From 509f7a67724bca9a3222a41c870da747df97f720 Mon Sep 17 00:00:00 2001
From: Stanley Huang <stanleyhuangyc@gmail.com>
Date: Tue, 2 Apr 2013 16:00:54 +0800
Subject: add MPU6050 library

---
 libraries/MPU6050/MPU6050.cpp | 195 +++++++++++++
 libraries/MPU6050/MPU6050.h   | 645 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 840 insertions(+)
 create mode 100644 libraries/MPU6050/MPU6050.cpp
 create mode 100644 libraries/MPU6050/MPU6050.h

(limited to 'libraries')

diff --git a/libraries/MPU6050/MPU6050.cpp b/libraries/MPU6050/MPU6050.cpp
new file mode 100644
index 0000000..86901d9
--- /dev/null
+++ b/libraries/MPU6050/MPU6050.cpp
@@ -0,0 +1,195 @@
+// 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
new file mode 100644
index 0000000..3cf3296
--- /dev/null
+++ b/libraries/MPU6050/MPU6050.h
@@ -0,0 +1,645 @@
+#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
-- 
cgit v1.2.3