MPU6050+HMC5883驱动程序

#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS #define MPU6050_RA_YA_OFFS_L_TC 0x09

#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS #define MPU6050_RA_ZA_OFFS_L_TC 0x0B

#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR #define MPU6050_RA_XG_OFFS_USRL 0x14

#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR #define MPU6050_RA_YG_OFFS_USRL 0x16

#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR #define MPU6050_RA_ZG_OFFS_USRL 0x18 #define MPU6050_RA_SMPLRT_DIV 0x19 #define MPU6050_RA_CONFIG 0x1A #define MPU6050_RA_GYRO_CONFIG 0x1B #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_I2C_MST_CTRL 0x24 #define MPU6050_RA_I2C_SLV0_ADDR 0x25 #define MPU6050_RA_I2C_SLV0_REG 0x26 #define MPU6050_RA_I2C_SLV0_CTRL 0x27 #define MPU6050_RA_I2C_SLV1_ADDR 0x28 #define MPU6050_RA_I2C_SLV1_REG 0x29 #define MPU6050_RA_I2C_SLV1_CTRL 0x2A #define MPU6050_RA_I2C_SLV2_ADDR 0x2B #define MPU6050_RA_I2C_SLV2_REG 0x2C #define MPU6050_RA_I2C_SLV2_CTRL 0x2D #define MPU6050_RA_I2C_SLV3_ADDR 0x2E #define MPU6050_RA_I2C_SLV3_REG 0x2F #define MPU6050_RA_I2C_SLV3_CTRL 0x30 #define MPU6050_RA_I2C_SLV4_ADDR 0x31 #define MPU6050_RA_I2C_SLV4_REG 0x32 #define MPU6050_RA_I2C_SLV4_DO 0x33 #define MPU6050_RA_I2C_SLV4_CTRL 0x34 #define MPU6050_RA_I2C_SLV4_DI 0x35 #define MPU6050_RA_I2C_MST_STATUS 0x36 #define MPU6050_RA_INT_PIN_CFG 0x37 #define MPU6050_RA_INT_ENABLE 0x38 #define MPU6050_RA_DMP_INT_STATUS 0x39 #define MPU6050_RA_INT_STATUS 0x3A

#define MPU6050_RA_ACCEL_XOUT_H 0x3B #define MPU6050_RA_ACCEL_XOUT_L 0x3C #define MPU6050_RA_ACCEL_YOUT_H 0x3D #define MPU6050_RA_ACCEL_YOUT_L 0x3E #define MPU6050_RA_ACCEL_ZOUT_H 0x3F #define MPU6050_RA_ACCEL_ZOUT_L 0x40 #define MPU6050_RA_TEMP_OUT_H 0x41 #define MPU6050_RA_TEMP_OUT_L 0x42 #define MPU6050_RA_GYRO_XOUT_H 0x43 #define MPU6050_RA_GYRO_XOUT_L 0x44 #define MPU6050_RA_GYRO_YOUT_H 0x45 #define MPU6050_RA_GYRO_YOUT_L 0x46 #define MPU6050_RA_GYRO_ZOUT_H 0x47 #define MPU6050_RA_GYRO_ZOUT_L 0x48 #define MPU6050_RA_EXT_SENS_DATA_00 0x49 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A #define MPU6050_RA_EXT_SENS_DATA_02 0x4B #define MPU6050_RA_EXT_SENS_DATA_03 0x4C #define MPU6050_RA_EXT_SENS_DATA_04 0x4D #define MPU6050_RA_EXT_SENS_DATA_05 0x4E #define MPU6050_RA_EXT_SENS_DATA_06 0x4F #define MPU6050_RA_EXT_SENS_DATA_07 0x50 #define MPU6050_RA_EXT_SENS_DATA_08 0x51 #define MPU6050_RA_EXT_SENS_DATA_09 0x52 #define MPU6050_RA_EXT_SENS_DATA_10 0x53 #define MPU6050_RA_EXT_SENS_DATA_11 0x54 #define MPU6050_RA_EXT_SENS_DATA_12 0x55 #define MPU6050_RA_EXT_SENS_DATA_13 0x56 #define MPU6050_RA_EXT_SENS_DATA_14 0x57 #define MPU6050_RA_EXT_SENS_DATA_15 0x58 #define MPU6050_RA_EXT_SENS_DATA_16 0x59 #define MPU6050_RA_EXT_SENS_DATA_17 0x5A #define MPU6050_RA_EXT_SENS_DATA_18 0x5B #define MPU6050_RA_EXT_SENS_DATA_19 0x5C #define MPU6050_RA_EXT_SENS_DATA_20 0x5D #define MPU6050_RA_EXT_SENS_DATA_21 0x5E #define MPU6050_RA_EXT_SENS_DATA_22 0x5F #define MPU6050_RA_EXT_SENS_DATA_23 0x60

#define MPU6050_RA_MOT_DETECT_STATUS 0x61 #define MPU6050_RA_I2C_SLV0_DO 0x63 #define MPU6050_RA_I2C_SLV1_DO 0x64 #define MPU6050_RA_I2C_SLV2_DO 0x65 #define MPU6050_RA_I2C_SLV3_DO 0x66

#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67

#define MPU6050_RA_SIGNAL_PATH_RESET 0x68 #define MPU6050_RA_MOT_DETECT_CTRL 0x69 #define MPU6050_RA_USER_CTRL 0x6A #define MPU6050_RA_PWR_MGMT_1 0x6B #define MPU6050_RA_PWR_MGMT_2 0x6C #define MPU6050_RA_BANK_SEL 0x6D #define MPU6050_RA_MEM_START_ADDR 0x6E #define MPU6050_RA_MEM_R_W 0x6F #define MPU6050_RA_DMP_CFG_1 0x70 #define MPU6050_RA_DMP_CFG_2 0x71 #define MPU6050_RA_FIFO_COUNTH 0x72 #define MPU6050_RA_FIFO_COUNTL 0x73 #define MPU6050_RA_FIFO_R_W 0x74 #define MPU6050_RA_WHO_AM_I 0x75

#define MPU6050_TC_PWR_MODE_BIT 7 #define MPU6050_TC_OFFSET_BIT 6 #define MPU6050_TC_OFFSET_LENGTH 6 #define MPU6050_TC_OTP_BNK_VLD_BIT 0

#define MPU6050_VDDIO_LEVEL_VLOGIC 0 #define MPU6050_VDDIO_LEVEL_VDD 1

#define MPU6050_CFG_EXT_SYNC_SET_BIT 5 #define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3 #define MPU6050_CFG_DLPF_CFG_BIT 2 #define MPU6050_CFG_DLPF_CFG_LENGTH 3

#define MPU6050_EXT_SYNC_DISABLED 0x0 #define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1 #define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2 #define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3 #define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4 #define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5 #define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6 #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7

#define MPU6050_DLPF_BW_256 0x00 #define MPU6050_DLPF_BW_188 0x01 #define MPU6050_DLPF_BW_98 0x02 #define MPU6050_DLPF_BW_42 0x03 #define MPU6050_DLPF_BW_20 0x04 #define MPU6050_DLPF_BW_10 0x05 #define MPU6050_DLPF_BW_5 0x06

#define MPU6050_GCONFIG_FS_SEL_BIT 4 #define MPU6050_GCONFIG_FS_SEL_LENGTH 2

#define MPU6050_GYRO_FS_250 0x00 #define MPU6050_GYRO_FS_500 0x01 #define MPU6050_GYRO_FS_1000 0x02 #define MPU6050_GYRO_FS_2000 0x03

#define MPU6050_ACONFIG_XA_ST_BIT #define MPU6050_ACONFIG_YA_ST_BIT #define MPU6050_ACONFIG_ZA_ST_BIT #define MPU6050_ACONFIG_AFS_SEL_BIT #define MPU6050_ACONFIG_AFS_SEL_LENGTH #define MPU6050_ACONFIG_ACCEL_HPF_BIT #define MPU6050_ACONFIG_ACCEL_HPF_LENGTH

#define MPU6050_ACCEL_FS_2 0x00 #define MPU6050_ACCEL_FS_4 0x01 #define MPU6050_ACCEL_FS_8 0x02 #define MPU6050_ACCEL_FS_16 0x03

#define MPU6050_DHPF_RESET 0x00 #define MPU6050_DHPF_5 0x01 #define MPU6050_DHPF_2P5 0x02 #define MPU6050_DHPF_1P25 0x03 #define MPU6050_DHPF_0P63 0x04 #define MPU6050_DHPF_HOLD 0x07

#define MPU6050_TEMP_FIFO_EN_BIT 7 #define MPU6050_XG_FIFO_EN_BIT 6 #define MPU6050_YG_FIFO_EN_BIT 5 #define MPU6050_ZG_FIFO_EN_BIT 4 #define MPU6050_ACCEL_FIFO_EN_BIT 3 #define MPU6050_SLV2_FIFO_EN_BIT 2 #define MPU6050_SLV1_FIFO_EN_BIT 1 #define MPU6050_SLV0_FIFO_EN_BIT 0

#define MPU6050_MULT_MST_EN_BIT 7 #define MPU6050_WAIT_FOR_ES_BIT 6 #define MPU6050_SLV_3_FIFO_EN_BIT 5 #define MPU6050_I2C_MST_P_NSR_BIT 4 #define MPU6050_I2C_MST_CLK_BIT 3 #define MPU6050_I2C_MST_CLK_LENGTH 4

7 6 5 4 2 2 3