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mpu_6000.h
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mpu_6000.h
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/****************************************************************************
*
* Copyright (C) 2014 Beagle Pilot Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name Beagle Pilot nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @author Jimmy Johnson <[email protected]>
*
* Certain parts ported from the PX4 MPU6000 code base
*
* https://pixhawk.org
*
*/
#include <linux/types.h>
#ifndef MPU6000_H_
#define MPU6000_H_
// MPU 6000 registers
#define MPUREG_WHOAMI 0x75
#define MPUREG_SMPLRT_DIV 0x19
#define MPUREG_CONFIG 0x1A
#define MPUREG_GYRO_CONFIG 0x1B
#define MPUREG_ACCEL_CONFIG 0x1C
#define MPUREG_FIFO_EN 0x23
#define MPUREG_INT_PIN_CFG 0x37
#define MPUREG_INT_ENABLE 0x38
#define MPUREG_INT_STATUS 0x3A
#define MPUREG_ACCEL_XOUT_H 0x3B
#define MPUREG_ACCEL_XOUT_L 0x3C
#define MPUREG_ACCEL_YOUT_H 0x3D
#define MPUREG_ACCEL_YOUT_L 0x3E
#define MPUREG_ACCEL_ZOUT_H 0x3F
#define MPUREG_ACCEL_ZOUT_L 0x40
#define MPUREG_TEMP_OUT_H 0x41
#define MPUREG_TEMP_OUT_L 0x42
#define MPUREG_GYRO_XOUT_H 0x43
#define MPUREG_GYRO_XOUT_L 0x44
#define MPUREG_GYRO_YOUT_H 0x45
#define MPUREG_GYRO_YOUT_L 0x46
#define MPUREG_GYRO_ZOUT_H 0x47
#define MPUREG_GYRO_ZOUT_L 0x48
#define MPUREG_USER_CTRL 0x6A
#define MPUREG_PWR_MGMT_1 0x6B
#define MPUREG_PWR_MGMT_2 0x6C
#define MPUREG_FIFO_COUNTH 0x72
#define MPUREG_FIFO_COUNTL 0x73
#define MPUREG_FIFO_R_W 0x74
#define MPUREG_PRODUCT_ID 0x0C
// Configuration bits MPU 3000 and MPU 6000 (not revised)?
#define BIT_SLEEP 0x40
#define BIT_H_RESET 0x80
#define BITS_CLKSEL 0x07
#define MPU_CLK_SEL_PLLGYROX 0x01
#define MPU_CLK_SEL_PLLGYROZ 0x03
#define MPU_EXT_SYNC_GYROX 0x02
#define BITS_FS_250DPS 0x00
#define BITS_FS_500DPS 0x08
#define BITS_FS_1000DPS 0x10
#define BITS_FS_2000DPS 0x18
#define BITS_FS_MASK 0x18
#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
#define BITS_DLPF_CFG_188HZ 0x01
#define BITS_DLPF_CFG_98HZ 0x02
#define BITS_DLPF_CFG_42HZ 0x03
#define BITS_DLPF_CFG_20HZ 0x04
#define BITS_DLPF_CFG_10HZ 0x05
#define BITS_DLPF_CFG_5HZ 0x06
#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
#define BITS_DLPF_CFG_MASK 0x07
#define BIT_INT_ANYRD_2CLEAR 0x10
#define BIT_RAW_RDY_EN 0x01
#define BIT_I2C_IF_DIS 0x10
#define BIT_INT_STATUS_DATA 0x01
// Product ID Description for MPU6000
// high 4 bits low 4 bits
// Product Name Product Revision
#define MPU6000ES_REV_C4 0x14
#define MPU6000ES_REV_C5 0x15
#define MPU6000ES_REV_D6 0x16
#define MPU6000ES_REV_D7 0x17
#define MPU6000ES_REV_D8 0x18
#define MPU6000_REV_C4 0x54
#define MPU6000_REV_C5 0x55
#define MPU6000_REV_D6 0x56
#define MPU6000_REV_D7 0x57
#define MPU6000_REV_D8 0x58
#define MPU6000_REV_D9 0x59
#define MPU6000_REV_D10 0x5A
#define MPU6000_ACCEL_DEFAULT_RANGE_G 8
#define MPU6000_ACCEL_DEFAULT_RATE 1000
#define MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
#define MPU6000_GYRO_DEFAULT_RANGE_G 8
#define MPU6000_GYRO_DEFAULT_RATE 1000
#define MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30
#define MPU6000_DEFAULT_ONCHIP_FILTER_FREQ 42
#endif /* MPU6000_H_ */