Classes | Macros
mpu6000.h File Reference
#include "system.h"
#include "spi.h"
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Classes

class  MPU6000
 

Macros

#define MPU_BIT_ACC   0x02
 
#define MPU_BIT_GYRO   0x04
 
#define MPU_BIT_H_RESET   0x80
 
#define MPU_BIT_I2C_IF_DIS   0x10
 
#define MPU_BIT_INT_ANYRD_2CLEAR   0x10
 
#define MPU_BIT_INT_STATUS_DATA   0x01
 
#define MPU_BIT_RAW_RDY_EN   0x01
 
#define MPU_BIT_SLEEP   0x40
 
#define MPU_BIT_TEMP   0x01
 
#define MPU_BITS_CLKSEL   0x07
 
#define MPU_BITS_DLPF_CFG_10HZ   0x05
 
#define MPU_BITS_DLPF_CFG_188HZ   0x01
 
#define MPU_BITS_DLPF_CFG_20HZ   0x04
 
#define MPU_BITS_DLPF_CFG_2100HZ_NOLPF   0x07
 
#define MPU_BITS_DLPF_CFG_256HZ   0x00
 
#define MPU_BITS_DLPF_CFG_42HZ   0x03
 
#define MPU_BITS_DLPF_CFG_5HZ   0x06
 
#define MPU_BITS_DLPF_CFG_98HZ   0x02
 
#define MPU_BITS_DLPF_CFG_MASK   0x07
 
#define MPU_BITS_FS_1000DPS   0x10
 
#define MPU_BITS_FS_16G   0x18
 
#define MPU_BITS_FS_2000DPS   0x18
 
#define MPU_BITS_FS_250DPS   0x00
 
#define MPU_BITS_FS_2G   0x00
 
#define MPU_BITS_FS_4G   0x08
 
#define MPU_BITS_FS_500DPS   0x08
 
#define MPU_BITS_FS_8G   0x10
 
#define MPU_BITS_FS_MASK   0x18
 
#define MPU_CLK_SEL_PLLGYROX   0x01
 
#define MPU_CLK_SEL_PLLGYROZ   0x03
 
#define MPU_EXT_SYNC_GYROX   0x02
 
#define MPU_RA_ACCEL_CONFIG   0x1C
 
#define MPU_RA_ACCEL_XOUT_H   0x3B
 
#define MPU_RA_ACCEL_XOUT_L   0x3C
 
#define MPU_RA_ACCEL_YOUT_H   0x3D
 
#define MPU_RA_ACCEL_YOUT_L   0x3E
 
#define MPU_RA_ACCEL_ZOUT_H   0x3F
 
#define MPU_RA_ACCEL_ZOUT_L   0x40
 
#define MPU_RA_BANK_SEL   0x6D
 
#define MPU_RA_CONFIG   0x1A
 
#define MPU_RA_DMP_CFG_1   0x70
 
#define MPU_RA_DMP_CFG_2   0x71
 
#define MPU_RA_DMP_INT_STATUS   0x39
 
#define MPU_RA_EXT_SENS_DATA_00   0x49
 
#define MPU_RA_FF_DUR   0x1E
 
#define MPU_RA_FF_THR   0x1D
 
#define MPU_RA_FIFO_COUNTH   0x72
 
#define MPU_RA_FIFO_COUNTL   0x73
 
#define MPU_RA_FIFO_EN   0x23
 
#define MPU_RA_FIFO_R_W   0x74
 
#define MPU_RA_GYRO_CONFIG   0x1B
 
#define MPU_RA_GYRO_XOUT_H   0x43
 
#define MPU_RA_GYRO_XOUT_L   0x44
 
#define MPU_RA_GYRO_YOUT_H   0x45
 
#define MPU_RA_GYRO_YOUT_L   0x46
 
#define MPU_RA_GYRO_ZOUT_H   0x47
 
#define MPU_RA_GYRO_ZOUT_L   0x48
 
#define MPU_RA_I2C_MST_CTRL   0x24
 
#define MPU_RA_I2C_MST_DELAY_CTRL   0x67
 
#define MPU_RA_I2C_MST_STATUS   0x36
 
#define MPU_RA_I2C_SLV0_ADDR   0x25
 
#define MPU_RA_I2C_SLV0_CTRL   0x27
 
#define MPU_RA_I2C_SLV0_DO   0x63
 
#define MPU_RA_I2C_SLV0_REG   0x26
 
#define MPU_RA_I2C_SLV1_ADDR   0x28
 
#define MPU_RA_I2C_SLV1_CTRL   0x2A
 
#define MPU_RA_I2C_SLV1_DO   0x64
 
#define MPU_RA_I2C_SLV1_REG   0x29
 
#define MPU_RA_I2C_SLV2_ADDR   0x2B
 
#define MPU_RA_I2C_SLV2_CTRL   0x2D
 
#define MPU_RA_I2C_SLV2_DO   0x65
 
#define MPU_RA_I2C_SLV2_REG   0x2C
 
#define MPU_RA_I2C_SLV3_ADDR   0x2E
 
#define MPU_RA_I2C_SLV3_CTRL   0x30
 
#define MPU_RA_I2C_SLV3_DO   0x66
 
#define MPU_RA_I2C_SLV3_REG   0x2F
 
#define MPU_RA_I2C_SLV4_ADDR   0x31
 
#define MPU_RA_I2C_SLV4_CTRL   0x34
 
#define MPU_RA_I2C_SLV4_DI   0x35
 
#define MPU_RA_I2C_SLV4_DO   0x33
 
#define MPU_RA_I2C_SLV4_REG   0x32
 
#define MPU_RA_INT_ENABLE   0x38
 
#define MPU_RA_INT_PIN_CFG   0x37
 
#define MPU_RA_INT_STATUS   0x3A
 
#define MPU_RA_MEM_R_W   0x6F
 
#define MPU_RA_MEM_START_ADDR   0x6E
 
#define MPU_RA_MOT_DETECT_CTRL   0x69
 
#define MPU_RA_MOT_DETECT_STATUS   0x61
 
#define MPU_RA_MOT_DUR   0x20
 
#define MPU_RA_MOT_THR   0x1F
 
#define MPU_RA_PRODUCT_ID   0x0C
 
#define MPU_RA_PWR_MGMT_1   0x6B
 
#define MPU_RA_PWR_MGMT_2   0x6C
 
#define MPU_RA_SIGNAL_PATH_RESET   0x68
 
#define MPU_RA_SMPLRT_DIV   0x19
 
#define MPU_RA_TEMP_OUT_H   0x41
 
#define MPU_RA_TEMP_OUT_L   0x42
 
#define MPU_RA_USER_CTRL   0x6A
 
#define MPU_RA_WHO_AM_I   0x75
 
#define MPU_RA_X_FINE_GAIN   0x03
 
#define MPU_RA_XA_OFFS_H   0x06
 
#define MPU_RA_XA_OFFS_L_TC   0x07
 
#define MPU_RA_XG_OFFS_TC   0x00
 
#define MPU_RA_XG_OFFS_USRH   0x13
 
#define MPU_RA_XG_OFFS_USRL   0x14
 
#define MPU_RA_Y_FINE_GAIN   0x04
 
#define MPU_RA_YA_OFFS_H   0x08
 
#define MPU_RA_YA_OFFS_L_TC   0x09
 
#define MPU_RA_YG_OFFS_TC   0x01
 
#define MPU_RA_YG_OFFS_USRH   0x15
 
#define MPU_RA_YG_OFFS_USRL   0x16
 
#define MPU_RA_Z_FINE_GAIN   0x05
 
#define MPU_RA_ZA_OFFS_H   0x0A
 
#define MPU_RA_ZA_OFFS_L_TC   0x0B
 
#define MPU_RA_ZG_OFFS_TC   0x02
 
#define MPU_RA_ZG_OFFS_USRH   0x17
 
#define MPU_RA_ZG_OFFS_USRL   0x18
 
#define MPU_RA_ZRMOT_DUR   0x22
 
#define MPU_RA_ZRMOT_THR   0x21
 

Macro Definition Documentation

#define MPU_BIT_ACC   0x02

Definition at line 68 of file mpu6000.h.

#define MPU_BIT_GYRO   0x04

Definition at line 67 of file mpu6000.h.

#define MPU_BIT_H_RESET   0x80

Definition at line 40 of file mpu6000.h.

#define MPU_BIT_I2C_IF_DIS   0x10

Definition at line 65 of file mpu6000.h.

#define MPU_BIT_INT_ANYRD_2CLEAR   0x10

Definition at line 63 of file mpu6000.h.

#define MPU_BIT_INT_STATUS_DATA   0x01

Definition at line 66 of file mpu6000.h.

#define MPU_BIT_RAW_RDY_EN   0x01

Definition at line 64 of file mpu6000.h.

#define MPU_BIT_SLEEP   0x40

Definition at line 39 of file mpu6000.h.

#define MPU_BIT_TEMP   0x01

Definition at line 69 of file mpu6000.h.

#define MPU_BITS_CLKSEL   0x07

Definition at line 41 of file mpu6000.h.

#define MPU_BITS_DLPF_CFG_10HZ   0x05

Definition at line 59 of file mpu6000.h.

#define MPU_BITS_DLPF_CFG_188HZ   0x01

Definition at line 55 of file mpu6000.h.

#define MPU_BITS_DLPF_CFG_20HZ   0x04

Definition at line 58 of file mpu6000.h.

#define MPU_BITS_DLPF_CFG_2100HZ_NOLPF   0x07

Definition at line 61 of file mpu6000.h.

#define MPU_BITS_DLPF_CFG_256HZ   0x00

Definition at line 54 of file mpu6000.h.

#define MPU_BITS_DLPF_CFG_42HZ   0x03

Definition at line 57 of file mpu6000.h.

#define MPU_BITS_DLPF_CFG_5HZ   0x06

Definition at line 60 of file mpu6000.h.

#define MPU_BITS_DLPF_CFG_98HZ   0x02

Definition at line 56 of file mpu6000.h.

#define MPU_BITS_DLPF_CFG_MASK   0x07

Definition at line 62 of file mpu6000.h.

#define MPU_BITS_FS_1000DPS   0x10

Definition at line 47 of file mpu6000.h.

#define MPU_BITS_FS_16G   0x18

Definition at line 52 of file mpu6000.h.

#define MPU_BITS_FS_2000DPS   0x18

Definition at line 48 of file mpu6000.h.

#define MPU_BITS_FS_250DPS   0x00

Definition at line 45 of file mpu6000.h.

#define MPU_BITS_FS_2G   0x00

Definition at line 49 of file mpu6000.h.

#define MPU_BITS_FS_4G   0x08

Definition at line 50 of file mpu6000.h.

#define MPU_BITS_FS_500DPS   0x08

Definition at line 46 of file mpu6000.h.

#define MPU_BITS_FS_8G   0x10

Definition at line 51 of file mpu6000.h.

#define MPU_BITS_FS_MASK   0x18

Definition at line 53 of file mpu6000.h.

#define MPU_CLK_SEL_PLLGYROX   0x01

Definition at line 42 of file mpu6000.h.

#define MPU_CLK_SEL_PLLGYROZ   0x03

Definition at line 43 of file mpu6000.h.

#define MPU_EXT_SYNC_GYROX   0x02

Definition at line 44 of file mpu6000.h.

#define MPU_RA_ACCEL_CONFIG   0x1C

Definition at line 93 of file mpu6000.h.

#define MPU_RA_ACCEL_XOUT_H   0x3B

Definition at line 124 of file mpu6000.h.

#define MPU_RA_ACCEL_XOUT_L   0x3C

Definition at line 125 of file mpu6000.h.

#define MPU_RA_ACCEL_YOUT_H   0x3D

Definition at line 126 of file mpu6000.h.

#define MPU_RA_ACCEL_YOUT_L   0x3E

Definition at line 127 of file mpu6000.h.

#define MPU_RA_ACCEL_ZOUT_H   0x3F

Definition at line 128 of file mpu6000.h.

#define MPU_RA_ACCEL_ZOUT_L   0x40

Definition at line 129 of file mpu6000.h.

#define MPU_RA_BANK_SEL   0x6D

Definition at line 150 of file mpu6000.h.

#define MPU_RA_CONFIG   0x1A

Definition at line 91 of file mpu6000.h.

#define MPU_RA_DMP_CFG_1   0x70

Definition at line 153 of file mpu6000.h.

#define MPU_RA_DMP_CFG_2   0x71

Definition at line 154 of file mpu6000.h.

#define MPU_RA_DMP_INT_STATUS   0x39

Definition at line 122 of file mpu6000.h.

#define MPU_RA_EXT_SENS_DATA_00   0x49

Definition at line 138 of file mpu6000.h.

#define MPU_RA_FF_DUR   0x1E

Definition at line 95 of file mpu6000.h.

#define MPU_RA_FF_THR   0x1D

Definition at line 94 of file mpu6000.h.

#define MPU_RA_FIFO_COUNTH   0x72

Definition at line 155 of file mpu6000.h.

#define MPU_RA_FIFO_COUNTL   0x73

Definition at line 156 of file mpu6000.h.

#define MPU_RA_FIFO_EN   0x23

Definition at line 100 of file mpu6000.h.

#define MPU_RA_FIFO_R_W   0x74

Definition at line 157 of file mpu6000.h.

#define MPU_RA_GYRO_CONFIG   0x1B

Definition at line 92 of file mpu6000.h.

#define MPU_RA_GYRO_XOUT_H   0x43

Definition at line 132 of file mpu6000.h.

#define MPU_RA_GYRO_XOUT_L   0x44

Definition at line 133 of file mpu6000.h.

#define MPU_RA_GYRO_YOUT_H   0x45

Definition at line 134 of file mpu6000.h.

#define MPU_RA_GYRO_YOUT_L   0x46

Definition at line 135 of file mpu6000.h.

#define MPU_RA_GYRO_ZOUT_H   0x47

Definition at line 136 of file mpu6000.h.

#define MPU_RA_GYRO_ZOUT_L   0x48

Definition at line 137 of file mpu6000.h.

#define MPU_RA_I2C_MST_CTRL   0x24

Definition at line 101 of file mpu6000.h.

#define MPU_RA_I2C_MST_DELAY_CTRL   0x67

Definition at line 144 of file mpu6000.h.

#define MPU_RA_I2C_MST_STATUS   0x36

Definition at line 119 of file mpu6000.h.

#define MPU_RA_I2C_SLV0_ADDR   0x25

Definition at line 102 of file mpu6000.h.

#define MPU_RA_I2C_SLV0_CTRL   0x27

Definition at line 104 of file mpu6000.h.

#define MPU_RA_I2C_SLV0_DO   0x63

Definition at line 140 of file mpu6000.h.

#define MPU_RA_I2C_SLV0_REG   0x26

Definition at line 103 of file mpu6000.h.

#define MPU_RA_I2C_SLV1_ADDR   0x28

Definition at line 105 of file mpu6000.h.

#define MPU_RA_I2C_SLV1_CTRL   0x2A

Definition at line 107 of file mpu6000.h.

#define MPU_RA_I2C_SLV1_DO   0x64

Definition at line 141 of file mpu6000.h.

#define MPU_RA_I2C_SLV1_REG   0x29

Definition at line 106 of file mpu6000.h.

#define MPU_RA_I2C_SLV2_ADDR   0x2B

Definition at line 108 of file mpu6000.h.

#define MPU_RA_I2C_SLV2_CTRL   0x2D

Definition at line 110 of file mpu6000.h.

#define MPU_RA_I2C_SLV2_DO   0x65

Definition at line 142 of file mpu6000.h.

#define MPU_RA_I2C_SLV2_REG   0x2C

Definition at line 109 of file mpu6000.h.

#define MPU_RA_I2C_SLV3_ADDR   0x2E

Definition at line 111 of file mpu6000.h.

#define MPU_RA_I2C_SLV3_CTRL   0x30

Definition at line 113 of file mpu6000.h.

#define MPU_RA_I2C_SLV3_DO   0x66

Definition at line 143 of file mpu6000.h.

#define MPU_RA_I2C_SLV3_REG   0x2F

Definition at line 112 of file mpu6000.h.

#define MPU_RA_I2C_SLV4_ADDR   0x31

Definition at line 114 of file mpu6000.h.

#define MPU_RA_I2C_SLV4_CTRL   0x34

Definition at line 117 of file mpu6000.h.

#define MPU_RA_I2C_SLV4_DI   0x35

Definition at line 118 of file mpu6000.h.

#define MPU_RA_I2C_SLV4_DO   0x33

Definition at line 116 of file mpu6000.h.

#define MPU_RA_I2C_SLV4_REG   0x32

Definition at line 115 of file mpu6000.h.

#define MPU_RA_INT_ENABLE   0x38

Definition at line 121 of file mpu6000.h.

#define MPU_RA_INT_PIN_CFG   0x37

Definition at line 120 of file mpu6000.h.

#define MPU_RA_INT_STATUS   0x3A

Definition at line 123 of file mpu6000.h.

#define MPU_RA_MEM_R_W   0x6F

Definition at line 152 of file mpu6000.h.

#define MPU_RA_MEM_START_ADDR   0x6E

Definition at line 151 of file mpu6000.h.

#define MPU_RA_MOT_DETECT_CTRL   0x69

Definition at line 146 of file mpu6000.h.

#define MPU_RA_MOT_DETECT_STATUS   0x61

Definition at line 139 of file mpu6000.h.

#define MPU_RA_MOT_DUR   0x20

Definition at line 97 of file mpu6000.h.

#define MPU_RA_MOT_THR   0x1F

Definition at line 96 of file mpu6000.h.

#define MPU_RA_PRODUCT_ID   0x0C

Definition at line 83 of file mpu6000.h.

#define MPU_RA_PWR_MGMT_1   0x6B

Definition at line 148 of file mpu6000.h.

#define MPU_RA_PWR_MGMT_2   0x6C

Definition at line 149 of file mpu6000.h.

#define MPU_RA_SIGNAL_PATH_RESET   0x68

Definition at line 145 of file mpu6000.h.

#define MPU_RA_SMPLRT_DIV   0x19

Definition at line 90 of file mpu6000.h.

#define MPU_RA_TEMP_OUT_H   0x41

Definition at line 130 of file mpu6000.h.

#define MPU_RA_TEMP_OUT_L   0x42

Definition at line 131 of file mpu6000.h.

#define MPU_RA_USER_CTRL   0x6A

Definition at line 147 of file mpu6000.h.

#define MPU_RA_WHO_AM_I   0x75

Definition at line 158 of file mpu6000.h.

#define MPU_RA_X_FINE_GAIN   0x03

Definition at line 74 of file mpu6000.h.

#define MPU_RA_XA_OFFS_H   0x06

Definition at line 77 of file mpu6000.h.

#define MPU_RA_XA_OFFS_L_TC   0x07

Definition at line 78 of file mpu6000.h.

#define MPU_RA_XG_OFFS_TC   0x00

Definition at line 71 of file mpu6000.h.

#define MPU_RA_XG_OFFS_USRH   0x13

Definition at line 84 of file mpu6000.h.

#define MPU_RA_XG_OFFS_USRL   0x14

Definition at line 85 of file mpu6000.h.

#define MPU_RA_Y_FINE_GAIN   0x04

Definition at line 75 of file mpu6000.h.

#define MPU_RA_YA_OFFS_H   0x08

Definition at line 79 of file mpu6000.h.

#define MPU_RA_YA_OFFS_L_TC   0x09

Definition at line 80 of file mpu6000.h.

#define MPU_RA_YG_OFFS_TC   0x01

Definition at line 72 of file mpu6000.h.

#define MPU_RA_YG_OFFS_USRH   0x15

Definition at line 86 of file mpu6000.h.

#define MPU_RA_YG_OFFS_USRL   0x16

Definition at line 87 of file mpu6000.h.

#define MPU_RA_Z_FINE_GAIN   0x05

Definition at line 76 of file mpu6000.h.

#define MPU_RA_ZA_OFFS_H   0x0A

Definition at line 81 of file mpu6000.h.

#define MPU_RA_ZA_OFFS_L_TC   0x0B

Definition at line 82 of file mpu6000.h.

#define MPU_RA_ZG_OFFS_TC   0x02

Definition at line 73 of file mpu6000.h.

#define MPU_RA_ZG_OFFS_USRH   0x17

Definition at line 88 of file mpu6000.h.

#define MPU_RA_ZG_OFFS_USRL   0x18

Definition at line 89 of file mpu6000.h.

#define MPU_RA_ZRMOT_DUR   0x22

Definition at line 99 of file mpu6000.h.

#define MPU_RA_ZRMOT_THR   0x21

Definition at line 98 of file mpu6000.h.



rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Thu Oct 24 2019 03:17:21