Bradley Kohler / MPU6050

MPU6050 module library

All credit to kriswiner @https://github.com/kriswiner. Just changed some code for my own purposes

MPU6050_reg.h@1:ca4d8c044898, 2017-11-21 (annotated)

Committer:
kohlerba
Date:
Tue Nov 21 20:30:56 2017 +0000
Revision:
1:ca4d8c044898
Parent:
0:8a2cac9ba89e 
MPU6050 module library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kohlerba 0:8a2cac9ba89e 1 #ifndef MPU6050_REG_H
kohlerba 0:8a2cac9ba89e 2 #define MPU6050_REG_H
kohlerba 0:8a2cac9ba89e 3
kohlerba 0:8a2cac9ba89e 4 #define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD
kohlerba 0:8a2cac9ba89e 5 #define YGOFFS_TC 0x01
kohlerba 0:8a2cac9ba89e 6 #define ZGOFFS_TC 0x02
kohlerba 0:8a2cac9ba89e 7 #define X_FINE_GAIN 0x03 // [7:0] fine gain
kohlerba 0:8a2cac9ba89e 8 #define Y_FINE_GAIN 0x04
kohlerba 0:8a2cac9ba89e 9 #define Z_FINE_GAIN 0x05
kohlerba 0:8a2cac9ba89e 10 #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
kohlerba 0:8a2cac9ba89e 11 #define XA_OFFSET_L_TC 0x07
kohlerba 0:8a2cac9ba89e 12 #define YA_OFFSET_H 0x08
kohlerba 0:8a2cac9ba89e 13 #define YA_OFFSET_L_TC 0x09
kohlerba 0:8a2cac9ba89e 14 #define ZA_OFFSET_H 0x0A
kohlerba 0:8a2cac9ba89e 15 #define ZA_OFFSET_L_TC 0x0B
kohlerba 0:8a2cac9ba89e 16 #define SELF_TEST_X 0x0D
kohlerba 0:8a2cac9ba89e 17 #define SELF_TEST_Y 0x0E
kohlerba 0:8a2cac9ba89e 18 #define SELF_TEST_Z 0x0F
kohlerba 0:8a2cac9ba89e 19 #define SELF_TEST_A 0x10
kohlerba 0:8a2cac9ba89e 20 #define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050?
kohlerba 0:8a2cac9ba89e 21 #define XG_OFFS_USRL 0x14
kohlerba 0:8a2cac9ba89e 22 #define YG_OFFS_USRH 0x15
kohlerba 0:8a2cac9ba89e 23 #define YG_OFFS_USRL 0x16
kohlerba 0:8a2cac9ba89e 24 #define ZG_OFFS_USRH 0x17
kohlerba 0:8a2cac9ba89e 25 #define ZG_OFFS_USRL 0x18
kohlerba 0:8a2cac9ba89e 26 #define SMPLRT_DIV 0x19
kohlerba 0:8a2cac9ba89e 27 #define CONFIG 0x1A
kohlerba 0:8a2cac9ba89e 28 #define GYRO_CONFIG 0x1B
kohlerba 0:8a2cac9ba89e 29 #define ACCEL_CONFIG 0x1C
kohlerba 0:8a2cac9ba89e 30 #define FF_THR 0x1D // Free-fall
kohlerba 0:8a2cac9ba89e 31 #define FF_DUR 0x1E // Free-fall
kohlerba 0:8a2cac9ba89e 32 #define MOT_THR 0x1F // Motion detection threshold bits [7:0]
kohlerba 0:8a2cac9ba89e 33 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
kohlerba 0:8a2cac9ba89e 34 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
kohlerba 0:8a2cac9ba89e 35 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
kohlerba 0:8a2cac9ba89e 36 #define FIFO_EN 0x23
kohlerba 0:8a2cac9ba89e 37 #define I2C_MST_CTRL 0x24
kohlerba 0:8a2cac9ba89e 38 #define I2C_SLV0_ADDR 0x25
kohlerba 0:8a2cac9ba89e 39 #define I2C_SLV0_REG 0x26
kohlerba 0:8a2cac9ba89e 40 #define I2C_SLV0_CTRL 0x27
kohlerba 0:8a2cac9ba89e 41 #define I2C_SLV1_ADDR 0x28
kohlerba 0:8a2cac9ba89e 42 #define I2C_SLV1_REG 0x29
kohlerba 0:8a2cac9ba89e 43 #define I2C_SLV1_CTRL 0x2A
kohlerba 0:8a2cac9ba89e 44 #define I2C_SLV2_ADDR 0x2B
kohlerba 0:8a2cac9ba89e 45 #define I2C_SLV2_REG 0x2C
kohlerba 0:8a2cac9ba89e 46 #define I2C_SLV2_CTRL 0x2D
kohlerba 0:8a2cac9ba89e 47 #define I2C_SLV3_ADDR 0x2E
kohlerba 0:8a2cac9ba89e 48 #define I2C_SLV3_REG 0x2F
kohlerba 0:8a2cac9ba89e 49 #define I2C_SLV3_CTRL 0x30
kohlerba 0:8a2cac9ba89e 50 #define I2C_SLV4_ADDR 0x31
kohlerba 0:8a2cac9ba89e 51 #define I2C_SLV4_REG 0x32
kohlerba 0:8a2cac9ba89e 52 #define I2C_SLV4_DO 0x33
kohlerba 0:8a2cac9ba89e 53 #define I2C_SLV4_CTRL 0x34
kohlerba 0:8a2cac9ba89e 54 #define I2C_SLV4_DI 0x35
kohlerba 0:8a2cac9ba89e 55 #define I2C_MST_STATUS 0x36
kohlerba 0:8a2cac9ba89e 56 #define INT_PIN_CFG 0x37
kohlerba 0:8a2cac9ba89e 57 #define INT_ENABLE 0x38
kohlerba 0:8a2cac9ba89e 58 #define DMP_INT_STATUS 0x39 // Check DMP interrupt
kohlerba 0:8a2cac9ba89e 59 #define INT_STATUS 0x3A
kohlerba 0:8a2cac9ba89e 60 #define ACCEL_XOUT_H 0x3B
kohlerba 0:8a2cac9ba89e 61 #define ACCEL_XOUT_L 0x3C
kohlerba 0:8a2cac9ba89e 62 #define ACCEL_YOUT_H 0x3D
kohlerba 0:8a2cac9ba89e 63 #define ACCEL_YOUT_L 0x3E
kohlerba 0:8a2cac9ba89e 64 #define ACCEL_ZOUT_H 0x3F
kohlerba 0:8a2cac9ba89e 65 #define ACCEL_ZOUT_L 0x40
kohlerba 0:8a2cac9ba89e 66 #define TEMP_OUT_H 0x41
kohlerba 0:8a2cac9ba89e 67 #define TEMP_OUT_L 0x42
kohlerba 0:8a2cac9ba89e 68 #define GYRO_XOUT_H 0x43
kohlerba 0:8a2cac9ba89e 69 #define GYRO_XOUT_L 0x44
kohlerba 0:8a2cac9ba89e 70 #define GYRO_YOUT_H 0x45
kohlerba 0:8a2cac9ba89e 71 #define GYRO_YOUT_L 0x46
kohlerba 0:8a2cac9ba89e 72 #define GYRO_ZOUT_H 0x47
kohlerba 0:8a2cac9ba89e 73 #define GYRO_ZOUT_L 0x48
kohlerba 0:8a2cac9ba89e 74 #define EXT_SENS_DATA_00 0x49
kohlerba 0:8a2cac9ba89e 75 #define EXT_SENS_DATA_01 0x4A
kohlerba 0:8a2cac9ba89e 76 #define EXT_SENS_DATA_02 0x4B
kohlerba 0:8a2cac9ba89e 77 #define EXT_SENS_DATA_03 0x4C
kohlerba 0:8a2cac9ba89e 78 #define EXT_SENS_DATA_04 0x4D
kohlerba 0:8a2cac9ba89e 79 #define EXT_SENS_DATA_05 0x4E
kohlerba 0:8a2cac9ba89e 80 #define EXT_SENS_DATA_06 0x4F
kohlerba 0:8a2cac9ba89e 81 #define EXT_SENS_DATA_07 0x50
kohlerba 0:8a2cac9ba89e 82 #define EXT_SENS_DATA_08 0x51
kohlerba 0:8a2cac9ba89e 83 #define EXT_SENS_DATA_09 0x52
kohlerba 0:8a2cac9ba89e 84 #define EXT_SENS_DATA_10 0x53
kohlerba 0:8a2cac9ba89e 85 #define EXT_SENS_DATA_11 0x54
kohlerba 0:8a2cac9ba89e 86 #define EXT_SENS_DATA_12 0x55
kohlerba 0:8a2cac9ba89e 87 #define EXT_SENS_DATA_13 0x56
kohlerba 0:8a2cac9ba89e 88 #define EXT_SENS_DATA_14 0x57
kohlerba 0:8a2cac9ba89e 89 #define EXT_SENS_DATA_15 0x58
kohlerba 0:8a2cac9ba89e 90 #define EXT_SENS_DATA_16 0x59
kohlerba 0:8a2cac9ba89e 91 #define EXT_SENS_DATA_17 0x5A
kohlerba 0:8a2cac9ba89e 92 #define EXT_SENS_DATA_18 0x5B
kohlerba 0:8a2cac9ba89e 93 #define EXT_SENS_DATA_19 0x5C
kohlerba 0:8a2cac9ba89e 94 #define EXT_SENS_DATA_20 0x5D
kohlerba 0:8a2cac9ba89e 95 #define EXT_SENS_DATA_21 0x5E
kohlerba 0:8a2cac9ba89e 96 #define EXT_SENS_DATA_22 0x5F
kohlerba 0:8a2cac9ba89e 97 #define EXT_SENS_DATA_23 0x60
kohlerba 0:8a2cac9ba89e 98 #define MOT_DETECT_STATUS 0x61
kohlerba 0:8a2cac9ba89e 99 #define I2C_SLV0_DO 0x63
kohlerba 0:8a2cac9ba89e 100 #define I2C_SLV1_DO 0x64
kohlerba 0:8a2cac9ba89e 101 #define I2C_SLV2_DO 0x65
kohlerba 0:8a2cac9ba89e 102 #define I2C_SLV3_DO 0x66
kohlerba 0:8a2cac9ba89e 103 #define I2C_MST_DELAY_CTRL 0x67
kohlerba 0:8a2cac9ba89e 104 #define SIGNAL_PATH_RESET 0x68
kohlerba 0:8a2cac9ba89e 105 #define MOT_DETECT_CTRL 0x69
kohlerba 0:8a2cac9ba89e 106 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
kohlerba 0:8a2cac9ba89e 107 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
kohlerba 0:8a2cac9ba89e 108 #define PWR_MGMT_2 0x6C
kohlerba 0:8a2cac9ba89e 109 #define DMP_BANK 0x6D // Activates a specific bank in the DMP
kohlerba 0:8a2cac9ba89e 110 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
kohlerba 0:8a2cac9ba89e 111 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
kohlerba 0:8a2cac9ba89e 112 #define DMP_REG_1 0x70
kohlerba 0:8a2cac9ba89e 113 #define DMP_REG_2 0x71
kohlerba 0:8a2cac9ba89e 114 #define FIFO_COUNTH 0x72
kohlerba 0:8a2cac9ba89e 115 #define FIFO_COUNTL 0x73
kohlerba 0:8a2cac9ba89e 116 #define FIFO_R_W 0x74
kohlerba 0:8a2cac9ba89e 117 #define WHO_AM_I_MPU6050 0x75 // Should return 0x68
kohlerba 0:8a2cac9ba89e 118
kohlerba 0:8a2cac9ba89e 119 #define ADO 0
kohlerba 0:8a2cac9ba89e 120 #if ADO
kohlerba 0:8a2cac9ba89e 121 #define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1
kohlerba 0:8a2cac9ba89e 122 #else
kohlerba 0:8a2cac9ba89e 123 #define MPU6050_ADDRESS 0x68<<1 // Device address when ADO = 0
kohlerba 0:8a2cac9ba89e 124 #endif
kohlerba 0:8a2cac9ba89e 125
kohlerba 0:8a2cac9ba89e 126 #endif