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- #ifndef __MPU6050_H__
- #define __MPU6050_H__
- #define MPU6050_GYRO_OUT 0x43
- #define MPU6050_ACC_OUT 0x3B
- #define MPU6050_SLAVE_ADDRESS 0x68
- #define MPU6050_ADDRESS_AD0_LOW 0x68
- #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
- #define MPU6050_RA_MOT_DUR 0x20
- #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
- #define MPU6050_RA_INT_ENABLE 0x38
- #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
- #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,
- };
- 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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