_EXT_SENS_DATA_20 0x5D |
| p3p | 0:74f0ae286b03 | 128 | #define MPU6050_RA_EXT_SENS_DATA_21 0x5E |
| p3p | 0:74f0ae286b03 | 129 | #define MPU6050_RA_EXT_SENS_DATA_22 0x5F |
| p3p | 0:74f0ae286b03 | 130 | #define MPU6050_RA_EXT_SENS_DATA_23 0x60 |
| p3p | 0:74f0ae286b03 | 131 | #define MPU6050_RA_MOT_DETECT_STATUS 0x61 |
| p3p | 0:74f0ae286b03 | 132 | #define MPU6050_RA_I2C_SLV0_DO 0x63 |
| p3p | 0:74f0ae286b03 | 133 | #define MPU6050_RA_I2C_SLV1_DO 0x64 |
| p3p | 0:74f0ae286b03 | 134 | #define MPU6050_RA_I2C_SLV2_DO 0x65 |
| p3p | 0:74f0ae286b03 | 135 | #define MPU6050_RA_I2C_SLV3_DO 0x66 |
| p3p | 0:74f0ae286b03 | 136 | #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 |
| p3p | 0:74f0ae286b03 | 137 | #define MPU6050_RA_SIGNAL_PATH_RESET 0x68 |
| p3p | 0:74f0ae286b03 | 138 | #define MPU6050_RA_MOT_DETECT_CTRL 0x69 |
| p3p | 0:74f0ae286b03 | 139 | #define MPU6050_RA_USER_CTRL 0x6A |
| p3p | 0:74f0ae286b03 | 140 | #define MPU6050_RA_PWR_MGMT_1 0x6B |
| p3p | 0:74f0ae286b03 | 141 | #define MPU6050_RA_PWR_MGMT_2 0x6C |
| p3p | 0:74f0ae286b03 | 142 | #define MPU6050_RA_BANK_SEL 0x6D |
| p3p | 0:74f0ae286b03 | 143 | #define MPU6050_RA_MEM_START_ADDR 0x6E |
| p3p | 0:74f0ae286b03 | 144 | #define MPU6050_RA_MEM_R_W 0x6F |
| p3p | 0:74f0ae286b03 | 145 | #define MPU6050_RA_DMP_CFG_1 0x70 |
| p3p | 0:74f0ae286b03 | 146 | #define MPU6050_RA_DMP_CFG_2 0x71 |
| p3p | 0:74f0ae286b03 | 147 | #define MPU6050_RA_FIFO_COUNTH 0x72 |
| p3p | 0:74f0ae286b03 | 148 | #define MPU6050_RA_FIFO_COUNTL 0x73 |
| p3p | 0:74f0ae286b03 | 149 | #define MPU6050_RA_FIFO_R_W 0x74 |
| p3p | 0:74f0ae286b03 | 150 | #define MPU6050_RA_WHO_AM_I 0x75 |
| p3p | 0:74f0ae286b03 | 151 | |
| p3p | 0:74f0ae286b03 | 152 | #define MPU6050_TC_PWR_MODE_BIT 7 |
| p3p | 0:74f0ae286b03 | 153 | #define MPU6050_TC_OFFSET_BIT 6 |
| p3p | 0:74f0ae286b03 | 154 | #define MPU6050_TC_OFFSET_LENGTH 6 |
| p3p | 0:74f0ae286b03 | 155 | #define MPU6050_TC_OTP_BNK_VLD_BIT 0 |
| p3p | 0:74f0ae286b03 | 156 | |
| p3p | 0:74f0ae286b03 | 157 | #define MPU6050_VDDIO_LEVEL_VLOGIC 0 |
| p3p | 0:74f0ae286b03 | 158 | #define MPU6050_VDDIO_LEVEL_VDD 1 |
| p3p | 0:74f0ae286b03 | 159 | |
| p3p | 0:74f0ae286b03 | 160 | #define MPU6050_CFG_EXT_SYNC_SET_BIT 5 |
| p3p | 0:74f0ae286b03 | 161 | #define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3 |
| p3p | 0:74f0ae286b03 | 162 | #define MPU6050_CFG_DLPF_CFG_BIT 2 |
| p3p | 0:74f0ae286b03 | 163 | #define MPU6050_CFG_DLPF_CFG_LENGTH 3 |
| p3p | 0:74f0ae286b03 | 164 | |
| p3p | 0:74f0ae286b03 | 165 | #define MPU6050_EXT_SYNC_DISABLED 0x0 |
| p3p | 0:74f0ae286b03 | 166 | #define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1 |
| p3p | 0:74f0ae286b03 | 167 | #define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2 |
| p3p | 0:74f0ae286b03 | 168 | #define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3 |
| p3p | 0:74f0ae286b03 | 169 | #define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4 |
| p3p | 0:74f0ae286b03 | 170 | #define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5 |
| p3p | 0:74f0ae286b03 | 171 | #define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6 |
| p3p | 0:74f0ae286b03 | 172 | #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7 |
| p3p | 0:74f0ae286b03 | 173 | |
| p3p | 0:74f0ae286b03 | 174 | #define MPU6050_DLPF_BW_256 0x00 |
| p3p | 0:74f0ae286b03 | 175 | #define MPU6050_DLPF_BW_188 0x01 |
| p3p | 0:74f0ae286b03 | 176 | #define MPU6050_DLPF_BW_98 0x02 |
| p3p | 0:74f0ae286b03 | 177 | #define MPU6050_DLPF_BW_42 0x03 |
| p3p | 0:74f0ae286b03 | 178 | #define MPU6050_DLPF_BW_20 0x04 |
| p3p | 0:74f0ae286b03 | 179 | #define MPU6050_DLPF_BW_10 0x05 |
| p3p | 0:74f0ae286b03 | 180 | #define MPU6050_DLPF_BW_5 0x06 |
| p3p | 0:74f0ae286b03 | 181 | |
| p3p | 0:74f0ae286b03 | 182 | #define MPU6050_GCONFIG_FS_SEL_BIT 4 |
| p3p | 0:74f0ae286b03 | 183 | #define MPU6050_GCONFIG_FS_SEL_LENGTH 2 |
| p3p | 0:74f0ae286b03 | 184 | |
| p3p | 0:74f0ae286b03 | 185 | #define MPU6050_GYRO_FS_250 0x00 |
| p3p | 0:74f0ae286b03 | 186 | #define MPU6050_GYRO_FS_500 0x01 |
| p3p | 0:74f0ae286b03 | 187 | #define MPU6050_GYRO_FS_1000 0x02 |
| p3p | 0:74f0ae286b03 | 188 | #define MPU6050_GYRO_FS_2000 0x03 |
| p3p | 0:74f0ae286b03 | 189 | |
| p3p | 0:74f0ae286b03 | 190 | #define MPU6050_ACONFIG_XA_ST_BIT 7 |
| p3p | 0:74f0ae286b03 | 191 | #define MPU6050_ACONFIG_YA_ST_BIT 6 |
| p3p | 0:74f0ae286b03 | 192 | #define MPU6050_ACONFIG_ZA_ST_BIT 5 |
| p3p | 0:74f0ae286b03 | 193 | #define MPU6050_ACONFIG_AFS_SEL_BIT 4 |
| p3p | 0:74f0ae286b03 | 194 | #define MPU6050_ACONFIG_AFS_SEL_LENGTH 2 |
| p3p | 0:74f0ae286b03 | 195 | #define MPU6050_ACONFIG_ACCEL_HPF_BIT 2 |
| p3p | 0:74f0ae286b03 | 196 | #define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3 |
| p3p | 0:74f0ae286b03 | 197 | |
| p3p | 0:74f0ae286b03 | 198 | #define MPU6050_ACCEL_FS_2 0x00 |
| p3p | 0:74f0ae286b03 | 199 | #define MPU6050_ACCEL_FS_4 0x01 |
| p3p | 0:74f0ae286b03 | 200 | #define MPU6050_ACCEL_FS_8 0x02 |
| p3p | 0:74f0ae286b03 | 201 | #define MPU6050_ACCEL_FS_16 0x03 |
| p3p | 0:74f0ae286b03 | 202 | |
| p3p | 0:74f0ae286b03 | 203 | #define MPU6050_DHPF_RESET 0x00 |
| p3p | 0:74f0ae286b03 | 204 | #define MPU6050_DHPF_5 0x01 |
| p3p | 0:74f0ae286b03 | 205 | #define MPU6050_DHPF_2P5 0x02 |
| p3p | 0:74f0ae286b03 | 206 | #define MPU6050_DHPF_1P25 0x03 |
| p3p | 0:74f0ae286b03 | 207 | #define MPU6050_DHPF_0P63 0x04 |
| p3p | 0:74f0ae286b03 | 208 | #define MPU6050_DHPF_HOLD 0x07 |
| p3p | 0:74f0ae286b03 | 209 | |
| p3p | 0:74f0ae286b03 | 210 | #define MPU6050_TEMP_FIFO_EN_BIT 7 |
| p3p | 0:74f0ae286b03 | 211 | #define MPU6050_XG_FIFO_EN_BIT 6 |
| p3p | 0:74f0ae286b03 | 212 | #define MPU6050_YG_FIFO_EN_BIT 5 |
| p3p | 0:74f0ae286b03 | 213 | #define MPU6050_ZG_FIFO_EN_BIT 4 |
| p3p | 0:74f0ae286b03 | 214 | #define MPU6050_ACCEL_FIFO_EN_BIT 3 |
| p3p | 0:74f0ae286b03 | 215 | #define MPU6050_SLV2_FIFO_EN_BIT 2 |
| p3p | 0:74f0ae286b03 | 216 | #define MPU6050_SLV1_FIFO_EN_BIT 1 |
| p3p | 0:74f0ae286b03 | 217 | #define MPU6050_SLV0_FIFO_EN_BIT 0 |
| p3p | 0:74f0ae286b03 | 218 | |
| p3p | 0:74f0ae286b03 | 219 | #define MPU6050_MULT_MST_EN_BIT 7 |
| p3p | 0:74f0ae286b03 | 220 | #define MPU6050_WAIT_FOR_ES_BIT 6 |
| p3p | 0:74f0ae286b03 | 221 | #define MPU6050_SLV_3_FIFO_EN_BIT 5 |
| p3p | 0:74f0ae286b03 | 222 | #define MPU6050_I2C_MST_P_NSR_BIT 4 |
| p3p | 0:74f0ae286b03 | 223 | #define MPU6050_I2C_MST_CLK_BIT 3 |
| p3p | 0:74f0ae286b03 | 224 | #define MPU6050_I2C_MST_CLK_LENGTH 4 |
| p3p | 0:74f0ae286b03 | 225 | |
| p3p | 0:74f0ae286b03 | 226 | #define MPU6050_CLOCK_DIV_348 0x0 |
| p3p | 0:74f0ae286b03 | 227 | #define MPU6050_CLOCK_DIV_333 0x1 |
| p3p | 0:74f0ae286b03 | 228 | #define MPU6050_CLOCK_DIV_320 0x2 |
| p3p | 0:74f0ae286b03 | 229 | #define MPU6050_CLOCK_DIV_308 0x3 |
| p3p | 0:74f0ae286b03 | 230 | #define MPU6050_CLOCK_DIV_296 0x4 |
| p3p | 0:74f0ae286b03 | 231 | #define MPU6050_CLOCK_DIV_286 0x5 |
| p3p | 0:74f0ae286b03 | 232 | #define MPU6050_CLOCK_DIV_276 0x6 |
| p3p | 0:74f0ae286b03 | 233 | #define MPU6050_CLOCK_DIV_267 0x7 |
| p3p | 0:74f0ae286b03 | 234 | #define MPU6050_CLOCK_DIV_258 0x8 |
| p3p | 0:74f0ae286b03 | 235 | #define MPU6050_CLOCK_DIV_500 0x9 |
| p3p | 0:74f0ae286b03 | 236 | #define MPU6050_CLOCK_DIV_471 0xA |
| p3p | 0:74f0ae286b03 | 237 | #define MPU6050_CLOCK_DIV_444 0xB |
| p3p | 0:74f0ae286b03 | 238 | #define MPU6050_CLOCK_DIV_421 0xC |
| p3p | 0:74f0ae286b03 | 239 | #define MPU6050_CLOCK_DIV_400 0xD |
| p3p | 0:74f0ae286b03 | 240 | #define MPU6050_CLOCK_DIV_381 0xE |
| p3p | 0:74f0ae286b03 | 241 | #define MPU6050_CLOCK_DIV_364 0xF |
| p3p | 0:74f0ae286b03 | 242 | |
| p3p | 0:74f0ae286b03 | 243 | #define MPU6050_I2C_SLV_RW_BIT 7 |
| p3p | 0:74f0ae286b03 | 244 | #define MPU6050_I2C_SLV_ADDR_BIT 6 |
| p3p | 0:74f0ae286b03 | 245 | #define MPU6050_I2C_SLV_ADDR_LENGTH 7 |
| p3p | 0:74f0ae286b03 | 246 | #define MPU6050_I2C_SLV_EN_BIT 7 |
| p3p | 0:74f0ae286b03 | 247 | #define MPU6050_I2C_SLV_BYTE_SW_BIT 6 |
| p3p | 0:74f0ae286b03 | 248 | #define MPU6050_I2C_SLV_REG_DIS_BIT 5 |
| p3p | 0:74f0ae286b03 | 249 | #define MPU6050_I2C_SLV_GRP_BIT 4 |
| p3p | 0:74f0ae286b03 | 250 | #define MPU6050_I2C_SLV_LEN_BIT 3 |
| p3p | 0:74f0ae286b03 | 251 | #define MPU6050_I2C_SLV_LEN_LENGTH 4 |
| p3p | 0:74f0ae286b03 | 252 | |
| p3p | 0:74f0ae286b03 | 253 | #define MPU6050_I2C_SLV4_RW_BIT 7 |
| p3p | 0:74f0ae286b03 | 254 | #define MPU6050_I2C_SLV4_ADDR_BIT 6 |
| p3p | 0:74f0ae286b03 | 255 | #define MPU6050_I2C_SLV4_ADDR_LENGTH 7 |
| p3p | 0:74f0ae286b03 | 256 | #define MPU6050_I2C_SLV4_EN_BIT 7 |
| p3p | 0:74f0ae286b03 | 257 | #define MPU6050_I2C_SLV4_INT_EN_BIT 6 |
| p3p | 0:74f0ae286b03 | 258 | #define MPU6050_I2C_SLV4_REG_DIS_BIT 5 |
| p3p | 0:74f0ae286b03 | 259 | #define MPU6050_I2C_SLV4_MST_DLY_BIT 4 |
| p3p | 0:74f0ae286b03 | 260 | #define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5 |
| p3p | 0:74f0ae286b03 | 261 | |
| p3p | 0:74f0ae286b03 | 262 | #define MPU6050_MST_PASS_THROUGH_BIT 7 |
| p3p | 0:74f0ae286b03 | 263 | #define MPU6050_MST_I2C_SLV4_DONE_BIT 6 |
| p3p | 0:74f0ae286b03 | 264 | #define MPU6050_MST_I2C_LOST_ARB_BIT 5 |
| p3p | 0:74f0ae286b03 | 265 | #define MPU6050_MST_I2C_SLV4_NACK_BIT 4 |
| p3p | 0:74f0ae286b03 | 266 | #define MPU6050_MST_I2C_SLV3_NACK_BIT 3 |
| p3p | 0:74f0ae286b03 | 267 | #define MPU6050_MST_I2C_SLV2_NACK_BIT 2 |
| p3p | 0:74f0ae286b03 | 268 | #define MPU6050_MST_I2C_SLV1_NACK_BIT 1 |
| p3p | 0:74f0ae286b03 | 269 | #define MPU6050_MST_I2C_SLV0_NACK_BIT 0 |
| p3p | 0:74f0ae286b03 | 270 | |
| p3p | 0:74f0ae286b03 | 271 | #define MPU6050_INTCFG_INT_LEVEL_BIT 7 |
| p3p | 0:74f0ae286b03 | 272 | #define MPU6050_INTCFG_INT_OPEN_BIT 6 |
| p3p | 0:74f0ae286b03 | 273 | #define MPU6050_INTCFG_LATCH_INT_EN_BIT 5 |
| p3p | 0:74f0ae286b03 | 274 | #define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4 |
| p3p | 0:74f0ae286b03 | 275 | #define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3 |
| p3p | 0:74f0ae286b03 | 276 | #define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2 |
| p3p | 0:74f0ae286b03 | 277 | #define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1 |
| p3p | 0:74f0ae286b03 | 278 | #define MPU6050_INTCFG_CLKOUT_EN_BIT 0 |
| p3p | 0:74f0ae286b03 | 279 | |
| p3p | 0:74f0ae286b03 | 280 | #define MPU6050_INTMODE_ACTIVEHIGH 0x00 |
| p3p | 0:74f0ae286b03 | 281 | #define MPU6050_INTMODE_ACTIVELOW 0x01 |
| p3p | 0:74f0ae286b03 | 282 | |
| p3p | 0:74f0ae286b03 | 283 | #define MPU6050_INTDRV_PUSHPULL 0x00 |
| p3p | 0:74f0ae286b03 | 284 | #define MPU6050_INTDRV_OPENDRAIN 0x01 |
| p3p | 0:74f0ae286b03 | 285 | |
| p3p | 0:74f0ae286b03 | 286 | #define MPU6050_INTLATCH_50USPULSE 0x00 |
| p3p | 0:74f0ae286b03 | 287 | #define MPU6050_INTLATCH_WAITCLEAR 0x01 |
| p3p | 0:74f0ae286b03 | 288 | |
| p3p | 0:74f0ae286b03 | 289 | #define MPU6050_INTCLEAR_STATUSREAD 0x00 |
| p3p | 0:74f0ae286b03 | 290 | #define MPU6050_INTCLEAR_ANYREAD 0x01 |
| p3p | 0:74f0ae286b03 | 291 | |
| p3p | 0:74f0ae286b03 | 292 | #define MPU6050_INTERRUPT_FF_BIT 7 |
| p3p | 0:74f0ae286b03 | 293 | #define MPU6050_INTERRUPT_MOT_BIT 6 |
| p3p | 0:74f0ae286b03 | 294 | #define MPU6050_INTERRUPT_ZMOT_BIT 5 |
| p3p | 0:74f0ae286b03 | 295 | #define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4 |
| p3p | 0:74f0ae286b03 | 296 | #define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3 |
| p3p | 0:74f0ae286b03 | 297 | #define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2 |
| p3p | 0:74f0ae286b03 | 298 | #define MPU6050_INTERRUPT_DMP_INT_BIT 1 |
| p3p | 0:74f0ae286b03 | 299 | #define MPU6050_INTERRUPT_DATA_RDY_BIT 0 |
| p3p | 0:74f0ae286b03 | 300 | |
| p3p | 0:74f0ae286b03 | 301 | // TODO: figure out what these actually do |
| p3p | 0:74f0ae286b03 | 302 | // UMPL source code is not very obivous |
| p3p | 0:74f0ae286b03 | 303 | #define MPU6050_DMPINT_5_BIT 5 |
| p3p | 0:74f0ae286b03 | 304 | #define MPU6050_DMPINT_4_BIT 4 |
| p3p | 0:74f0ae286b03 | 305 | #define MPU6050_DMPINT_3_BIT 3 |
| p3p | 0:74f0ae286b03 | 306 | #define MPU6050_DMPINT_2_BIT 2 |
| p3p | 0:74f0ae286b03 | 307 | #define MPU6050_DMPINT_1_BIT 1 |
| p3p | 0:74f0ae286b03 | 308 | #define MPU6050_DMPINT_0_BIT 0 |
| p3p | 0:74f0ae286b03 | 309 | |
| p3p | 0:74f0ae286b03 | 310 | #define MPU6050_MOTION_MOT_XNEG_BIT 7 |
| p3p | 0:74f0ae286b03 | 311 | #define MPU6050_MOTION_MOT_XPOS_BIT 6 |
| p3p | 0:74f0ae286b03 | 312 | #define MPU6050_MOTION_MOT_YNEG_BIT 5 |
| p3p | 0:74f0ae286b03 | 313 | #define MPU6050_MOTION_MOT_YPOS_BIT 4 |
| p3p | 0:74f0ae286b03 | 314 | #define MPU6050_MOTION_MOT_ZNEG_BIT 3 |
| p3p | 0:74f0ae286b03 | 315 | #define MPU6050_MOTION_MOT_ZPOS_BIT 2 |
| p3p | 0:74f0ae286b03 | 316 | #define MPU6050_MOTION_MOT_ZRMOT_BIT 0 |
| p3p | 0:74f0ae286b03 | 317 | |
| p3p | 0:74f0ae286b03 | 318 | #define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7 |
| p3p | 0:74f0ae286b03 | 319 | #define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4 |
| p3p | 0:74f0ae286b03 | 320 | #define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3 |
| p3p | 0:74f0ae286b03 | 321 | #define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2 |
| p3p | 0:74f0ae286b03 | 322 | #define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1 |
| p3p | 0:74f0ae286b03 | 323 | #define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0 |
| p3p | 0:74f0ae286b03 | 324 | |
| p3p | 0:74f0ae286b03 | 325 | #define MPU6050_PATHRESET_GYRO_RESET_BIT 2 |
| p3p | 0:74f0ae286b03 | 326 | #define MPU6050_PATHRESET_ACCEL_RESET_BIT 1 |
| p3p | 0:74f0ae286b03 | 327 | #define MPU6050_PATHRESET_TEMP_RESET_BIT 0 |
| p3p | 0:74f0ae286b03 | 328 | |
| p3p | 0:74f0ae286b03 | 329 | #define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5 |
| p3p | 0:74f0ae286b03 | 330 | #define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2 |
| p3p | 0:74f0ae286b03 | 331 | #define MPU6050_DETECT_FF_COUNT_BIT 3 |
| p3p | 0:74f0ae286b03 | 332 | #define MPU6050_DETECT_FF_COUNT_LENGTH 2 |
| p3p | 0:74f0ae286b03 | 333 | #define MPU6050_DETECT_MOT_COUNT_BIT 1 |
| p3p | 0:74f0ae286b03 | 334 | #define MPU6050_DETECT_MOT_COUNT_LENGTH 2 |
| p3p | 0:74f0ae286b03 | 335 | |
| p3p | 0:74f0ae286b03 | 336 | #define MPU6050_DETECT_DECREMENT_RESET 0x0 |
| p3p | 0:74f0ae286b03 | 337 | #define MPU6050_DETECT_DECREMENT_1 0x1 |
| p3p | 0:74f0ae286b03 | 338 | #define MPU6050_DETECT_DECREMENT_2 0x2 |
| p3p | 0:74f0ae286b03 | 339 | #define MPU6050_DETECT_DECREMENT_4 0x3 |
| p3p | 0:74f0ae286b03 | 340 | |
| p3p | 0:74f0ae286b03 | 341 | #define MPU6050_USERCTRL_DMP_EN_BIT 7 |
| p3p | 0:74f0ae286b03 | 342 | #define MPU6050_USERCTRL_FIFO_EN_BIT 6 |
| p3p | 0:74f0ae286b03 | 343 | #define MPU6050_USERCTRL_I2C_MST_EN_BIT 5 |
| p3p | 0:74f0ae286b03 | 344 | #define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4 |
| p3p | 0:74f0ae286b03 | 345 | #define MPU6050_USERCTRL_DMP_RESET_BIT 3 |
| p3p | 0:74f0ae286b03 | 346 | #define MPU6050_USERCTRL_FIFO_RESET_BIT 2 |
| p3p | 0:74f0ae286b03 | 347 | #define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1 |
| p3p | 0:74f0ae286b03 | 348 | #define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0 |
| p3p | 0:74f0ae286b03 | 349 | |
| p3p | 0:74f0ae286b03 | 350 | #define MPU6050_PWR1_DEVICE_RESET_BIT 7 |
| p3p | 0:74f0ae286b03 | 351 | #define MPU6050_PWR1_SLEEP_BIT 6 |
| p3p | 0:74f0ae286b03 | 352 | #define MPU6050_PWR1_CYCLE_BIT 5 |
| p3p | 0:74f0ae286b03 | 353 | #define MPU6050_PWR1_TEMP_DIS_BIT 3 |
| p3p | 0:74f0ae286b03 | 354 | #define MPU6050_PWR1_CLKSEL_BIT 2 |
| p3p | 0:74f0ae286b03 | 355 | #define MPU6050_PWR1_CLKSEL_LENGTH 3 |
| p3p | 0:74f0ae286b03 | 356 | |
| p3p | 0:74f0ae286b03 | 357 | #define MPU6050_CLOCK_INTERNAL 0x00 |
| p3p | 0:74f0ae286b03 | 358 | #define MPU6050_CLOCK_PLL_XGYRO 0x01 |
| p3p | 0:74f0ae286b03 | 359 | #define MPU6050_CLOCK_PLL_YGYRO 0x02 |
| p3p | 0:74f0ae286b03 | 360 | #define MPU6050_CLOCK_PLL_ZGYRO 0x03 |
| p3p | 0:74f0ae286b03 | 361 | #define MPU6050_CLOCK_PLL_EXT32K 0x04 |
| p3p | 0:74f0ae286b03 | 362 | #define MPU6050_CLOCK_PLL_EXT19M 0x05 |
| p3p | 0:74f0ae286b03 | 363 | #define MPU6050_CLOCK_KEEP_RESET 0x07 |
| p3p | 0:74f0ae286b03 | 364 | |
| p3p | 0:74f0ae286b03 | 365 | #define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7 |
| p3p | 0:74f0ae286b03 | 366 | #define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2 |
| p3p | 0:74f0ae286b03 | 367 | #define MPU6050_PWR2_STBY_XA_BIT 5 |
| p3p | 0:74f0ae286b03 | 368 | #define MPU6050_PWR2_STBY_YA_BIT 4 |
| p3p | 0:74f0ae286b03 | 369 | #define MPU6050_PWR2_STBY_ZA_BIT 3 |
| p3p | 0:74f0ae286b03 | 370 | #define MPU6050_PWR2_STBY_XG_BIT 2 |
| p3p | 0:74f0ae286b03 | 371 | #define MPU6050_PWR2_STBY_YG_BIT 1 |
| p3p | 0:74f0ae286b03 | 372 | #define MPU6050_PWR2_STBY_ZG_BIT 0 |
| p3p | 0:74f0ae286b03 | 373 | |
| p3p | 0:74f0ae286b03 | 374 | #define MPU6050_WAKE_FREQ_1P25 0x0 |
| p3p | 0:74f0ae286b03 | 375 | #define MPU6050_WAKE_FREQ_2P5 0x1 |
| p3p | 0:74f0ae286b03 | 376 | #define MPU6050_WAKE_FREQ_5 0x2 |
| p3p | 0:74f0ae286b03 | 377 | #define MPU6050_WAKE_FREQ_10 0x3 |
| p3p | 0:74f0ae286b03 | 378 | |
| p3p | 0:74f0ae286b03 | 379 | #define MPU6050_BANKSEL_PRFTCH_EN_BIT 6 |
| p3p | 0:74f0ae286b03 | 380 | #define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5 |
| p3p | 0:74f0ae286b03 | 381 | #define MPU6050_BANKSEL_MEM_SEL_BIT 4 |
| p3p | 0:74f0ae286b03 | 382 | #define MPU6050_BANKSEL_MEM_SEL_LENGTH 5 |
| p3p | 0:74f0ae286b03 | 383 | |
| p3p | 0:74f0ae286b03 | 384 | #define MPU6050_WHO_AM_I_BIT 6 |
| p3p | 0:74f0ae286b03 | 385 | #define MPU6050_WHO_AM_I_LENGTH 6 |
| p3p | 0:74f0ae286b03 | 386 | |
| p3p | 0:74f0ae286b03 | 387 | #define MPU6050_DMP_MEMORY_BANKS 8 |
| p3p | 0:74f0ae286b03 | 388 | #define MPU6050_DMP_MEMORY_BANK_SIZE 256 |
| p3p | 0:74f0ae286b03 | 389 | #define MPU6050_DMP_MEMORY_CHUNK_SIZE 16 |