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