ggow
85 lines
2.5 KiB
C
85 lines
2.5 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_ACCESS_BY_GSE_I2C
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#ifdef MPU6050_ACCESS_BY_GSE_I2C
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#define MPU6050_I2C_SLAVE_ADDR (0xD2) /* mtk i2c not allow to probe two same address */
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#else
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#define MPU6050_I2C_SLAVE_ADDR 0xD0
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#endif
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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_FIFO_EN 0x23
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#define MPU6050_REG_AUX_VDD 0x01
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#define MPU6050_REG_SAMRT_DIV 0x19
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#define MPU6050_REG_CFG 0x1A //set external sync, full-scale range and sample rate, low pass filter bandwidth
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#define MPU6050_REG_GYRO_CFG 0x1B // full-scale range and sample rate,
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#define MPU6050_REG_GYRO_XH 0x43
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#define MPU6050_REG_TEMPH 0x41
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#define MPU6050_REG_FIFO_CNTH 0x72
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#define MPU6050_REG_FIFO_CNTL 0x73
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#define MPU6050_REG_FIFO_DATA 0x74
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#define MPU6050_REG_FIFO_CTL 0x6A
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#define MPU6050_REG_PWR_CTL 0x6B
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#define MPU6050_REG_PWR_CTL2 0x6C
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/*MPU6050 Register Bit definitions*/
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#define MPU6050_FIFO_GYROX_EN 0x40 //insert the X Gyro data into FIFO
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#define MPU6050_FIFO_GYROY_EN 0x20 //insert the Y Gyro data into FIFO
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#define MPU6050_FIFO_GYROZ_EN 0x10 //insert the Z Gyro data into FIFO
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#define MPU6050_AUX_VDDIO_DIS 0x00 //disable VDD level for the secondary I2C bus clock and data lines
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// for MPU6050_REG_CFG
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#define MPU6050_EXT_SYNC 0x03 //0x05 //captue the state of external frame sync input pin to insert into LSB of registers
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#define MPU6050_SYNC_GYROX 0x02
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// for MPU6050_REG_GYRO_CFG
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#define MPU6050_FS_RANGE 0x03 //set the full-scale range of the gyro sensors
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#define MPU6050_FS_1000 0x02
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#define MPU6050_FS_1000_LSB 33
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#define MPU6050_FS_MAX_LSB 131
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#define MPU6050_RATE_1K_LPFB_188HZ 0x01
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#define MPU6050_RATE_1K_LPFB_256HZ 0x00
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#define MPU6050_FIFO_EN 0x40 //enable FIFO operation for sensor data
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#define MPU6050_FIFO_RST 0x40 //reset FIFO function
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#define MPU6050_SLEEP 0x40 //enable low power sleep mode
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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 60
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// 1 rad = 180/PI degree, MAX_LSB = 131,
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// 180*131/PI = 7506
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#define DEGREE_TO_RAD 7506
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#endif //MPU6050_H
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