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- /*
- * Copyright (c) 2020 Nanjing Xiaoxiongpai Intelligent Technology Co., Ltd.
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
- #ifndef __MPU6050_H__
- #define __MPU6050_H__
- /* 宏定义 --------------------------------------------------------------------*/
- #define MPU6050_GYRO_OUT 0x43 //MPU6050陀螺仪数据寄存器地址
- #define MPU6050_ACC_OUT 0x3B //MPU6050加速度数据寄存器地址
- #define MPU6050_SLAVE_ADDRESS 0x68 //MPU6050器件读地址
- #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
- #define MPU6050_RA_CONFIG 0x1A
- #define MPU6050_RA_ACCEL_CONFIG 0x1C
- #define MPU6050_RA_FF_THR 0x1D
- #define MPU6050_RA_FF_DUR 0x1E
- #define MPU6050_RA_MOT_THR 0x1F //运动检测阀值设置寄存器
- #define MPU6050_RA_MOT_DUR 0x20 //运动检测时间阀值
- #define MPU6050_RA_ZRMOT_THR 0x21
- #define MPU6050_RA_ZRMOT_DUR 0x22
- #define MPU6050_RA_FIFO_EN 0x23
- #define MPU6050_RA_INT_PIN_CFG 0x37 //中断/旁路设置寄存器
- #define MPU6050_RA_INT_ENABLE 0x38 //中断使能寄存器
- #define MPU6050_RA_TEMP_OUT_H 0x41
- #define MPU6050_RA_USER_CTRL 0x6A
- #define MPU6050_RA_PWR_MGMT_1 0x6B
- #define MPU6050_RA_WHO_AM_I 0x75
- #define SENSOR_DATA_WIDTH_8_BIT 8 // 8 bit
- #define ACCEL_DATA_LEN 6
- #define TEMP_DATA_LEN 2
- typedef enum
- {
- OFF = 0,
- ON
- } SwitchStatus;
- enum AccelAxisNum {
- ACCEL_X_AXIS = 0,
- ACCEL_Y_AXIS = 1,
- ACCEL_Z_AXIS = 2,
- ACCEL_AXIS_NUM = 3,
- };
- enum AccelAxisPart {
- ACCEL_X_AXIS_LSB = 0,
- ACCEL_X_AXIS_MSB = 1,
- ACCEL_Y_AXIS_LSB = 2,
- ACCEL_Y_AXIS_MSB = 3,
- ACCEL_Z_AXIS_LSB = 4,
- ACCEL_Z_AXIS_MSB = 5,
- ACCEL_AXIS_BUTT,
- };
- enum TempPart {
- TEMP_LSB = 0,
- TEMP_MSB = 1,
- };
- /* MPU6050传感器数据类型定义 ------------------------------------------------------------*/
- typedef struct
- {
- short Temperature;
- short Accel[3];
- } MPU6050Data;
- int BoardInit(void);
- int MPU6050ReadData(MPU6050Data *ReadData);
- void LedD1StatusSet(SwitchStatus status);
- void LedD2StatusSet(SwitchStatus status);
- #endif
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