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authorStanley Huang <stanleyhuangyc@gmail.com>2017-01-25 23:09:40 +1100
committerStanley Huang <stanleyhuangyc@gmail.com>2017-01-25 23:09:40 +1100
commitad642110571cdb8387060640bb9042a3438536f1 (patch)
tree05a22a2951e7f6b1a69bbe2e037bee564541ec8d /libraries/MPU6050
parent7e6c599d4149f069c1cadc086ad87bafb75d4cd3 (diff)
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Remove unneeded libraries
Diffstat (limited to 'libraries/MPU6050')
-rw-r--r--libraries/MPU6050/MPU6050.cpp195
-rw-r--r--libraries/MPU6050/MPU6050.h645
2 files changed, 0 insertions, 840 deletions
diff --git a/libraries/MPU6050/MPU6050.cpp b/libraries/MPU6050/MPU6050.cpp
deleted file mode 100644
index 86901d9..0000000
--- a/libraries/MPU6050/MPU6050.cpp
+++ /dev/null
@@ -1,195 +0,0 @@
-// MPU-6050 Accelerometer + Gyro
-// -----------------------------
-//
-// By arduino.cc user "Krodal".
-// June 2012
-// Open Source / Public Domain
-//
-// Using Arduino 1.0.1
-// It will not work with an older version,
-// since Wire.endTransmission() uses a parameter
-// to hold or release the I2C bus.
-//
-// Documentation:
-// - The InvenSense documents:
-// - "MPU-6000 and MPU-6050 Product Specification",
-// PS-MPU-6000A.pdf
-// - "MPU-6000 and MPU-6050 Register Map and Descriptions",
-// RM-MPU-6000A.pdf or RS-MPU-6000A.pdf
-// - "MPU-6000/MPU-6050 9-Axis Evaluation Board User Guide"
-// AN-MPU-6000EVB.pdf
-//
-// The accuracy is 16-bits.
-//
-// Temperature sensor from -40 to +85 degrees Celsius
-// 340 per degrees, -512 at 35 degrees.
-//
-// At power-up, all registers are zero, except these two:
-// Register 0x6B (PWR_MGMT_2) = 0x40 (I read zero).
-// Register 0x75 (WHO_AM_I) = 0x68.
-//
-
-#include <Arduino.h>
-#include "MPU6050.h"
-
-// --------------------------------------------------------
-// MPU6050_read
-//
-// This is a common function to read multiple bytes
-// from an I2C device.
-//
-// It uses the boolean parameter for Wire.endTransMission()
-// to be able to hold or release the I2C-bus.
-// This is implemented in Arduino 1.0.1.
-//
-// Only this function is used to read.
-// There is no function for a single byte.
-//
-int MPU6050_read(int start, uint8_t *buffer, int size)
-{
- int i, n;
-
- Wire.beginTransmission(MPU6050_I2C_ADDRESS);
- n = Wire.write(start);
- if (n != 1)
- return (-10);
-
- n = Wire.endTransmission(false); // hold the I2C-bus
- if (n != 0)
- return (n);
-
- // Third parameter is true: relase I2C-bus after data is read.
- Wire.requestFrom(MPU6050_I2C_ADDRESS, size, true);
- i = 0;
- while(Wire.available() && i<size)
- {
- buffer[i++]=Wire.read();
- }
- if ( i != size)
- return (-11);
-
- return (0); // return : no error
-}
-
-
-// --------------------------------------------------------
-// MPU6050_write
-//
-// This is a common function to write multiple bytes to an I2C device.
-//
-// If only a single register is written,
-// use the function MPU_6050_write_reg().
-//
-// Parameters:
-// start : Start address, use a define for the register
-// pData : A pointer to the data to write.
-// size : The number of bytes to write.
-//
-// If only a single register is written, a pointer
-// to the data has to be used, and the size is
-// a single byte:
-// int data = 0; // the data to write
-// MPU6050_write (MPU6050_PWR_MGMT_1, &c, 1);
-//
-int MPU6050_write(int start, const uint8_t *pData, int size)
-{
- int n, error;
-
- Wire.beginTransmission(MPU6050_I2C_ADDRESS);
- n = Wire.write(start); // write the start address
- if (n != 1)
- return (-20);
-
- n = Wire.write(pData, size); // write data bytes
- if (n != size)
- return (-21);
-
- error = Wire.endTransmission(true); // release the I2C-bus
- if (error != 0)
- return (error);
-
- return (0); // return : no error
-}
-
-// --------------------------------------------------------
-// MPU6050_write_reg
-//
-// An extra function to write a single register.
-// It is just a wrapper around the MPU_6050_write()
-// function, and it is only a convenient function
-// to make it easier to write a single register.
-//
-int MPU6050_write_reg(int reg, uint8_t data)
-{
- int error;
-
- error = MPU6050_write(reg, &data, 1);
-
- return (error);
-}
-
-// --------------------------------------------------------
-// MPU6050_init
-//
-// Initialization
-//
-int MPU6050_init()
-{
- // default at power-up:
- // Gyro at 250 degrees second
- // Acceleration at 2g
- // Clock source at internal 8MHz
- // The device is in sleep mode.
- //
- uint8_t c;
- int error;
- error = MPU6050_read (MPU6050_WHO_AM_I, &c, 1);
- if (error) return error;
-
- // According to the datasheet, the 'sleep' bit
- // should read a '1'. But I read a '0'.
- // That bit has to be cleared, since the sensor
- // is in sleep mode at power-up. Even if the
- // bit reads '0'.
- error = MPU6050_read (MPU6050_PWR_MGMT_2, &c, 1);
- if (error) return error;
-
- // Clear the 'sleep' bit to start the sensor.
- MPU6050_write_reg (MPU6050_PWR_MGMT_1, 0);
- return 0;
-}
-
-// --------------------------------------------------------
-// MPU6050_readout
-//
-// Perform an complete read-out
-//
-
-int MPU6050_readout(accel_t_gyro_union* accel_t_gyro)
-{
- int error;
-
- // Read the raw values.
- // Read 14 bytes at once,
- // containing acceleration, temperature and gyro.
- // With the default settings of the MPU-6050,
- // there is no filter enabled, and the values
- // are not very stable.
- error = MPU6050_read (MPU6050_ACCEL_XOUT_H, (uint8_t *)accel_t_gyro, sizeof(accel_t_gyro_union));
- if (error) return error;
-
- // Swap all high and low bytes.
- // After this, the registers values are swapped,
- // so the structure name like x_accel_l does no
- // longer contain the lower byte.
- uint8_t swap;
- #define SWAP(x,y) swap = x; x = y; y = swap
-
- SWAP (accel_t_gyro->reg.x_accel_h, accel_t_gyro->reg.x_accel_l);
- SWAP (accel_t_gyro->reg.y_accel_h, accel_t_gyro->reg.y_accel_l);
- SWAP (accel_t_gyro->reg.z_accel_h, accel_t_gyro->reg.z_accel_l);
- SWAP (accel_t_gyro->reg.t_h, accel_t_gyro->reg.t_l);
- SWAP (accel_t_gyro->reg.x_gyro_h, accel_t_gyro->reg.x_gyro_l);
- SWAP (accel_t_gyro->reg.y_gyro_h, accel_t_gyro->reg.y_gyro_l);
- SWAP (accel_t_gyro->reg.z_gyro_h, accel_t_gyro->reg.z_gyro_l);
-}
diff --git a/libraries/MPU6050/MPU6050.h b/libraries/MPU6050/MPU6050.h
deleted file mode 100644
index 3cf3296..0000000
--- a/libraries/MPU6050/MPU6050.h
+++ /dev/null
@@ -1,645 +0,0 @@
-#ifndef MPU6050_H_INCLUDED
-#define MPU6050_H_INCLUDED
-
-#include <Wire.h>
-
-// The temperature sensor is -40 to +85 degrees Celsius.
-// It is a signed integer.
-// According to the datasheet:
-// 340 per degrees Celsius, -512 at 35 degrees.
-// At 0 degrees: -512 - (340 * 35) = -12412
-#define MPU6050_GET_TEMPERATURE(t) (( (float)t + 12412.0) / 340.0)
-
-// The name of the sensor is "MPU-6050".
-// For program code, I omit the '-',
-// therefor I use the name "MPU6050....".
-
-
-// Register names according to the datasheet.
-// According to the InvenSense document
-// "MPU-6000 and MPU-6050 Register Map
-// and Descriptions Revision 3.2", there are no registers
-// at 0x02 ... 0x18, but according other information
-// the registers in that unknown area are for gain
-// and offsets.
-//
-//#define MPU6050_AUX_VDDIO 0x01 // R/W
-#define MPU6050_SMPLRT_DIV 0x19 // R/W
-#define MPU6050_CONFIG 0x1A // R/W
-#define MPU6050_GYRO_CONFIG 0x1B // R/W
-#define MPU6050_ACCEL_CONFIG 0x1C // R/W
-#define MPU6050_FF_THR 0x1D // R/W
-#define MPU6050_FF_DUR 0x1E // R/W
-#define MPU6050_MOT_THR 0x1F // R/W
-#define MPU6050_MOT_DUR 0x20 // R/W
-#define MPU6050_ZRMOT_THR 0x21 // R/W
-#define MPU6050_ZRMOT_DUR 0x22 // R/W
-//#define MPU6050_FIFO_EN 0x23 // R/W
-#define MPU6050_I2C_MST_CTRL 0x24 // R/W
-#define MPU6050_I2C_SLV0_ADDR 0x25 // R/W
-#define MPU6050_I2C_SLV0_REG 0x26 // R/W
-#define MPU6050_I2C_SLV0_CTRL 0x27 // R/W
-#define MPU6050_I2C_SLV1_ADDR 0x28 // R/W
-#define MPU6050_I2C_SLV1_REG 0x29 // R/W
-#define MPU6050_I2C_SLV1_CTRL 0x2A // R/W
-#define MPU6050_I2C_SLV2_ADDR 0x2B // R/W
-#define MPU6050_I2C_SLV2_REG 0x2C // R/W
-#define MPU6050_I2C_SLV2_CTRL 0x2D // R/W
-#define MPU6050_I2C_SLV3_ADDR 0x2E // R/W
-#define MPU6050_I2C_SLV3_REG 0x2F // R/W
-#define MPU6050_I2C_SLV3_CTRL 0x30 // R/W
-#define MPU6050_I2C_SLV4_ADDR 0x31 // R/W
-#define MPU6050_I2C_SLV4_REG 0x32 // R/W
-#define MPU6050_I2C_SLV4_DO 0x33 // R/W
-#define MPU6050_I2C_SLV4_CTRL 0x34 // R/W
-#define MPU6050_I2C_SLV4_DI 0x35 // R
-#define MPU6050_I2C_MST_STATUS 0x36 // R
-#define MPU6050_INT_PIN_CFG 0x37 // R/W
-#define MPU6050_INT_ENABLE 0x38 // R/W
-#define MPU6050_INT_STATUS 0x3A // R
-#define MPU6050_ACCEL_XOUT_H 0x3B // R
-#define MPU6050_ACCEL_XOUT_L 0x3C // R
-#define MPU6050_ACCEL_YOUT_H 0x3D // R
-#define MPU6050_ACCEL_YOUT_L 0x3E // R
-#define MPU6050_ACCEL_ZOUT_H 0x3F // R
-#define MPU6050_ACCEL_ZOUT_L 0x40 // R
-#define MPU6050_TEMP_OUT_H 0x41 // R
-#define MPU6050_TEMP_OUT_L 0x42 // R
-#define MPU6050_GYRO_XOUT_H 0x43 // R
-#define MPU6050_GYRO_XOUT_L 0x44 // R
-#define MPU6050_GYRO_YOUT_H 0x45 // R
-#define MPU6050_GYRO_YOUT_L 0x46 // R
-#define MPU6050_GYRO_ZOUT_H 0x47 // R
-#define MPU6050_GYRO_ZOUT_L 0x48 // R
-#define MPU6050_EXT_SENS_DATA_00 0x49 // R
-#define MPU6050_EXT_SENS_DATA_01 0x4A // R
-#define MPU6050_EXT_SENS_DATA_02 0x4B // R
-#define MPU6050_EXT_SENS_DATA_03 0x4C // R
-#define MPU6050_EXT_SENS_DATA_04 0x4D // R
-#define MPU6050_EXT_SENS_DATA_05 0x4E // R
-#define MPU6050_EXT_SENS_DATA_06 0x4F // R
-#define MPU6050_EXT_SENS_DATA_07 0x50 // R
-#define MPU6050_EXT_SENS_DATA_08 0x51 // R
-#define MPU6050_EXT_SENS_DATA_09 0x52 // R
-#define MPU6050_EXT_SENS_DATA_10 0x53 // R
-#define MPU6050_EXT_SENS_DATA_11 0x54 // R
-#define MPU6050_EXT_SENS_DATA_12 0x55 // R
-#define MPU6050_EXT_SENS_DATA_13 0x56 // R
-#define MPU6050_EXT_SENS_DATA_14 0x57 // R
-#define MPU6050_EXT_SENS_DATA_15 0x58 // R
-#define MPU6050_EXT_SENS_DATA_16 0x59 // R
-#define MPU6050_EXT_SENS_DATA_17 0x5A // R
-#define MPU6050_EXT_SENS_DATA_18 0x5B // R
-#define MPU6050_EXT_SENS_DATA_19 0x5C // R
-#define MPU6050_EXT_SENS_DATA_20 0x5D // R
-#define MPU6050_EXT_SENS_DATA_21 0x5E // R
-#define MPU6050_EXT_SENS_DATA_22 0x5F // R
-#define MPU6050_EXT_SENS_DATA_23 0x60 // R
-#define MPU6050_MOT_DETECT_STATUS 0x61 // R
-#define MPU6050_I2C_SLV0_DO 0x63 // R/W
-#define MPU6050_I2C_SLV1_DO 0x64 // R/W
-#define MPU6050_I2C_SLV2_DO 0x65 // R/W
-#define MPU6050_I2C_SLV3_DO 0x66 // R/W
-#define MPU6050_I2C_MST_DELAY_CTRL 0x67 // R/W
-#define MPU6050_SIGNAL_PATH_RESET 0x68 // R/W
-#define MPU6050_MOT_DETECT_CTRL 0x69 // R/W
-#define MPU6050_USER_CTRL 0x6A // R/W
-#define MPU6050_PWR_MGMT_1 0x6B // R/W
-#define MPU6050_PWR_MGMT_2 0x6C // R/W
-#define MPU6050_FIFO_COUNTH 0x72 // R/W
-#define MPU6050_FIFO_COUNTL 0x73 // R/W
-#define MPU6050_FIFO_R_W 0x74 // R/W
-#define MPU6050_WHO_AM_I 0x75 // R
-
-
-// Defines for the bits, to be able to change
-// between bit number and binary definition.
-// By using the bit number, programming the sensor
-// is like programming the AVR microcontroller.
-// But instead of using "(1<<X)", or "_BV(X)",
-// the Arduino "bit(X)" is used.
-#define MPU6050_D0 0
-#define MPU6050_D1 1
-#define MPU6050_D2 2
-#define MPU6050_D3 3
-#define MPU6050_D4 4
-#define MPU6050_D5 5
-#define MPU6050_D6 6
-#define MPU6050_D7 7
-
-// AUX_VDDIO Register
-#define MPU6050_AUX_VDDIO MPU6050_D7 // I2C high: 1=VDD, 0=VLOGIC
-
-// CONFIG Register
-// DLPF is Digital Low Pass Filter for both gyro and accelerometers.
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_DLPF_CFG0 MPU6050_D0
-#define MPU6050_DLPF_CFG1 MPU6050_D1
-#define MPU6050_DLPF_CFG2 MPU6050_D2
-#define MPU6050_EXT_SYNC_SET0 MPU6050_D3
-#define MPU6050_EXT_SYNC_SET1 MPU6050_D4
-#define MPU6050_EXT_SYNC_SET2 MPU6050_D5
-
-// Combined definitions for the EXT_SYNC_SET values
-#define MPU6050_EXT_SYNC_SET_0 (0)
-#define MPU6050_EXT_SYNC_SET_1 (bit(MPU6050_EXT_SYNC_SET0))
-#define MPU6050_EXT_SYNC_SET_2 (bit(MPU6050_EXT_SYNC_SET1))
-#define MPU6050_EXT_SYNC_SET_3 (bit(MPU6050_EXT_SYNC_SET1)|bit(MPU6050_EXT_SYNC_SET0))
-#define MPU6050_EXT_SYNC_SET_4 (bit(MPU6050_EXT_SYNC_SET2))
-#define MPU6050_EXT_SYNC_SET_5 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET0))
-#define MPU6050_EXT_SYNC_SET_6 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET1))
-#define MPU6050_EXT_SYNC_SET_7 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET1)|bit(MPU6050_EXT_SYNC_SET0))
-
-// Alternative names for the combined definitions.
-#define MPU6050_EXT_SYNC_DISABLED MPU6050_EXT_SYNC_SET_0
-#define MPU6050_EXT_SYNC_TEMP_OUT_L MPU6050_EXT_SYNC_SET_1
-#define MPU6050_EXT_SYNC_GYRO_XOUT_L MPU6050_EXT_SYNC_SET_2
-#define MPU6050_EXT_SYNC_GYRO_YOUT_L MPU6050_EXT_SYNC_SET_3
-#define MPU6050_EXT_SYNC_GYRO_ZOUT_L MPU6050_EXT_SYNC_SET_4
-#define MPU6050_EXT_SYNC_ACCEL_XOUT_L MPU6050_EXT_SYNC_SET_5
-#define MPU6050_EXT_SYNC_ACCEL_YOUT_L MPU6050_EXT_SYNC_SET_6
-#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L MPU6050_EXT_SYNC_SET_7
-
-// Combined definitions for the DLPF_CFG values
-#define MPU6050_DLPF_CFG_0 (0)
-#define MPU6050_DLPF_CFG_1 (bit(MPU6050_DLPF_CFG0))
-#define MPU6050_DLPF_CFG_2 (bit(MPU6050_DLPF_CFG1))
-#define MPU6050_DLPF_CFG_3 (bit(MPU6050_DLPF_CFG1)|bit(MPU6050_DLPF_CFG0))
-#define MPU6050_DLPF_CFG_4 (bit(MPU6050_DLPF_CFG2))
-#define MPU6050_DLPF_CFG_5 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG0))
-#define MPU6050_DLPF_CFG_6 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG1))
-#define MPU6050_DLPF_CFG_7 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG1)|bit(MPU6050_DLPF_CFG0))
-
-// Alternative names for the combined definitions
-// This name uses the bandwidth (Hz) for the accelometer,
-// for the gyro the bandwidth is almost the same.
-#define MPU6050_DLPF_260HZ MPU6050_DLPF_CFG_0
-#define MPU6050_DLPF_184HZ MPU6050_DLPF_CFG_1
-#define MPU6050_DLPF_94HZ MPU6050_DLPF_CFG_2
-#define MPU6050_DLPF_44HZ MPU6050_DLPF_CFG_3
-#define MPU6050_DLPF_21HZ MPU6050_DLPF_CFG_4
-#define MPU6050_DLPF_10HZ MPU6050_DLPF_CFG_5
-#define MPU6050_DLPF_5HZ MPU6050_DLPF_CFG_6
-#define MPU6050_DLPF_RESERVED MPU6050_DLPF_CFG_7
-
-// GYRO_CONFIG Register
-// The XG_ST, YG_ST, ZG_ST are bits for selftest.
-// The FS_SEL sets the range for the gyro.
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_FS_SEL0 MPU6050_D3
-#define MPU6050_FS_SEL1 MPU6050_D4
-#define MPU6050_ZG_ST MPU6050_D5
-#define MPU6050_YG_ST MPU6050_D6
-#define MPU6050_XG_ST MPU6050_D7
-
-// Combined definitions for the FS_SEL values
-#define MPU6050_FS_SEL_0 (0)
-#define MPU6050_FS_SEL_1 (bit(MPU6050_FS_SEL0))
-#define MPU6050_FS_SEL_2 (bit(MPU6050_FS_SEL1))
-#define MPU6050_FS_SEL_3 (bit(MPU6050_FS_SEL1)|bit(MPU6050_FS_SEL0))
-
-// Alternative names for the combined definitions
-// The name uses the range in degrees per second.
-#define MPU6050_FS_SEL_250 MPU6050_FS_SEL_0
-#define MPU6050_FS_SEL_500 MPU6050_FS_SEL_1
-#define MPU6050_FS_SEL_1000 MPU6050_FS_SEL_2
-#define MPU6050_FS_SEL_2000 MPU6050_FS_SEL_3
-
-// ACCEL_CONFIG Register
-// The XA_ST, YA_ST, ZA_ST are bits for selftest.
-// The AFS_SEL sets the range for the accelerometer.
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_ACCEL_HPF0 MPU6050_D0
-#define MPU6050_ACCEL_HPF1 MPU6050_D1
-#define MPU6050_ACCEL_HPF2 MPU6050_D2
-#define MPU6050_AFS_SEL0 MPU6050_D3
-#define MPU6050_AFS_SEL1 MPU6050_D4
-#define MPU6050_ZA_ST MPU6050_D5
-#define MPU6050_YA_ST MPU6050_D6
-#define MPU6050_XA_ST MPU6050_D7
-
-// Combined definitions for the ACCEL_HPF values
-#define MPU6050_ACCEL_HPF_0 (0)
-#define MPU6050_ACCEL_HPF_1 (bit(MPU6050_ACCEL_HPF0))
-#define MPU6050_ACCEL_HPF_2 (bit(MPU6050_ACCEL_HPF1))
-#define MPU6050_ACCEL_HPF_3 (bit(MPU6050_ACCEL_HPF1)|bit(MPU6050_ACCEL_HPF0))
-#define MPU6050_ACCEL_HPF_4 (bit(MPU6050_ACCEL_HPF2))
-#define MPU6050_ACCEL_HPF_7 (bit(MPU6050_ACCEL_HPF2)|bit(MPU6050_ACCEL_HPF1)|bit(MPU6050_ACCEL_HPF0))
-
-// Alternative names for the combined definitions
-// The name uses the Cut-off frequency.
-#define MPU6050_ACCEL_HPF_RESET MPU6050_ACCEL_HPF_0
-#define MPU6050_ACCEL_HPF_5HZ MPU6050_ACCEL_HPF_1
-#define MPU6050_ACCEL_HPF_2_5HZ MPU6050_ACCEL_HPF_2
-#define MPU6050_ACCEL_HPF_1_25HZ MPU6050_ACCEL_HPF_3
-#define MPU6050_ACCEL_HPF_0_63HZ MPU6050_ACCEL_HPF_4
-#define MPU6050_ACCEL_HPF_HOLD MPU6050_ACCEL_HPF_7
-
-// Combined definitions for the AFS_SEL values
-#define MPU6050_AFS_SEL_0 (0)
-#define MPU6050_AFS_SEL_1 (bit(MPU6050_AFS_SEL0))
-#define MPU6050_AFS_SEL_2 (bit(MPU6050_AFS_SEL1))
-#define MPU6050_AFS_SEL_3 (bit(MPU6050_AFS_SEL1)|bit(MPU6050_AFS_SEL0))
-
-// Alternative names for the combined definitions
-// The name uses the full scale range for the accelerometer.
-#define MPU6050_AFS_SEL_2G MPU6050_AFS_SEL_0
-#define MPU6050_AFS_SEL_4G MPU6050_AFS_SEL_1
-#define MPU6050_AFS_SEL_8G MPU6050_AFS_SEL_2
-#define MPU6050_AFS_SEL_16G MPU6050_AFS_SEL_3
-
-// FIFO_EN Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_SLV0_FIFO_EN MPU6050_D0
-#define MPU6050_SLV1_FIFO_EN MPU6050_D1
-#define MPU6050_SLV2_FIFO_EN MPU6050_D2
-#define MPU6050_ACCEL_FIFO_EN MPU6050_D3
-#define MPU6050_ZG_FIFO_EN MPU6050_D4
-#define MPU6050_YG_FIFO_EN MPU6050_D5
-#define MPU6050_XG_FIFO_EN MPU6050_D6
-#define MPU6050_TEMP_FIFO_EN MPU6050_D7
-
-// I2C_MST_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_MST_CLK0 MPU6050_D0
-#define MPU6050_I2C_MST_CLK1 MPU6050_D1
-#define MPU6050_I2C_MST_CLK2 MPU6050_D2
-#define MPU6050_I2C_MST_CLK3 MPU6050_D3
-#define MPU6050_I2C_MST_P_NSR MPU6050_D4
-#define MPU6050_SLV_3_FIFO_EN MPU6050_D5
-#define MPU6050_WAIT_FOR_ES MPU6050_D6
-#define MPU6050_MULT_MST_EN MPU6050_D7
-
-// Combined definitions for the I2C_MST_CLK
-#define MPU6050_I2C_MST_CLK_0 (0)
-#define MPU6050_I2C_MST_CLK_1 (bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_2 (bit(MPU6050_I2C_MST_CLK1))
-#define MPU6050_I2C_MST_CLK_3 (bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_4 (bit(MPU6050_I2C_MST_CLK2))
-#define MPU6050_I2C_MST_CLK_5 (bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_6 (bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1))
-#define MPU6050_I2C_MST_CLK_7 (bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_8 (bit(MPU6050_I2C_MST_CLK3))
-#define MPU6050_I2C_MST_CLK_9 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_10 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK1))
-#define MPU6050_I2C_MST_CLK_11 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_12 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2))
-#define MPU6050_I2C_MST_CLK_13 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_14 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1))
-#define MPU6050_I2C_MST_CLK_15 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0))
-
-// Alternative names for the combined definitions
-// The names uses I2C Master Clock Speed in kHz.
-#define MPU6050_I2C_MST_CLK_348KHZ MPU6050_I2C_MST_CLK_0
-#define MPU6050_I2C_MST_CLK_333KHZ MPU6050_I2C_MST_CLK_1
-#define MPU6050_I2C_MST_CLK_320KHZ MPU6050_I2C_MST_CLK_2
-#define MPU6050_I2C_MST_CLK_308KHZ MPU6050_I2C_MST_CLK_3
-#define MPU6050_I2C_MST_CLK_296KHZ MPU6050_I2C_MST_CLK_4
-#define MPU6050_I2C_MST_CLK_286KHZ MPU6050_I2C_MST_CLK_5
-#define MPU6050_I2C_MST_CLK_276KHZ MPU6050_I2C_MST_CLK_6
-#define MPU6050_I2C_MST_CLK_267KHZ MPU6050_I2C_MST_CLK_7
-#define MPU6050_I2C_MST_CLK_258KHZ MPU6050_I2C_MST_CLK_8
-#define MPU6050_I2C_MST_CLK_500KHZ MPU6050_I2C_MST_CLK_9
-#define MPU6050_I2C_MST_CLK_471KHZ MPU6050_I2C_MST_CLK_10
-#define MPU6050_I2C_MST_CLK_444KHZ MPU6050_I2C_MST_CLK_11
-#define MPU6050_I2C_MST_CLK_421KHZ MPU6050_I2C_MST_CLK_12
-#define MPU6050_I2C_MST_CLK_400KHZ MPU6050_I2C_MST_CLK_13
-#define MPU6050_I2C_MST_CLK_381KHZ MPU6050_I2C_MST_CLK_14
-#define MPU6050_I2C_MST_CLK_364KHZ MPU6050_I2C_MST_CLK_15
-
-// I2C_SLV0_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV0_RW MPU6050_D7
-
-// I2C_SLV0_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV0_LEN0 MPU6050_D0
-#define MPU6050_I2C_SLV0_LEN1 MPU6050_D1
-#define MPU6050_I2C_SLV0_LEN2 MPU6050_D2
-#define MPU6050_I2C_SLV0_LEN3 MPU6050_D3
-#define MPU6050_I2C_SLV0_GRP MPU6050_D4
-#define MPU6050_I2C_SLV0_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV0_BYTE_SW MPU6050_D6
-#define MPU6050_I2C_SLV0_EN MPU6050_D7
-
-// A mask for the length
-#define MPU6050_I2C_SLV0_LEN_MASK 0x0F
-
-// I2C_SLV1_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV1_RW MPU6050_D7
-
-// I2C_SLV1_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV1_LEN0 MPU6050_D0
-#define MPU6050_I2C_SLV1_LEN1 MPU6050_D1
-#define MPU6050_I2C_SLV1_LEN2 MPU6050_D2
-#define MPU6050_I2C_SLV1_LEN3 MPU6050_D3
-#define MPU6050_I2C_SLV1_GRP MPU6050_D4
-#define MPU6050_I2C_SLV1_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV1_BYTE_SW MPU6050_D6
-#define MPU6050_I2C_SLV1_EN MPU6050_D7
-
-// A mask for the length
-#define MPU6050_I2C_SLV1_LEN_MASK 0x0F
-
-// I2C_SLV2_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV2_RW MPU6050_D7
-
-// I2C_SLV2_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV2_LEN0 MPU6050_D0
-#define MPU6050_I2C_SLV2_LEN1 MPU6050_D1
-#define MPU6050_I2C_SLV2_LEN2 MPU6050_D2
-#define MPU6050_I2C_SLV2_LEN3 MPU6050_D3
-#define MPU6050_I2C_SLV2_GRP MPU6050_D4
-#define MPU6050_I2C_SLV2_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV2_BYTE_SW MPU6050_D6
-#define MPU6050_I2C_SLV2_EN MPU6050_D7
-
-// A mask for the length
-#define MPU6050_I2C_SLV2_LEN_MASK 0x0F
-
-// I2C_SLV3_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV3_RW MPU6050_D7
-
-// I2C_SLV3_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV3_LEN0 MPU6050_D0
-#define MPU6050_I2C_SLV3_LEN1 MPU6050_D1
-#define MPU6050_I2C_SLV3_LEN2 MPU6050_D2
-#define MPU6050_I2C_SLV3_LEN3 MPU6050_D3
-#define MPU6050_I2C_SLV3_GRP MPU6050_D4
-#define MPU6050_I2C_SLV3_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV3_BYTE_SW MPU6050_D6
-#define MPU6050_I2C_SLV3_EN MPU6050_D7
-
-// A mask for the length
-#define MPU6050_I2C_SLV3_LEN_MASK 0x0F
-
-// I2C_SLV4_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV4_RW MPU6050_D7
-
-// I2C_SLV4_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_MST_DLY0 MPU6050_D0
-#define MPU6050_I2C_MST_DLY1 MPU6050_D1
-#define MPU6050_I2C_MST_DLY2 MPU6050_D2
-#define MPU6050_I2C_MST_DLY3 MPU6050_D3
-#define MPU6050_I2C_MST_DLY4 MPU6050_D4
-#define MPU6050_I2C_SLV4_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV4_INT_EN MPU6050_D6
-#define MPU6050_I2C_SLV4_EN MPU6050_D7
-
-// A mask for the delay
-#define MPU6050_I2C_MST_DLY_MASK 0x1F
-
-// I2C_MST_STATUS Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV0_NACK MPU6050_D0
-#define MPU6050_I2C_SLV1_NACK MPU6050_D1
-#define MPU6050_I2C_SLV2_NACK MPU6050_D2
-#define MPU6050_I2C_SLV3_NACK MPU6050_D3
-#define MPU6050_I2C_SLV4_NACK MPU6050_D4
-#define MPU6050_I2C_LOST_ARB MPU6050_D5
-#define MPU6050_I2C_SLV4_DONE MPU6050_D6
-#define MPU6050_PASS_THROUGH MPU6050_D7
-
-// I2C_PIN_CFG Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_CLKOUT_EN MPU6050_D0
-#define MPU6050_I2C_BYPASS_EN MPU6050_D1
-#define MPU6050_FSYNC_INT_EN MPU6050_D2
-#define MPU6050_FSYNC_INT_LEVEL MPU6050_D3
-#define MPU6050_INT_RD_CLEAR MPU6050_D4
-#define MPU6050_LATCH_INT_EN MPU6050_D5
-#define MPU6050_INT_OPEN MPU6050_D6
-#define MPU6050_INT_LEVEL MPU6050_D7
-
-// INT_ENABLE Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_DATA_RDY_EN MPU6050_D0
-#define MPU6050_I2C_MST_INT_EN MPU6050_D3
-#define MPU6050_FIFO_OFLOW_EN MPU6050_D4
-#define MPU6050_ZMOT_EN MPU6050_D5
-#define MPU6050_MOT_EN MPU6050_D6
-#define MPU6050_FF_EN MPU6050_D7
-
-// INT_STATUS Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_DATA_RDY_INT MPU6050_D0
-#define MPU6050_I2C_MST_INT MPU6050_D3
-#define MPU6050_FIFO_OFLOW_INT MPU6050_D4
-#define MPU6050_ZMOT_INT MPU6050_D5
-#define MPU6050_MOT_INT MPU6050_D6
-#define MPU6050_FF_INT MPU6050_D7
-
-// MOT_DETECT_STATUS Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_MOT_ZRMOT MPU6050_D0
-#define MPU6050_MOT_ZPOS MPU6050_D2
-#define MPU6050_MOT_ZNEG MPU6050_D3
-#define MPU6050_MOT_YPOS MPU6050_D4
-#define MPU6050_MOT_YNEG MPU6050_D5
-#define MPU6050_MOT_XPOS MPU6050_D6
-#define MPU6050_MOT_XNEG MPU6050_D7
-
-// IC2_MST_DELAY_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV0_DLY_EN MPU6050_D0
-#define MPU6050_I2C_SLV1_DLY_EN MPU6050_D1
-#define MPU6050_I2C_SLV2_DLY_EN MPU6050_D2
-#define MPU6050_I2C_SLV3_DLY_EN MPU6050_D3
-#define MPU6050_I2C_SLV4_DLY_EN MPU6050_D4
-#define MPU6050_DELAY_ES_SHADOW MPU6050_D7
-
-// SIGNAL_PATH_RESET Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_TEMP_RESET MPU6050_D0
-#define MPU6050_ACCEL_RESET MPU6050_D1
-#define MPU6050_GYRO_RESET MPU6050_D2
-
-// MOT_DETECT_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_MOT_COUNT0 MPU6050_D0
-#define MPU6050_MOT_COUNT1 MPU6050_D1
-#define MPU6050_FF_COUNT0 MPU6050_D2
-#define MPU6050_FF_COUNT1 MPU6050_D3
-#define MPU6050_ACCEL_ON_DELAY0 MPU6050_D4
-#define MPU6050_ACCEL_ON_DELAY1 MPU6050_D5
-
-// Combined definitions for the MOT_COUNT
-#define MPU6050_MOT_COUNT_0 (0)
-#define MPU6050_MOT_COUNT_1 (bit(MPU6050_MOT_COUNT0))
-#define MPU6050_MOT_COUNT_2 (bit(MPU6050_MOT_COUNT1))
-#define MPU6050_MOT_COUNT_3 (bit(MPU6050_MOT_COUNT1)|bit(MPU6050_MOT_COUNT0))
-
-// Alternative names for the combined definitions
-#define MPU6050_MOT_COUNT_RESET MPU6050_MOT_COUNT_0
-
-// Combined definitions for the FF_COUNT
-#define MPU6050_FF_COUNT_0 (0)
-#define MPU6050_FF_COUNT_1 (bit(MPU6050_FF_COUNT0))
-#define MPU6050_FF_COUNT_2 (bit(MPU6050_FF_COUNT1))
-#define MPU6050_FF_COUNT_3 (bit(MPU6050_FF_COUNT1)|bit(MPU6050_FF_COUNT0))
-
-// Alternative names for the combined definitions
-#define MPU6050_FF_COUNT_RESET MPU6050_FF_COUNT_0
-
-// Combined definitions for the ACCEL_ON_DELAY
-#define MPU6050_ACCEL_ON_DELAY_0 (0)
-#define MPU6050_ACCEL_ON_DELAY_1 (bit(MPU6050_ACCEL_ON_DELAY0))
-#define MPU6050_ACCEL_ON_DELAY_2 (bit(MPU6050_ACCEL_ON_DELAY1))
-#define MPU6050_ACCEL_ON_DELAY_3 (bit(MPU6050_ACCEL_ON_DELAY1)|bit(MPU6050_ACCEL_ON_DELAY0))
-
-// Alternative names for the ACCEL_ON_DELAY
-#define MPU6050_ACCEL_ON_DELAY_0MS MPU6050_ACCEL_ON_DELAY_0
-#define MPU6050_ACCEL_ON_DELAY_1MS MPU6050_ACCEL_ON_DELAY_1
-#define MPU6050_ACCEL_ON_DELAY_2MS MPU6050_ACCEL_ON_DELAY_2
-#define MPU6050_ACCEL_ON_DELAY_3MS MPU6050_ACCEL_ON_DELAY_3
-
-// USER_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_SIG_COND_RESET MPU6050_D0
-#define MPU6050_I2C_MST_RESET MPU6050_D1
-#define MPU6050_FIFO_RESET MPU6050_D2
-#define MPU6050_I2C_IF_DIS MPU6050_D4 // must be 0 for MPU-6050
-#define MPU6050_I2C_MST_EN MPU6050_D5
-#define MPU6050_FIFO_EN MPU6050_D6
-
-// PWR_MGMT_1 Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_CLKSEL0 MPU6050_D0
-#define MPU6050_CLKSEL1 MPU6050_D1
-#define MPU6050_CLKSEL2 MPU6050_D2
-#define MPU6050_TEMP_DIS MPU6050_D3 // 1: disable temperature sensor
-#define MPU6050_CYCLE MPU6050_D5 // 1: sample and sleep
-#define MPU6050_SLEEP MPU6050_D6 // 1: sleep mode
-#define MPU6050_DEVICE_RESET MPU6050_D7 // 1: reset to default values
-
-// Combined definitions for the CLKSEL
-#define MPU6050_CLKSEL_0 (0)
-#define MPU6050_CLKSEL_1 (bit(MPU6050_CLKSEL0))
-#define MPU6050_CLKSEL_2 (bit(MPU6050_CLKSEL1))
-#define MPU6050_CLKSEL_3 (bit(MPU6050_CLKSEL1)|bit(MPU6050_CLKSEL0))
-#define MPU6050_CLKSEL_4 (bit(MPU6050_CLKSEL2))
-#define MPU6050_CLKSEL_5 (bit(MPU6050_CLKSEL2)|bit(MPU6050_CLKSEL0))
-#define MPU6050_CLKSEL_6 (bit(MPU6050_CLKSEL2)|bit(MPU6050_CLKSEL1))
-#define MPU6050_CLKSEL_7 (bit(MPU6050_CLKSEL2)|bit(MPU6050_CLKSEL1)|bit(MPU6050_CLKSEL0))
-
-// Alternative names for the combined definitions
-#define MPU6050_CLKSEL_INTERNAL MPU6050_CLKSEL_0
-#define MPU6050_CLKSEL_X MPU6050_CLKSEL_1
-#define MPU6050_CLKSEL_Y MPU6050_CLKSEL_2
-#define MPU6050_CLKSEL_Z MPU6050_CLKSEL_3
-#define MPU6050_CLKSEL_EXT_32KHZ MPU6050_CLKSEL_4
-#define MPU6050_CLKSEL_EXT_19_2MHZ MPU6050_CLKSEL_5
-#define MPU6050_CLKSEL_RESERVED MPU6050_CLKSEL_6
-#define MPU6050_CLKSEL_STOP MPU6050_CLKSEL_7
-
-// PWR_MGMT_2 Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_STBY_ZG MPU6050_D0
-#define MPU6050_STBY_YG MPU6050_D1
-#define MPU6050_STBY_XG MPU6050_D2
-#define MPU6050_STBY_ZA MPU6050_D3
-#define MPU6050_STBY_YA MPU6050_D4
-#define MPU6050_STBY_XA MPU6050_D5
-#define MPU6050_LP_WAKE_CTRL0 MPU6050_D6
-#define MPU6050_LP_WAKE_CTRL1 MPU6050_D7
-
-// Combined definitions for the LP_WAKE_CTRL
-#define MPU6050_LP_WAKE_CTRL_0 (0)
-#define MPU6050_LP_WAKE_CTRL_1 (bit(MPU6050_LP_WAKE_CTRL0))
-#define MPU6050_LP_WAKE_CTRL_2 (bit(MPU6050_LP_WAKE_CTRL1))
-#define MPU6050_LP_WAKE_CTRL_3 (bit(MPU6050_LP_WAKE_CTRL1)|bit(MPU6050_LP_WAKE_CTRL0))
-
-// Alternative names for the combined definitions
-// The names uses the Wake-up Frequency.
-#define MPU6050_LP_WAKE_1_25HZ MPU6050_LP_WAKE_CTRL_0
-#define MPU6050_LP_WAKE_2_5HZ MPU6050_LP_WAKE_CTRL_1
-#define MPU6050_LP_WAKE_5HZ MPU6050_LP_WAKE_CTRL_2
-#define MPU6050_LP_WAKE_10HZ MPU6050_LP_WAKE_CTRL_3
-
-
-// Default I2C address for the MPU-6050 is 0x68.
-// But only if the AD0 pin is low.
-// Some sensor boards have AD0 high, and the
-// I2C address thus becomes 0x69.
-#define MPU6050_I2C_ADDRESS 0x68
-
-
-// Declaring an union for the registers and the axis values.
-// The byte order does not match the byte order of
-// the compiler and AVR chip.
-// The AVR chip (on the Arduino board) has the Low Byte
-// at the lower address.
-// But the MPU-6050 has a different order: High Byte at
-// lower address, so that has to be corrected.
-// The register part "reg" is only used internally,
-// and are swapped in code.
-typedef union accel_t_gyro_union
-{
- struct
- {
- uint8_t x_accel_h;
- uint8_t x_accel_l;
- uint8_t y_accel_h;
- uint8_t y_accel_l;
- uint8_t z_accel_h;
- uint8_t z_accel_l;
- uint8_t t_h;
- uint8_t t_l;
- uint8_t x_gyro_h;
- uint8_t x_gyro_l;
- uint8_t y_gyro_h;
- uint8_t y_gyro_l;
- uint8_t z_gyro_h;
- uint8_t z_gyro_l;
- } reg;
- struct
- {
- int x_accel;
- int y_accel;
- int z_accel;
- int temperature;
- int x_gyro;
- int y_gyro;
- int z_gyro;
- } value;
-};
-
-int MPU6050_init();
-int MPU6050_readout(accel_t_gyro_union* accel_t_gyro);
-int MPU6050_read(int start, uint8_t *buffer, int size);
-
-#endif // MPU6050_H_INCLUDED