372 lines
14 KiB
C
372 lines
14 KiB
C
#ifndef __MPU6050_H
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#define __MPU6050_H
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#include "sys.h"
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#define devAddr 0xD0
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#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
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#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
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#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
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#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
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#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
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#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
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#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
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#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
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#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
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#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
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#define MPU6050_RA_XA_OFFS_L_TC 0x07
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#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
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#define MPU6050_RA_YA_OFFS_L_TC 0x09
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#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
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#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
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#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
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#define MPU6050_RA_XG_OFFS_USRL 0x14
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#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
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#define MPU6050_RA_YG_OFFS_USRL 0x16
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#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
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#define MPU6050_RA_ZG_OFFS_USRL 0x18
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#define MPU6050_RA_SMPLRT_DIV 0x19
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#define MPU6050_RA_CONFIG 0x1A
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#define MPU6050_RA_GYRO_CONFIG 0x1B
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#define MPU6050_RA_ACCEL_CONFIG 0x1C
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#define MPU6050_RA_FF_THR 0x1D
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#define MPU6050_RA_FF_DUR 0x1E
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#define MPU6050_RA_MOT_THR 0x1F
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#define MPU6050_RA_MOT_DUR 0x20
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#define MPU6050_RA_ZRMOT_THR 0x21
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#define MPU6050_RA_ZRMOT_DUR 0x22
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#define MPU6050_RA_FIFO_EN 0x23
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#define MPU6050_RA_I2C_MST_CTRL 0x24
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#define MPU6050_RA_I2C_SLV0_ADDR 0x25
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#define MPU6050_RA_I2C_SLV0_REG 0x26
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# define MPU6050_RA_I2C_SLV0_CTRL 0x27
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#define MPU6050_RA_I2C_SLV1_ADDR 0x28
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#define MPU6050_RA_I2C_SLV1_REG 0x29
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#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
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#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
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#define MPU6050_RA_I2C_SLV2_REG 0x2C
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#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
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#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
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#define MPU6050_RA_I2C_SLV3_REG 0x2F
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#define MPU6050_RA_I2C_SLV3_CTRL 0x30
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#define MPU6050_RA_I2C_SLV4_ADDR 0x31
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#define MPU6050_RA_I2C_SLV4_REG 0x32
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#define MPU6050_RA_I2C_SLV4_DO 0x33
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#define MPU6050_RA_I2C_SLV4_CTRL 0x34
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#define MPU6050_RA_I2C_SLV4_DI 0x35
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#define MPU6050_RA_I2C_MST_STATUS 0x36
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#define MPU6050_RA_INT_PIN_CFG 0x37
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#define MPU6050_RA_INT_ENABLE 0x38
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#define MPU6050_RA_DMP_INT_STATUS 0x39
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#define MPU6050_RA_INT_STATUS 0x3A
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#define MPU6050_RA_ACCEL_XOUT_H 0x3B
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#define MPU6050_RA_ACCEL_XOUT_L 0x3C
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#define MPU6050_RA_ACCEL_YOUT_H 0x3D
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#define MPU6050_RA_ACCEL_YOUT_L 0x3E
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#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
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#define MPU6050_RA_ACCEL_ZOUT_L 0x40
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#define MPU6050_RA_TEMP_OUT_H 0x41
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#define MPU6050_RA_TEMP_OUT_L 0x42
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#define MPU6050_RA_GYRO_XOUT_H 0x43
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#define MPU6050_RA_GYRO_XOUT_L 0x44
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#define MPU6050_RA_GYRO_YOUT_H 0x45
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#define MPU6050_RA_GYRO_YOUT_L 0x46
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#define MPU6050_RA_GYRO_ZOUT_H 0x47
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#define MPU6050_RA_GYRO_ZOUT_L 0x48
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#define MPU6050_RA_EXT_SENS_DATA_00 0x49
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#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
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#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
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#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
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#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
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#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
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#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
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#define MPU6050_RA_EXT_SENS_DATA_07 0x50
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#define MPU6050_RA_EXT_SENS_DATA_08 0x51
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#define MPU6050_RA_EXT_SENS_DATA_09 0x52
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#define MPU6050_RA_EXT_SENS_DATA_10 0x53
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#define MPU6050_RA_EXT_SENS_DATA_11 0x54
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#define MPU6050_RA_EXT_SENS_DATA_12 0x55
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#define MPU6050_RA_EXT_SENS_DATA_13 0x56
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#define MPU6050_RA_EXT_SENS_DATA_14 0x57
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#define MPU6050_RA_EXT_SENS_DATA_15 0x58
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#define MPU6050_RA_EXT_SENS_DATA_16 0x59
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#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
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#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
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#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
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#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
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#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
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#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
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#define MPU6050_RA_EXT_SENS_DATA_23 0x60
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#define MPU6050_RA_MOT_DETECT_STATUS 0x61
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#define MPU6050_RA_I2C_SLV0_DO 0x63
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#define MPU6050_RA_I2C_SLV1_DO 0x64
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#define MPU6050_RA_I2C_SLV2_DO 0x65
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#define MPU6050_RA_I2C_SLV3_DO 0x66
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#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
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#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
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#define MPU6050_RA_MOT_DETECT_CTRL 0x69
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#define MPU6050_RA_USER_CTRL 0x6A
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#define MPU6050_RA_PWR_MGMT_1 0x6B
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#define MPU6050_RA_PWR_MGMT_2 0x6C
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#define MPU6050_RA_BANK_SEL 0x6D
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#define MPU6050_RA_MEM_START_ADDR 0x6E
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#define MPU6050_RA_MEM_R_W 0x6F
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#define MPU6050_RA_DMP_CFG_1 0x70
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#define MPU6050_RA_DMP_CFG_2 0x71
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#define MPU6050_RA_FIFO_COUNTH 0x72
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#define MPU6050_RA_FIFO_COUNTL 0x73
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#define MPU6050_RA_FIFO_R_W 0x74
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#define MPU6050_RA_WHO_AM_I 0x75
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#define MPU6050_TC_PWR_MODE_BIT 7
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#define MPU6050_TC_OFFSET_BIT 6
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#define MPU6050_TC_OFFSET_LENGTH 6
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#define MPU6050_TC_OTP_BNK_VLD_BIT 0
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#define MPU6050_VDDIO_LEVEL_VLOGIC 0
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#define MPU6050_VDDIO_LEVEL_VDD 1
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#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
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#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
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#define MPU6050_CFG_DLPF_CFG_BIT 2
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#define MPU6050_CFG_DLPF_CFG_LENGTH 3
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#define MPU6050_EXT_SYNC_DISABLED 0x0
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#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
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#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
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#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
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#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
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#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
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#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
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#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
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#define MPU6050_DLPF_BW_256 0x00
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#define MPU6050_DLPF_BW_188 0x01
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#define MPU6050_DLPF_BW_98 0x02
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#define MPU6050_DLPF_BW_42 0x03
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#define MPU6050_DLPF_BW_20 0x04
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#define MPU6050_DLPF_BW_10 0x05
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#define MPU6050_DLPF_BW_5 0x06
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#define MPU6050_GCONFIG_FS_SEL_BIT 4
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#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
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#define MPU6050_GYRO_FS_250 0x00
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#define MPU6050_GYRO_FS_500 0x01
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#define MPU6050_GYRO_FS_1000 0x02
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#define MPU6050_GYRO_FS_2000 0x03
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#define MPU6050_ACONFIG_XA_ST_BIT 7
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#define MPU6050_ACONFIG_YA_ST_BIT 6
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#define MPU6050_ACONFIG_ZA_ST_BIT 5
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#define MPU6050_ACONFIG_AFS_SEL_BIT 4
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#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
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#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
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#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
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#define MPU6050_ACCEL_FS_2 0x00
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#define MPU6050_ACCEL_FS_4 0x01
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#define MPU6050_ACCEL_FS_8 0x02
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#define MPU6050_ACCEL_FS_16 0x03
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#define MPU6050_DHPF_RESET 0x00
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#define MPU6050_DHPF_5 0x01
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#define MPU6050_DHPF_2P5 0x02
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#define MPU6050_DHPF_1P25 0x03
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#define MPU6050_DHPF_0P63 0x04
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#define MPU6050_DHPF_HOLD 0x07
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#define MPU6050_TEMP_FIFO_EN_BIT 7
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#define MPU6050_XG_FIFO_EN_BIT 6
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#define MPU6050_YG_FIFO_EN_BIT 5
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#define MPU6050_ZG_FIFO_EN_BIT 4
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#define MPU6050_ACCEL_FIFO_EN_BIT 3
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#define MPU6050_SLV2_FIFO_EN_BIT 2
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#define MPU6050_SLV1_FIFO_EN_BIT 1
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#define MPU6050_SLV0_FIFO_EN_BIT 0
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#define MPU6050_MULT_MST_EN_BIT 7
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#define MPU6050_WAIT_FOR_ES_BIT 6
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#define MPU6050_SLV_3_FIFO_EN_BIT 5
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#define MPU6050_I2C_MST_P_NSR_BIT 4
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#define MPU6050_I2C_MST_CLK_BIT 3
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#define MPU6050_I2C_MST_CLK_LENGTH 4
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#define MPU6050_CLOCK_DIV_348 0x0
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#define MPU6050_CLOCK_DIV_333 0x1
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#define MPU6050_CLOCK_DIV_320 0x2
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#define MPU6050_CLOCK_DIV_308 0x3
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#define MPU6050_CLOCK_DIV_296 0x4
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#define MPU6050_CLOCK_DIV_286 0x5
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#define MPU6050_CLOCK_DIV_276 0x6
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#define MPU6050_CLOCK_DIV_267 0x7
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#define MPU6050_CLOCK_DIV_258 0x8
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#define MPU6050_CLOCK_DIV_500 0x9
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#define MPU6050_CLOCK_DIV_471 0xA
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#define MPU6050_CLOCK_DIV_444 0xB
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#define MPU6050_CLOCK_DIV_421 0xC
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#define MPU6050_CLOCK_DIV_400 0xD
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#define MPU6050_CLOCK_DIV_381 0xE
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#define MPU6050_CLOCK_DIV_364 0xF
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#define MPU6050_I2C_SLV_RW_BIT 7
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#define MPU6050_I2C_SLV_ADDR_BIT 6
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#define MPU6050_I2C_SLV_ADDR_LENGTH 7
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#define MPU6050_I2C_SLV_EN_BIT 7
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#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
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#define MPU6050_I2C_SLV_REG_DIS_BIT 5
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#define MPU6050_I2C_SLV_GRP_BIT 4
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#define MPU6050_I2C_SLV_LEN_BIT 3
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#define MPU6050_I2C_SLV_LEN_LENGTH 4
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#define MPU6050_I2C_SLV4_RW_BIT 7
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#define MPU6050_I2C_SLV4_ADDR_BIT 6
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#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
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#define MPU6050_I2C_SLV4_EN_BIT 7
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#define MPU6050_I2C_SLV4_INT_EN_BIT 6
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#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
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#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
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#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
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#define MPU6050_MST_PASS_THROUGH_BIT 7
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#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
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#define MPU6050_MST_I2C_LOST_ARB_BIT 5
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#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
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#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
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#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
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#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
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#define MPU6050_MST_I2C_SLV0_NACK_BIT 0
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#define MPU6050_INTCFG_INT_LEVEL_BIT 7
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#define MPU6050_INTCFG_INT_OPEN_BIT 6
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#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
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#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
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#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
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#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
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#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
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#define MPU6050_INTCFG_CLKOUT_EN_BIT 0
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#define MPU6050_INTMODE_ACTIVEHIGH 0x00
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#define MPU6050_INTMODE_ACTIVELOW 0x01
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#define MPU6050_INTDRV_PUSHPULL 0x00
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#define MPU6050_INTDRV_OPENDRAIN 0x01
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#define MPU6050_INTLATCH_50USPULSE 0x00
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#define MPU6050_INTLATCH_WAITCLEAR 0x01
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#define MPU6050_INTCLEAR_STATUSREAD 0x00
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#define MPU6050_INTCLEAR_ANYREAD 0x01
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#define MPU6050_INTERRUPT_FF_BIT 7
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#define MPU6050_INTERRUPT_MOT_BIT 6
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#define MPU6050_INTERRUPT_ZMOT_BIT 5
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#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
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#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
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#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
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#define MPU6050_INTERRUPT_DMP_INT_BIT 1
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#define MPU6050_INTERRUPT_DATA_RDY_BIT 0
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// TODO: figure out what these actually do
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// UMPL source code is not very obivous
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#define MPU6050_DMPINT_5_BIT 5
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#define MPU6050_DMPINT_4_BIT 4
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#define MPU6050_DMPINT_3_BIT 3
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#define MPU6050_DMPINT_2_BIT 2
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#define MPU6050_DMPINT_1_BIT 1
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#define MPU6050_DMPINT_0_BIT 0
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#define MPU6050_MOTION_MOT_XNEG_BIT 7
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#define MPU6050_MOTION_MOT_XPOS_BIT 6
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#define MPU6050_MOTION_MOT_YNEG_BIT 5
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#define MPU6050_MOTION_MOT_YPOS_BIT 4
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#define MPU6050_MOTION_MOT_ZNEG_BIT 3
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#define MPU6050_MOTION_MOT_ZPOS_BIT 2
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#define MPU6050_MOTION_MOT_ZRMOT_BIT 0
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#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
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#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
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#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
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#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
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#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
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#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
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#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
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#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
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#define MPU6050_PATHRESET_TEMP_RESET_BIT 0
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#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
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#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
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#define MPU6050_DETECT_FF_COUNT_BIT 3
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#define MPU6050_DETECT_FF_COUNT_LENGTH 2
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#define MPU6050_DETECT_MOT_COUNT_BIT 1
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#define MPU6050_DETECT_MOT_COUNT_LENGTH 2
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#define MPU6050_DETECT_DECREMENT_RESET 0x0
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#define MPU6050_DETECT_DECREMENT_1 0x1
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#define MPU6050_DETECT_DECREMENT_2 0x2
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#define MPU6050_DETECT_DECREMENT_4 0x3
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#define MPU6050_USERCTRL_DMP_EN_BIT 7
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#define MPU6050_USERCTRL_FIFO_EN_BIT 6
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#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
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#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
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#define MPU6050_USERCTRL_DMP_RESET_BIT 3
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#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
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#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
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#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
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#define MPU6050_PWR1_DEVICE_RESET_BIT 7
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#define MPU6050_PWR1_SLEEP_BIT 6
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#define MPU6050_PWR1_CYCLE_BIT 5
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#define MPU6050_PWR1_TEMP_DIS_BIT 3
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#define MPU6050_PWR1_CLKSEL_BIT 2
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#define MPU6050_PWR1_CLKSEL_LENGTH 3
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#define MPU6050_CLOCK_INTERNAL 0x00
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#define MPU6050_CLOCK_PLL_XGYRO 0x01
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#define MPU6050_CLOCK_PLL_YGYRO 0x02
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#define MPU6050_CLOCK_PLL_ZGYRO 0x03
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#define MPU6050_CLOCK_PLL_EXT32K 0x04
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#define MPU6050_CLOCK_PLL_EXT19M 0x05
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#define MPU6050_CLOCK_KEEP_RESET 0x07
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#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
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#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
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#define MPU6050_PWR2_STBY_XA_BIT 5
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#define MPU6050_PWR2_STBY_YA_BIT 4
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#define MPU6050_PWR2_STBY_ZA_BIT 3
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#define MPU6050_PWR2_STBY_XG_BIT 2
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#define MPU6050_PWR2_STBY_YG_BIT 1
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#define MPU6050_PWR2_STBY_ZG_BIT 0
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#define MPU6050_WAKE_FREQ_1P25 0x0
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#define MPU6050_WAKE_FREQ_2P5 0x1
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#define MPU6050_WAKE_FREQ_5 0x2
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#define MPU6050_WAKE_FREQ_10 0x3
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#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
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#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
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#define MPU6050_BANKSEL_MEM_SEL_BIT 4
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#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
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#define MPU6050_WHO_AM_I_BIT 6
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#define MPU6050_WHO_AM_I_LENGTH 6
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extern short gyro[3], accel[3];
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extern int16_t Gx_offset,Gy_offset,Gz_offset;
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extern float Acc1G_Values;
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extern float Roll,Pitch;
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//供外部调用的API
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void MPU6050_initialize(void); //初始化
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uint8_t MPU6050_testConnection(void); //检测MPU6050是否存在
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//读取ADC值
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void MPU6050_getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
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void MPU6050_getlastMotion6(int16_t* ax, int16_t* ay,
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int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
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uint8_t MPU6050_getDeviceID(void); //读取MPU6050的ID
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void MPU6050_InitGyro_Offset(void);//初始化陀螺仪偏置
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void DMP_Init(void);
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void Read_DMP(void);
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#endif
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