58 lines
1.3 KiB
C
58 lines
1.3 KiB
C
#ifndef MPU6050_H
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#define MPU6050_H
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#include <stdint.h>
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/* Gyroscope full-scale range */
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#define MPU6050_GYRO_FS_250 0x00 /* ± 250 °/s */
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#define MPU6050_GYRO_FS_500 0x01 /* ± 500 °/s */
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#define MPU6050_GYRO_FS_1000 0x02 /* ± 1000 °/s */
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#define MPU6050_GYRO_FS_2000 0x03 /* ± 2000 °/s */
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/* Accelerometer full-scale range */
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#define MPU6050_ACC_FS_2G 0x00 /* ± 2g */
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#define MPU6050_ACC_FS_4G 0x01 /* ± 4g */
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#define MPU6050_ACC_FS_8G 0x02 /* ± 8g */
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#define MPU6050_ACC_FS_16G 0x03 /* ± 16g */
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struct mpu6050_dev {
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int (*init)(void);
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int (*write)(uint8_t reg, uint8_t value);
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int (*read)(uint8_t reg, uint8_t *dst, uint32_t size);
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int (*sleep)(uint32_t dur_us);
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int (*deinit)(void);
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};
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struct mpu6050_config {
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uint8_t gyro;
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uint8_t acc;
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};
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/* 1 lsb = 1 mg (1/1000 g) */
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struct mpu6050_accelerometer {
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int16_t x;
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int16_t y;
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int16_t z;
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};
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/* deg / s times 10, so 1 decimal */
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struct mpu6050_gyroscope {
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int16_t x;
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int16_t y;
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int16_t z;
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};
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struct mpu6050 {
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struct mpu6050_dev dev;
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struct mpu6050_config cfg;
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struct mpu6050_accelerometer acc;
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struct mpu6050_gyroscope gyro;
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};
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typedef struct mpu6050 mpu6050_t;
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int mpu6050_init(mpu6050_t *mpu6050);
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int mpu6050_deinit(mpu6050_t *mpu6050);
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int mpu6050_read_acc(mpu6050_t *mpu6050);
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#endif |