Library to talk with MPU6050 IMUs
Fork of MPU6050 by
Diff: MPU6050.h
- Revision:
- 4:ffdb79b00e32
- Parent:
- 3:16cb051b0702
--- a/MPU6050.h Sun Dec 01 06:20:11 2013 +0000 +++ b/MPU6050.h Fri Apr 15 11:30:36 2016 +0000 @@ -26,28 +26,132 @@ /** * Registers */ - #define MPU6050_CONFIG_REG 0x1A - #define MPU6050_GYRO_CONFIG_REG 0x1B - #define MPU6050_ACCELERO_CONFIG_REG 0x1C - - #define MPU6050_INT_PIN_CFG 0x37 - #define MPU6050_ACCEL_XOUT_H_REG 0x3B - #define MPU6050_ACCEL_YOUT_H_REG 0x3D - #define MPU6050_ACCEL_ZOUT_H_REG 0x3F - - #define MPU6050_TEMP_H_REG 0x41 - - #define MPU6050_GYRO_XOUT_H_REG 0x43 - #define MPU6050_GYRO_YOUT_H_REG 0x45 - #define MPU6050_GYRO_ZOUT_H_REG 0x47 - - - - #define MPU6050_PWR_MGMT_1_REG 0x6B - #define MPU6050_WHO_AM_I_REG 0x75 - - +#define MPU6050_XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD +#define MPU6050_YGOFFS_TC 0x01 +#define MPU6050_ZGOFFS_TC 0x02 +#define MPU6050_X_FINE_GAIN 0x03 // [7:0] fine gain +#define MPU6050_Y_FINE_GAIN 0x04 +#define MPU6050_Z_FINE_GAIN 0x05 +#define MPU6050_XA_OFFSET_H 0x06 // User-defined trim values for accelerometer +#define MPU6050_XA_OFFSET_L_TC 0x07 +#define MPU6050_YA_OFFSET_H 0x08 +#define MPU6050_YA_OFFSET_L_TC 0x09 +#define MPU6050_ZA_OFFSET_H 0x0A +#define MPU6050_ZA_OFFSET_L_TC 0x0B +#define MPU6050_SELF_TEST_X 0x0D +#define MPU6050_SELF_TEST_Y 0x0E +#define MPU6050_SELF_TEST_Z 0x0F +#define MPU6050_SELF_TEST_A 0x10 +#define MPU6050_XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050? +#define MPU6050_XG_OFFS_USRL 0x14 +#define MPU6050_YG_OFFS_USRH 0x15 +#define MPU6050_YG_OFFS_USRL 0x16 +#define MPU6050_ZG_OFFS_USRH 0x17 +#define MPU6050_ZG_OFFS_USRL 0x18 +#define MPU6050_SMPLRT_DIV 0x19 +#define MPU6050_CONFIG 0x1A + +// Filter bandwidth of accelerometer setting +#define MPU6050_EXT_FSYNC_TEMP 0x08 +#define MPU6050_DLPF_CFG_260 0x00 +#define MPU6050_DLPF_CFG_184 0x01 +#define MPU6050_DLPF_CFG_94 0x02 +#define MPU6050_DLPF_CFG_44 0x03 +#define MPU6050_DLPF_CFG_21 0x04 +#define MPU6050_DLPF_CFG_10 0x05 +#define MPU6050_DLPF_CFG_5 0x06 + +#define MPU6050_GYRO_CONFIG 0x1B +#define MPU6050_ACCEL_CONFIG 0x1C +#define MPU6050_FF_THR 0x1D // Free-fall +#define MPU6050_FF_DUR 0x1E // Free-fall +#define MPU6050_MOT_THR 0x1F // Motion detection threshold bits [7:0] +#define MPU6050_MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms +#define MPU6050_ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] +#define MPU6050_ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms +#define MPU6050_FIFO_EN 0x23 +#define MPU6050_I2C_MST_CTRL 0x24 +#define MPU6050_I2C_SLV0_ADDR 0x25 +#define MPU6050_I2C_SLV0_REG 0x26 +#define MPU6050_I2C_SLV0_CTRL 0x27 +#define MPU6050_I2C_SLV1_ADDR 0x28 +#define MPU6050_I2C_SLV1_REG 0x29 +#define MPU6050_I2C_SLV1_CTRL 0x2A +#define MPU6050_I2C_SLV2_ADDR 0x2B +#define MPU6050_I2C_SLV2_REG 0x2C +#define MPU6050_I2C_SLV2_CTRL 0x2D +#define MPU6050_I2C_SLV3_ADDR 0x2E +#define MPU6050_I2C_SLV3_REG 0x2F +#define MPU6050_I2C_SLV3_CTRL 0x30 +#define MPU6050_I2C_SLV4_ADDR 0x31 +#define MPU6050_I2C_SLV4_REG 0x32 +#define MPU6050_I2C_SLV4_DO 0x33 +#define MPU6050_I2C_SLV4_CTRL 0x34 +#define MPU6050_I2C_SLV4_DI 0x35 +#define MPU6050_I2C_MST_STATUS 0x36 +#define MPU6050_INT_PIN_CFG 0x37 +#define MPU6050_INT_ENABLE 0x38 +#define MPU6050_DMP_INT_STATUS 0x39 // Check DMP interrupt +#define MPU6050_INT_STATUS 0x3A +#define MPU6050_ACCEL_XOUT_H 0x3B +#define MPU6050_ACCEL_XOUT_L 0x3C +#define MPU6050_ACCEL_YOUT_H 0x3D +#define MPU6050_ACCEL_YOUT_L 0x3E +#define MPU6050_ACCEL_ZOUT_H 0x3F +#define MPU6050_ACCEL_ZOUT_L 0x40 +#define MPU6050_TEMP_OUT_H 0x41 +#define MPU6050_TEMP_OUT_L 0x42 +#define MPU6050_GYRO_XOUT_H 0x43 +#define MPU6050_GYRO_XOUT_L 0x44 +#define MPU6050_GYRO_YOUT_H 0x45 +#define MPU6050_GYRO_YOUT_L 0x46 +#define MPU6050_GYRO_ZOUT_H 0x47 +#define MPU6050_GYRO_ZOUT_L 0x48 +#define MPU6050_EXT_SENS_DATA_00 0x49 +#define MPU6050_EXT_SENS_DATA_01 0x4A +#define MPU6050_EXT_SENS_DATA_02 0x4B +#define MPU6050_EXT_SENS_DATA_03 0x4C +#define MPU6050_EXT_SENS_DATA_04 0x4D +#define MPU6050_EXT_SENS_DATA_05 0x4E +#define MPU6050_EXT_SENS_DATA_06 0x4F +#define MPU6050_EXT_SENS_DATA_07 0x50 +#define MPU6050_EXT_SENS_DATA_08 0x51 +#define MPU6050_EXT_SENS_DATA_09 0x52 +#define MPU6050_EXT_SENS_DATA_10 0x53 +#define MPU6050_EXT_SENS_DATA_11 0x54 +#define MPU6050_EXT_SENS_DATA_12 0x55 +#define MPU6050_EXT_SENS_DATA_13 0x56 +#define MPU6050_EXT_SENS_DATA_14 0x57 +#define MPU6050_EXT_SENS_DATA_15 0x58 +#define MPU6050_EXT_SENS_DATA_16 0x59 +#define MPU6050_EXT_SENS_DATA_17 0x5A +#define MPU6050_EXT_SENS_DATA_18 0x5B +#define MPU6050_EXT_SENS_DATA_19 0x5C +#define MPU6050_EXT_SENS_DATA_20 0x5D +#define MPU6050_EXT_SENS_DATA_21 0x5E +#define MPU6050_EXT_SENS_DATA_22 0x5F +#define MPU6050_EXT_SENS_DATA_23 0x60 +#define MPU6050_MOT_DETECT_STATUS 0x61 +#define MPU6050_I2C_SLV0_DO 0x63 +#define MPU6050_I2C_SLV1_DO 0x64 +#define MPU6050_I2C_SLV2_DO 0x65 +#define MPU6050_I2C_SLV3_DO 0x66 +#define MPU6050_I2C_MST_DELAY_CTRL 0x67 +#define MPU6050_SIGNAL_PATH_RESET 0x68 +#define MPU6050_MOT_DETECT_CTRL 0x69 +#define MPU6050_USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP +#define MPU6050_PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode +#define MPU6050_PWR_MGMT_2 0x6C +#define MPU6050_DMP_BANK 0x6D // Activates a specific bank in the DMP +#define MPU6050_DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank +#define MPU6050_DMP_REG 0x6F // Register in DMP from which to read or to which to write +#define MPU6050_DMP_REG_1 0x70 +#define MPU6050_DMP_REG_2 0x71 +#define MPU6050_FIFO_COUNTH 0x72 +#define MPU6050_FIFO_COUNTL 0x73 +#define MPU6050_FIFO_R_W 0x74 +#define MPU6050_WHO_AM_I 0x75 // Should return 0x68 /** * Definitions @@ -127,6 +231,10 @@ */ void setAcceleroRange(char range); + + void setAcceleroFilter(char bandwidth); + + /** * Reads the accelero x-axis. *