6050初始化定义

1、6050 初始化定义1 #ifndef _MPU6050_H2 #define _MPU6050_H34 #define PORT_USED 06 #define MPU6050_ADDRESS_AD0_LOW 0x68 / address pin low (GND), default for InvenSense evaluation board7 #define MPU6050_ADDRESS_AD0_HIGH 0x69 / address pin high (VCC)8 #define MPU6050_DEFAULT_ADDRESS (MPU6050_ADDRESS_AD0_LOW<

2、;<1)0x00 /7 PWR_MODE,0x01 /7 PWR_MODE,0x02 /7 PWR_MODE,9 #define MPU6050_RA_XG_OFFS_TC 6:1 XG_OFFS_TC, 0 OTP_BNK_VLD 10 #define MPU6050_RA_YG_OFFS_TC 6:1 YG_OFFS_TC, 0 OTP_BNK_VLD 11 #define MPU6050_RA_ZG_OFFS_TC6:1 ZG_OFFS_TC, 0 OTP_BNK_VLD12 #define MPU6050_RA_X_FINE_GAIN0x03 /7:0X_FINE_GAIN13

3、#define MPU6050_RA_Y_FINE_GAIN0x04 /7:0Y_FINE_GAIN14 #define MPU6050_RA_Z_FINE_GAIN0x05 /7:0Z_FINE_GAIN15 #define MPU6050_RA_XA_OFFS_H0x06 /15:0XA_OFFS16 #define MPU6050_RA_XA_OFFS_L_TC0x0717 #define MPU6050_RA_YA_OFFS_H0x08 /15:0YA_OFFS18 #define MPU6050_RA_YA_OFFS_L_TC0x0919 #define MPU6050_RA_ZA_

4、OFFS_H0x0A /15:0ZA_OFFS20 #define MPU6050_RA_ZA_OFFS_L_TC0x0B21 #define MPU6050_RA_XG_OFFS_USRH0x13 /15:0XG_OFFS_USR22 #define MPU6050_RA_XG_OFFS_USRL 0x1423 #define MPU6050_RA_YG_OFFS_USRH 0x15 /15:0 YG_OFFS_USR24 #define MPU6050_RA_YG_OFFS_USRL 0x1625 #define MPU6050_RA_ZG_OFFS_USRH 0x17 /15:0 ZG_

5、OFFS_USR26 #define MPU6050_RA_ZG_OFFS_USRL 0x1827 #define MPU6050_RA_SMPLRT_DIV 0x1928 #define MPU6050_RA_CONFIG0x1A29 #define MPU6050_RA_GYRO_CONFIG 0x1B30 #define MPU6050_RA_ACCEL_CONFIG 0x1C31 #define MPU6050_RA_FF_THR0x1D32 #define MPU6050_RA_FF_DUR0x1E33 #define MPU6050_RA_MOT_THR 0x1F34 #defin

6、e MPU6050_RA_MOT_DUR 0x2035 #define MPU6050_RA_ZRMOT_THR 0x2136 #define MPU6050_RA_ZRMOT_DUR 0x2237 #define MPU6050_RA_FIFO_EN 0x2338 #define MPU6050_RA_I2C_MST_CTRL 0x2439 #define MPU6050_RA_I2C_SLV0_ADDR 0x2540 #define MPU6050_RA_I2C_SLV0_REG 0x2641 #define MPU6050_RA_I2C_SLV0_CTRL 0x2742 #define

7、MPU6050_RA_I2C_SLV1_ADDR 0x2855 #define MPU6050_RA_I2C_SLV4_DI 0x3556 #define MPU6050_RA_I2C_MST_STATUS 0x3657 #define MPU6050_RA_INT_PIN_CFG 0x3758 #define MPU6050_RA_INT_ENABLE 0x3859 #define MPU6050_RA_DMP_INT_STATUS 0x3960 #define MPU6050_RA_INT_STATUS 0x3A61 #define MPU6050_RA_ACCEL_XOUT_H 0x3B

8、62 #define MPU6050_RA_ACCEL_XOUT_L 0x3C63 #define MPU6050_RA_ACCEL_YOUT_H 0x3D64 #define MPU6050_RA_ACCEL_YOUT_L 0x3E65 #define MPU6050_RA_ACCEL_ZOUT_H 0x3F66 #define MPU6050_RA_ACCEL_ZOUT_L 0x4067 #define MPU6050_RA_TEMP_OUT_H 0x4168 #define MPU6050_RA_TEMP_OUT_L 0x4269 #define MPU6050_RA_GYRO_XOUT

9、_H 0x4370 #define MPU6050_RA_GYRO_XOUT_L 0x4471 #define MPU6050_RA_GYRO_YOUT_H 0x4572 #define MPU6050_RA_GYRO_YOUT_L 0x4673 #define MPU6050_RA_GYRO_ZOUT_H 0x4786 #define MPU6050_RA_EXT_SENS_DATA_11 0x5487 #define MPU6050_RA_EXT_SENS_DATA_12 0x5588 #define MPU6050_RA_EXT_SENS_DATA_13 0x5689 #define M

10、PU6050_RA_EXT_SENS_DATA_14 0x5790 #define MPU6050_RA_EXT_SENS_DATA_15 0x5891 #define MPU6050_RA_EXT_SENS_DATA_16 0x5992 #define MPU6050_RA_EXT_SENS_DATA_17 0x5A93 #define MPU6050_RA_EXT_SENS_DATA_18 0x5B94 #define MPU6050_RA_EXT_SENS_DATA_19 0x5C95 #define MPU6050_RA_EXT_SENS_DATA_20 0x5D96 #define

11、MPU6050_RA_EXT_SENS_DATA_21 0x5E97 #define MPU6050_RA_EXT_SENS_DATA_22 0x5F98 #define MPU6050_RA_EXT_SENS_DATA_23 0x6099 #define MPU6050_RA_MOT_DETECT_STATUS 0x61100 #define MPU6050_RA_I2C_SLV0_DO 0x63101 #define MPU6050_RA_I2C_SLV1_DO 0x64102 #define MPU6050_RA_I2C_SLV2_DO 0x65103 #define MPU6050_R

12、A_I2C_SLV3_DO 0x66104 #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67117 #define MPU6050_RA_FIFO_R_W0x74118 #define MPU6050_RA_WHO_AM_I0x75119120 #define MPU6050_TC_PWR_MODE_BIT 7121 #define MPU6050_TC_OFFSET_BIT6122 #define MPU6050_TC_OFFSET_LENGTH 6123 #define MPU6050_TC_OTP_BNK_VLD_BIT 0124125 #define

13、 MPU6050_VDDIO_LEVEL_VLOGIC 0126 #define MPU6050_VDDIO_LEVEL_VDD 1127128 #define MPU6050_CFG_EXT_SYNC_SET_BIT 5129 #define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3130 #define MPU6050_CFG_DLPF_CFG_BIT 2131 #define MPU6050_CFG_DLPF_CFG_LENGTH 3132133 #define MPU6050_EXT_SYNC_DISABLED0x0134 #define MPU6050_EX

14、T_SYNC_TEMP_OUT_L 0x1135 #define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2136 #define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3137 #define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4138 #define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5139 #define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6140 #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7141142 #defi

15、ne MPU6050_DLPF_BW_2560x00148 #define MPU6050_DLPF_BW_50x06149150 #define MPU6050_GCONFIG_FS_SEL_BIT 4151 #define MPU6050_GCONFIG_FS_SEL_LENGTH 2152153 #define MPU6050_GYRO_FS_250 0x00154 #define MPU6050_GYRO_FS_500 0x01155 #define MPU6050_GYRO_FS_1000 0x02156 #define MPU6050_GYRO_FS_2000 0x03157158

16、 #define MPU6050_ACONFIG_XA_ST_BIT 7159 #define MPU6050_ACONFIG_YA_ST_BIT 6160 #define MPU6050_ACONFIG_ZA_ST_BIT 5161 #define MPU6050_ACONFIG_AFS_SEL_BIT4162 #define MPU6050_ACONFIG_AFS_SEL_LENGTH 2163 #define MPU6050_ACONFIG_ACCEL_HPF_BIT 2164 #define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3165166 #defin

17、e MPU6050_ACCEL_FS_20x00167 #define MPU6050_ACCEL_FS_40x01168 #define MPU6050_ACCEL_FS_80x02169 #define MPU6050_ACCEL_FS_160x03170171 #define MPU6050_DHPF_RESET0x00172 #define MPU6050_DHPF_50x01173 #define MPU6050_DHPF_2P50x02174 #define MPU6050_DHPF_1P250x03175 #define MPU6050_DHPF_0P630x04176 #def

18、ine MPU6050_DHPF_HOLD0x07177178 #define MPU6050_TEMP_FIFO_EN_BIT 7179 #define MPU6050_XG_FIFO_EN_BIT 6180 #define MPU6050_YG_FIFO_EN_BIT 5181 #define MPU6050_ZG_FIFO_EN_BIT 4182 #define MPU6050_ACCEL_FIFO_EN_BIT 3183 #define MPU6050_SLV2_FIFO_EN_BIT 2184 #define MPU6050_SLV1_FIFO_EN_BIT 1185 #define

19、 MPU6050_SLV0_FIFO_EN_BIT 0186187 #define MPU6050_MULT_MST_EN_BIT 7188 #define MPU6050_WAIT_FOR_ES_BIT 6189 #define MPU6050_SLV_3_FIFO_EN_BIT 5190 #define MPU6050_I2C_MST_P_NSR_BIT 4191 #define MPU6050_I2C_MST_CLK_BIT 3192 #define MPU6050_I2C_MST_CLK_LENGTH 4193194 #define MPU6050_CLOCK_DIV_348 0x01

20、95 #define MPU6050_CLOCK_DIV_333 0x1196 #define MPU6050_CLOCK_DIV_320 0x2197 #define MPU6050_CLOCK_DIV_308 0x3198 #define MPU6050_CLOCK_DIV_296 0x4199 #define MPU6050_CLOCK_DIV_286 0x5200 #define MPU6050_CLOCK_DIV_276 0x6201 #define MPU6050_CLOCK_DIV_267 0x7202 #define MPU6050_CLOCK_DIV_258 0x8203 #

21、define MPU6050_CLOCK_DIV_500 0x9204 #define MPU6050_CLOCK_DIV_471 0xA210211 #define MPU6050_I2C_SLV_RW_BIT 7212 #define MPU6050_I2C_SLV_ADDR_BIT 6213 #define MPU6050_I2C_SLV_ADDR_LENGTH 7214 #define MPU6050_I2C_SLV_EN_BIT 7215 #define MPU6050_I2C_SLV_BYTE_SW_BIT 6216 #define MPU6050_I2C_SLV_REG_DIS_

22、BIT 5217 #define MPU6050_I2C_SLV_GRP_BIT 4218 #define MPU6050_I2C_SLV_LEN_BIT 3219 #define MPU6050_I2C_SLV_LEN_LENGTH 4220221 #define MPU6050_I2C_SLV4_RW_BIT7222 #define MPU6050_I2C_SLV4_ADDR_BIT6223 #define MPU6050_I2C_SLV4_ADDR_LENGTH 7224 #define MPU6050_I2C_SLV4_EN_BIT7225 #define MPU6050_I2C_SL

23、V4_INT_EN_BIT 6226 #define MPU6050_I2C_SLV4_REG_DIS_BIT 5227 #define MPU6050_I2C_SLV4_MST_DLY_BIT 4228 #define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5229230 #define MPU6050_MST_PASS_THROUGH_BIT 7231 #define MPU6050_MST_I2C_SLV4_DONE_BIT 6232 #define MPU6050_MST_I2C_LOST_ARB_BIT 5233 #define MPU6050_MST_I2

24、C_SLV4_NACK_BIT 4234 #define MPU6050_MST_I2C_SLV3_NACK_BIT 3235 #define MPU6050_MST_I2C_SLV2_NACK_BIT 2236 #define MPU6050_MST_I2C_SLV1_NACK_BIT 1237 #define MPU6050_MST_I2C_SLV0_NACK_BIT 0238239 #define MPU6050_INTCFG_INT_LEVEL_BIT7240 #define MPU6050_INTCFG_INT_OPEN_BIT6241 #define MPU6050_INTCFG_

25、LATCH_INT_EN_BIT 5242 #define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4243 #define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3244 #define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2245 #define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1246 #define MPU6050_INTCFG_CLKOUT_EN_BIT0247248 #define MPU6050_INTMODE_ACTIVEHIGH 0x00249 #define

26、 MPU6050_INTMODE_ACTIVELOW 0x01250251 #define MPU6050_INTDRV_PUSHPULL 0x00252 #define MPU6050_INTDRV_OPENDRAIN 0x01253254 #define MPU6050_INTLATCH_50USPULSE 0x00255 #define MPU6050_INTLATCH_WAITCLEAR 0x01256257 #define MPU6050_INTCLEAR_STATUSREAD 0x00258 #define MPU6050_INTCLEAR_ANYREAD 0x01259260 #

27、define MPU6050_INTERRUPT_FF_BIT7261 #define MPU6050_INTERRUPT_MOT_BIT6262 #define MPU6050_INTERRUPT_ZMOT_BIT5263 #define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4264 #define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3265 #define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2266 #define MPU6050_INTERRUPT_DMP_INT_BIT 1267 #def

28、ine MPU6050_INTERRUPT_DATA_RDY_BIT 0268269 / TODO: Need to work on DMP related things270 #define MPU6050_DMPINT_5_BIT5271 #define MPU6050_DMPINT_4_BIT4272 #define MPU6050_DMPINT_3_BIT3273 #define MPU6050_DMPINT_2_BIT2274 #define MPU6050_DMPINT_1_BIT1275 #define MPU6050_DMPINT_0_BIT0276277 #define MP

29、U6050_MOTION_MOT_XNEG_BIT 7278 #define MPU6050_MOTION_MOT_XPOS_BIT 6279 #define MPU6050_MOTION_MOT_YNEG_BIT 5280 #define MPU6050_MOTION_MOT_YPOS_BIT 4281 #define MPU6050_MOTION_MOT_ZNEG_BIT 3282 #define MPU6050_MOTION_MOT_ZPOS_BIT 2283 #define MPU6050_MOTION_MOT_ZRMOT_BIT 0284285 #define MPU6050_DEL

30、AYCTRL_DELAY_ES_SHADOW_BIT 7286 #define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4287 #define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3288 #define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2289 #define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1290 #define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0291292 #define MP

31、U6050_PATHRESET_GYRO_RESET_BIT 2293 #define MPU6050_PATHRESET_ACCEL_RESET_BIT 1294 #define MPU6050_PATHRESET_TEMP_RESET_BIT 0295296 #define MPU6050_DETECT_ACCEL_ON_DELAY_BIT5297 #define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2298 #define MPU6050_DETECT_FF_COUNT_BIT3299 #define MPU6050_DETECT_FF_COUNT_

32、LENGTH2300 #define MPU6050_DETECT_MOT_COUNT_BIT1301 #define MPU6050_DETECT_MOT_COUNT_LENGTH2302303 #define MPU6050_DETECT_DECREMENT_RESET 0x0304 #define MPU6050_DETECT_DECREMENT_1 0x1305 #define MPU6050_DETECT_DECREMENT_2 0x2306 #define MPU6050_DETECT_DECREMENT_4 0x3307308 #define MPU6050_USERCTRL_D

33、MP_EN_BIT7309 #define MPU6050_USERCTRL_FIFO_EN_BIT6310 #define MPU6050_USERCTRL_I2C_MST_EN_BIT5311 #define MPU6050_USERCTRL_I2C_IF_DIS_BIT4312 #define MPU6050_USERCTRL_DMP_RESET_BIT3313 #define MPU6050_USERCTRL_FIFO_RESET_BIT2314 #define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1315 #define MPU6050_USERCT

34、RL_SIG_COND_RESET_BIT 0316317 #define MPU6050_PWR1_DEVICE_RESET_BIT 7318 #define MPU6050_PWR1_SLEEP_BIT6319 #define MPU6050_PWR1_CYCLE_BIT5320 #define MPU6050_PWR1_TEMP_DIS_BIT 3321 #define MPU6050_PWR1_CLKSEL_BIT2322 #define MPU6050_PWR1_CLKSEL_LENGTH 3323324 #define MPU6050_CLOCK_INTERNAL0x00325 #

35、define MPU6050_CLOCK_PLL_XGYRO0x01326 #define MPU6050_CLOCK_PLL_YGYRO0x02327 #define MPU6050_CLOCK_PLL_ZGYRO0x03328 #define MPU6050_CLOCK_PLL_EXT32K0x04329 #define MPU6050_CLOCK_PLL_EXT19M0x05330 #define MPU6050_CLOCK_KEEP_RESET0x07331332 #define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7333 #define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2334 #define MPU6050_PWR2_STBY_XA_BIT5335 #define MPU6050_PWR2_STBY_YA_BIT4336 #define MPU6050_PWR2_STBY_ZA_BIT3337 #define MPU6050_PWR2_STBY_XG_BIT2338 #define MPU6050_PWR2_STBY_YG_BIT1339 #define MPU6050_PWR2_STBY_ZG_BIT0340341 #define MPU6050_W