mpu6000.h

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#ifndef __MPU6000_H__
#define __MPU6000_H__
 
/* Defines */
// Registers
#define MPU6000_PRODUCT_ID          0x68
 
#define MPU6000_SMPLRT_DIV          0x19
#define MPU6000_GYRO_CONFIG         0x1B
#define MPU6000_ACCEL_CONFIG        0x1C
#define MPU6000_FIFO_EN             0x23
#define MPU6000_INT_PIN_CFG         0x37
#define MPU6000_INT_ENABLE          0x38
#define MPU6000_INT_STATUS          0x3A
#define MPU6000_ACCEL_XOUT_H        0x3B
#define MPU6000_ACCEL_XOUT_L        0x3C
#define MPU6000_ACCEL_YOUT_H        0x3D
#define MPU6000_ACCEL_YOUT_L        0x3E
#define MPU6000_ACCEL_ZOUT_H        0x3F
#define MPU6000_ACCEL_ZOUT_L        0x40
#define MPU6000_TEMP_OUT_H          0x41
#define MPU6000_TEMP_OUT_L          0x42
#define MPU6000_GYRO_XOUT_H         0x43
#define MPU6000_GYRO_XOUT_L         0x44
#define MPU6000_GYRO_YOUT_H         0x45
#define MPU6000_GYRO_YOUT_L         0x46
#define MPU6000_GYRO_ZOUT_H         0x47
#define MPU6000_GYRO_ZOUT_L         0x48
#define MPU6000_SIGNAL_PATH_RESET   0x68
#define MPU6000_USER_CTRL           0x6A
#define MPU6000_PWR_MGMT_1          0x6B
#define MPU6000_PWR_MGMT_2          0x6C
#define MPU6000_FIFO_COUNTH         0x72
#define MPU6000_FIFO_COUNTL         0x73
#define MPU6000_FIFO_R_W            0x74
#define MPU6000_WHOAMI              0x75
 
// Bits
 
#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_2G                  0x00
#define BITS_FS_4G                  0x08
#define BITS_FS_8G                  0x10
#define BITS_FS_16G                 0x18
#define BITS_FS_MASK                0x18
#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
 
 
#define MPU6000_CONFIG              0x1A
 
#define BITS_DLPF_CFG_256HZ         0x00
#define BITS_DLPF_CFG_188HZ         0x01
#define BITS_DLPF_CFG_98HZ          0x02
#define BITS_DLPF_CFG_42HZ          0x03
 
#define DISABLE_MPU6000             GPIOA->BSRR |= GPIO_BSRR_BS4
#define ENABLE_MPU6000              GPIOA->BSRR |= GPIO_BSRR_BR4
 
#define GYRO_SCALE_FACTOR           0.000532632f  // (4/131) * pi/180   (32.75 LSB = 1 DPS)
#define ACCEL_SCALE_FACTOR          0.004788403f  // (16/65536) * 9.8065  (8192 LSB = 1 G)
 
/* Global Variables */
extern uint8_t rawData[16];
 
extern float   accelOneG;
 
extern float   accelTCBias[3];
 
extern int32_t accelSum100Hz[3];
 
extern int32_t accelSum500Hz[3];
 
extern int32_t accelSummedSamples100Hz[3];
 
extern int32_t accelSummedSamples500Hz[3];
 
extern int16andUint8_t rawAccel[3];
 
extern float nonRotatedAccelData[3];
 
 
extern float gyroRTBias[3];
 
extern float gyroTCBias[3];
 
extern int32_t gyroSum500Hz[3];
 
extern int32_t gyroSummedSamples500Hz[3];
 
extern int16andUint8_t rawGyro[3];
 
extern float nonRotatedGyroData[3];
 
 
extern uint8_t accelCalibrating;
 
extern uint8_t mpu6000Calibrating;
 
extern float   mpu6000Temperature;
 
extern int16andUint8_t rawMPU6000Temperature;
 
/* Function Prototypes */
bool mpu6000Init(void);
void readMPU6000(void);
void computeMPU6000RTData(void);
void computeMPU6000TCBias(void);
 
#endif