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#ifndef MPU6050_H
#define MPU6050_H
#include <linux/ioctl.h>
#define MPU6050_I2C_SLAVE_ADDR 0xD0
/* MPU6050 Register Map (Please refer to MPU6050 Specifications) */
#define MPU6050_REG_DEVID 0x75
#define MPU6050_REG_BW_RATE 0x1A
#define MPU6050_REG_POWER_CTL 0x6B
#define MPU6050_REG_POWER_CTL2 0x6C
#define MPU6050_REG_INT_ENABLE 0x38
#define MPU6050_REG_DATA_FORMAT 0x1C
#define MPU6050_REG_DATAX0 0x3B
#define MPU6050_REG_DATAY0 0x3D
#define MPU6050_REG_DATAZ0 0x3F
#define MPU6050_REG_RESET 0x68
/* register Value */
#define MPU6050_FIXED_DEVID 0x68 // or 0x69
// delay(ms)
#define MPU6050_BW_260HZ 0x00 //0
#define MPU6050_BW_184HZ 0x01 //2.0
#define MPU6050_BW_94HZ 0x02 //3.0
#define MPU6050_BW_44HZ 0x03 //4.9
#define MPU6050_BW_21HZ 0x04 //8.5
#define MPU6050_BW_10HZ 0x05 //13.8
#define MPU6050_BW_5HZ 0x06 //19.0
#define MPU6050_DEV_RESET 0x80
//#define MPU6050_FULL_RES 0x08
#define MPU6050_RANGE_2G (0x00 << 3)
#define MPU6050_RANGE_4G (0x01 << 3)
#define MPU6050_RANGE_8G (0x02 << 3)
#define MPU6050_RANGE_16G (0x03 << 3)
//#define MPU6050_SELF_TEST 0x80
#define MPU6050_SLEEP 0x40 //enable low power sleep mode
// below do not modify
#define MPU6050_SUCCESS 0
#define MPU6050_ERR_I2C -1
#define MPU6050_ERR_STATUS -3
#define MPU6050_ERR_SETUP_FAILURE -4
#define MPU6050_ERR_GETGSENSORDATA -5
#define MPU6050_ERR_IDENTIFICATION -6
#define MPU6050_BUFSIZE 256
#endif
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