src/main/drivers/accgyro_spi_mpu6000.h

   1
   2 #pragma once
   3
   4 #include "sensor.h"
   5
   6 #define MPU6000_CONFIG              0x1A
   7
   8 #define BITS_DLPF_CFG_256HZ         0x00
   9 #define BITS_DLPF_CFG_188HZ         0x01
  10 #define BITS_DLPF_CFG_98HZ          0x02
  11 #define BITS_DLPF_CFG_42HZ          0x03
  12
  13 #define GYRO_SCALE_FACTOR  0.00053292f  // (4/131) * pi/180   (32.75 LSB = 1 DPS)
  14
  15 #define MPU6000_WHO_AM_I_CONST              (0x68)
  16
  17 // RF = Register Flag
  18 #define MPU_RF_DATA_RDY_EN (1 << 0)
  19
  20 bool mpu6000SpiDetect(const busDevice_t *bus);
  21
  22 bool mpu6000SpiAccDetect(accDev_t *acc);
  23 bool mpu6000SpiGyroDetect(gyroDev_t *gyro);
  24
  25 bool mpu6000SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data);
  26 bool mpu6000SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data);