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https://github.com/eddyem/eddys_snippets.git
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120 lines
4.4 KiB
C
120 lines
4.4 KiB
C
#pragma once
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// Registers stolen from https://courses.cs.washington.edu/courses/cse466/14au/labs/l4/MPU6050BasicExample.ino
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#define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD
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#define YGOFFS_TC 0x01
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#define ZGOFFS_TC 0x02
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#define X_FINE_GAIN 0x03 // [7:0] fine gain
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#define Y_FINE_GAIN 0x04
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#define Z_FINE_GAIN 0x05
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#define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
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#define XA_OFFSET_L_TC 0x07
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#define YA_OFFSET_H 0x08
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#define YA_OFFSET_L_TC 0x09
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#define ZA_OFFSET_H 0x0A
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#define ZA_OFFSET_L_TC 0x0B
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#define SELF_TEST_X 0x0D
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#define SELF_TEST_Y 0x0E
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#define SELF_TEST_Z 0x0F
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#define SELF_TEST_A 0x10
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#define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050?
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#define XG_OFFS_USRL 0x14
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#define YG_OFFS_USRH 0x15
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#define YG_OFFS_USRL 0x16
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#define ZG_OFFS_USRH 0x17
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#define ZG_OFFS_USRL 0x18
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#define SMPLRT_DIV 0x19
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#define CONFIG 0x1A
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#define GYRO_CONFIG 0x1B
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#define ACCEL_CONFIG 0x1C
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#define FF_THR 0x1D // Free-fall
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#define FF_DUR 0x1E // Free-fall
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#define MOT_THR 0x1F // Motion detection threshold bits [7:0]
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#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
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#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
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#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
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#define FIFO_EN 0x23
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#define I2C_MST_CTRL 0x24
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#define I2C_SLV0_ADDR 0x25
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#define I2C_SLV0_REG 0x26
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#define I2C_SLV0_CTRL 0x27
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#define I2C_SLV1_ADDR 0x28
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#define I2C_SLV1_REG 0x29
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#define I2C_SLV1_CTRL 0x2A
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#define I2C_SLV2_ADDR 0x2B
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#define I2C_SLV2_REG 0x2C
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#define I2C_SLV2_CTRL 0x2D
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#define I2C_SLV3_ADDR 0x2E
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#define I2C_SLV3_REG 0x2F
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#define I2C_SLV3_CTRL 0x30
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#define I2C_SLV4_ADDR 0x31
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#define I2C_SLV4_REG 0x32
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#define I2C_SLV4_DO 0x33
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#define I2C_SLV4_CTRL 0x34
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#define I2C_SLV4_DI 0x35
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#define I2C_MST_STATUS 0x36
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#define INT_PIN_CFG 0x37
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#define INT_ENABLE 0x38
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#define DMP_INT_STATUS 0x39 // Check DMP interrupt
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#define INT_STATUS 0x3A
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#define ACCEL_XOUT_H 0x3B
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#define ACCEL_XOUT_L 0x3C
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#define ACCEL_YOUT_H 0x3D
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#define ACCEL_YOUT_L 0x3E
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#define ACCEL_ZOUT_H 0x3F
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#define ACCEL_ZOUT_L 0x40
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#define TEMP_OUT_H 0x41
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#define TEMP_OUT_L 0x42
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#define GYRO_XOUT_H 0x43
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#define GYRO_XOUT_L 0x44
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#define GYRO_YOUT_H 0x45
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#define GYRO_YOUT_L 0x46
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#define GYRO_ZOUT_H 0x47
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#define GYRO_ZOUT_L 0x48
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#define EXT_SENS_DATA_00 0x49
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#define EXT_SENS_DATA_01 0x4A
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#define EXT_SENS_DATA_02 0x4B
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#define EXT_SENS_DATA_03 0x4C
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#define EXT_SENS_DATA_04 0x4D
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#define EXT_SENS_DATA_05 0x4E
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#define EXT_SENS_DATA_06 0x4F
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#define EXT_SENS_DATA_07 0x50
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#define EXT_SENS_DATA_08 0x51
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#define EXT_SENS_DATA_09 0x52
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#define EXT_SENS_DATA_10 0x53
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#define EXT_SENS_DATA_11 0x54
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#define EXT_SENS_DATA_12 0x55
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#define EXT_SENS_DATA_13 0x56
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#define EXT_SENS_DATA_14 0x57
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#define EXT_SENS_DATA_15 0x58
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#define EXT_SENS_DATA_16 0x59
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#define EXT_SENS_DATA_17 0x5A
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#define EXT_SENS_DATA_18 0x5B
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#define EXT_SENS_DATA_19 0x5C
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#define EXT_SENS_DATA_20 0x5D
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#define EXT_SENS_DATA_21 0x5E
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#define EXT_SENS_DATA_22 0x5F
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#define EXT_SENS_DATA_23 0x60
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#define MOT_DETECT_STATUS 0x61
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#define I2C_SLV0_DO 0x63
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#define I2C_SLV1_DO 0x64
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#define I2C_SLV2_DO 0x65
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#define I2C_SLV3_DO 0x66
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#define I2C_MST_DELAY_CTRL 0x67
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#define SIGNAL_PATH_RESET 0x68
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#define MOT_DETECT_CTRL 0x69
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#define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
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#define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
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#define PWR_MGMT_2 0x6C
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#define DMP_BANK 0x6D // Activates a specific bank in the DMP
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#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
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#define DMP_REG 0x6F // Register in DMP from which to read or to which to write
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#define DMP_REG_1 0x70
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#define DMP_REG_2 0x71
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#define FIFO_COUNTH 0x72
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#define FIFO_COUNTL 0x73
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#define FIFO_R_W 0x74
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#define WHO_AM_I_MPU6050 0x75 // Should return 0x68
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#define MPU6050_I2C_ADDRESS (0x68) // I2C
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