mirror of
https://github.com/Lurkars/esp-ena.git
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78 lines
2.0 KiB
C
78 lines
2.0 KiB
C
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/*
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Note: The MPU6886 is an I2C sensor and uses the Arduino Wire library.
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Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or
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a 3.3 V Teensy 3.1. We have disabled the internal pull-ups used by the Wire
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library in the Wire.h/twi.c utility file. We are also using the 400 kHz fast
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I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
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*/
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#ifndef _IMU_MPU6886_H_
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#define _IMU_MPU6886_H_
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#include "stdio.h"
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#define MPU6886_ADDRESS 0x68
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#define MPU6886_WHOAMI 0x75
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#define MPU6886_ACCEL_INTEL_CTRL 0x69
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#define MPU6886_SMPLRT_DIV 0x19
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#define MPU6886_INT_PIN_CFG 0x37
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#define MPU6886_INT_ENABLE 0x38
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#define MPU6886_ACCEL_XOUT_H 0x3B
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#define MPU6886_ACCEL_XOUT_L 0x3C
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#define MPU6886_ACCEL_YOUT_H 0x3D
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#define MPU6886_ACCEL_YOUT_L 0x3E
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#define MPU6886_ACCEL_ZOUT_H 0x3F
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#define MPU6886_ACCEL_ZOUT_L 0x40
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#define MPU6886_TEMP_OUT_H 0x41
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#define MPU6886_TEMP_OUT_L 0x42
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#define MPU6886_GYRO_XOUT_H 0x43
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#define MPU6886_GYRO_XOUT_L 0x44
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#define MPU6886_GYRO_YOUT_H 0x45
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#define MPU6886_GYRO_YOUT_L 0x46
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#define MPU6886_GYRO_ZOUT_H 0x47
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#define MPU6886_GYRO_ZOUT_L 0x48
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#define MPU6886_USER_CTRL 0x6A
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#define MPU6886_PWR_MGMT_1 0x6B
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#define MPU6886_PWR_MGMT_2 0x6C
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#define MPU6886_CONFIG 0x1A
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#define MPU6886_GYRO_CONFIG 0x1B
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#define MPU6886_ACCEL_CONFIG 0x1C
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#define MPU6886_ACCEL_CONFIG2 0x1D
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#define MPU6886_FIFO_EN 0x23
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//#define G (9.8)
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#define RtA 57.324841
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#define AtR 0.0174533
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#define Gyro_Gr 0.0010653
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enum Ascale
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{
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AFS_2G = 0,
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AFS_4G,
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AFS_8G,
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AFS_16G
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} ;
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enum Gscale
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{
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GFS_250DPS = 0,
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GFS_500DPS,
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GFS_1000DPS,
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GFS_2000DPS
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};
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int mpu6886_start(void);
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void mpu6886_get_accel_adc(int16_t *ax, int16_t *ay, int16_t *az);
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void mpu6886_get_gyro_adc(int16_t *gx, int16_t *gy, int16_t *gz);
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void mpu6886_get_temp_adc(int16_t *t);
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void mpu6886_get_accel_data(float *ax, float *ay, float *az);
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void mpu6886_get_gyro_data(float *gx, float *gy, float *gz);
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void mpu6886_get_temp_data(float *t);
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void mpu6886_set_gyro_fsr(int scale);
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void mpu6886_set_accel_fsr(int scale);
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#endif
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