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/* mpu6050c.h
*
* (C) Copyright 2008
* MediaTek <www.mediatek.com>
*
* mpu300 head file for MT65xx
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef MPU6050C_H
#define MPU6050C_H
#include <linux/ioctl.h>
#define MPU6050C_I2C_SLAVE_ADDR 0xD0
#define MPU6050C_FIXED_DEVID 0xD0
/* MPU6050C Register Map (Please refer to MPU6050C Specifications) */
#define MPU6050C_REG_SELFTEST_X 0x0D
#define MPU6050C_REG_SELFTEST_Y 0x0E
#define MPU6050C_REG_SELFTEST_Z 0x0F
#define MPU6050C_REG_SELFTEST_XYZ 0x10
#define MPU6050C_REG_DATA_SMPRT_DIV 0x19
#define MPU6050C_REG_DATA_CONFIG 0x1A
#define MPU6050C_REG_GYRO_CONFIG 0x1B
#define MPU6050C_REG_ACC_CONFIG 0x1C
#define MPU6050C_REG_INT_CONFIG 0x37
#define MPU6050C_REG_INT_ENABLE 0x38
#define MPU6050C_REG_INT_STATUS 0x3A
#define MPU6050C_REG_ACCEL_XOUT_H 0x3b
#define MPU6050C_REG_ACCEL_XOUT_L 0x3c
#define MPU6050C_REG_ACCEL_YOUT_H 0x3d
#define MPU6050C_REG_ACCEL_YOUT_L 0x3e
#define MPU6050C_REG_ACCEL_ZOUT_H 0x3f
#define MPU6050C_REG_ACCEL_ZOUT_L 0x40
#define MPU6050C_REG_TEMP_OUT_H 0x41
#define MPU6050C_REG_TEMP_OUT_L 0x42
#define MPU6050C_REG_GYRO_XOUT_H 0x43
#define MPU6050C_REG_GYRO_XOUT_L 0x44
#define MPU6050C_REG_GYRO_YOUT_H 0x45
#define MPU6050C_REG_GYRO_YOUT_L 0x46
#define MPU6050C_REG_GYRO_ZOUT_H 0x47
#define MPU6050C_REG_GYRO_ZOUT_L 0x48
#define MPU6050C_REG_PWR_MGMT_1 0x6B
#define MPU6050C_REG_PWR_MGMT_2 0x6C
#define MPU6050C_REG_DEVICE_ID 0x75
/*MPU6050C Register Bit definitions*/
#define MPU6050C_FS_RANGE 0x03 //set the full-scale range of the gyro sensors
#define MPU6050C_FS_250 0x00
#define MPU6050C_FS_500 0x01
#define MPU6050C_FS_1000 0x02
#define MPU6050C_FS_2000 0x03
#define MPU6050C_FS_MAX 0x03
#define MPU6050C_FS_250_LSB 131 // LSB/(o/s)
#define MPU6050C_FS_500_LSB 66
#define MPU6050C_FS_1000_LSB 33
#define MPU6050C_FS_2000_LSB 16
#define MPU6050C_FS_MAX_LSB 131
#define MPU6050C_SAM_RATE_MASK 0x07 //set sample rate and low padd filter configuration
#define MPU6050C_RATE_8K_LPFB_256HZ 0x00
#define MPU6050C_RATE_1K_LPFB_188HZ 0x01
#define MPU6050C_RATE_1K_LPFB_98HZ 0x02
#define MPU6050C_RATE_1K_LPFB_42HZ 0x03
#define MPU6050C_RATE_1K_LPFB_20HZ 0x04
#define MPU6050C_RATE_1K_LPFB_10HZ 0x05
#define MPU6050C_RATE_1K_LPFB_5HZ 0x06
#define MPU6050C_GYRO_RNG_250 0x0
#define MPU6050C_GYRO_RNG_500 0x1
#define MPU6050C_GYRO_RNG_1000 0x2
#define MPU6050C_GYRO_RNG_2000 0x3
#define MPU6050C_ACC_RNG_2G 0x0
#define MPU6050C_ACC_RNG_4G 0x1
#define MPU6050C_ACC_RNG_8G 0x2
#define MPU6050C_ACC_RNG_16G 0x3
#define MPU6050C_CLKSEL_8M 0x0
#define MPU6050C_CLKSEL_PLL_X 0x1
#define MPU6050C_CLKSEL_PLL_Y 0x2
#define MPU6050C_CLKSEL_PLL_Z 0x3
#define MPU6050C_CLKSEL_STOP 0x7
#define MPU6050C_SLEEP 0x40
#define BIT_HW_RESET 0x80
#define MPU6050C_SUCCESS 0
#define MPU6050C_ERR_I2C -1
#define MPU6050C_ERR_STATUS -3
#define MPU6050C_ERR_SETUP_FAILURE -4
#define MPU6050C_ERR_GETGSENSORDATA -5
#define MPU6050C_ERR_IDENTIFICATION -6
/*
typedef enum {
MPU6050C_SYNC_NONE = 0x0,
MPU6050C_SYNC_TEMP,
MPU6050C_SYNC_GYROX,
MPU6050C_SYNC_GYROY,
MPU6050C_SYNC_GYROZ,
MPU6050C_SYNC_AUXX,
MPU6050C_SYNC_AUXY,
MPU6050C_SYNC_AUXZ,
} MPU6050C_EXT_SYNC_SEL;
typedef enum {
MPU6050C_FS_250 = 0x0,
MPU6050C_FS_500,
MPU6050C_FS_1000,
MPU6050C_FS_2000,
MPU6050C_FS_MAX = 0x3,
} MPU6050C_FS_SEL;
typedef enum {
MPU6050C_RATE_8K_LPFB_256HZ = 0x0,
MPU6050C_RATE_1K_LPFB_188HZ,
MPU6050C_RATE_1K_LPFB_98HZ,
MPU6050C_RATE_1K_LPFB_42HZ,
MPU6050C_RATE_1K_LPFB_20HZ,
MPU6050C_RATE_1K_LPFB_10HZ,
MPU6050C_RATE_1K_LPFB_5HZ,
} MPU6050C_SAMRATE_SEL;
*/
#define MPU6050C_BUFSIZE 60
// 1 rad = 180/PI degree, MAX_LSB = 131,
// 180*131/PI = 7506
#define DEGREE_TO_RAD 7506
//extern struct mpu6050c_gyro_i2c_data* MPU6050C_Gyro_GetI2CData();
#endif //MPU6050C_H
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