arch/arm/mach-mt8127/pixi3_10/gyroscope/mpu6050.h

   1 #ifndef MPU6050_H
   2 #define MPU6050_H
   3
   4 #include <linux/ioctl.h>
   5
   6 #define MPU6050_ACCESS_BY_GSE_I2C
   7
   8 #ifdef MPU6050_ACCESS_BY_GSE_I2C
   9     #define MPU6050_I2C_SLAVE_ADDR              (0xD2)   /* mtk i2c not allow to probe two same address */
  10 #else
  11     #define MPU6050_I2C_SLAVE_ADDR              0xD0
  12 #endif
  13
  14
  15 /* MPU6050 Register Map  (Please refer to MPU6050 Specifications) */
  16
  17 #define MPU6050_REG_DEVID           0x75
  18 #define MPU6050_REG_FIFO_EN         0x23
  19 #define MPU6050_REG_AUX_VDD         0x01
  20
  21 #define MPU6050_REG_SAMRT_DIV       0x19
  22 #define MPU6050_REG_CFG             0x1A          //set external sync, full-scale range and sample rate, low pass filter bandwidth
  23 #define MPU6050_REG_GYRO_CFG        0x1B          // full-scale range and sample rate,
  24
  25
  26 #define MPU6050_REG_GYRO_XH         0x43
  27
  28 #define MPU6050_REG_TEMPH           0x41
  29
  30
  31 #define MPU6050_REG_FIFO_CNTH       0x72
  32 #define MPU6050_REG_FIFO_CNTL       0x73
  33 #define MPU6050_REG_FIFO_DATA       0x74
  34 #define MPU6050_REG_FIFO_CTL        0x6A
  35 #define MPU6050_REG_PWR_CTL             0x6B
  36 #define MPU6050_REG_PWR_CTL2        0x6C
  37
  38
  39 /*MPU6050 Register Bit definitions*/
  40
  41 #define MPU6050_FIFO_GYROX_EN       0x40        //insert the X Gyro data into FIFO
  42 #define MPU6050_FIFO_GYROY_EN       0x20        //insert the Y Gyro data into FIFO
  43 #define MPU6050_FIFO_GYROZ_EN       0x10        //insert the Z Gyro data into FIFO
  44
  45 #define MPU6050_AUX_VDDIO_DIS       0x00        //disable VDD level for the secondary I2C bus clock and data lines
  46
  47 // for MPU6050_REG_CFG
  48 #define MPU6050_EXT_SYNC                        0x03    //0x05  //captue the state of external frame sync input pin to insert into LSB of registers
  49 #define MPU6050_SYNC_GYROX                      0x02
  50
  51 // for MPU6050_REG_GYRO_CFG
  52 #define MPU6050_FS_RANGE                        0x03    //set the full-scale range of the gyro sensors
  53 #define MPU6050_FS_1000                         0x02
  54
  55
  56 #define MPU6050_FS_1000_LSB                     33
  57 #define MPU6050_FS_MAX_LSB                      131
  58
  59 #define MPU6050_RATE_1K_LPFB_188HZ      0x01
  60 #define MPU6050_RATE_1K_LPFB_256HZ      0x00
  61
  62 #define MPU6050_FIFO_EN                         0x40    //enable FIFO operation for sensor data
  63
  64 #define MPU6050_FIFO_RST                        0x40    //reset FIFO function
  65
  66 #define MPU6050_SLEEP               0x40        //enable low power sleep mode
  67
  68
  69 #define MPU6050_SUCCESS             0
  70 #define MPU6050_ERR_I2C             -1
  71 #define MPU6050_ERR_STATUS          -3
  72 #define MPU6050_ERR_SETUP_FAILURE   -4
  73 #define MPU6050_ERR_GETGSENSORDATA  -5
  74 #define MPU6050_ERR_IDENTIFICATION  -6
  75
  76
  77 #define MPU6050_BUFSIZE 60
  78
  79 // 1 rad = 180/PI degree, MAX_LSB = 131,
  80 // 180*131/PI = 7506
  81 #define DEGREE_TO_RAD   7506
  82
  83 #endif //MPU6050_H
  84