sen_mpu6050.h

/* ########################################################################
 
   PICSimLab - Programmable IC Simulator Laboratory
 
   ########################################################################
 
   Copyright (c) : 2010-2024  Luis Claudio Gambôa Lopes <lcgamboa@yahoo.com>
 
   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 2, or (at your option)
   any later version.
 
   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.
 
   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 
   For e-mail suggestions :  lcgamboa@yahoo.com
   ######################################################################## */
 
#include "bitbang_i2c.h"
 
typedef struct {
    unsigned char regs[0x76];
    unsigned char addr;
    bitbang_i2c_t bb_i2c;
    unsigned int update;
} mpu6050_t;
 
void mpu6050_rst(mpu6050_t* mpu);
void mpu6050_init(mpu6050_t* mpu);
void mpu6050_end(mpu6050_t* mpu);
void mpu6050_set_addr(mpu6050_t* mpu, unsigned char addr);
 
void mpu6050_set_temp(mpu6050_t* mpu, double temp);                     // degrees
void mpu6050_set_accel(mpu6050_t* mpu, double x, double y, double z);   // g
void mpu6050_set_gyro(mpu6050_t* mpu, double x, double y, double z);    // degrees/s
void mpu6050_set_accel_raw(mpu6050_t* mpu, short x, short y, short z);  // g
void mpu6050_set_gyro_raw(mpu6050_t* mpu, short x, short y, short z);   // degrees/s
 
unsigned char mpu6050_io_I2C(mpu6050_t* mpu, unsigned char scl, unsigned char sda);
 
// REGISTERS ADDRESS
#define SELF_TEST_X 0x0D
#define SELF_TEST_Y 0x0E
#define SELF_TEST_Z 0x0F
 
#define SELF_TEST_A 0x10
 
#define SMPLRT_DIV 0x19
#define CONFIG 0x1A
#define GYRO_CONFIG 0x1B
#define ACCEL_CONFIG 0x1C
 
#define FIFO_EN 0x23
#define I2C_MST_CTRL 0x24
//..
#define I2C_MST_STATUS 0x36
#define INT_PIN_CONFIG 0x37
#define INT_ENABLED 0x38
 
#define INT_STATUS 0x3A
#define ACCEL_XOUT_H 0x3B
#define ACCEL_XOUT_L 0x3C
#define ACCEL_YOUT_H 0x3D
#define ACCEL_YOUT_L 0x3E
#define ACCEL_ZOUT_H 0x3F
#define ACCEL_ZOUT_L 0x40
#define TEMP_OUT_H 0x41
#define TEMP_OUT_L 0x42
#define GYRO_XOUT_H 0x43
#define GYRO_XOUT_L 0x44
#define GYRO_YOUT_H 0x45
#define GYRO_YOUT_L 0x46
#define GYRO_ZOUT_H 0x47
#define GYRO_ZOUT_L 0x48
#define EXT_SENS_DATA_00 0x49
//...
#define EXT_SENS_DATA_23 0x60
 
#define I2C_SLV0_DO 0x63
#define I2C_SLV0_D1 0x64
#define I2C_SLV0_D2 0x65
#define I2C_SLV0_D3 0x66
#define I2C_MST_DELAY_CTRL 0x67
#define SIGNAL_PATH_RESET 0x68
 
#define USER_CTRL 0x6A
#define PWR_MGMT_1 0x6B
#define PWR_MGMT_2 0x6C
 
#define FIFO_COUNT_H 0x72
#define FIFO_COUNT_L 0x73
#define FIFO_R_W 0x74
#define WHO_AM_I 0x75