| 1234567891011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162 |
- #ifndef MPU6050_H
- #define MPU6050_H
- #include <linux/ioctl.h>
- #define MPU6050_I2C_SLAVE_ADDR 0xD0
- /* MPU6050 Register Map (Please refer to MPU6050 Specifications) */
- #define MPU6050_REG_DEVID 0x75
- #define MPU6050_REG_BW_RATE 0x1A
- #define MPU6050_REG_POWER_CTL 0x6B
- #define MPU6050_REG_POWER_CTL2 0x6C
- #define MPU6050_REG_INT_ENABLE 0x38
- #define MPU6050_REG_DATA_FORMAT 0x1C
- #define MPU6050_REG_DATAX0 0x3B
- #define MPU6050_REG_DATAY0 0x3D
- #define MPU6050_REG_DATAZ0 0x3F
- #define MPU6050_REG_RESET 0x68
- /* register Value */
- #define MPU6050_FIXED_DEVID 0x68 /* or 0x69 */
- /* delay(ms) */
- #define MPU6050_BW_260HZ 0x00 /* 0 */
- #define MPU6050_BW_184HZ 0x01 /* 2.0 */
- #define MPU6050_BW_94HZ 0x02 /* 3.0 */
- #define MPU6050_BW_44HZ 0x03 /* 4.9 */
- #define MPU6050_BW_21HZ 0x04 /* 8.5 */
- #define MPU6050_BW_10HZ 0x05 /* 13.8 */
- #define MPU6050_BW_5HZ 0x06 /* 19.0 */
- #define MPU6050_DEV_RESET 0x80
- /* #define MPU6050_FULL_RES 0x08 */
- #define MPU6050_RANGE_2G (0x00 << 3)
- #define MPU6050_RANGE_4G (0x01 << 3)
- #define MPU6050_RANGE_8G (0x02 << 3)
- #define MPU6050_RANGE_16G (0x03 << 3)
- /* #define MPU6050_SELF_TEST 0x80 */
- #define MPU6050_SLEEP 0x40 /* enable low power sleep mode */
- /* below do not modify */
- #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 256
- extern int MPU6050_gyro_power(void);
- extern int MPU6050_gyro_mode(void);
- #endif
|
