initial commit
This commit is contained in:
@@ -0,0 +1,94 @@
|
||||
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class
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||||
// 10/7/2011 by Jeff Rowberg <jeff@rowberg.net>
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||||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
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||||
//
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||||
// Changelog:
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||||
// 2011-10-07 - initial release
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||||
|
||||
/* ============================================
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||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2011 Jeff Rowberg
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||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
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||||
*/
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||||
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||||
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
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// is used in I2Cdev.h
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#include "Wire.h"
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// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
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// for both classes must be in the include path of your project
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#include "I2Cdev.h"
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#include "MPU6050.h"
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// class default I2C address is 0x68
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// specific I2C addresses may be passed as a parameter here
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// AD0 low = 0x68 (default for InvenSense evaluation board)
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// AD0 high = 0x69
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MPU6050 accelgyro;
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int16_t ax, ay, az;
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int16_t gx, gy, gz;
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#define LED_PIN 13
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bool blinkState = false;
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void setup() {
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// join I2C bus (I2Cdev library doesn't do this automatically)
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Wire.begin();
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// initialize serial communication
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// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
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// it's really up to you depending on your project)
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Serial.begin(38400);
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// initialize device
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Serial.println("Initializing I2C devices...");
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accelgyro.initialize();
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// verify connection
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Serial.println("Testing device connections...");
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Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
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// configure Arduino LED for
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pinMode(LED_PIN, OUTPUT);
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}
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void loop() {
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// read raw accel/gyro measurements from device
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accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
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// these methods (and a few others) are also available
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//accelgyro.getAcceleration(&ax, &ay, &az);
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//accelgyro.getRotation(&gx, &gy, &gz);
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// display tab-separated accel/gyro x/y/z values
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Serial.print("a/g:\t");
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Serial.print(ax); Serial.print("\t");
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Serial.print(ay); Serial.print("\t");
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Serial.print(az); Serial.print("\t");
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Serial.print(gx); Serial.print("\t");
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Serial.print(gy); Serial.print("\t");
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Serial.println(gz);
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// blink LED to indicate activity
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blinkState = !blinkState;
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digitalWrite(LED_PIN, blinkState);
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}
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,253 @@
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// I2Cdev library collection - Main I2C device class header file
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// Abstracts bit and byte I2C R/W functions into a convenient class
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// 11/1/2011 by Jeff Rowberg <jeff@rowberg.net>
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//
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// Changelog:
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||||
// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
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// 2011-10-03 - added automatic Arduino version detection for ease of use
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// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
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// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
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// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default
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// 2011-08-02 - added support for 16-bit registers
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// - fixed incorrect Doxygen comments on some methods
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// - added timeout value for read operations (thanks mem @ Arduino forums)
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// 2011-07-30 - changed read/write function structures to return success or byte counts
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// - made all methods static for multi-device memory savings
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// 2011-07-28 - initial release
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||||
|
||||
/* ============================================
|
||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2011 Jeff Rowberg
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
|
||||
*/
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||||
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||||
#ifndef _I2CDEV_H_
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#define _I2CDEV_H_
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// -----------------------------------------------------------------------------
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// I2C interface implementation setting
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// -----------------------------------------------------------------------------
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#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE
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// -----------------------------------------------------------------------------
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// I2C interface implementation options
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// -----------------------------------------------------------------------------
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#define I2CDEV_ARDUINO_WIRE 1 // Wire object from Arduino
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#define I2CDEV_BUILTIN_NBWIRE 2 // Tweaked Wire object from Gene Knight's NBWire project
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// ^^^ NBWire implementation is still buggy w/some interrupts!
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#define I2CDEV_BUILTIN_FASTWIRE 3 // FastWire object from Francesco Ferrara's project
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||||
// -----------------------------------------------------------------------------
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||||
// Arduino-style "Serial.print" debug constant (uncomment to enable)
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||||
// -----------------------------------------------------------------------------
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||||
//#define I2CDEV_SERIAL_DEBUG
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||||
#ifdef ARDUINO
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#if ARDUINO < 100
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#include "WProgram.h"
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#else
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#include "Arduino.h"
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#endif
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#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
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#include <Wire.h>
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||||
#endif
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||||
#else
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||||
#include "ArduinoWrapper.h"
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||||
#endif
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||||
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||||
// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];")
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#define I2CDEV_DEFAULT_READ_TIMEOUT 1000
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||||
class I2Cdev {
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public:
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I2Cdev();
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static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
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||||
static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
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||||
static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
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||||
static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
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||||
static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
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||||
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||||
static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
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||||
static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
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static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
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||||
static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
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static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
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||||
static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
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static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
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static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
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||||
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static uint16_t readTimeout;
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};
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#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
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// I2C library
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//////////////////////
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// Copyright(C) 2011
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||||
// Francesco Ferrara
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//////////////////////
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||||
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/* Master */
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||||
#define TW_START 0x08
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#define TW_REP_START 0x10
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/* Master Transmitter */
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#define TW_MT_SLA_ACK 0x18
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||||
#define TW_MT_SLA_NACK 0x20
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||||
#define TW_MT_DATA_ACK 0x28
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||||
#define TW_MT_DATA_NACK 0x30
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||||
#define TW_MT_ARB_LOST 0x38
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||||
|
||||
/* Master Receiver */
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||||
#define TW_MR_ARB_LOST 0x38
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||||
#define TW_MR_SLA_ACK 0x40
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||||
#define TW_MR_SLA_NACK 0x48
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||||
#define TW_MR_DATA_ACK 0x50
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||||
#define TW_MR_DATA_NACK 0x58
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||||
|
||||
#define TW_OK 0
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||||
#define TW_ERROR 1
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||||
|
||||
class Fastwire {
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||||
private:
|
||||
static boolean waitInt();
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||||
|
||||
public:
|
||||
static void setup(int khz, boolean pullup);
|
||||
static byte write(byte device, byte address, byte value);
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||||
static byte readBuf(byte device, byte address, byte *data, byte num);
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||||
};
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||||
#endif
|
||||
|
||||
#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
|
||||
// NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
|
||||
// Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
|
||||
// Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
|
||||
|
||||
#define NBWIRE_BUFFER_LENGTH 32
|
||||
|
||||
class TwoWire {
|
||||
private:
|
||||
static uint8_t rxBuffer[];
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||||
static uint8_t rxBufferIndex;
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||||
static uint8_t rxBufferLength;
|
||||
|
||||
static uint8_t txAddress;
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||||
static uint8_t txBuffer[];
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static uint8_t txBufferIndex;
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||||
static uint8_t txBufferLength;
|
||||
|
||||
// static uint8_t transmitting;
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||||
static void (*user_onRequest)(void);
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||||
static void (*user_onReceive)(int);
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||||
static void onRequestService(void);
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||||
static void onReceiveService(uint8_t*, int);
|
||||
|
||||
public:
|
||||
TwoWire();
|
||||
void begin();
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||||
void begin(uint8_t);
|
||||
void begin(int);
|
||||
void beginTransmission(uint8_t);
|
||||
//void beginTransmission(int);
|
||||
uint8_t endTransmission(uint16_t timeout=0);
|
||||
void nbendTransmission(void (*function)(int)) ;
|
||||
uint8_t requestFrom(uint8_t, int, uint16_t timeout=0);
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||||
//uint8_t requestFrom(int, int);
|
||||
void nbrequestFrom(uint8_t, int, void (*function)(int));
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void send(uint8_t);
|
||||
void send(uint8_t*, uint8_t);
|
||||
//void send(int);
|
||||
void send(char*);
|
||||
uint8_t available(void);
|
||||
uint8_t receive(void);
|
||||
void onReceive(void (*)(int));
|
||||
void onRequest(void (*)(void));
|
||||
};
|
||||
|
||||
#define TWI_READY 0
|
||||
#define TWI_MRX 1
|
||||
#define TWI_MTX 2
|
||||
#define TWI_SRX 3
|
||||
#define TWI_STX 4
|
||||
|
||||
#define TW_WRITE 0
|
||||
#define TW_READ 1
|
||||
|
||||
#define TW_MT_SLA_NACK 0x20
|
||||
#define TW_MT_DATA_NACK 0x30
|
||||
|
||||
#define CPU_FREQ 16000000L
|
||||
#define TWI_FREQ 100000L
|
||||
#define TWI_BUFFER_LENGTH 32
|
||||
|
||||
/* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */
|
||||
|
||||
#define TW_STATUS_MASK (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3))
|
||||
#define TW_STATUS (TWSR & TW_STATUS_MASK)
|
||||
#define TW_START 0x08
|
||||
#define TW_REP_START 0x10
|
||||
#define TW_MT_SLA_ACK 0x18
|
||||
#define TW_MT_SLA_NACK 0x20
|
||||
#define TW_MT_DATA_ACK 0x28
|
||||
#define TW_MT_DATA_NACK 0x30
|
||||
#define TW_MT_ARB_LOST 0x38
|
||||
#define TW_MR_ARB_LOST 0x38
|
||||
#define TW_MR_SLA_ACK 0x40
|
||||
#define TW_MR_SLA_NACK 0x48
|
||||
#define TW_MR_DATA_ACK 0x50
|
||||
#define TW_MR_DATA_NACK 0x58
|
||||
#define TW_ST_SLA_ACK 0xA8
|
||||
#define TW_ST_ARB_LOST_SLA_ACK 0xB0
|
||||
#define TW_ST_DATA_ACK 0xB8
|
||||
#define TW_ST_DATA_NACK 0xC0
|
||||
#define TW_ST_LAST_DATA 0xC8
|
||||
#define TW_SR_SLA_ACK 0x60
|
||||
#define TW_SR_ARB_LOST_SLA_ACK 0x68
|
||||
#define TW_SR_GCALL_ACK 0x70
|
||||
#define TW_SR_ARB_LOST_GCALL_ACK 0x78
|
||||
#define TW_SR_DATA_ACK 0x80
|
||||
#define TW_SR_DATA_NACK 0x88
|
||||
#define TW_SR_GCALL_DATA_ACK 0x90
|
||||
#define TW_SR_GCALL_DATA_NACK 0x98
|
||||
#define TW_SR_STOP 0xA0
|
||||
#define TW_NO_INFO 0xF8
|
||||
#define TW_BUS_ERROR 0x00
|
||||
|
||||
//#define _MMIO_BYTE(mem_addr) (*(volatile uint8_t *)(mem_addr))
|
||||
//#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr))
|
||||
|
||||
#ifndef sbi // set bit
|
||||
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
|
||||
#endif // sbi
|
||||
|
||||
#ifndef cbi // clear bit
|
||||
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
|
||||
#endif // cbi
|
||||
|
||||
extern TwoWire Wire;
|
||||
|
||||
#endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
|
||||
|
||||
#endif /* _I2CDEV_H_ */
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,966 @@
|
||||
// I2Cdev library collection - MPU6050 I2C device class
|
||||
// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
|
||||
// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
|
||||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
|
||||
//
|
||||
// Changelog:
|
||||
// ... - ongoing debug release
|
||||
|
||||
// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
|
||||
// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
|
||||
// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
|
||||
|
||||
/* ============================================
|
||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2011 Jeff Rowberg
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
#ifndef _MPU6050_H_
|
||||
#define _MPU6050_H_
|
||||
|
||||
#include "I2Cdev.h"
|
||||
#include <avr/pgmspace.h>
|
||||
|
||||
#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
|
||||
#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
|
||||
#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
|
||||
|
||||
#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
|
||||
#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
|
||||
#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
|
||||
#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
|
||||
#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
|
||||
#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
|
||||
#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
|
||||
#define MPU6050_RA_XA_OFFS_L_TC 0x07
|
||||
#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
|
||||
#define MPU6050_RA_YA_OFFS_L_TC 0x09
|
||||
#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
|
||||
#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
|
||||
#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
|
||||
#define MPU6050_RA_XG_OFFS_USRL 0x14
|
||||
#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
|
||||
#define MPU6050_RA_YG_OFFS_USRL 0x16
|
||||
#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
|
||||
#define MPU6050_RA_ZG_OFFS_USRL 0x18
|
||||
#define MPU6050_RA_SMPLRT_DIV 0x19
|
||||
#define MPU6050_RA_CONFIG 0x1A
|
||||
#define MPU6050_RA_GYRO_CONFIG 0x1B
|
||||
#define MPU6050_RA_ACCEL_CONFIG 0x1C
|
||||
#define MPU6050_RA_FF_THR 0x1D
|
||||
#define MPU6050_RA_FF_DUR 0x1E
|
||||
#define MPU6050_RA_MOT_THR 0x1F
|
||||
#define MPU6050_RA_MOT_DUR 0x20
|
||||
#define MPU6050_RA_ZRMOT_THR 0x21
|
||||
#define MPU6050_RA_ZRMOT_DUR 0x22
|
||||
#define MPU6050_RA_FIFO_EN 0x23
|
||||
#define MPU6050_RA_I2C_MST_CTRL 0x24
|
||||
#define MPU6050_RA_I2C_SLV0_ADDR 0x25
|
||||
#define MPU6050_RA_I2C_SLV0_REG 0x26
|
||||
#define MPU6050_RA_I2C_SLV0_CTRL 0x27
|
||||
#define MPU6050_RA_I2C_SLV1_ADDR 0x28
|
||||
#define MPU6050_RA_I2C_SLV1_REG 0x29
|
||||
#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
|
||||
#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
|
||||
#define MPU6050_RA_I2C_SLV2_REG 0x2C
|
||||
#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
|
||||
#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
|
||||
#define MPU6050_RA_I2C_SLV3_REG 0x2F
|
||||
#define MPU6050_RA_I2C_SLV3_CTRL 0x30
|
||||
#define MPU6050_RA_I2C_SLV4_ADDR 0x31
|
||||
#define MPU6050_RA_I2C_SLV4_REG 0x32
|
||||
#define MPU6050_RA_I2C_SLV4_DO 0x33
|
||||
#define MPU6050_RA_I2C_SLV4_CTRL 0x34
|
||||
#define MPU6050_RA_I2C_SLV4_DI 0x35
|
||||
#define MPU6050_RA_I2C_MST_STATUS 0x36
|
||||
#define MPU6050_RA_INT_PIN_CFG 0x37
|
||||
#define MPU6050_RA_INT_ENABLE 0x38
|
||||
#define MPU6050_RA_DMP_INT_STATUS 0x39
|
||||
#define MPU6050_RA_INT_STATUS 0x3A
|
||||
#define MPU6050_RA_ACCEL_XOUT_H 0x3B
|
||||
#define MPU6050_RA_ACCEL_XOUT_L 0x3C
|
||||
#define MPU6050_RA_ACCEL_YOUT_H 0x3D
|
||||
#define MPU6050_RA_ACCEL_YOUT_L 0x3E
|
||||
#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
|
||||
#define MPU6050_RA_ACCEL_ZOUT_L 0x40
|
||||
#define MPU6050_RA_TEMP_OUT_H 0x41
|
||||
#define MPU6050_RA_TEMP_OUT_L 0x42
|
||||
#define MPU6050_RA_GYRO_XOUT_H 0x43
|
||||
#define MPU6050_RA_GYRO_XOUT_L 0x44
|
||||
#define MPU6050_RA_GYRO_YOUT_H 0x45
|
||||
#define MPU6050_RA_GYRO_YOUT_L 0x46
|
||||
#define MPU6050_RA_GYRO_ZOUT_H 0x47
|
||||
#define MPU6050_RA_GYRO_ZOUT_L 0x48
|
||||
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
|
||||
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
|
||||
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
|
||||
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
|
||||
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
|
||||
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
|
||||
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
|
||||
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
|
||||
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
|
||||
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
|
||||
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
|
||||
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
|
||||
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
|
||||
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
|
||||
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
|
||||
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
|
||||
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
|
||||
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
|
||||
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
|
||||
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
|
||||
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
|
||||
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
|
||||
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
|
||||
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
|
||||
#define MPU6050_RA_MOT_DETECT_STATUS 0x61
|
||||
#define MPU6050_RA_I2C_SLV0_DO 0x63
|
||||
#define MPU6050_RA_I2C_SLV1_DO 0x64
|
||||
#define MPU6050_RA_I2C_SLV2_DO 0x65
|
||||
#define MPU6050_RA_I2C_SLV3_DO 0x66
|
||||
#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
|
||||
#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
|
||||
#define MPU6050_RA_MOT_DETECT_CTRL 0x69
|
||||
#define MPU6050_RA_USER_CTRL 0x6A
|
||||
#define MPU6050_RA_PWR_MGMT_1 0x6B
|
||||
#define MPU6050_RA_PWR_MGMT_2 0x6C
|
||||
#define MPU6050_RA_BANK_SEL 0x6D
|
||||
#define MPU6050_RA_MEM_START_ADDR 0x6E
|
||||
#define MPU6050_RA_MEM_R_W 0x6F
|
||||
#define MPU6050_RA_DMP_CFG_1 0x70
|
||||
#define MPU6050_RA_DMP_CFG_2 0x71
|
||||
#define MPU6050_RA_FIFO_COUNTH 0x72
|
||||
#define MPU6050_RA_FIFO_COUNTL 0x73
|
||||
#define MPU6050_RA_FIFO_R_W 0x74
|
||||
#define MPU6050_RA_WHO_AM_I 0x75
|
||||
|
||||
#define MPU6050_TC_PWR_MODE_BIT 7
|
||||
#define MPU6050_TC_OFFSET_BIT 6
|
||||
#define MPU6050_TC_OFFSET_LENGTH 6
|
||||
#define MPU6050_TC_OTP_BNK_VLD_BIT 0
|
||||
|
||||
#define MPU6050_VDDIO_LEVEL_VLOGIC 0
|
||||
#define MPU6050_VDDIO_LEVEL_VDD 1
|
||||
|
||||
#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
|
||||
#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
|
||||
#define MPU6050_CFG_DLPF_CFG_BIT 2
|
||||
#define MPU6050_CFG_DLPF_CFG_LENGTH 3
|
||||
|
||||
#define MPU6050_EXT_SYNC_DISABLED 0x0
|
||||
#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
|
||||
#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
|
||||
#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
|
||||
#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
|
||||
#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
|
||||
#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
|
||||
#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
|
||||
|
||||
#define MPU6050_DLPF_BW_256 0x00
|
||||
#define MPU6050_DLPF_BW_188 0x01
|
||||
#define MPU6050_DLPF_BW_98 0x02
|
||||
#define MPU6050_DLPF_BW_42 0x03
|
||||
#define MPU6050_DLPF_BW_20 0x04
|
||||
#define MPU6050_DLPF_BW_10 0x05
|
||||
#define MPU6050_DLPF_BW_5 0x06
|
||||
|
||||
#define MPU6050_GCONFIG_FS_SEL_BIT 4
|
||||
#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
|
||||
|
||||
#define MPU6050_GYRO_FS_250 0x00
|
||||
#define MPU6050_GYRO_FS_500 0x01
|
||||
#define MPU6050_GYRO_FS_1000 0x02
|
||||
#define MPU6050_GYRO_FS_2000 0x03
|
||||
|
||||
#define MPU6050_ACONFIG_XA_ST_BIT 7
|
||||
#define MPU6050_ACONFIG_YA_ST_BIT 6
|
||||
#define MPU6050_ACONFIG_ZA_ST_BIT 5
|
||||
#define MPU6050_ACONFIG_AFS_SEL_BIT 4
|
||||
#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
|
||||
#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
|
||||
#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
|
||||
|
||||
#define MPU6050_ACCEL_FS_2 0x00
|
||||
#define MPU6050_ACCEL_FS_4 0x01
|
||||
#define MPU6050_ACCEL_FS_8 0x02
|
||||
#define MPU6050_ACCEL_FS_16 0x03
|
||||
|
||||
#define MPU6050_DHPF_RESET 0x00
|
||||
#define MPU6050_DHPF_5 0x01
|
||||
#define MPU6050_DHPF_2P5 0x02
|
||||
#define MPU6050_DHPF_1P25 0x03
|
||||
#define MPU6050_DHPF_0P63 0x04
|
||||
#define MPU6050_DHPF_HOLD 0x07
|
||||
|
||||
#define MPU6050_TEMP_FIFO_EN_BIT 7
|
||||
#define MPU6050_XG_FIFO_EN_BIT 6
|
||||
#define MPU6050_YG_FIFO_EN_BIT 5
|
||||
#define MPU6050_ZG_FIFO_EN_BIT 4
|
||||
#define MPU6050_ACCEL_FIFO_EN_BIT 3
|
||||
#define MPU6050_SLV2_FIFO_EN_BIT 2
|
||||
#define MPU6050_SLV1_FIFO_EN_BIT 1
|
||||
#define MPU6050_SLV0_FIFO_EN_BIT 0
|
||||
|
||||
#define MPU6050_MULT_MST_EN_BIT 7
|
||||
#define MPU6050_WAIT_FOR_ES_BIT 6
|
||||
#define MPU6050_SLV_3_FIFO_EN_BIT 5
|
||||
#define MPU6050_I2C_MST_P_NSR_BIT 4
|
||||
#define MPU6050_I2C_MST_CLK_BIT 3
|
||||
#define MPU6050_I2C_MST_CLK_LENGTH 4
|
||||
|
||||
#define MPU6050_CLOCK_DIV_348 0x0
|
||||
#define MPU6050_CLOCK_DIV_333 0x1
|
||||
#define MPU6050_CLOCK_DIV_320 0x2
|
||||
#define MPU6050_CLOCK_DIV_308 0x3
|
||||
#define MPU6050_CLOCK_DIV_296 0x4
|
||||
#define MPU6050_CLOCK_DIV_286 0x5
|
||||
#define MPU6050_CLOCK_DIV_276 0x6
|
||||
#define MPU6050_CLOCK_DIV_267 0x7
|
||||
#define MPU6050_CLOCK_DIV_258 0x8
|
||||
#define MPU6050_CLOCK_DIV_500 0x9
|
||||
#define MPU6050_CLOCK_DIV_471 0xA
|
||||
#define MPU6050_CLOCK_DIV_444 0xB
|
||||
#define MPU6050_CLOCK_DIV_421 0xC
|
||||
#define MPU6050_CLOCK_DIV_400 0xD
|
||||
#define MPU6050_CLOCK_DIV_381 0xE
|
||||
#define MPU6050_CLOCK_DIV_364 0xF
|
||||
|
||||
#define MPU6050_I2C_SLV_RW_BIT 7
|
||||
#define MPU6050_I2C_SLV_ADDR_BIT 6
|
||||
#define MPU6050_I2C_SLV_ADDR_LENGTH 7
|
||||
#define MPU6050_I2C_SLV_EN_BIT 7
|
||||
#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
|
||||
#define MPU6050_I2C_SLV_REG_DIS_BIT 5
|
||||
#define MPU6050_I2C_SLV_GRP_BIT 4
|
||||
#define MPU6050_I2C_SLV_LEN_BIT 3
|
||||
#define MPU6050_I2C_SLV_LEN_LENGTH 4
|
||||
|
||||
#define MPU6050_I2C_SLV4_RW_BIT 7
|
||||
#define MPU6050_I2C_SLV4_ADDR_BIT 6
|
||||
#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
|
||||
#define MPU6050_I2C_SLV4_EN_BIT 7
|
||||
#define MPU6050_I2C_SLV4_INT_EN_BIT 6
|
||||
#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
|
||||
#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
|
||||
#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
|
||||
|
||||
#define MPU6050_MST_PASS_THROUGH_BIT 7
|
||||
#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
|
||||
#define MPU6050_MST_I2C_LOST_ARB_BIT 5
|
||||
#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
|
||||
#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
|
||||
#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
|
||||
#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
|
||||
#define MPU6050_MST_I2C_SLV0_NACK_BIT 0
|
||||
|
||||
#define MPU6050_INTCFG_INT_LEVEL_BIT 7
|
||||
#define MPU6050_INTCFG_INT_OPEN_BIT 6
|
||||
#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
|
||||
#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
|
||||
#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
|
||||
#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
|
||||
#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
|
||||
#define MPU6050_INTCFG_CLKOUT_EN_BIT 0
|
||||
|
||||
#define MPU6050_INTMODE_ACTIVEHIGH 0x00
|
||||
#define MPU6050_INTMODE_ACTIVELOW 0x01
|
||||
|
||||
#define MPU6050_INTDRV_PUSHPULL 0x00
|
||||
#define MPU6050_INTDRV_OPENDRAIN 0x01
|
||||
|
||||
#define MPU6050_INTLATCH_50USPULSE 0x00
|
||||
#define MPU6050_INTLATCH_WAITCLEAR 0x01
|
||||
|
||||
#define MPU6050_INTCLEAR_STATUSREAD 0x00
|
||||
#define MPU6050_INTCLEAR_ANYREAD 0x01
|
||||
|
||||
#define MPU6050_INTERRUPT_FF_BIT 7
|
||||
#define MPU6050_INTERRUPT_MOT_BIT 6
|
||||
#define MPU6050_INTERRUPT_ZMOT_BIT 5
|
||||
#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
|
||||
#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
|
||||
#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
|
||||
#define MPU6050_INTERRUPT_DMP_INT_BIT 1
|
||||
#define MPU6050_INTERRUPT_DATA_RDY_BIT 0
|
||||
|
||||
// TODO: figure out what these actually do
|
||||
// UMPL source code is not very obivous
|
||||
#define MPU6050_DMPINT_5_BIT 5
|
||||
#define MPU6050_DMPINT_4_BIT 4
|
||||
#define MPU6050_DMPINT_3_BIT 3
|
||||
#define MPU6050_DMPINT_2_BIT 2
|
||||
#define MPU6050_DMPINT_1_BIT 1
|
||||
#define MPU6050_DMPINT_0_BIT 0
|
||||
|
||||
#define MPU6050_MOTION_MOT_XNEG_BIT 7
|
||||
#define MPU6050_MOTION_MOT_XPOS_BIT 6
|
||||
#define MPU6050_MOTION_MOT_YNEG_BIT 5
|
||||
#define MPU6050_MOTION_MOT_YPOS_BIT 4
|
||||
#define MPU6050_MOTION_MOT_ZNEG_BIT 3
|
||||
#define MPU6050_MOTION_MOT_ZPOS_BIT 2
|
||||
#define MPU6050_MOTION_MOT_ZRMOT_BIT 0
|
||||
|
||||
#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
|
||||
|
||||
#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
|
||||
#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
|
||||
#define MPU6050_PATHRESET_TEMP_RESET_BIT 0
|
||||
|
||||
#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
|
||||
#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
|
||||
#define MPU6050_DETECT_FF_COUNT_BIT 3
|
||||
#define MPU6050_DETECT_FF_COUNT_LENGTH 2
|
||||
#define MPU6050_DETECT_MOT_COUNT_BIT 1
|
||||
#define MPU6050_DETECT_MOT_COUNT_LENGTH 2
|
||||
|
||||
#define MPU6050_DETECT_DECREMENT_RESET 0x0
|
||||
#define MPU6050_DETECT_DECREMENT_1 0x1
|
||||
#define MPU6050_DETECT_DECREMENT_2 0x2
|
||||
#define MPU6050_DETECT_DECREMENT_4 0x3
|
||||
|
||||
#define MPU6050_USERCTRL_DMP_EN_BIT 7
|
||||
#define MPU6050_USERCTRL_FIFO_EN_BIT 6
|
||||
#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
|
||||
#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
|
||||
#define MPU6050_USERCTRL_DMP_RESET_BIT 3
|
||||
#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
|
||||
#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
|
||||
#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
|
||||
|
||||
#define MPU6050_PWR1_DEVICE_RESET_BIT 7
|
||||
#define MPU6050_PWR1_SLEEP_BIT 6
|
||||
#define MPU6050_PWR1_CYCLE_BIT 5
|
||||
#define MPU6050_PWR1_TEMP_DIS_BIT 3
|
||||
#define MPU6050_PWR1_CLKSEL_BIT 2
|
||||
#define MPU6050_PWR1_CLKSEL_LENGTH 3
|
||||
|
||||
#define MPU6050_CLOCK_INTERNAL 0x00
|
||||
#define MPU6050_CLOCK_PLL_XGYRO 0x01
|
||||
#define MPU6050_CLOCK_PLL_YGYRO 0x02
|
||||
#define MPU6050_CLOCK_PLL_ZGYRO 0x03
|
||||
#define MPU6050_CLOCK_PLL_EXT32K 0x04
|
||||
#define MPU6050_CLOCK_PLL_EXT19M 0x05
|
||||
#define MPU6050_CLOCK_KEEP_RESET 0x07
|
||||
|
||||
#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
|
||||
#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
|
||||
#define MPU6050_PWR2_STBY_XA_BIT 5
|
||||
#define MPU6050_PWR2_STBY_YA_BIT 4
|
||||
#define MPU6050_PWR2_STBY_ZA_BIT 3
|
||||
#define MPU6050_PWR2_STBY_XG_BIT 2
|
||||
#define MPU6050_PWR2_STBY_YG_BIT 1
|
||||
#define MPU6050_PWR2_STBY_ZG_BIT 0
|
||||
|
||||
#define MPU6050_WAKE_FREQ_1P25 0x0
|
||||
#define MPU6050_WAKE_FREQ_2P5 0x1
|
||||
#define MPU6050_WAKE_FREQ_5 0x2
|
||||
#define MPU6050_WAKE_FREQ_10 0x3
|
||||
|
||||
#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
|
||||
#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
|
||||
#define MPU6050_BANKSEL_MEM_SEL_BIT 4
|
||||
#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
|
||||
|
||||
#define MPU6050_WHO_AM_I_BIT 6
|
||||
#define MPU6050_WHO_AM_I_LENGTH 6
|
||||
|
||||
#define MPU6050_DMP_MEMORY_BANKS 8
|
||||
#define MPU6050_DMP_MEMORY_BANK_SIZE 256
|
||||
#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
|
||||
|
||||
// note: DMP code memory blocks defined at end of header file
|
||||
|
||||
class MPU6050 {
|
||||
public:
|
||||
MPU6050();
|
||||
MPU6050(uint8_t address);
|
||||
|
||||
void initialize();
|
||||
bool testConnection();
|
||||
|
||||
// AUX_VDDIO register
|
||||
uint8_t getAuxVDDIOLevel();
|
||||
void setAuxVDDIOLevel(uint8_t level);
|
||||
|
||||
// SMPLRT_DIV register
|
||||
uint8_t getRate();
|
||||
void setRate(uint8_t rate);
|
||||
|
||||
// CONFIG register
|
||||
uint8_t getExternalFrameSync();
|
||||
void setExternalFrameSync(uint8_t sync);
|
||||
uint8_t getDLPFMode();
|
||||
void setDLPFMode(uint8_t bandwidth);
|
||||
|
||||
// GYRO_CONFIG register
|
||||
uint8_t getFullScaleGyroRange();
|
||||
void setFullScaleGyroRange(uint8_t range);
|
||||
|
||||
// ACCEL_CONFIG register
|
||||
bool getAccelXSelfTest();
|
||||
void setAccelXSelfTest(bool enabled);
|
||||
bool getAccelYSelfTest();
|
||||
void setAccelYSelfTest(bool enabled);
|
||||
bool getAccelZSelfTest();
|
||||
void setAccelZSelfTest(bool enabled);
|
||||
uint8_t getFullScaleAccelRange();
|
||||
void setFullScaleAccelRange(uint8_t range);
|
||||
uint8_t getDHPFMode();
|
||||
void setDHPFMode(uint8_t mode);
|
||||
|
||||
// FF_THR register
|
||||
uint8_t getFreefallDetectionThreshold();
|
||||
void setFreefallDetectionThreshold(uint8_t threshold);
|
||||
|
||||
// FF_DUR register
|
||||
uint8_t getFreefallDetectionDuration();
|
||||
void setFreefallDetectionDuration(uint8_t duration);
|
||||
|
||||
// MOT_THR register
|
||||
uint8_t getMotionDetectionThreshold();
|
||||
void setMotionDetectionThreshold(uint8_t threshold);
|
||||
|
||||
// MOT_DUR register
|
||||
uint8_t getMotionDetectionDuration();
|
||||
void setMotionDetectionDuration(uint8_t duration);
|
||||
|
||||
// ZRMOT_THR register
|
||||
uint8_t getZeroMotionDetectionThreshold();
|
||||
void setZeroMotionDetectionThreshold(uint8_t threshold);
|
||||
|
||||
// ZRMOT_DUR register
|
||||
uint8_t getZeroMotionDetectionDuration();
|
||||
void setZeroMotionDetectionDuration(uint8_t duration);
|
||||
|
||||
// FIFO_EN register
|
||||
bool getTempFIFOEnabled();
|
||||
void setTempFIFOEnabled(bool enabled);
|
||||
bool getXGyroFIFOEnabled();
|
||||
void setXGyroFIFOEnabled(bool enabled);
|
||||
bool getYGyroFIFOEnabled();
|
||||
void setYGyroFIFOEnabled(bool enabled);
|
||||
bool getZGyroFIFOEnabled();
|
||||
void setZGyroFIFOEnabled(bool enabled);
|
||||
bool getAccelFIFOEnabled();
|
||||
void setAccelFIFOEnabled(bool enabled);
|
||||
bool getSlave2FIFOEnabled();
|
||||
void setSlave2FIFOEnabled(bool enabled);
|
||||
bool getSlave1FIFOEnabled();
|
||||
void setSlave1FIFOEnabled(bool enabled);
|
||||
bool getSlave0FIFOEnabled();
|
||||
void setSlave0FIFOEnabled(bool enabled);
|
||||
|
||||
// I2C_MST_CTRL register
|
||||
bool getMultiMasterEnabled();
|
||||
void setMultiMasterEnabled(bool enabled);
|
||||
bool getWaitForExternalSensorEnabled();
|
||||
void setWaitForExternalSensorEnabled(bool enabled);
|
||||
bool getSlave3FIFOEnabled();
|
||||
void setSlave3FIFOEnabled(bool enabled);
|
||||
bool getSlaveReadWriteTransitionEnabled();
|
||||
void setSlaveReadWriteTransitionEnabled(bool enabled);
|
||||
uint8_t getMasterClockSpeed();
|
||||
void setMasterClockSpeed(uint8_t speed);
|
||||
|
||||
// I2C_SLV* registers (Slave 0-3)
|
||||
uint8_t getSlaveAddress(uint8_t num);
|
||||
void setSlaveAddress(uint8_t num, uint8_t address);
|
||||
uint8_t getSlaveRegister(uint8_t num);
|
||||
void setSlaveRegister(uint8_t num, uint8_t reg);
|
||||
bool getSlaveEnabled(uint8_t num);
|
||||
void setSlaveEnabled(uint8_t num, bool enabled);
|
||||
bool getSlaveWordByteSwap(uint8_t num);
|
||||
void setSlaveWordByteSwap(uint8_t num, bool enabled);
|
||||
bool getSlaveWriteMode(uint8_t num);
|
||||
void setSlaveWriteMode(uint8_t num, bool mode);
|
||||
bool getSlaveWordGroupOffset(uint8_t num);
|
||||
void setSlaveWordGroupOffset(uint8_t num, bool enabled);
|
||||
uint8_t getSlaveDataLength(uint8_t num);
|
||||
void setSlaveDataLength(uint8_t num, uint8_t length);
|
||||
|
||||
// I2C_SLV* registers (Slave 4)
|
||||
uint8_t getSlave4Address();
|
||||
void setSlave4Address(uint8_t address);
|
||||
uint8_t getSlave4Register();
|
||||
void setSlave4Register(uint8_t reg);
|
||||
void setSlave4OutputByte(uint8_t data);
|
||||
bool getSlave4Enabled();
|
||||
void setSlave4Enabled(bool enabled);
|
||||
bool getSlave4InterruptEnabled();
|
||||
void setSlave4InterruptEnabled(bool enabled);
|
||||
bool getSlave4WriteMode();
|
||||
void setSlave4WriteMode(bool mode);
|
||||
uint8_t getSlave4MasterDelay();
|
||||
void setSlave4MasterDelay(uint8_t delay);
|
||||
uint8_t getSlate4InputByte();
|
||||
|
||||
// I2C_MST_STATUS register
|
||||
bool getPassthroughStatus();
|
||||
bool getSlave4IsDone();
|
||||
bool getLostArbitration();
|
||||
bool getSlave4Nack();
|
||||
bool getSlave3Nack();
|
||||
bool getSlave2Nack();
|
||||
bool getSlave1Nack();
|
||||
bool getSlave0Nack();
|
||||
|
||||
// INT_PIN_CFG register
|
||||
bool getInterruptMode();
|
||||
void setInterruptMode(bool mode);
|
||||
bool getInterruptDrive();
|
||||
void setInterruptDrive(bool drive);
|
||||
bool getInterruptLatch();
|
||||
void setInterruptLatch(bool latch);
|
||||
bool getInterruptLatchClear();
|
||||
void setInterruptLatchClear(bool clear);
|
||||
bool getFSyncInterruptLevel();
|
||||
void setFSyncInterruptLevel(bool level);
|
||||
bool getFSyncInterruptEnabled();
|
||||
void setFSyncInterruptEnabled(bool enabled);
|
||||
bool getI2CBypassEnabled();
|
||||
void setI2CBypassEnabled(bool enabled);
|
||||
bool getClockOutputEnabled();
|
||||
void setClockOutputEnabled(bool enabled);
|
||||
|
||||
// INT_ENABLE register
|
||||
bool getIntFreefallEnabled();
|
||||
void setIntFreefallEnabled(bool enabled);
|
||||
bool getIntMotionEnabled();
|
||||
void setIntMotionEnabled(bool enabled);
|
||||
bool getIntZeroMotionEnabled();
|
||||
void setIntZeroMotionEnabled(bool enabled);
|
||||
bool getIntFIFOBufferOverflowEnabled();
|
||||
void setIntFIFOBufferOverflowEnabled(bool enabled);
|
||||
bool getIntI2CMasterEnabled();
|
||||
void setIntI2CMasterEnabled(bool enabled);
|
||||
bool getIntDataReadyEnabled();
|
||||
void setIntDataReadyEnabled(bool enabled);
|
||||
|
||||
// INT_STATUS register
|
||||
bool getIntFreefallStatus();
|
||||
bool getIntMotionStatus();
|
||||
bool getIntZeroMotionStatus();
|
||||
bool getIntFIFOBufferOverflowStatus();
|
||||
bool getIntI2CMasterStatus();
|
||||
bool getIntDataReadyStatus();
|
||||
|
||||
// ACCEL_*OUT_* registers
|
||||
void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz);
|
||||
void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
|
||||
void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
|
||||
int16_t getAccelerationX();
|
||||
int16_t getAccelerationY();
|
||||
int16_t getAccelerationZ();
|
||||
|
||||
// TEMP_OUT_* registers
|
||||
int16_t getTemperature();
|
||||
|
||||
// GYRO_*OUT_* registers
|
||||
void getRotation(int16_t* x, int16_t* y, int16_t* z);
|
||||
int16_t getRotationX();
|
||||
int16_t getRotationY();
|
||||
int16_t getRotationZ();
|
||||
|
||||
// EXT_SENS_DATA_* registers
|
||||
uint8_t getExternalSensorByte(int position);
|
||||
uint16_t getExternalSensorWord(int position);
|
||||
uint32_t getExternalSensorDWord(int position);
|
||||
|
||||
// MOT_DETECT_STATUS register
|
||||
bool getXNegMotionDetected();
|
||||
bool getXPosMotionDetected();
|
||||
bool getYNegMotionDetected();
|
||||
bool getYPosMotionDetected();
|
||||
bool getZNegMotionDetected();
|
||||
bool getZPosMotionDetected();
|
||||
bool getZeroMotionDetected();
|
||||
|
||||
// I2C_SLV*_DO register
|
||||
void setSlaveOutputByte(uint8_t num, uint8_t data);
|
||||
|
||||
// I2C_MST_DELAY_CTRL register
|
||||
bool getExternalShadowDelayEnabled();
|
||||
void setExternalShadowDelayEnabled(bool enabled);
|
||||
bool getSlaveDelayEnabled(uint8_t num);
|
||||
void setSlaveDelayEnabled(uint8_t num, bool enabled);
|
||||
|
||||
// SIGNAL_PATH_RESET register
|
||||
void resetGyroscopePath();
|
||||
void resetAccelerometerPath();
|
||||
void resetTemperaturePath();
|
||||
|
||||
// MOT_DETECT_CTRL register
|
||||
uint8_t getAccelerometerPowerOnDelay();
|
||||
void setAccelerometerPowerOnDelay(uint8_t delay);
|
||||
uint8_t getFreefallDetectionCounterDecrement();
|
||||
void setFreefallDetectionCounterDecrement(uint8_t decrement);
|
||||
uint8_t getMotionDetectionCounterDecrement();
|
||||
void setMotionDetectionCounterDecrement(uint8_t decrement);
|
||||
|
||||
// USER_CTRL register
|
||||
bool getFIFOEnabled();
|
||||
void setFIFOEnabled(bool enabled);
|
||||
bool getI2CMasterModeEnabled();
|
||||
void setI2CMasterModeEnabled(bool enabled);
|
||||
void switchSPIEnabled(bool enabled);
|
||||
void resetFIFO();
|
||||
void resetI2CMaster();
|
||||
void resetSensors();
|
||||
|
||||
// PWR_MGMT_1 register
|
||||
void reset();
|
||||
bool getSleepEnabled();
|
||||
void setSleepEnabled(bool enabled);
|
||||
bool getWakeCycleEnabled();
|
||||
void setWakeCycleEnabled(bool enabled);
|
||||
bool getTempSensorEnabled();
|
||||
void setTempSensorEnabled(bool enabled);
|
||||
uint8_t getClockSource();
|
||||
void setClockSource(uint8_t source);
|
||||
|
||||
// PWR_MGMT_2 register
|
||||
uint8_t getWakeFrequency();
|
||||
void setWakeFrequency(uint8_t frequency);
|
||||
bool getStandbyXAccelEnabled();
|
||||
void setStandbyXAccelEnabled(bool enabled);
|
||||
bool getStandbyYAccelEnabled();
|
||||
void setStandbyYAccelEnabled(bool enabled);
|
||||
bool getStandbyZAccelEnabled();
|
||||
void setStandbyZAccelEnabled(bool enabled);
|
||||
bool getStandbyXGyroEnabled();
|
||||
void setStandbyXGyroEnabled(bool enabled);
|
||||
bool getStandbyYGyroEnabled();
|
||||
void setStandbyYGyroEnabled(bool enabled);
|
||||
bool getStandbyZGyroEnabled();
|
||||
void setStandbyZGyroEnabled(bool enabled);
|
||||
|
||||
// FIFO_COUNT_* registers
|
||||
uint16_t getFIFOCount();
|
||||
|
||||
// FIFO_R_W register
|
||||
uint8_t getFIFOByte();
|
||||
void setFIFOByte(uint8_t data);
|
||||
|
||||
// WHO_AM_I register
|
||||
uint8_t getDeviceID();
|
||||
void setDeviceID(uint8_t id);
|
||||
|
||||
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
|
||||
|
||||
// XG_OFFS_TC register
|
||||
int8_t getXGyroOffset();
|
||||
void setXGyroOffset(int8_t offset);
|
||||
|
||||
// YG_OFFS_TC register
|
||||
int8_t getYGyroOffset();
|
||||
void setYGyroOffset(int8_t offset);
|
||||
|
||||
// ZG_OFFS_TC register
|
||||
int8_t getZGyroOffset();
|
||||
void setZGyroOffset(int8_t offset);
|
||||
|
||||
// X_FINE_GAIN register
|
||||
int8_t getXFineGain();
|
||||
void setXFineGain(int8_t gain);
|
||||
|
||||
// Y_FINE_GAIN register
|
||||
int8_t getYFineGain();
|
||||
void setYFineGain(int8_t gain);
|
||||
|
||||
// Z_FINE_GAIN register
|
||||
int8_t getZFineGain();
|
||||
void setZFineGain(int8_t gain);
|
||||
|
||||
// XA_OFFS_* registers
|
||||
int16_t getXAccelOffset();
|
||||
void setXAccelOffset(int16_t offset);
|
||||
|
||||
// YA_OFFS_* register
|
||||
int16_t getYAccelOffset();
|
||||
void setYAccelOffset(int16_t offset);
|
||||
|
||||
// ZA_OFFS_* register
|
||||
int16_t getZAccelOffset();
|
||||
void setZAccelOffset(int16_t offset);
|
||||
|
||||
// XG_OFFS_USR* registers
|
||||
int16_t getXGyroOffsetUser();
|
||||
void setXGyroOffsetUser(int16_t offset);
|
||||
|
||||
// YG_OFFS_USR* register
|
||||
int16_t getYGyroOffsetUser();
|
||||
void setYGyroOffsetUser(int16_t offset);
|
||||
|
||||
// ZG_OFFS_USR* register
|
||||
int16_t getZGyroOffsetUser();
|
||||
void setZGyroOffsetUser(int16_t offset);
|
||||
|
||||
// INT_ENABLE register (DMP functions)
|
||||
bool getIntPLLReadyEnabled();
|
||||
void setIntPLLReadyEnabled(bool enabled);
|
||||
bool getIntDMPEnabled();
|
||||
void setIntDMPEnabled(bool enabled);
|
||||
|
||||
// DMP_INT_STATUS
|
||||
bool getDMPInt5Status();
|
||||
bool getDMPInt4Status();
|
||||
bool getDMPInt3Status();
|
||||
bool getDMPInt2Status();
|
||||
bool getDMPInt1Status();
|
||||
bool getDMPInt0Status();
|
||||
|
||||
// INT_STATUS register (DMP functions)
|
||||
bool getIntPLLReadyStatus();
|
||||
bool getIntDMPStatus();
|
||||
|
||||
// USER_CTRL register (DMP functions)
|
||||
bool getDMPEnabled();
|
||||
void setDMPEnabled(bool enabled);
|
||||
void resetDMP();
|
||||
|
||||
// BANK_SEL register
|
||||
void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
|
||||
|
||||
// MEM_START_ADDR register
|
||||
void setMemoryStartAddress(uint8_t address);
|
||||
|
||||
// MEM_R_W register
|
||||
uint8_t readMemoryByte();
|
||||
void writeMemoryByte(uint8_t data);
|
||||
void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
|
||||
bool writeMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
|
||||
bool writeProgMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
|
||||
|
||||
// DMP_CFG_1 register
|
||||
uint8_t getDMPConfig1();
|
||||
void setDMPConfig1(uint8_t config);
|
||||
|
||||
// DMP_CFG_2 register
|
||||
uint8_t getDMPConfig2();
|
||||
void setDMPConfig2(uint8_t config);
|
||||
|
||||
private:
|
||||
uint8_t devAddr;
|
||||
uint8_t buffer[14];
|
||||
};
|
||||
|
||||
#ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
|
||||
/* This is only included if you want it, since it eats about 2K of program
|
||||
* memory, which is a waste if you aren't using the DMP (or if you aren't
|
||||
* using this particular flavor of DMP).
|
||||
*
|
||||
* Source is from the InvenSense MotionApps v2 demo code. Original source is
|
||||
* unavailable, unless you happen to be amazing as decompiling binary by
|
||||
* hand (in which case, please contact me, and I'm totally serious).
|
||||
*
|
||||
* Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
|
||||
* DMP reverse-engineering he did to help make this bit of wizardry
|
||||
* possible.
|
||||
*/
|
||||
|
||||
#define MPU6050_DMP_CODE_SIZE 1929
|
||||
|
||||
// this block of memory gets written to the MPU on start-up, and it seems
|
||||
// to be volatile memory, so it has to be done each time (it only takes ~1
|
||||
// second though)
|
||||
prog_uchar dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
|
||||
// bank 0, 256 bytes
|
||||
0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
|
||||
0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
|
||||
0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
|
||||
0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
|
||||
0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
|
||||
0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
|
||||
0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
|
||||
0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
|
||||
|
||||
// bank 1, 256 bytes
|
||||
0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
|
||||
0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
|
||||
0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
|
||||
0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
|
||||
|
||||
// bank 2, 256 bytes
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
|
||||
// bank 3, 256 bytes
|
||||
0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
|
||||
0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
|
||||
0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
|
||||
0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
|
||||
0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
|
||||
0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
|
||||
0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
|
||||
0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C,
|
||||
0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
|
||||
0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
|
||||
0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
|
||||
0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
|
||||
0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
|
||||
0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
|
||||
0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
|
||||
0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
|
||||
|
||||
// bank 4, 256 bytes
|
||||
0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
|
||||
0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
|
||||
0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
|
||||
0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
|
||||
0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
|
||||
0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
|
||||
0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
|
||||
0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
|
||||
0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
|
||||
0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
|
||||
0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
|
||||
0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
|
||||
0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
|
||||
0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
|
||||
0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
|
||||
0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
|
||||
|
||||
// bank 5, 256 bytes
|
||||
0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
|
||||
0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
|
||||
0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
|
||||
0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
|
||||
0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
|
||||
0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
|
||||
0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
|
||||
0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
|
||||
0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
|
||||
0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
|
||||
0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
|
||||
0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
|
||||
0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
|
||||
0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
|
||||
0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
|
||||
0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,
|
||||
|
||||
// bank 6, 256 bytes
|
||||
0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
|
||||
0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
|
||||
0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
|
||||
0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
|
||||
0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
|
||||
0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
|
||||
0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
|
||||
0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
|
||||
0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
|
||||
0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
|
||||
0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
|
||||
0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
|
||||
0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
|
||||
0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
|
||||
0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
|
||||
0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,
|
||||
|
||||
// bank 7, 138 bytes (remainder)
|
||||
0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
|
||||
0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
|
||||
0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
|
||||
0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
|
||||
0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
|
||||
0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
|
||||
0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3,
|
||||
0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC,
|
||||
0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
|
||||
};
|
||||
|
||||
uint8_t dmpUpdates[29][9] = {
|
||||
{ 0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C }, // FCFG_1 inv_set_gyro_calibration
|
||||
{ 0x03, 0xAB, 0x03, 0x36, 0x56, 0x76 }, // FCFG_3 inv_set_gyro_calibration
|
||||
{ 0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2 }, // D_0_104 inv_set_gyro_calibration
|
||||
{ 0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1 }, // D_0_24 inv_set_gyro_calibration
|
||||
{ 0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00 }, // D_1_152 inv_set_accel_calibration
|
||||
{ 0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97 }, // FCFG_2 inv_set_accel_calibration
|
||||
{ 0x03, 0x89, 0x03, 0x26, 0x46, 0x66 }, // FCFG_7 inv_set_accel_calibration
|
||||
{ 0x00, 0x6C, 0x02, 0x20, 0x00 }, // D_0_108 inv_set_accel_calibration
|
||||
{ 0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00 }, // CPASS_MTX_00 inv_set_compass_calibration
|
||||
{ 0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00 }, // CPASS_MTX_01
|
||||
{ 0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00 }, // CPASS_MTX_02
|
||||
{ 0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00 }, // CPASS_MTX_10
|
||||
{ 0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00 }, // CPASS_MTX_11
|
||||
{ 0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00 }, // CPASS_MTX_12
|
||||
{ 0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00 }, // CPASS_MTX_20
|
||||
{ 0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00 }, // CPASS_MTX_21
|
||||
{ 0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00 }, // CPASS_MTX_22
|
||||
{ 0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00 }, // D_1_236 inv_apply_endian_accel
|
||||
{ 0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97 }, // FCFG_2 inv_set_mpu_sensors
|
||||
{ 0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D }, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
|
||||
{ 0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D }, // FCFG_5 inv_set_bias_update
|
||||
{ 0x00, 0xA3, 0x01, 0x00 }, // D_0_163 inv_set_dead_zone
|
||||
// SET INT_ENABLE at i=22
|
||||
{ 0x07, 0x86, 0x01, 0xFE }, // CFG_6 inv_set_fifo_interupt
|
||||
{ 0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38 }, // CFG_8 inv_send_quaternion
|
||||
{ 0x07, 0x7E, 0x01, 0x30 }, // CFG_16 inv_set_footer
|
||||
{ 0x07, 0x46, 0x01, 0x9A }, // CFG_GYRO_SOURCE inv_send_gyro
|
||||
{ 0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38 }, // CFG_9 inv_send_gyro -> inv_construct3_fifo
|
||||
{ 0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38 }, // CFG_12 inv_send_accel -> inv_construct3_fifo
|
||||
{ 0x02, 0x16, 0x02, 0x00, 0x0A } // D_0_22 inv_set_fifo_rate
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
#endif /* _MPU6050_H_ */
|
||||
Reference in New Issue
Block a user