blob: 1f5f2164f2f42401f569654dbdfdb6ceb8001a35 (
plain) (
blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
|
#ifndef MPU6050_H
#define MPU6050_H
#include <linux/ioctl.h>
#define MPU6050_ACCESS_BY_GSE_I2C
#ifdef MPU6050_ACCESS_BY_GSE_I2C
#define MPU6050_I2C_SLAVE_ADDR (0xD2) /* mtk i2c not allow to probe two same address */
#else
#define MPU6050_I2C_SLAVE_ADDR 0xD0
#endif
/* MPU6050 Register Map (Please refer to MPU6050 Specifications) */
#define MPU6050_REG_DEVID 0x75
#define MPU6050_REG_FIFO_EN 0x23
#define MPU6050_REG_AUX_VDD 0x01
#define MPU6050_REG_SAMRT_DIV 0x19
#define MPU6050_REG_CFG 0x1A //set external sync, full-scale range and sample rate, low pass filter bandwidth
#define MPU6050_REG_GYRO_CFG 0x1B // full-scale range and sample rate,
#define MPU6050_REG_GYRO_XH 0x43
#define MPU6050_REG_TEMPH 0x41
#define MPU6050_REG_FIFO_CNTH 0x72
#define MPU6050_REG_FIFO_CNTL 0x73
#define MPU6050_REG_FIFO_DATA 0x74
#define MPU6050_REG_FIFO_CTL 0x6A
#define MPU6050_REG_PWR_CTL 0x6B
#define MPU6050_REG_PWR_CTL2 0x6C
/*MPU6050 Register Bit definitions*/
#define MPU6050_FIFO_GYROX_EN 0x40 //insert the X Gyro data into FIFO
#define MPU6050_FIFO_GYROY_EN 0x20 //insert the Y Gyro data into FIFO
#define MPU6050_FIFO_GYROZ_EN 0x10 //insert the Z Gyro data into FIFO
#define MPU6050_AUX_VDDIO_DIS 0x00 //disable VDD level for the secondary I2C bus clock and data lines
// for MPU6050_REG_CFG
#define MPU6050_EXT_SYNC 0x03 //0x05 //captue the state of external frame sync input pin to insert into LSB of registers
#define MPU6050_SYNC_GYROX 0x02
// for MPU6050_REG_GYRO_CFG
#define MPU6050_FS_RANGE 0x03 //set the full-scale range of the gyro sensors
#define MPU6050_FS_1000 0x02
#define MPU6050_FS_1000_LSB 33
#define MPU6050_FS_MAX_LSB 131
#define MPU6050_RATE_1K_LPFB_188HZ 0x01
#define MPU6050_RATE_1K_LPFB_256HZ 0x00
#define MPU6050_FIFO_EN 0x40 //enable FIFO operation for sensor data
#define MPU6050_FIFO_RST 0x40 //reset FIFO function
#define MPU6050_SLEEP 0x40 //enable low power sleep mode
#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 60
// 1 rad = 180/PI degree, MAX_LSB = 131,
// 180*131/PI = 7506
#define DEGREE_TO_RAD 7506
#endif //MPU6050_H
|
