File Mpu6050.hpp

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Go to the source code of this file.

• #include "I2cController.hpp"
• #include <stdbool.h>

Classes

Type	Name
struct	MPU6050_t

Public Types

Type	Name
typedef struct MPU6050_t	MPU6050_t

Public Functions

Type	Name
void	MPU6050 (uint8_t address)
bool	MPU6050_getAccelFIFOEnabled ()
bool	MPU6050_getAccelXSelfTest ()
bool	MPU6050_getAccelYSelfTest ()
bool	MPU6050_getAccelZSelfTest ()
void	MPU6050_getAcceleration (int16_t * x, int16_t * y, int16_t * z)
int16_t	MPU6050_getAccelerationX ()
int16_t	MPU6050_getAccelerationY ()
int16_t	MPU6050_getAccelerationZ ()
uint8_t	MPU6050_getAccelerometerPowerOnDelay ()
uint8_t	MPU6050_getAuxVDDIOLevel ()
bool	MPU6050_getClockOutputEnabled ()
uint8_t	MPU6050_getClockSource ()
uint8_t	MPU6050_getDHPFMode ()
uint8_t	MPU6050_getDLPFMode ()
uint8_t	MPU6050_getDMPConfig1 ()
uint8_t	MPU6050_getDMPConfig2 ()
bool	MPU6050_getDMPEnabled ()
bool	MPU6050_getDMPInt0Status ()
bool	MPU6050_getDMPInt1Status ()
bool	MPU6050_getDMPInt2Status ()
bool	MPU6050_getDMPInt3Status ()
bool	MPU6050_getDMPInt4Status ()
bool	MPU6050_getDMPInt5Status ()
uint8_t	MPU6050_getDeviceID ()
uint8_t	MPU6050_getExternalFrameSync ()
uint8_t	MPU6050_getExternalSensorByte (int position)
uint16_t	MPU6050_getExternalSensorWord (int position)
bool	MPU6050_getExternalShadowDelayEnabled ()
uint8_t	MPU6050_getFIFOByte ()
void	MPU6050_getFIFOBytes (uint8_t * data, uint8_t length)
uint16_t	MPU6050_getFIFOCount ()
bool	MPU6050_getFIFOEnabled ()
bool	MPU6050_getFSyncInterruptEnabled ()
bool	MPU6050_getFSyncInterruptLevel ()
uint8_t	MPU6050_getFreefallDetectionCounterDecrement ()
uint8_t	MPU6050_getFreefallDetectionDuration ()
uint8_t	MPU6050_getFreefallDetectionThreshold ()
uint8_t	MPU6050_getFullScaleAccelRange ()
uint8_t	MPU6050_getFullScaleGyroRange ()
bool	MPU6050_getI2CBypassEnabled ()
bool	MPU6050_getI2CMasterModeEnabled ()
bool	MPU6050_getIntDMPEnabled ()
bool	MPU6050_getIntDMPStatus ()
bool	MPU6050_getIntDataReadyEnabled ()
bool	MPU6050_getIntDataReadyStatus ()
uint8_t	MPU6050_getIntEnabled ()
bool	MPU6050_getIntFIFOBufferOverflowEnabled ()
bool	MPU6050_getIntFIFOBufferOverflowStatus ()
bool	MPU6050_getIntFreefallEnabled ()
bool	MPU6050_getIntFreefallStatus ()
bool	MPU6050_getIntI2CMasterEnabled ()
bool	MPU6050_getIntI2CMasterStatus ()
bool	MPU6050_getIntMotionEnabled ()
bool	MPU6050_getIntMotionStatus ()
bool	MPU6050_getIntPLLReadyEnabled ()
bool	MPU6050_getIntPLLReadyStatus ()
uint8_t	MPU6050_getIntStatus ()
bool	MPU6050_getIntZeroMotionEnabled ()
bool	MPU6050_getIntZeroMotionStatus ()
bool	MPU6050_getInterruptDrive ()
bool	MPU6050_getInterruptLatch ()
bool	MPU6050_getInterruptLatchClear ()
bool	MPU6050_getInterruptMode ()
bool	MPU6050_getLostArbitration ()
uint8_t	MPU6050_getMasterClockSpeed ()
void	MPU6050_getMotion6 (int16_t * ax, int16_t * ay, int16_t * az, int16_t * gx, int16_t * gy, int16_t * gz)
void	MPU6050_getMotion9 (int16_t * ax, int16_t * ay, int16_t * az, int16_t * gx, int16_t * gy, int16_t * gz, int16_t * mx, int16_t * my, int16_t * mz)
uint8_t	MPU6050_getMotionDetectionCounterDecrement ()
uint8_t	MPU6050_getMotionDetectionDuration ()
uint8_t	MPU6050_getMotionDetectionThreshold ()
bool	MPU6050_getMultiMasterEnabled ()
uint8_t	MPU6050_getOTPBankValid ()
bool	MPU6050_getPassthroughStatus ()
uint8_t	MPU6050_getRate ()
void	MPU6050_getRotation (int16_t * x, int16_t * y, int16_t * z)
int16_t	MPU6050_getRotationX ()
int16_t	MPU6050_getRotationY ()
int16_t	MPU6050_getRotationZ ()
uint8_t	MPU6050_getSlate4InputByte ()
bool	MPU6050_getSlave0FIFOEnabled ()
bool	MPU6050_getSlave0Nack ()
bool	MPU6050_getSlave1FIFOEnabled ()
bool	MPU6050_getSlave1Nack ()
bool	MPU6050_getSlave2FIFOEnabled ()
bool	MPU6050_getSlave2Nack ()
bool	MPU6050_getSlave3FIFOEnabled ()
bool	MPU6050_getSlave3Nack ()
uint8_t	MPU6050_getSlave4Address ()
bool	MPU6050_getSlave4Enabled ()
bool	MPU6050_getSlave4InterruptEnabled ()
bool	MPU6050_getSlave4IsDone ()
uint8_t	MPU6050_getSlave4MasterDelay ()
bool	MPU6050_getSlave4Nack ()
uint8_t	MPU6050_getSlave4Register ()
bool	MPU6050_getSlave4WriteMode ()
uint8_t	MPU6050_getSlaveAddress (uint8_t num)
uint8_t	MPU6050_getSlaveDataLength (uint8_t num)
bool	MPU6050_getSlaveDelayEnabled (uint8_t num)
bool	MPU6050_getSlaveEnabled (uint8_t num)
bool	MPU6050_getSlaveReadWriteTransitionEnabled ()
uint8_t	MPU6050_getSlaveRegister (uint8_t num)
bool	MPU6050_getSlaveWordByteSwap (uint8_t num)
bool	MPU6050_getSlaveWordGroupOffset (uint8_t num)
bool	MPU6050_getSlaveWriteMode (uint8_t num)
bool	MPU6050_getSleepEnabled ()
bool	MPU6050_getStandbyXAccelEnabled ()
bool	MPU6050_getStandbyXGyroEnabled ()
bool	MPU6050_getStandbyYAccelEnabled ()
bool	MPU6050_getStandbyYGyroEnabled ()
bool	MPU6050_getStandbyZAccelEnabled ()
bool	MPU6050_getStandbyZGyroEnabled ()
bool	MPU6050_getTempFIFOEnabled ()
bool	MPU6050_getTempSensorEnabled ()
int16_t	MPU6050_getTemperature ()
bool	MPU6050_getWaitForExternalSensorEnabled ()
bool	MPU6050_getWakeCycleEnabled ()
uint8_t	MPU6050_getWakeFrequency ()
int16_t	MPU6050_getXAccelOffset ()
bool	MPU6050_getXGyroFIFOEnabled ()
int16_t	MPU6050_getXGyroOffset ()
bool	MPU6050_getXNegMotionDetected ()
bool	MPU6050_getXPosMotionDetected ()
int16_t	MPU6050_getYAccelOffset ()
bool	MPU6050_getYGyroFIFOEnabled ()
int16_t	MPU6050_getYGyroOffset ()
bool	MPU6050_getYNegMotionDetected ()
bool	MPU6050_getYPosMotionDetected ()
int16_t	MPU6050_getZAccelOffset ()
bool	MPU6050_getZGyroFIFOEnabled ()
int16_t	MPU6050_getZGyroOffset ()
bool	MPU6050_getZNegMotionDetected ()
bool	MPU6050_getZPosMotionDetected ()
bool	MPU6050_getZeroMotionDetected ()
uint8_t	MPU6050_getZeroMotionDetectionDuration ()
uint8_t	MPU6050_getZeroMotionDetectionThreshold ()
void	MPU6050_init ()
void	MPU6050_initialize ()
void	MPU6050_readMemoryBlock (uint8_t * data, uint16_t dataSize, uint8_t bank, uint8_t address)
uint8_t	MPU6050_readMemoryByte ()
void	MPU6050_reset ()
void	MPU6050_resetAccelerometerPath ()
void	MPU6050_resetDMP ()
void	MPU6050_resetFIFO ()
void	MPU6050_resetGyroscopePath ()
void	MPU6050_resetI2CMaster ()
void	MPU6050_resetSensors ()
void	MPU6050_resetTemperaturePath ()
void	MPU6050_setAccelFIFOEnabled (bool enabled)
void	MPU6050_setAccelXSelfTest (bool enabled)
void	MPU6050_setAccelYSelfTest (bool enabled)
void	MPU6050_setAccelZSelfTest (bool enabled)
void	MPU6050_setAccelerometerPowerOnDelay (uint8_t delay)
void	MPU6050_setAuxVDDIOLevel (uint8_t level)
void	MPU6050_setClockOutputEnabled (bool enabled)
void	MPU6050_setClockSource (uint8_t source)
void	MPU6050_setDHPFMode (uint8_t mode)
void	MPU6050_setDLPFMode (uint8_t bandwidth)
void	MPU6050_setDMPConfig1 (uint8_t config)
void	MPU6050_setDMPConfig2 (uint8_t config)
void	MPU6050_setDMPEnabled (bool enabled)
void	MPU6050_setDeviceID (uint8_t id)
void	MPU6050_setExternalFrameSync (uint8_t sync)
void	MPU6050_setExternalShadowDelayEnabled (bool enabled)
void	MPU6050_setFIFOByte (uint8_t data)
void	MPU6050_setFIFOEnabled (bool enabled)
void	MPU6050_setFSyncInterruptEnabled (bool enabled)
void	MPU6050_setFSyncInterruptLevel (bool level)
void	MPU6050_setFreefallDetectionCounterDecrement (uint8_t decrement)
void	MPU6050_setFreefallDetectionDuration (uint8_t duration)
void	MPU6050_setFreefallDetectionThreshold (uint8_t threshold)
void	MPU6050_setFullScaleAccelRange (uint8_t range)
void	MPU6050_setFullScaleGyroRange (uint8_t range)
void	MPU6050_setI2CBypassEnabled (bool enabled)
void	MPU6050_setI2CMasterModeEnabled (bool enabled)
void	MPU6050_setIntDMPEnabled (bool enabled)
void	MPU6050_setIntDataReadyEnabled (bool enabled)
void	MPU6050_setIntEnabled (uint8_t enabled)
void	MPU6050_setIntFIFOBufferOverflowEnabled (bool enabled)
void	MPU6050_setIntFreefallEnabled (bool enabled)
void	MPU6050_setIntI2CMasterEnabled (bool enabled)
void	MPU6050_setIntMotionEnabled (bool enabled)
void	MPU6050_setIntPLLReadyEnabled (bool enabled)
void	MPU6050_setIntZeroMotionEnabled (bool enabled)
void	MPU6050_setInterruptDrive (bool drive)
void	MPU6050_setInterruptLatch (bool latch)
void	MPU6050_setInterruptLatchClear (bool clear)
void	MPU6050_setInterruptMode (bool mode)
void	MPU6050_setMasterClockSpeed (uint8_t speed)
void	MPU6050_setMemoryBank (uint8_t bank, bool prefetchEnabled, bool userBank)
void	MPU6050_setMemoryStartAddress (uint8_t address)
void	MPU6050_setMotionDetectionCounterDecrement (uint8_t decrement)
void	MPU6050_setMotionDetectionDuration (uint8_t duration)
void	MPU6050_setMotionDetectionThreshold (uint8_t threshold)
void	MPU6050_setMultiMasterEnabled (bool enabled)
void	MPU6050_setOTPBankValid (bool enabled)
void	MPU6050_setRate (uint8_t rate)
void	MPU6050_setSlave0FIFOEnabled (bool enabled)
void	MPU6050_setSlave1FIFOEnabled (bool enabled)
void	MPU6050_setSlave2FIFOEnabled (bool enabled)
void	MPU6050_setSlave3FIFOEnabled (bool enabled)
void	MPU6050_setSlave4Address (uint8_t address)
void	MPU6050_setSlave4Enabled (bool enabled)
void	MPU6050_setSlave4InterruptEnabled (bool enabled)
void	MPU6050_setSlave4MasterDelay (uint8_t delay)
void	MPU6050_setSlave4OutputByte (uint8_t data)
void	MPU6050_setSlave4Register (uint8_t reg)
void	MPU6050_setSlave4WriteMode (bool mode)
void	MPU6050_setSlaveAddress (uint8_t num, uint8_t address)
void	MPU6050_setSlaveDataLength (uint8_t num, uint8_t length)
void	MPU6050_setSlaveDelayEnabled (uint8_t num, bool enabled)
void	MPU6050_setSlaveEnabled (uint8_t num, bool enabled)
void	MPU6050_setSlaveOutputByte (uint8_t num, uint8_t data)
void	MPU6050_setSlaveReadWriteTransitionEnabled (bool enabled)
void	MPU6050_setSlaveRegister (uint8_t num, uint8_t reg)
void	MPU6050_setSlaveWordByteSwap (uint8_t num, bool enabled)
void	MPU6050_setSlaveWordGroupOffset (uint8_t num, bool enabled)
void	MPU6050_setSlaveWriteMode (uint8_t num, bool mode)
void	MPU6050_setSleepEnabled (bool enabled)
void	MPU6050_setStandbyXAccelEnabled (bool enabled)
void	MPU6050_setStandbyXGyroEnabled (bool enabled)
void	MPU6050_setStandbyYAccelEnabled (bool enabled)
void	MPU6050_setStandbyYGyroEnabled (bool enabled)
void	MPU6050_setStandbyZAccelEnabled (bool enabled)
void	MPU6050_setStandbyZGyroEnabled (bool enabled)
void	MPU6050_setTempFIFOEnabled (bool enabled)
void	MPU6050_setTempSensorEnabled (bool enabled)
void	MPU6050_setWaitForExternalSensorEnabled (bool enabled)
void	MPU6050_setWakeCycleEnabled (bool enabled)
void	MPU6050_setWakeFrequency (uint8_t frequency)
void	MPU6050_setXAccelOffset (int16_t offset)
void	MPU6050_setXFineGain (int8_t gain)
void	MPU6050_setXGyroFIFOEnabled (bool enabled)
void	MPU6050_setXGyroOffset (int16_t offset)
void	MPU6050_setXGyroOffsetTC (int8_t offset)
void	MPU6050_setYAccelOffset (int16_t offset)
void	MPU6050_setYFineGain (int8_t gain)
void	MPU6050_setYGyroFIFOEnabled (bool enabled)
void	MPU6050_setYGyroOffset (int16_t offset)
void	MPU6050_setYGyroOffsetTC (int8_t offset)
void	MPU6050_setZAccelOffset (int16_t offset)
void	MPU6050_setZFineGain (int8_t gain)
void	MPU6050_setZGyroFIFOEnabled (bool enabled)
void	MPU6050_setZGyroOffset (int16_t offset)
void	MPU6050_setZGyroOffsetTC (int8_t offset)
void	MPU6050_setZeroMotionDetectionDuration (uint8_t duration)
void	MPU6050_setZeroMotionDetectionThreshold (uint8_t threshold)
void	MPU6050_switchSPIEnabled (bool enabled)
bool	MPU6050_testConnection ()
void	MPU6050_writeMemoryByte (uint8_t data)
uint32_t	getExternalSensorDWord (int position)
int8_t	getXFineGain ()
int8_t	getXGyroOffsetTC ()
int8_t	getYFineGain ()
int8_t	getYGyroOffsetTC ()
int8_t	getZFineGain ()
int8_t	getZGyroOffsetTC ()

Macros

Type	Name
define	MPU6050_ACCEL_FIFO_EN_BIT 3
define	MPU6050_ACCEL_FS_16 0x03
define	MPU6050_ACCEL_FS_2 0x00
define	MPU6050_ACCEL_FS_4 0x01
define	MPU6050_ACCEL_FS_8 0x02
define	MPU6050_ACONFIG_ACCEL_HPF_BIT 2
define	MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
define	MPU6050_ACONFIG_AFS_SEL_BIT 4
define	MPU6050_ACONFIG_AFS_SEL_LENGTH 2
define	MPU6050_ACONFIG_XA_ST_BIT 7
define	MPU6050_ACONFIG_YA_ST_BIT 6
define	MPU6050_ACONFIG_ZA_ST_BIT 5
define	MPU6050_ADDRESS_AD0_HIGH 0x69
define	MPU6050_ADDRESS_AD0_LOW 0x68
define	MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
define	MPU6050_BANKSEL_MEM_SEL_BIT 4
define	MPU6050_BANKSEL_MEM_SEL_LENGTH 5
define	MPU6050_BANKSEL_PRFTCH_EN_BIT 6
define	MPU6050_CFG_DLPF_CFG_BIT 2
define	MPU6050_CFG_DLPF_CFG_LENGTH 3
define	MPU6050_CFG_EXT_SYNC_SET_BIT 5
define	MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
define	MPU6050_CLOCK_DIV_258 0x8
define	MPU6050_CLOCK_DIV_267 0x7
define	MPU6050_CLOCK_DIV_276 0x6
define	MPU6050_CLOCK_DIV_286 0x5
define	MPU6050_CLOCK_DIV_296 0x4
define	MPU6050_CLOCK_DIV_308 0x3
define	MPU6050_CLOCK_DIV_320 0x2
define	MPU6050_CLOCK_DIV_333 0x1
define	MPU6050_CLOCK_DIV_348 0x0
define	MPU6050_CLOCK_DIV_364 0xF
define	MPU6050_CLOCK_DIV_381 0xE
define	MPU6050_CLOCK_DIV_400 0xD
define	MPU6050_CLOCK_DIV_421 0xC
define	MPU6050_CLOCK_DIV_444 0xB
define	MPU6050_CLOCK_DIV_471 0xA
define	MPU6050_CLOCK_DIV_500 0x9
define	MPU6050_CLOCK_INTERNAL 0x00
define	MPU6050_CLOCK_KEEP_RESET 0x07
define	MPU6050_CLOCK_PLL_EXT19M 0x05
define	MPU6050_CLOCK_PLL_EXT32K 0x04
define	MPU6050_CLOCK_PLL_XGYRO 0x01
define	MPU6050_CLOCK_PLL_YGYRO 0x02
define	MPU6050_CLOCK_PLL_ZGYRO 0x03
define	MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
define	MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
define	MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
define	MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
define	MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
define	MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
define	MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
define	MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
define	MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
define	MPU6050_DETECT_DECREMENT_1 0x1
define	MPU6050_DETECT_DECREMENT_2 0x2
define	MPU6050_DETECT_DECREMENT_4 0x3
define	MPU6050_DETECT_DECREMENT_RESET 0x0
define	MPU6050_DETECT_FF_COUNT_BIT 3
define	MPU6050_DETECT_FF_COUNT_LENGTH 2
define	MPU6050_DETECT_MOT_COUNT_BIT 1
define	MPU6050_DETECT_MOT_COUNT_LENGTH 2
define	MPU6050_DHPF_0P63 0x04
define	MPU6050_DHPF_1P25 0x03
define	MPU6050_DHPF_2P5 0x02
define	MPU6050_DHPF_5 0x01
define	MPU6050_DHPF_HOLD 0x07
define	MPU6050_DHPF_RESET 0x00
define	MPU6050_DLPF_BW_10 0x05
define	MPU6050_DLPF_BW_188 0x01
define	MPU6050_DLPF_BW_20 0x04
define	MPU6050_DLPF_BW_256 0x00
define	MPU6050_DLPF_BW_42 0x03
define	MPU6050_DLPF_BW_5 0x06
define	MPU6050_DLPF_BW_98 0x02
define	MPU6050_DMPINT_0_BIT 0
define	MPU6050_DMPINT_1_BIT 1
define	MPU6050_DMPINT_2_BIT 2
define	MPU6050_DMPINT_3_BIT 3
define	MPU6050_DMPINT_4_BIT 4
define	MPU6050_DMPINT_5_BIT 5
define	MPU6050_DMP_MEMORY_BANKS 8
define	MPU6050_DMP_MEMORY_BANK_SIZE 256
define	MPU6050_DMP_MEMORY_CHUNK_SIZE 16
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_EXT_SYNC_DISABLED 0x0
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_TEMP_OUT_L 0x1
define	MPU6050_GCONFIG_FS_SEL_BIT 4
define	MPU6050_GCONFIG_FS_SEL_LENGTH 2
define	MPU6050_GYRO_FS_1000 0x02
define	MPU6050_GYRO_FS_2000 0x03
define	MPU6050_GYRO_FS_250 0x00
define	MPU6050_GYRO_FS_500 0x01
define	MPU6050_I2C_MST_CLK_BIT 3
define	MPU6050_I2C_MST_CLK_LENGTH 4
define	MPU6050_I2C_MST_P_NSR_BIT 4
define	MPU6050_I2C_SLV4_ADDR_BIT 6
define	MPU6050_I2C_SLV4_ADDR_LENGTH 7
define	MPU6050_I2C_SLV4_EN_BIT 7
define	MPU6050_I2C_SLV4_INT_EN_BIT 6
define	MPU6050_I2C_SLV4_MST_DLY_BIT 4
define	MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
define	MPU6050_I2C_SLV4_REG_DIS_BIT 5
define	MPU6050_I2C_SLV4_RW_BIT 7
define	MPU6050_I2C_SLV_ADDR_BIT 6
define	MPU6050_I2C_SLV_ADDR_LENGTH 7
define	MPU6050_I2C_SLV_BYTE_SW_BIT 6
define	MPU6050_I2C_SLV_EN_BIT 7
define	MPU6050_I2C_SLV_GRP_BIT 4
define	MPU6050_I2C_SLV_LEN_BIT 3
define	MPU6050_I2C_SLV_LEN_LENGTH 4
define	MPU6050_I2C_SLV_REG_DIS_BIT 5
define	MPU6050_I2C_SLV_RW_BIT 7
define	MPU6050_INTCFG_CLKOUT_EN_BIT 0
define	MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
define	MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
define	MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
define	MPU6050_INTCFG_INT_LEVEL_BIT 7
define	MPU6050_INTCFG_INT_OPEN_BIT 6
define	MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
define	MPU6050_INTCFG_LATCH_INT_EN_BIT 5
define	MPU6050_INTCLEAR_ANYREAD 0x01
define	MPU6050_INTCLEAR_STATUSREAD 0x00
define	MPU6050_INTDRV_OPENDRAIN 0x01
define	MPU6050_INTDRV_PUSHPULL 0x00
define	MPU6050_INTERRUPT_DATA_RDY_BIT 0
define	MPU6050_INTERRUPT_DMP_INT_BIT 1
define	MPU6050_INTERRUPT_FF_BIT 7
define	MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
define	MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
define	MPU6050_INTERRUPT_MOT_BIT 6
define	MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
define	MPU6050_INTERRUPT_ZMOT_BIT 5
define	MPU6050_INTLATCH_50USPULSE 0x00
define	MPU6050_INTLATCH_WAITCLEAR 0x01
define	MPU6050_INTMODE_ACTIVEHIGH 0x00
define	MPU6050_INTMODE_ACTIVELOW 0x01
define	MPU6050_MOTION_MOT_XNEG_BIT 7
define	MPU6050_MOTION_MOT_XPOS_BIT 6
define	MPU6050_MOTION_MOT_YNEG_BIT 5
define	MPU6050_MOTION_MOT_YPOS_BIT 4
define	MPU6050_MOTION_MOT_ZNEG_BIT 3
define	MPU6050_MOTION_MOT_ZPOS_BIT 2
define	MPU6050_MOTION_MOT_ZRMOT_BIT 0
define	MPU6050_MST_I2C_LOST_ARB_BIT 5
define	MPU6050_MST_I2C_SLV0_NACK_BIT 0
define	MPU6050_MST_I2C_SLV1_NACK_BIT 1
define	MPU6050_MST_I2C_SLV2_NACK_BIT 2
define	MPU6050_MST_I2C_SLV3_NACK_BIT 3
define	MPU6050_MST_I2C_SLV4_DONE_BIT 6
define	MPU6050_MST_I2C_SLV4_NACK_BIT 4
define	MPU6050_MST_PASS_THROUGH_BIT 7
define	MPU6050_MULT_MST_EN_BIT 7
define	MPU6050_PATHRESET_ACCEL_RESET_BIT 1
define	MPU6050_PATHRESET_GYRO_RESET_BIT 2
define	MPU6050_PATHRESET_TEMP_RESET_BIT 0
define	MPU6050_PWR1_CLKSEL_BIT 2
define	MPU6050_PWR1_CLKSEL_LENGTH 3
define	MPU6050_PWR1_CYCLE_BIT 5
define	MPU6050_PWR1_DEVICE_RESET_BIT 7
define	MPU6050_PWR1_SLEEP_BIT 6
define	MPU6050_PWR1_TEMP_DIS_BIT 3
define	MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
define	MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
define	MPU6050_PWR2_STBY_XA_BIT 5
define	MPU6050_PWR2_STBY_XG_BIT 2
define	MPU6050_PWR2_STBY_YA_BIT 4
define	MPU6050_PWR2_STBY_YG_BIT 1
define	MPU6050_PWR2_STBY_ZA_BIT 3
define	MPU6050_PWR2_STBY_ZG_BIT 0
define	MPU6050_RA_ACCEL_CONFIG 0x1C
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_BANK_SEL 0x6D
define	MPU6050_RA_CONFIG 0x1A
define	MPU6050_RA_DMP_CFG_1 0x70
define	MPU6050_RA_DMP_CFG_2 0x71
define	MPU6050_RA_DMP_INT_STATUS 0x39
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_FF_DUR 0x1E
define	MPU6050_RA_FF_THR 0x1D
define	MPU6050_RA_FIFO_COUNTH 0x72
define	MPU6050_RA_FIFO_COUNTL 0x73
define	MPU6050_RA_FIFO_EN 0x23
define	MPU6050_RA_FIFO_R_W 0x74
define	MPU6050_RA_GYRO_CONFIG 0x1B
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_I2C_MST_CTRL 0x24
define	MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
define	MPU6050_RA_I2C_MST_STATUS 0x36
define	MPU6050_RA_I2C_SLV0_ADDR 0x25
define	MPU6050_RA_I2C_SLV0_CTRL 0x27
define	MPU6050_RA_I2C_SLV0_DO 0x63
define	MPU6050_RA_I2C_SLV0_REG 0x26
define	MPU6050_RA_I2C_SLV1_ADDR 0x28
define	MPU6050_RA_I2C_SLV1_CTRL 0x2A
define	MPU6050_RA_I2C_SLV1_DO 0x64
define	MPU6050_RA_I2C_SLV1_REG 0x29
define	MPU6050_RA_I2C_SLV2_ADDR 0x2B
define	MPU6050_RA_I2C_SLV2_CTRL 0x2D
define	MPU6050_RA_I2C_SLV2_DO 0x65
define	MPU6050_RA_I2C_SLV2_REG 0x2C
define	MPU6050_RA_I2C_SLV3_ADDR 0x2E
define	MPU6050_RA_I2C_SLV3_CTRL 0x30
define	MPU6050_RA_I2C_SLV3_DO 0x66
define	MPU6050_RA_I2C_SLV3_REG 0x2F
define	MPU6050_RA_I2C_SLV4_ADDR 0x31
define	MPU6050_RA_I2C_SLV4_CTRL 0x34
define	MPU6050_RA_I2C_SLV4_DI 0x35
define	MPU6050_RA_I2C_SLV4_DO 0x33
define	MPU6050_RA_I2C_SLV4_REG 0x32
define	MPU6050_RA_INT_ENABLE 0x38
define	MPU6050_RA_INT_PIN_CFG 0x37
define	MPU6050_RA_INT_STATUS 0x3A
define	MPU6050_RA_MEM_R_W 0x6F
define	MPU6050_RA_MEM_START_ADDR 0x6E
define	MPU6050_RA_MOT_DETECT_CTRL 0x69
define	MPU6050_RA_MOT_DETECT_STATUS 0x61
define	MPU6050_RA_MOT_DUR 0x20
define	MPU6050_RA_MOT_THR 0x1F
define	MPU6050_RA_PWR_MGMT_1 0x6B
define	MPU6050_RA_PWR_MGMT_2 0x6C
define	MPU6050_RA_SIGNAL_PATH_RESET 0x68
define	MPU6050_RA_SMPLRT_DIV 0x19
define	MPU6050_RA_TEMP_OUT_H 0x41
define	MPU6050_RA_TEMP_OUT_L 0x42
define	MPU6050_RA_USER_CTRL 0x6A
define	MPU6050_RA_WHO_AM_I 0x75
define	MPU6050_RA_XA_OFFS_H 0x06
define	MPU6050_RA_XA_OFFS_L_TC 0x07
define	MPU6050_RA_XG_OFFS_TC 0x00
define	MPU6050_RA_XG_OFFS_USRH 0x13
define	MPU6050_RA_XG_OFFS_USRL 0x14
define	MPU6050_RA_X_FINE_GAIN 0x03
define	MPU6050_RA_YA_OFFS_H 0x08
define	MPU6050_RA_YA_OFFS_L_TC 0x09
define	MPU6050_RA_YG_OFFS_TC 0x01
define	MPU6050_RA_YG_OFFS_USRH 0x15
define	MPU6050_RA_YG_OFFS_USRL 0x16
define	MPU6050_RA_Y_FINE_GAIN 0x04
define	MPU6050_RA_ZA_OFFS_H 0x0A
define	MPU6050_RA_ZA_OFFS_L_TC 0x0B
define	MPU6050_RA_ZG_OFFS_TC 0x02
define	MPU6050_RA_ZG_OFFS_USRH 0x17
define	MPU6050_RA_ZG_OFFS_USRL 0x18
define	MPU6050_RA_ZRMOT_DUR 0x22
define	MPU6050_RA_ZRMOT_THR 0x21
define	MPU6050_RA_Z_FINE_GAIN 0x05
define	MPU6050_SLV0_FIFO_EN_BIT 0
define	MPU6050_SLV1_FIFO_EN_BIT 1
define	MPU6050_SLV2_FIFO_EN_BIT 2
define	MPU6050_SLV_3_FIFO_EN_BIT 5
define	MPU6050_TC_OFFSET_BIT 6
define	MPU6050_TC_OFFSET_LENGTH 6
define	MPU6050_TC_OTP_BNK_VLD_BIT 0
define	MPU6050_TC_PWR_MODE_BIT 7
define	MPU6050_TEMP_FIFO_EN_BIT 7
define	MPU6050_USERCTRL_DMP_EN_BIT 7
define	MPU6050_USERCTRL_DMP_RESET_BIT 3
define	MPU6050_USERCTRL_FIFO_EN_BIT 6
define	MPU6050_USERCTRL_FIFO_RESET_BIT 2
define	MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
define	MPU6050_USERCTRL_I2C_MST_EN_BIT 5
define	MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
define	MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
define	MPU6050_VDDIO_LEVEL_VDD 1
define	MPU6050_VDDIO_LEVEL_VLOGIC 0
define	MPU6050_WAIT_FOR_ES_BIT 6
define	MPU6050_WAKE_FREQ_10 0x3
define	MPU6050_WAKE_FREQ_1P25 0x0
define	MPU6050_WAKE_FREQ_2P5 0x1
define	MPU6050_WAKE_FREQ_5 0x2
define	MPU6050_WHO_AM_I_BIT 6
define	MPU6050_WHO_AM_I_LENGTH 6
define	MPU6050_XG_FIFO_EN_BIT 6
define	MPU6050_YG_FIFO_EN_BIT 5
define	MPU6050_ZG_FIFO_EN_BIT 4

Public Types Documentation

typedef MPU6050_t

typedef struct MPU6050_t MPU6050_t;

Public Functions Documentation

function MPU6050

void MPU6050 (
    uint8_t address
) 

function MPU6050_getAccelFIFOEnabled

bool MPU6050_getAccelFIFOEnabled () 

function MPU6050_getAccelXSelfTest

bool MPU6050_getAccelXSelfTest () 

function MPU6050_getAccelYSelfTest

bool MPU6050_getAccelYSelfTest () 

function MPU6050_getAccelZSelfTest

bool MPU6050_getAccelZSelfTest () 

function MPU6050_getAcceleration

void MPU6050_getAcceleration (
    int16_t * x,
    int16_t * y,
    int16_t * z
) 

function MPU6050_getAccelerationX

int16_t MPU6050_getAccelerationX () 

function MPU6050_getAccelerationY

int16_t MPU6050_getAccelerationY () 

function MPU6050_getAccelerationZ

int16_t MPU6050_getAccelerationZ () 

function MPU6050_getAccelerometerPowerOnDelay

uint8_t MPU6050_getAccelerometerPowerOnDelay () 

function MPU6050_getAuxVDDIOLevel

uint8_t MPU6050_getAuxVDDIOLevel () 

function MPU6050_getClockOutputEnabled

bool MPU6050_getClockOutputEnabled () 

function MPU6050_getClockSource

uint8_t MPU6050_getClockSource () 

function MPU6050_getDHPFMode

uint8_t MPU6050_getDHPFMode () 

function MPU6050_getDLPFMode

uint8_t MPU6050_getDLPFMode () 

function MPU6050_getDMPConfig1

uint8_t MPU6050_getDMPConfig1 () 

function MPU6050_getDMPConfig2

uint8_t MPU6050_getDMPConfig2 () 

function MPU6050_getDMPEnabled

bool MPU6050_getDMPEnabled () 

function MPU6050_getDMPInt0Status

bool MPU6050_getDMPInt0Status () 

function MPU6050_getDMPInt1Status

bool MPU6050_getDMPInt1Status () 

function MPU6050_getDMPInt2Status

bool MPU6050_getDMPInt2Status () 

function MPU6050_getDMPInt3Status

bool MPU6050_getDMPInt3Status () 

function MPU6050_getDMPInt4Status

bool MPU6050_getDMPInt4Status () 

function MPU6050_getDMPInt5Status

bool MPU6050_getDMPInt5Status () 

function MPU6050_getDeviceID

uint8_t MPU6050_getDeviceID () 

function MPU6050_getExternalFrameSync

uint8_t MPU6050_getExternalFrameSync () 

function MPU6050_getExternalSensorByte

uint8_t MPU6050_getExternalSensorByte (
    int position
) 

function MPU6050_getExternalSensorWord

uint16_t MPU6050_getExternalSensorWord (
    int position
) 

function MPU6050_getExternalShadowDelayEnabled

bool MPU6050_getExternalShadowDelayEnabled () 

function MPU6050_getFIFOByte

uint8_t MPU6050_getFIFOByte () 

function MPU6050_getFIFOBytes

void MPU6050_getFIFOBytes (
    uint8_t * data,
    uint8_t length
) 

function MPU6050_getFIFOCount

uint16_t MPU6050_getFIFOCount () 

function MPU6050_getFIFOEnabled

bool MPU6050_getFIFOEnabled () 

function MPU6050_getFSyncInterruptEnabled

bool MPU6050_getFSyncInterruptEnabled () 

function MPU6050_getFSyncInterruptLevel

bool MPU6050_getFSyncInterruptLevel () 

function MPU6050_getFreefallDetectionCounterDecrement

uint8_t MPU6050_getFreefallDetectionCounterDecrement () 

function MPU6050_getFreefallDetectionDuration

uint8_t MPU6050_getFreefallDetectionDuration () 

function MPU6050_getFreefallDetectionThreshold

uint8_t MPU6050_getFreefallDetectionThreshold () 

function MPU6050_getFullScaleAccelRange

uint8_t MPU6050_getFullScaleAccelRange () 

function MPU6050_getFullScaleGyroRange

uint8_t MPU6050_getFullScaleGyroRange () 

function MPU6050_getI2CBypassEnabled

bool MPU6050_getI2CBypassEnabled () 

function MPU6050_getI2CMasterModeEnabled

bool MPU6050_getI2CMasterModeEnabled () 

function MPU6050_getIntDMPEnabled

bool MPU6050_getIntDMPEnabled () 

function MPU6050_getIntDMPStatus

bool MPU6050_getIntDMPStatus () 

function MPU6050_getIntDataReadyEnabled

bool MPU6050_getIntDataReadyEnabled () 

function MPU6050_getIntDataReadyStatus

bool MPU6050_getIntDataReadyStatus () 

function MPU6050_getIntEnabled

uint8_t MPU6050_getIntEnabled () 

function MPU6050_getIntFIFOBufferOverflowEnabled

bool MPU6050_getIntFIFOBufferOverflowEnabled () 

function MPU6050_getIntFIFOBufferOverflowStatus

bool MPU6050_getIntFIFOBufferOverflowStatus () 

function MPU6050_getIntFreefallEnabled

bool MPU6050_getIntFreefallEnabled () 

function MPU6050_getIntFreefallStatus

bool MPU6050_getIntFreefallStatus () 

function MPU6050_getIntI2CMasterEnabled

bool MPU6050_getIntI2CMasterEnabled () 

function MPU6050_getIntI2CMasterStatus

bool MPU6050_getIntI2CMasterStatus () 

function MPU6050_getIntMotionEnabled

bool MPU6050_getIntMotionEnabled () 

function MPU6050_getIntMotionStatus

bool MPU6050_getIntMotionStatus () 

function MPU6050_getIntPLLReadyEnabled

bool MPU6050_getIntPLLReadyEnabled () 

function MPU6050_getIntPLLReadyStatus

bool MPU6050_getIntPLLReadyStatus () 

function MPU6050_getIntStatus

uint8_t MPU6050_getIntStatus () 

function MPU6050_getIntZeroMotionEnabled

bool MPU6050_getIntZeroMotionEnabled () 

function MPU6050_getIntZeroMotionStatus

bool MPU6050_getIntZeroMotionStatus () 

function MPU6050_getInterruptDrive

bool MPU6050_getInterruptDrive () 

function MPU6050_getInterruptLatch

bool MPU6050_getInterruptLatch () 

function MPU6050_getInterruptLatchClear

bool MPU6050_getInterruptLatchClear () 

function MPU6050_getInterruptMode

bool MPU6050_getInterruptMode () 

function MPU6050_getLostArbitration

bool MPU6050_getLostArbitration () 

function MPU6050_getMasterClockSpeed

uint8_t MPU6050_getMasterClockSpeed () 

function MPU6050_getMotion6

void MPU6050_getMotion6 (
    int16_t * ax,
    int16_t * ay,
    int16_t * az,
    int16_t * gx,
    int16_t * gy,
    int16_t * gz
) 

function MPU6050_getMotion9

void MPU6050_getMotion9 (
    int16_t * ax,
    int16_t * ay,
    int16_t * az,
    int16_t * gx,
    int16_t * gy,
    int16_t * gz,
    int16_t * mx,
    int16_t * my,
    int16_t * mz
) 

function MPU6050_getMotionDetectionCounterDecrement

uint8_t MPU6050_getMotionDetectionCounterDecrement () 

function MPU6050_getMotionDetectionDuration

uint8_t MPU6050_getMotionDetectionDuration () 

function MPU6050_getMotionDetectionThreshold

uint8_t MPU6050_getMotionDetectionThreshold () 

function MPU6050_getMultiMasterEnabled

bool MPU6050_getMultiMasterEnabled () 

function MPU6050_getOTPBankValid

uint8_t MPU6050_getOTPBankValid () 

function MPU6050_getPassthroughStatus

bool MPU6050_getPassthroughStatus () 

function MPU6050_getRate

uint8_t MPU6050_getRate () 

function MPU6050_getRotation

void MPU6050_getRotation (
    int16_t * x,
    int16_t * y,
    int16_t * z
) 

function MPU6050_getRotationX

int16_t MPU6050_getRotationX () 

function MPU6050_getRotationY

int16_t MPU6050_getRotationY () 

function MPU6050_getRotationZ

int16_t MPU6050_getRotationZ () 

function MPU6050_getSlate4InputByte

uint8_t MPU6050_getSlate4InputByte () 

function MPU6050_getSlave0FIFOEnabled

bool MPU6050_getSlave0FIFOEnabled () 

function MPU6050_getSlave0Nack

bool MPU6050_getSlave0Nack () 

function MPU6050_getSlave1FIFOEnabled

bool MPU6050_getSlave1FIFOEnabled () 

function MPU6050_getSlave1Nack

bool MPU6050_getSlave1Nack () 

function MPU6050_getSlave2FIFOEnabled

bool MPU6050_getSlave2FIFOEnabled () 

function MPU6050_getSlave2Nack

bool MPU6050_getSlave2Nack () 

function MPU6050_getSlave3FIFOEnabled

bool MPU6050_getSlave3FIFOEnabled () 

function MPU6050_getSlave3Nack

bool MPU6050_getSlave3Nack () 

function MPU6050_getSlave4Address

uint8_t MPU6050_getSlave4Address () 

function MPU6050_getSlave4Enabled

bool MPU6050_getSlave4Enabled () 

function MPU6050_getSlave4InterruptEnabled

bool MPU6050_getSlave4InterruptEnabled () 

function MPU6050_getSlave4IsDone

bool MPU6050_getSlave4IsDone () 

function MPU6050_getSlave4MasterDelay

uint8_t MPU6050_getSlave4MasterDelay () 

function MPU6050_getSlave4Nack

bool MPU6050_getSlave4Nack () 

function MPU6050_getSlave4Register

uint8_t MPU6050_getSlave4Register () 

function MPU6050_getSlave4WriteMode

bool MPU6050_getSlave4WriteMode () 

function MPU6050_getSlaveAddress

uint8_t MPU6050_getSlaveAddress (
    uint8_t num
) 

function MPU6050_getSlaveDataLength

uint8_t MPU6050_getSlaveDataLength (
    uint8_t num
) 

function MPU6050_getSlaveDelayEnabled

bool MPU6050_getSlaveDelayEnabled (
    uint8_t num
) 

function MPU6050_getSlaveEnabled

bool MPU6050_getSlaveEnabled (
    uint8_t num
) 

function MPU6050_getSlaveReadWriteTransitionEnabled

bool MPU6050_getSlaveReadWriteTransitionEnabled () 

function MPU6050_getSlaveRegister

uint8_t MPU6050_getSlaveRegister (
    uint8_t num
) 

function MPU6050_getSlaveWordByteSwap

bool MPU6050_getSlaveWordByteSwap (
    uint8_t num
) 

function MPU6050_getSlaveWordGroupOffset

bool MPU6050_getSlaveWordGroupOffset (
    uint8_t num
) 

function MPU6050_getSlaveWriteMode

bool MPU6050_getSlaveWriteMode (
    uint8_t num
) 

function MPU6050_getSleepEnabled

bool MPU6050_getSleepEnabled () 

function MPU6050_getStandbyXAccelEnabled

bool MPU6050_getStandbyXAccelEnabled () 

function MPU6050_getStandbyXGyroEnabled

bool MPU6050_getStandbyXGyroEnabled () 

function MPU6050_getStandbyYAccelEnabled

bool MPU6050_getStandbyYAccelEnabled () 

function MPU6050_getStandbyYGyroEnabled

bool MPU6050_getStandbyYGyroEnabled () 

function MPU6050_getStandbyZAccelEnabled

bool MPU6050_getStandbyZAccelEnabled () 

function MPU6050_getStandbyZGyroEnabled

bool MPU6050_getStandbyZGyroEnabled () 

function MPU6050_getTempFIFOEnabled

bool MPU6050_getTempFIFOEnabled () 

function MPU6050_getTempSensorEnabled

bool MPU6050_getTempSensorEnabled () 

function MPU6050_getTemperature

int16_t MPU6050_getTemperature () 

function MPU6050_getWaitForExternalSensorEnabled

bool MPU6050_getWaitForExternalSensorEnabled () 

function MPU6050_getWakeCycleEnabled

bool MPU6050_getWakeCycleEnabled () 

function MPU6050_getWakeFrequency

uint8_t MPU6050_getWakeFrequency () 

function MPU6050_getXAccelOffset

int16_t MPU6050_getXAccelOffset () 

function MPU6050_getXGyroFIFOEnabled

bool MPU6050_getXGyroFIFOEnabled () 

function MPU6050_getXGyroOffset

int16_t MPU6050_getXGyroOffset () 

function MPU6050_getXNegMotionDetected

bool MPU6050_getXNegMotionDetected () 

function MPU6050_getXPosMotionDetected

bool MPU6050_getXPosMotionDetected () 

function MPU6050_getYAccelOffset

int16_t MPU6050_getYAccelOffset () 

function MPU6050_getYGyroFIFOEnabled

bool MPU6050_getYGyroFIFOEnabled () 

function MPU6050_getYGyroOffset

int16_t MPU6050_getYGyroOffset () 

function MPU6050_getYNegMotionDetected

bool MPU6050_getYNegMotionDetected () 

function MPU6050_getYPosMotionDetected

bool MPU6050_getYPosMotionDetected () 

function MPU6050_getZAccelOffset

int16_t MPU6050_getZAccelOffset () 

function MPU6050_getZGyroFIFOEnabled

bool MPU6050_getZGyroFIFOEnabled () 

function MPU6050_getZGyroOffset

int16_t MPU6050_getZGyroOffset () 

function MPU6050_getZNegMotionDetected

bool MPU6050_getZNegMotionDetected () 

function MPU6050_getZPosMotionDetected

bool MPU6050_getZPosMotionDetected () 

function MPU6050_getZeroMotionDetected

bool MPU6050_getZeroMotionDetected () 

function MPU6050_getZeroMotionDetectionDuration

uint8_t MPU6050_getZeroMotionDetectionDuration () 

function MPU6050_getZeroMotionDetectionThreshold

uint8_t MPU6050_getZeroMotionDetectionThreshold () 

function MPU6050_init

void MPU6050_init () 

function MPU6050_initialize

void MPU6050_initialize () 

function MPU6050_readMemoryBlock

void MPU6050_readMemoryBlock (
    uint8_t * data,
    uint16_t dataSize,
    uint8_t bank,
    uint8_t address
) 

function MPU6050_readMemoryByte

uint8_t MPU6050_readMemoryByte () 

function MPU6050_reset

void MPU6050_reset () 

function MPU6050_resetAccelerometerPath

void MPU6050_resetAccelerometerPath () 

function MPU6050_resetDMP

void MPU6050_resetDMP () 

function MPU6050_resetFIFO

void MPU6050_resetFIFO () 

function MPU6050_resetGyroscopePath

void MPU6050_resetGyroscopePath () 

function MPU6050_resetI2CMaster

void MPU6050_resetI2CMaster () 

function MPU6050_resetSensors

void MPU6050_resetSensors () 

function MPU6050_resetTemperaturePath

void MPU6050_resetTemperaturePath () 

function MPU6050_setAccelFIFOEnabled

void MPU6050_setAccelFIFOEnabled (
    bool enabled
) 

function MPU6050_setAccelXSelfTest

void MPU6050_setAccelXSelfTest (
    bool enabled
) 

function MPU6050_setAccelYSelfTest

void MPU6050_setAccelYSelfTest (
    bool enabled
) 

function MPU6050_setAccelZSelfTest

void MPU6050_setAccelZSelfTest (
    bool enabled
) 

function MPU6050_setAccelerometerPowerOnDelay

void MPU6050_setAccelerometerPowerOnDelay (
    uint8_t delay
) 

function MPU6050_setAuxVDDIOLevel

void MPU6050_setAuxVDDIOLevel (
    uint8_t level
) 

function MPU6050_setClockOutputEnabled

void MPU6050_setClockOutputEnabled (
    bool enabled
) 

function MPU6050_setClockSource

void MPU6050_setClockSource (
    uint8_t source
) 

function MPU6050_setDHPFMode

void MPU6050_setDHPFMode (
    uint8_t mode
) 

function MPU6050_setDLPFMode

void MPU6050_setDLPFMode (
    uint8_t bandwidth
) 

function MPU6050_setDMPConfig1

void MPU6050_setDMPConfig1 (
    uint8_t config
) 

function MPU6050_setDMPConfig2

void MPU6050_setDMPConfig2 (
    uint8_t config
) 

function MPU6050_setDMPEnabled

void MPU6050_setDMPEnabled (
    bool enabled
) 

function MPU6050_setDeviceID

void MPU6050_setDeviceID (
    uint8_t id
) 

function MPU6050_setExternalFrameSync

void MPU6050_setExternalFrameSync (
    uint8_t sync
) 

function MPU6050_setExternalShadowDelayEnabled

void MPU6050_setExternalShadowDelayEnabled (
    bool enabled
) 

function MPU6050_setFIFOByte

void MPU6050_setFIFOByte (
    uint8_t data
) 

function MPU6050_setFIFOEnabled

void MPU6050_setFIFOEnabled (
    bool enabled
) 

function MPU6050_setFSyncInterruptEnabled

void MPU6050_setFSyncInterruptEnabled (
    bool enabled
) 

function MPU6050_setFSyncInterruptLevel

void MPU6050_setFSyncInterruptLevel (
    bool level
) 

function MPU6050_setFreefallDetectionCounterDecrement

void MPU6050_setFreefallDetectionCounterDecrement (
    uint8_t decrement
) 

function MPU6050_setFreefallDetectionDuration

void MPU6050_setFreefallDetectionDuration (
    uint8_t duration
) 

function MPU6050_setFreefallDetectionThreshold

void MPU6050_setFreefallDetectionThreshold (
    uint8_t threshold
) 

function MPU6050_setFullScaleAccelRange

void MPU6050_setFullScaleAccelRange (
    uint8_t range
) 

function MPU6050_setFullScaleGyroRange

void MPU6050_setFullScaleGyroRange (
    uint8_t range
) 

function MPU6050_setI2CBypassEnabled

void MPU6050_setI2CBypassEnabled (
    bool enabled
) 

function MPU6050_setI2CMasterModeEnabled

void MPU6050_setI2CMasterModeEnabled (
    bool enabled
) 

function MPU6050_setIntDMPEnabled

void MPU6050_setIntDMPEnabled (
    bool enabled
) 

function MPU6050_setIntDataReadyEnabled

void MPU6050_setIntDataReadyEnabled (
    bool enabled
) 

function MPU6050_setIntEnabled

void MPU6050_setIntEnabled (
    uint8_t enabled
) 

function MPU6050_setIntFIFOBufferOverflowEnabled

void MPU6050_setIntFIFOBufferOverflowEnabled (
    bool enabled
) 

function MPU6050_setIntFreefallEnabled

void MPU6050_setIntFreefallEnabled (
    bool enabled
) 

function MPU6050_setIntI2CMasterEnabled

void MPU6050_setIntI2CMasterEnabled (
    bool enabled
) 

function MPU6050_setIntMotionEnabled

void MPU6050_setIntMotionEnabled (
    bool enabled
) 

function MPU6050_setIntPLLReadyEnabled

void MPU6050_setIntPLLReadyEnabled (
    bool enabled
) 

function MPU6050_setIntZeroMotionEnabled

void MPU6050_setIntZeroMotionEnabled (
    bool enabled
) 

function MPU6050_setInterruptDrive

void MPU6050_setInterruptDrive (
    bool drive
) 

function MPU6050_setInterruptLatch

void MPU6050_setInterruptLatch (
    bool latch
) 

function MPU6050_setInterruptLatchClear

void MPU6050_setInterruptLatchClear (
    bool clear
) 

function MPU6050_setInterruptMode

void MPU6050_setInterruptMode (
    bool mode
) 

function MPU6050_setMasterClockSpeed

void MPU6050_setMasterClockSpeed (
    uint8_t speed
) 

function MPU6050_setMemoryBank

void MPU6050_setMemoryBank (
    uint8_t bank,
    bool prefetchEnabled,
    bool userBank
) 

function MPU6050_setMemoryStartAddress

void MPU6050_setMemoryStartAddress (
    uint8_t address
) 

function MPU6050_setMotionDetectionCounterDecrement

void MPU6050_setMotionDetectionCounterDecrement (
    uint8_t decrement
) 

function MPU6050_setMotionDetectionDuration

void MPU6050_setMotionDetectionDuration (
    uint8_t duration
) 

function MPU6050_setMotionDetectionThreshold

void MPU6050_setMotionDetectionThreshold (
    uint8_t threshold
) 

function MPU6050_setMultiMasterEnabled

void MPU6050_setMultiMasterEnabled (
    bool enabled
) 

function MPU6050_setOTPBankValid

void MPU6050_setOTPBankValid (
    bool enabled
) 

function MPU6050_setRate

void MPU6050_setRate (
    uint8_t rate
) 

function MPU6050_setSlave0FIFOEnabled

void MPU6050_setSlave0FIFOEnabled (
    bool enabled
) 

function MPU6050_setSlave1FIFOEnabled

void MPU6050_setSlave1FIFOEnabled (
    bool enabled
) 

function MPU6050_setSlave2FIFOEnabled

void MPU6050_setSlave2FIFOEnabled (
    bool enabled
) 

function MPU6050_setSlave3FIFOEnabled

void MPU6050_setSlave3FIFOEnabled (
    bool enabled
) 

function MPU6050_setSlave4Address

void MPU6050_setSlave4Address (
    uint8_t address
) 

function MPU6050_setSlave4Enabled

void MPU6050_setSlave4Enabled (
    bool enabled
) 

function MPU6050_setSlave4InterruptEnabled

void MPU6050_setSlave4InterruptEnabled (
    bool enabled
) 

function MPU6050_setSlave4MasterDelay

void MPU6050_setSlave4MasterDelay (
    uint8_t delay
) 

function MPU6050_setSlave4OutputByte

void MPU6050_setSlave4OutputByte (
    uint8_t data
) 

function MPU6050_setSlave4Register

void MPU6050_setSlave4Register (
    uint8_t reg
) 

function MPU6050_setSlave4WriteMode

void MPU6050_setSlave4WriteMode (
    bool mode
) 

function MPU6050_setSlaveAddress

void MPU6050_setSlaveAddress (
    uint8_t num,
    uint8_t address
) 

function MPU6050_setSlaveDataLength

void MPU6050_setSlaveDataLength (
    uint8_t num,
    uint8_t length
) 

function MPU6050_setSlaveDelayEnabled

void MPU6050_setSlaveDelayEnabled (
    uint8_t num,
    bool enabled
) 

function MPU6050_setSlaveEnabled

void MPU6050_setSlaveEnabled (
    uint8_t num,
    bool enabled
) 

function MPU6050_setSlaveOutputByte

void MPU6050_setSlaveOutputByte (
    uint8_t num,
    uint8_t data
) 

function MPU6050_setSlaveReadWriteTransitionEnabled

void MPU6050_setSlaveReadWriteTransitionEnabled (
    bool enabled
) 

function MPU6050_setSlaveRegister

void MPU6050_setSlaveRegister (
    uint8_t num,
    uint8_t reg
) 

function MPU6050_setSlaveWordByteSwap

void MPU6050_setSlaveWordByteSwap (
    uint8_t num,
    bool enabled
) 

function MPU6050_setSlaveWordGroupOffset

void MPU6050_setSlaveWordGroupOffset (
    uint8_t num,
    bool enabled
) 

function MPU6050_setSlaveWriteMode

void MPU6050_setSlaveWriteMode (
    uint8_t num,
    bool mode
) 

function MPU6050_setSleepEnabled

void MPU6050_setSleepEnabled (
    bool enabled
) 

function MPU6050_setStandbyXAccelEnabled

void MPU6050_setStandbyXAccelEnabled (
    bool enabled
) 

function MPU6050_setStandbyXGyroEnabled

void MPU6050_setStandbyXGyroEnabled (
    bool enabled
) 

function MPU6050_setStandbyYAccelEnabled

void MPU6050_setStandbyYAccelEnabled (
    bool enabled
) 

function MPU6050_setStandbyYGyroEnabled

void MPU6050_setStandbyYGyroEnabled (
    bool enabled
) 

function MPU6050_setStandbyZAccelEnabled

void MPU6050_setStandbyZAccelEnabled (
    bool enabled
) 

function MPU6050_setStandbyZGyroEnabled

void MPU6050_setStandbyZGyroEnabled (
    bool enabled
) 

function MPU6050_setTempFIFOEnabled

void MPU6050_setTempFIFOEnabled (
    bool enabled
) 

function MPU6050_setTempSensorEnabled

void MPU6050_setTempSensorEnabled (
    bool enabled
) 

function MPU6050_setWaitForExternalSensorEnabled

void MPU6050_setWaitForExternalSensorEnabled (
    bool enabled
) 

function MPU6050_setWakeCycleEnabled

void MPU6050_setWakeCycleEnabled (
    bool enabled
) 

function MPU6050_setWakeFrequency

void MPU6050_setWakeFrequency (
    uint8_t frequency
) 

function MPU6050_setXAccelOffset

void MPU6050_setXAccelOffset (
    int16_t offset
) 

function MPU6050_setXFineGain

void MPU6050_setXFineGain (
    int8_t gain
) 

function MPU6050_setXGyroFIFOEnabled

void MPU6050_setXGyroFIFOEnabled (
    bool enabled
) 

function MPU6050_setXGyroOffset

void MPU6050_setXGyroOffset (
    int16_t offset
) 

function MPU6050_setXGyroOffsetTC

void MPU6050_setXGyroOffsetTC (
    int8_t offset
) 

function MPU6050_setYAccelOffset

void MPU6050_setYAccelOffset (
    int16_t offset
) 

function MPU6050_setYFineGain

void MPU6050_setYFineGain (
    int8_t gain
) 

function MPU6050_setYGyroFIFOEnabled

void MPU6050_setYGyroFIFOEnabled (
    bool enabled
) 

function MPU6050_setYGyroOffset

void MPU6050_setYGyroOffset (
    int16_t offset
) 

function MPU6050_setYGyroOffsetTC

void MPU6050_setYGyroOffsetTC (
    int8_t offset
) 

function MPU6050_setZAccelOffset

void MPU6050_setZAccelOffset (
    int16_t offset
) 

function MPU6050_setZFineGain

void MPU6050_setZFineGain (
    int8_t gain
) 

function MPU6050_setZGyroFIFOEnabled

void MPU6050_setZGyroFIFOEnabled (
    bool enabled
) 

function MPU6050_setZGyroOffset

void MPU6050_setZGyroOffset (
    int16_t offset
) 

function MPU6050_setZGyroOffsetTC

void MPU6050_setZGyroOffsetTC (
    int8_t offset
) 

function MPU6050_setZeroMotionDetectionDuration

void MPU6050_setZeroMotionDetectionDuration (
    uint8_t duration
) 

function MPU6050_setZeroMotionDetectionThreshold

void MPU6050_setZeroMotionDetectionThreshold (
    uint8_t threshold
) 

function MPU6050_switchSPIEnabled

void MPU6050_switchSPIEnabled (
    bool enabled
) 

function MPU6050_testConnection

bool MPU6050_testConnection () 

function MPU6050_writeMemoryByte

void MPU6050_writeMemoryByte (
    uint8_t data
) 

function getExternalSensorDWord

uint32_t getExternalSensorDWord (
    int position
) 

function getXFineGain

int8_t getXFineGain () 

function getXGyroOffsetTC

int8_t getXGyroOffsetTC () 

function getYFineGain

int8_t getYFineGain () 

function getYGyroOffsetTC

int8_t getYGyroOffsetTC () 

function getZFineGain

int8_t getZFineGain () 

function getZGyroOffsetTC

int8_t getZGyroOffsetTC () 

Macro Definition Documentation

define MPU6050_ACCEL_FIFO_EN_BIT

#define MPU6050_ACCEL_FIFO_EN_BIT 3

define MPU6050_ACCEL_FS_16

#define MPU6050_ACCEL_FS_16 0x03

define MPU6050_ACCEL_FS_2

#define MPU6050_ACCEL_FS_2 0x00

define MPU6050_ACCEL_FS_4

#define MPU6050_ACCEL_FS_4 0x01

define MPU6050_ACCEL_FS_8

#define MPU6050_ACCEL_FS_8 0x02

define MPU6050_ACONFIG_ACCEL_HPF_BIT

#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2

define MPU6050_ACONFIG_ACCEL_HPF_LENGTH

#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3

define MPU6050_ACONFIG_AFS_SEL_BIT

#define MPU6050_ACONFIG_AFS_SEL_BIT 4

define MPU6050_ACONFIG_AFS_SEL_LENGTH

#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2

define MPU6050_ACONFIG_XA_ST_BIT

#define MPU6050_ACONFIG_XA_ST_BIT 7

define MPU6050_ACONFIG_YA_ST_BIT

#define MPU6050_ACONFIG_YA_ST_BIT 6

define MPU6050_ACONFIG_ZA_ST_BIT

#define MPU6050_ACONFIG_ZA_ST_BIT 5

define MPU6050_ADDRESS_AD0_HIGH

#define MPU6050_ADDRESS_AD0_HIGH 0x69

define MPU6050_ADDRESS_AD0_LOW

#define MPU6050_ADDRESS_AD0_LOW 0x68

define MPU6050_BANKSEL_CFG_USER_BANK_BIT

#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5

define MPU6050_BANKSEL_MEM_SEL_BIT

#define MPU6050_BANKSEL_MEM_SEL_BIT 4

define MPU6050_BANKSEL_MEM_SEL_LENGTH

#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5

define MPU6050_BANKSEL_PRFTCH_EN_BIT

#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6

define MPU6050_CFG_DLPF_CFG_BIT

#define MPU6050_CFG_DLPF_CFG_BIT 2

define MPU6050_CFG_DLPF_CFG_LENGTH

#define MPU6050_CFG_DLPF_CFG_LENGTH 3

define MPU6050_CFG_EXT_SYNC_SET_BIT

#define MPU6050_CFG_EXT_SYNC_SET_BIT 5

define MPU6050_CFG_EXT_SYNC_SET_LENGTH

#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3

define MPU6050_CLOCK_DIV_258

#define MPU6050_CLOCK_DIV_258 0x8

define MPU6050_CLOCK_DIV_267

#define MPU6050_CLOCK_DIV_267 0x7

define MPU6050_CLOCK_DIV_276

#define MPU6050_CLOCK_DIV_276 0x6

define MPU6050_CLOCK_DIV_286

#define MPU6050_CLOCK_DIV_286 0x5

define MPU6050_CLOCK_DIV_296

#define MPU6050_CLOCK_DIV_296 0x4

define MPU6050_CLOCK_DIV_308

#define MPU6050_CLOCK_DIV_308 0x3

define MPU6050_CLOCK_DIV_320

#define MPU6050_CLOCK_DIV_320 0x2

define MPU6050_CLOCK_DIV_333

#define MPU6050_CLOCK_DIV_333 0x1

define MPU6050_CLOCK_DIV_348

#define MPU6050_CLOCK_DIV_348 0x0

define MPU6050_CLOCK_DIV_364

#define MPU6050_CLOCK_DIV_364 0xF

define MPU6050_CLOCK_DIV_381

#define MPU6050_CLOCK_DIV_381 0xE

define MPU6050_CLOCK_DIV_400

#define MPU6050_CLOCK_DIV_400 0xD

define MPU6050_CLOCK_DIV_421

#define MPU6050_CLOCK_DIV_421 0xC

define MPU6050_CLOCK_DIV_444

#define MPU6050_CLOCK_DIV_444 0xB

define MPU6050_CLOCK_DIV_471

#define MPU6050_CLOCK_DIV_471 0xA

define MPU6050_CLOCK_DIV_500

#define MPU6050_CLOCK_DIV_500 0x9

define MPU6050_CLOCK_INTERNAL

#define MPU6050_CLOCK_INTERNAL 0x00

define MPU6050_CLOCK_KEEP_RESET

#define MPU6050_CLOCK_KEEP_RESET 0x07

define MPU6050_CLOCK_PLL_EXT19M

#define MPU6050_CLOCK_PLL_EXT19M 0x05

define MPU6050_CLOCK_PLL_EXT32K

#define MPU6050_CLOCK_PLL_EXT32K 0x04

define MPU6050_CLOCK_PLL_XGYRO

#define MPU6050_CLOCK_PLL_XGYRO 0x01

define MPU6050_CLOCK_PLL_YGYRO

#define MPU6050_CLOCK_PLL_YGYRO 0x02

define MPU6050_CLOCK_PLL_ZGYRO

#define MPU6050_CLOCK_PLL_ZGYRO 0x03

define MPU6050_DEFAULT_ADDRESS

#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW

define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT

#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7

define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT

#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0

define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT

#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1

define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT

#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2

define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT

#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3

define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT

#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4

define MPU6050_DETECT_ACCEL_ON_DELAY_BIT

#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5

define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH

#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2

define MPU6050_DETECT_DECREMENT_1

#define MPU6050_DETECT_DECREMENT_1 0x1

define MPU6050_DETECT_DECREMENT_2

#define MPU6050_DETECT_DECREMENT_2 0x2

define MPU6050_DETECT_DECREMENT_4

#define MPU6050_DETECT_DECREMENT_4 0x3

define MPU6050_DETECT_DECREMENT_RESET

#define MPU6050_DETECT_DECREMENT_RESET 0x0

define MPU6050_DETECT_FF_COUNT_BIT

#define MPU6050_DETECT_FF_COUNT_BIT 3

define MPU6050_DETECT_FF_COUNT_LENGTH

#define MPU6050_DETECT_FF_COUNT_LENGTH 2

define MPU6050_DETECT_MOT_COUNT_BIT

#define MPU6050_DETECT_MOT_COUNT_BIT 1

define MPU6050_DETECT_MOT_COUNT_LENGTH

#define MPU6050_DETECT_MOT_COUNT_LENGTH 2

define MPU6050_DHPF_0P63

#define MPU6050_DHPF_0P63 0x04

define MPU6050_DHPF_1P25

#define MPU6050_DHPF_1P25 0x03

define MPU6050_DHPF_2P5

#define MPU6050_DHPF_2P5 0x02

define MPU6050_DHPF_5

#define MPU6050_DHPF_5 0x01

define MPU6050_DHPF_HOLD

#define MPU6050_DHPF_HOLD 0x07

define MPU6050_DHPF_RESET

#define MPU6050_DHPF_RESET 0x00

define MPU6050_DLPF_BW_10

#define MPU6050_DLPF_BW_10 0x05

define MPU6050_DLPF_BW_188

#define MPU6050_DLPF_BW_188 0x01

define MPU6050_DLPF_BW_20

#define MPU6050_DLPF_BW_20 0x04

define MPU6050_DLPF_BW_256

#define MPU6050_DLPF_BW_256 0x00

define MPU6050_DLPF_BW_42

#define MPU6050_DLPF_BW_42 0x03

define MPU6050_DLPF_BW_5

#define MPU6050_DLPF_BW_5 0x06

define MPU6050_DLPF_BW_98

#define MPU6050_DLPF_BW_98 0x02

define MPU6050_DMPINT_0_BIT

#define MPU6050_DMPINT_0_BIT 0

define MPU6050_DMPINT_1_BIT

#define MPU6050_DMPINT_1_BIT 1

define MPU6050_DMPINT_2_BIT

#define MPU6050_DMPINT_2_BIT 2

define MPU6050_DMPINT_3_BIT

#define MPU6050_DMPINT_3_BIT 3

define MPU6050_DMPINT_4_BIT

#define MPU6050_DMPINT_4_BIT 4

define MPU6050_DMPINT_5_BIT

#define MPU6050_DMPINT_5_BIT 5

define MPU6050_DMP_MEMORY_BANKS

#define MPU6050_DMP_MEMORY_BANKS 8

define MPU6050_DMP_MEMORY_BANK_SIZE

#define MPU6050_DMP_MEMORY_BANK_SIZE 256

define MPU6050_DMP_MEMORY_CHUNK_SIZE

#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16

define MPU6050_EXT_SYNC_ACCEL_XOUT_L

#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5

define MPU6050_EXT_SYNC_ACCEL_YOUT_L

#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6

define MPU6050_EXT_SYNC_ACCEL_ZOUT_L

#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7

define MPU6050_EXT_SYNC_DISABLED

#define MPU6050_EXT_SYNC_DISABLED 0x0

define MPU6050_EXT_SYNC_GYRO_XOUT_L

#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2

define MPU6050_EXT_SYNC_GYRO_YOUT_L

#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3

define MPU6050_EXT_SYNC_GYRO_ZOUT_L

#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4

define MPU6050_EXT_SYNC_TEMP_OUT_L

#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1

define MPU6050_GCONFIG_FS_SEL_BIT

#define MPU6050_GCONFIG_FS_SEL_BIT 4

define MPU6050_GCONFIG_FS_SEL_LENGTH

#define MPU6050_GCONFIG_FS_SEL_LENGTH 2

define MPU6050_GYRO_FS_1000

#define MPU6050_GYRO_FS_1000 0x02

define MPU6050_GYRO_FS_2000

#define MPU6050_GYRO_FS_2000 0x03

define MPU6050_GYRO_FS_250

#define MPU6050_GYRO_FS_250 0x00

define MPU6050_GYRO_FS_500

#define MPU6050_GYRO_FS_500 0x01

define MPU6050_I2C_MST_CLK_BIT

#define MPU6050_I2C_MST_CLK_BIT 3

define MPU6050_I2C_MST_CLK_LENGTH

#define MPU6050_I2C_MST_CLK_LENGTH 4

define MPU6050_I2C_MST_P_NSR_BIT

#define MPU6050_I2C_MST_P_NSR_BIT 4

define MPU6050_I2C_SLV4_ADDR_BIT

#define MPU6050_I2C_SLV4_ADDR_BIT 6

define MPU6050_I2C_SLV4_ADDR_LENGTH

#define MPU6050_I2C_SLV4_ADDR_LENGTH 7

define MPU6050_I2C_SLV4_EN_BIT

#define MPU6050_I2C_SLV4_EN_BIT 7

define MPU6050_I2C_SLV4_INT_EN_BIT

#define MPU6050_I2C_SLV4_INT_EN_BIT 6

define MPU6050_I2C_SLV4_MST_DLY_BIT

#define MPU6050_I2C_SLV4_MST_DLY_BIT 4

define MPU6050_I2C_SLV4_MST_DLY_LENGTH

#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5

define MPU6050_I2C_SLV4_REG_DIS_BIT

#define MPU6050_I2C_SLV4_REG_DIS_BIT 5

define MPU6050_I2C_SLV4_RW_BIT

#define MPU6050_I2C_SLV4_RW_BIT 7

define MPU6050_I2C_SLV_ADDR_BIT

#define MPU6050_I2C_SLV_ADDR_BIT 6

define MPU6050_I2C_SLV_ADDR_LENGTH

#define MPU6050_I2C_SLV_ADDR_LENGTH 7

define MPU6050_I2C_SLV_BYTE_SW_BIT

#define MPU6050_I2C_SLV_BYTE_SW_BIT 6

define MPU6050_I2C_SLV_EN_BIT

#define MPU6050_I2C_SLV_EN_BIT 7

define MPU6050_I2C_SLV_GRP_BIT

#define MPU6050_I2C_SLV_GRP_BIT 4

define MPU6050_I2C_SLV_LEN_BIT

#define MPU6050_I2C_SLV_LEN_BIT 3

define MPU6050_I2C_SLV_LEN_LENGTH

#define MPU6050_I2C_SLV_LEN_LENGTH 4

define MPU6050_I2C_SLV_REG_DIS_BIT

#define MPU6050_I2C_SLV_REG_DIS_BIT 5

define MPU6050_I2C_SLV_RW_BIT

#define MPU6050_I2C_SLV_RW_BIT 7

define MPU6050_INTCFG_CLKOUT_EN_BIT

#define MPU6050_INTCFG_CLKOUT_EN_BIT 0

define MPU6050_INTCFG_FSYNC_INT_EN_BIT

#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2

define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT

#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3

define MPU6050_INTCFG_I2C_BYPASS_EN_BIT

#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1

define MPU6050_INTCFG_INT_LEVEL_BIT

#define MPU6050_INTCFG_INT_LEVEL_BIT 7

define MPU6050_INTCFG_INT_OPEN_BIT

#define MPU6050_INTCFG_INT_OPEN_BIT 6

define MPU6050_INTCFG_INT_RD_CLEAR_BIT

#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4

define MPU6050_INTCFG_LATCH_INT_EN_BIT

#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5

define MPU6050_INTCLEAR_ANYREAD

#define MPU6050_INTCLEAR_ANYREAD 0x01

define MPU6050_INTCLEAR_STATUSREAD

#define MPU6050_INTCLEAR_STATUSREAD 0x00

define MPU6050_INTDRV_OPENDRAIN

#define MPU6050_INTDRV_OPENDRAIN 0x01

define MPU6050_INTDRV_PUSHPULL

#define MPU6050_INTDRV_PUSHPULL 0x00

define MPU6050_INTERRUPT_DATA_RDY_BIT

#define MPU6050_INTERRUPT_DATA_RDY_BIT 0

define MPU6050_INTERRUPT_DMP_INT_BIT

#define MPU6050_INTERRUPT_DMP_INT_BIT 1

define MPU6050_INTERRUPT_FF_BIT

#define MPU6050_INTERRUPT_FF_BIT 7

define MPU6050_INTERRUPT_FIFO_OFLOW_BIT

#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4

define MPU6050_INTERRUPT_I2C_MST_INT_BIT

#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3

define MPU6050_INTERRUPT_MOT_BIT

#define MPU6050_INTERRUPT_MOT_BIT 6

define MPU6050_INTERRUPT_PLL_RDY_INT_BIT

#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2

define MPU6050_INTERRUPT_ZMOT_BIT

#define MPU6050_INTERRUPT_ZMOT_BIT 5

define MPU6050_INTLATCH_50USPULSE

#define MPU6050_INTLATCH_50USPULSE 0x00

define MPU6050_INTLATCH_WAITCLEAR

#define MPU6050_INTLATCH_WAITCLEAR 0x01

define MPU6050_INTMODE_ACTIVEHIGH

#define MPU6050_INTMODE_ACTIVEHIGH 0x00

define MPU6050_INTMODE_ACTIVELOW

#define MPU6050_INTMODE_ACTIVELOW 0x01

define MPU6050_MOTION_MOT_XNEG_BIT

#define MPU6050_MOTION_MOT_XNEG_BIT 7

define MPU6050_MOTION_MOT_XPOS_BIT

#define MPU6050_MOTION_MOT_XPOS_BIT 6

define MPU6050_MOTION_MOT_YNEG_BIT

#define MPU6050_MOTION_MOT_YNEG_BIT 5

define MPU6050_MOTION_MOT_YPOS_BIT

#define MPU6050_MOTION_MOT_YPOS_BIT 4

define MPU6050_MOTION_MOT_ZNEG_BIT

#define MPU6050_MOTION_MOT_ZNEG_BIT 3

define MPU6050_MOTION_MOT_ZPOS_BIT

#define MPU6050_MOTION_MOT_ZPOS_BIT 2

define MPU6050_MOTION_MOT_ZRMOT_BIT

#define MPU6050_MOTION_MOT_ZRMOT_BIT 0

define MPU6050_MST_I2C_LOST_ARB_BIT

#define MPU6050_MST_I2C_LOST_ARB_BIT 5

define MPU6050_MST_I2C_SLV0_NACK_BIT

#define MPU6050_MST_I2C_SLV0_NACK_BIT 0

define MPU6050_MST_I2C_SLV1_NACK_BIT

#define MPU6050_MST_I2C_SLV1_NACK_BIT 1

define MPU6050_MST_I2C_SLV2_NACK_BIT

#define MPU6050_MST_I2C_SLV2_NACK_BIT 2

define MPU6050_MST_I2C_SLV3_NACK_BIT

#define MPU6050_MST_I2C_SLV3_NACK_BIT 3

define MPU6050_MST_I2C_SLV4_DONE_BIT

#define MPU6050_MST_I2C_SLV4_DONE_BIT 6

define MPU6050_MST_I2C_SLV4_NACK_BIT

#define MPU6050_MST_I2C_SLV4_NACK_BIT 4

define MPU6050_MST_PASS_THROUGH_BIT

#define MPU6050_MST_PASS_THROUGH_BIT 7

define MPU6050_MULT_MST_EN_BIT

#define MPU6050_MULT_MST_EN_BIT 7

define MPU6050_PATHRESET_ACCEL_RESET_BIT

#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1

define MPU6050_PATHRESET_GYRO_RESET_BIT

#define MPU6050_PATHRESET_GYRO_RESET_BIT 2

define MPU6050_PATHRESET_TEMP_RESET_BIT

#define MPU6050_PATHRESET_TEMP_RESET_BIT 0

define MPU6050_PWR1_CLKSEL_BIT

#define MPU6050_PWR1_CLKSEL_BIT 2

define MPU6050_PWR1_CLKSEL_LENGTH

#define MPU6050_PWR1_CLKSEL_LENGTH 3

define MPU6050_PWR1_CYCLE_BIT

#define MPU6050_PWR1_CYCLE_BIT 5

define MPU6050_PWR1_DEVICE_RESET_BIT

#define MPU6050_PWR1_DEVICE_RESET_BIT 7

define MPU6050_PWR1_SLEEP_BIT

#define MPU6050_PWR1_SLEEP_BIT 6

define MPU6050_PWR1_TEMP_DIS_BIT

#define MPU6050_PWR1_TEMP_DIS_BIT 3

define MPU6050_PWR2_LP_WAKE_CTRL_BIT

#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7

define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH

#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2

define MPU6050_PWR2_STBY_XA_BIT

#define MPU6050_PWR2_STBY_XA_BIT 5

define MPU6050_PWR2_STBY_XG_BIT

#define MPU6050_PWR2_STBY_XG_BIT 2

define MPU6050_PWR2_STBY_YA_BIT

#define MPU6050_PWR2_STBY_YA_BIT 4

define MPU6050_PWR2_STBY_YG_BIT

#define MPU6050_PWR2_STBY_YG_BIT 1

define MPU6050_PWR2_STBY_ZA_BIT

#define MPU6050_PWR2_STBY_ZA_BIT 3

define MPU6050_PWR2_STBY_ZG_BIT

#define MPU6050_PWR2_STBY_ZG_BIT 0

define MPU6050_RA_ACCEL_CONFIG

#define MPU6050_RA_ACCEL_CONFIG 0x1C

define MPU6050_RA_ACCEL_XOUT_H

#define MPU6050_RA_ACCEL_XOUT_H 0x3B

define MPU6050_RA_ACCEL_XOUT_L

#define MPU6050_RA_ACCEL_XOUT_L 0x3C

define MPU6050_RA_ACCEL_YOUT_H

#define MPU6050_RA_ACCEL_YOUT_H 0x3D

define MPU6050_RA_ACCEL_YOUT_L

#define MPU6050_RA_ACCEL_YOUT_L 0x3E

define MPU6050_RA_ACCEL_ZOUT_H

#define MPU6050_RA_ACCEL_ZOUT_H 0x3F

define MPU6050_RA_ACCEL_ZOUT_L

#define MPU6050_RA_ACCEL_ZOUT_L 0x40

define MPU6050_RA_BANK_SEL

#define MPU6050_RA_BANK_SEL 0x6D

define MPU6050_RA_CONFIG

#define MPU6050_RA_CONFIG 0x1A

define MPU6050_RA_DMP_CFG_1

#define MPU6050_RA_DMP_CFG_1 0x70

define MPU6050_RA_DMP_CFG_2

#define MPU6050_RA_DMP_CFG_2 0x71

define MPU6050_RA_DMP_INT_STATUS

#define MPU6050_RA_DMP_INT_STATUS 0x39

define MPU6050_RA_EXT_SENS_DATA_00

#define MPU6050_RA_EXT_SENS_DATA_00 0x49

define MPU6050_RA_EXT_SENS_DATA_01

#define MPU6050_RA_EXT_SENS_DATA_01 0x4A

define MPU6050_RA_EXT_SENS_DATA_02

#define MPU6050_RA_EXT_SENS_DATA_02 0x4B

define MPU6050_RA_EXT_SENS_DATA_03

#define MPU6050_RA_EXT_SENS_DATA_03 0x4C

define MPU6050_RA_EXT_SENS_DATA_04

#define MPU6050_RA_EXT_SENS_DATA_04 0x4D

define MPU6050_RA_EXT_SENS_DATA_05

#define MPU6050_RA_EXT_SENS_DATA_05 0x4E

define MPU6050_RA_EXT_SENS_DATA_06

#define MPU6050_RA_EXT_SENS_DATA_06 0x4F

define MPU6050_RA_EXT_SENS_DATA_07

#define MPU6050_RA_EXT_SENS_DATA_07 0x50

define MPU6050_RA_EXT_SENS_DATA_08

#define MPU6050_RA_EXT_SENS_DATA_08 0x51

define MPU6050_RA_EXT_SENS_DATA_09

#define MPU6050_RA_EXT_SENS_DATA_09 0x52

define MPU6050_RA_EXT_SENS_DATA_10

#define MPU6050_RA_EXT_SENS_DATA_10 0x53

define MPU6050_RA_EXT_SENS_DATA_11

#define MPU6050_RA_EXT_SENS_DATA_11 0x54

define MPU6050_RA_EXT_SENS_DATA_12

#define MPU6050_RA_EXT_SENS_DATA_12 0x55

define MPU6050_RA_EXT_SENS_DATA_13

#define MPU6050_RA_EXT_SENS_DATA_13 0x56

define MPU6050_RA_EXT_SENS_DATA_14

#define MPU6050_RA_EXT_SENS_DATA_14 0x57

define MPU6050_RA_EXT_SENS_DATA_15

#define MPU6050_RA_EXT_SENS_DATA_15 0x58

define MPU6050_RA_EXT_SENS_DATA_16

#define MPU6050_RA_EXT_SENS_DATA_16 0x59

define MPU6050_RA_EXT_SENS_DATA_17

#define MPU6050_RA_EXT_SENS_DATA_17 0x5A

define MPU6050_RA_EXT_SENS_DATA_18

#define MPU6050_RA_EXT_SENS_DATA_18 0x5B

define MPU6050_RA_EXT_SENS_DATA_19

#define MPU6050_RA_EXT_SENS_DATA_19 0x5C

define MPU6050_RA_EXT_SENS_DATA_20

#define MPU6050_RA_EXT_SENS_DATA_20 0x5D

define MPU6050_RA_EXT_SENS_DATA_21

#define MPU6050_RA_EXT_SENS_DATA_21 0x5E

define MPU6050_RA_EXT_SENS_DATA_22

#define MPU6050_RA_EXT_SENS_DATA_22 0x5F

define MPU6050_RA_EXT_SENS_DATA_23

#define MPU6050_RA_EXT_SENS_DATA_23 0x60

define MPU6050_RA_FF_DUR

#define MPU6050_RA_FF_DUR 0x1E

define MPU6050_RA_FF_THR

#define MPU6050_RA_FF_THR 0x1D

define MPU6050_RA_FIFO_COUNTH

#define MPU6050_RA_FIFO_COUNTH 0x72

define MPU6050_RA_FIFO_COUNTL

#define MPU6050_RA_FIFO_COUNTL 0x73

define MPU6050_RA_FIFO_EN

#define MPU6050_RA_FIFO_EN 0x23

define MPU6050_RA_FIFO_R_W

#define MPU6050_RA_FIFO_R_W 0x74

define MPU6050_RA_GYRO_CONFIG

#define MPU6050_RA_GYRO_CONFIG 0x1B

define MPU6050_RA_GYRO_XOUT_H

#define MPU6050_RA_GYRO_XOUT_H 0x43

define MPU6050_RA_GYRO_XOUT_L

#define MPU6050_RA_GYRO_XOUT_L 0x44

define MPU6050_RA_GYRO_YOUT_H

#define MPU6050_RA_GYRO_YOUT_H 0x45

define MPU6050_RA_GYRO_YOUT_L

#define MPU6050_RA_GYRO_YOUT_L 0x46

define MPU6050_RA_GYRO_ZOUT_H

#define MPU6050_RA_GYRO_ZOUT_H 0x47

define MPU6050_RA_GYRO_ZOUT_L

#define MPU6050_RA_GYRO_ZOUT_L 0x48

define MPU6050_RA_I2C_MST_CTRL

#define MPU6050_RA_I2C_MST_CTRL 0x24

define MPU6050_RA_I2C_MST_DELAY_CTRL

#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67

define MPU6050_RA_I2C_MST_STATUS

#define MPU6050_RA_I2C_MST_STATUS 0x36

define MPU6050_RA_I2C_SLV0_ADDR

#define MPU6050_RA_I2C_SLV0_ADDR 0x25

define MPU6050_RA_I2C_SLV0_CTRL

#define MPU6050_RA_I2C_SLV0_CTRL 0x27

define MPU6050_RA_I2C_SLV0_DO

#define MPU6050_RA_I2C_SLV0_DO 0x63

define MPU6050_RA_I2C_SLV0_REG

#define MPU6050_RA_I2C_SLV0_REG 0x26

define MPU6050_RA_I2C_SLV1_ADDR

#define MPU6050_RA_I2C_SLV1_ADDR 0x28

define MPU6050_RA_I2C_SLV1_CTRL

#define MPU6050_RA_I2C_SLV1_CTRL 0x2A

define MPU6050_RA_I2C_SLV1_DO

#define MPU6050_RA_I2C_SLV1_DO 0x64

define MPU6050_RA_I2C_SLV1_REG

#define MPU6050_RA_I2C_SLV1_REG 0x29

define MPU6050_RA_I2C_SLV2_ADDR

#define MPU6050_RA_I2C_SLV2_ADDR 0x2B

define MPU6050_RA_I2C_SLV2_CTRL

#define MPU6050_RA_I2C_SLV2_CTRL 0x2D

define MPU6050_RA_I2C_SLV2_DO

#define MPU6050_RA_I2C_SLV2_DO 0x65

define MPU6050_RA_I2C_SLV2_REG

#define MPU6050_RA_I2C_SLV2_REG 0x2C

define MPU6050_RA_I2C_SLV3_ADDR

#define MPU6050_RA_I2C_SLV3_ADDR 0x2E

define MPU6050_RA_I2C_SLV3_CTRL

#define MPU6050_RA_I2C_SLV3_CTRL 0x30

define MPU6050_RA_I2C_SLV3_DO

#define MPU6050_RA_I2C_SLV3_DO 0x66

define MPU6050_RA_I2C_SLV3_REG

#define MPU6050_RA_I2C_SLV3_REG 0x2F

define MPU6050_RA_I2C_SLV4_ADDR

#define MPU6050_RA_I2C_SLV4_ADDR 0x31

define MPU6050_RA_I2C_SLV4_CTRL

#define MPU6050_RA_I2C_SLV4_CTRL 0x34

define MPU6050_RA_I2C_SLV4_DI

#define MPU6050_RA_I2C_SLV4_DI 0x35

define MPU6050_RA_I2C_SLV4_DO

#define MPU6050_RA_I2C_SLV4_DO 0x33

define MPU6050_RA_I2C_SLV4_REG

#define MPU6050_RA_I2C_SLV4_REG 0x32

define MPU6050_RA_INT_ENABLE

#define MPU6050_RA_INT_ENABLE 0x38

define MPU6050_RA_INT_PIN_CFG

#define MPU6050_RA_INT_PIN_CFG 0x37

define MPU6050_RA_INT_STATUS

#define MPU6050_RA_INT_STATUS 0x3A

define MPU6050_RA_MEM_R_W

#define MPU6050_RA_MEM_R_W 0x6F

define MPU6050_RA_MEM_START_ADDR

#define MPU6050_RA_MEM_START_ADDR 0x6E

define MPU6050_RA_MOT_DETECT_CTRL

#define MPU6050_RA_MOT_DETECT_CTRL 0x69

define MPU6050_RA_MOT_DETECT_STATUS

#define MPU6050_RA_MOT_DETECT_STATUS 0x61

define MPU6050_RA_MOT_DUR

#define MPU6050_RA_MOT_DUR 0x20

define MPU6050_RA_MOT_THR

#define MPU6050_RA_MOT_THR 0x1F

define MPU6050_RA_PWR_MGMT_1

#define MPU6050_RA_PWR_MGMT_1 0x6B

define MPU6050_RA_PWR_MGMT_2

#define MPU6050_RA_PWR_MGMT_2 0x6C

define MPU6050_RA_SIGNAL_PATH_RESET

#define MPU6050_RA_SIGNAL_PATH_RESET 0x68

define MPU6050_RA_SMPLRT_DIV

#define MPU6050_RA_SMPLRT_DIV 0x19

define MPU6050_RA_TEMP_OUT_H

#define MPU6050_RA_TEMP_OUT_H 0x41

define MPU6050_RA_TEMP_OUT_L

#define MPU6050_RA_TEMP_OUT_L 0x42

define MPU6050_RA_USER_CTRL

#define MPU6050_RA_USER_CTRL 0x6A

define MPU6050_RA_WHO_AM_I

#define MPU6050_RA_WHO_AM_I 0x75

define MPU6050_RA_XA_OFFS_H

#define MPU6050_RA_XA_OFFS_H 0x06

define MPU6050_RA_XA_OFFS_L_TC

#define MPU6050_RA_XA_OFFS_L_TC 0x07

define MPU6050_RA_XG_OFFS_TC

#define MPU6050_RA_XG_OFFS_TC 0x00

define MPU6050_RA_XG_OFFS_USRH

#define MPU6050_RA_XG_OFFS_USRH 0x13

define MPU6050_RA_XG_OFFS_USRL

#define MPU6050_RA_XG_OFFS_USRL 0x14

define MPU6050_RA_X_FINE_GAIN

#define MPU6050_RA_X_FINE_GAIN 0x03

define MPU6050_RA_YA_OFFS_H

#define MPU6050_RA_YA_OFFS_H 0x08

define MPU6050_RA_YA_OFFS_L_TC

#define MPU6050_RA_YA_OFFS_L_TC 0x09

define MPU6050_RA_YG_OFFS_TC

#define MPU6050_RA_YG_OFFS_TC 0x01

define MPU6050_RA_YG_OFFS_USRH

#define MPU6050_RA_YG_OFFS_USRH 0x15

define MPU6050_RA_YG_OFFS_USRL

#define MPU6050_RA_YG_OFFS_USRL 0x16

define MPU6050_RA_Y_FINE_GAIN

#define MPU6050_RA_Y_FINE_GAIN 0x04

define MPU6050_RA_ZA_OFFS_H

#define MPU6050_RA_ZA_OFFS_H 0x0A

define MPU6050_RA_ZA_OFFS_L_TC

#define MPU6050_RA_ZA_OFFS_L_TC 0x0B

define MPU6050_RA_ZG_OFFS_TC

#define MPU6050_RA_ZG_OFFS_TC 0x02

define MPU6050_RA_ZG_OFFS_USRH

#define MPU6050_RA_ZG_OFFS_USRH 0x17

define MPU6050_RA_ZG_OFFS_USRL

#define MPU6050_RA_ZG_OFFS_USRL 0x18

define MPU6050_RA_ZRMOT_DUR

#define MPU6050_RA_ZRMOT_DUR 0x22

define MPU6050_RA_ZRMOT_THR

#define MPU6050_RA_ZRMOT_THR 0x21

define MPU6050_RA_Z_FINE_GAIN

#define MPU6050_RA_Z_FINE_GAIN 0x05

define MPU6050_SLV0_FIFO_EN_BIT

#define MPU6050_SLV0_FIFO_EN_BIT 0

define MPU6050_SLV1_FIFO_EN_BIT

#define MPU6050_SLV1_FIFO_EN_BIT 1

define MPU6050_SLV2_FIFO_EN_BIT

#define MPU6050_SLV2_FIFO_EN_BIT 2

define MPU6050_SLV_3_FIFO_EN_BIT

#define MPU6050_SLV_3_FIFO_EN_BIT 5

define MPU6050_TC_OFFSET_BIT

#define MPU6050_TC_OFFSET_BIT 6

define MPU6050_TC_OFFSET_LENGTH

#define MPU6050_TC_OFFSET_LENGTH 6

define MPU6050_TC_OTP_BNK_VLD_BIT

#define MPU6050_TC_OTP_BNK_VLD_BIT 0

define MPU6050_TC_PWR_MODE_BIT

#define MPU6050_TC_PWR_MODE_BIT 7

define MPU6050_TEMP_FIFO_EN_BIT

#define MPU6050_TEMP_FIFO_EN_BIT 7

define MPU6050_USERCTRL_DMP_EN_BIT

#define MPU6050_USERCTRL_DMP_EN_BIT 7

define MPU6050_USERCTRL_DMP_RESET_BIT

#define MPU6050_USERCTRL_DMP_RESET_BIT 3

define MPU6050_USERCTRL_FIFO_EN_BIT

#define MPU6050_USERCTRL_FIFO_EN_BIT 6

define MPU6050_USERCTRL_FIFO_RESET_BIT

#define MPU6050_USERCTRL_FIFO_RESET_BIT 2

define MPU6050_USERCTRL_I2C_IF_DIS_BIT

#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4

define MPU6050_USERCTRL_I2C_MST_EN_BIT

#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5

define MPU6050_USERCTRL_I2C_MST_RESET_BIT

#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1

define MPU6050_USERCTRL_SIG_COND_RESET_BIT

#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0

define MPU6050_VDDIO_LEVEL_VDD

#define MPU6050_VDDIO_LEVEL_VDD 1

define MPU6050_VDDIO_LEVEL_VLOGIC

#define MPU6050_VDDIO_LEVEL_VLOGIC 0

define MPU6050_WAIT_FOR_ES_BIT

#define MPU6050_WAIT_FOR_ES_BIT 6

define MPU6050_WAKE_FREQ_10

#define MPU6050_WAKE_FREQ_10 0x3

define MPU6050_WAKE_FREQ_1P25

#define MPU6050_WAKE_FREQ_1P25 0x0

define MPU6050_WAKE_FREQ_2P5

#define MPU6050_WAKE_FREQ_2P5 0x1

define MPU6050_WAKE_FREQ_5

#define MPU6050_WAKE_FREQ_5 0x2

define MPU6050_WHO_AM_I_BIT

#define MPU6050_WHO_AM_I_BIT 6

define MPU6050_WHO_AM_I_LENGTH

#define MPU6050_WHO_AM_I_LENGTH 6

define MPU6050_XG_FIFO_EN_BIT

#define MPU6050_XG_FIFO_EN_BIT 6

define MPU6050_YG_FIFO_EN_BIT

#define MPU6050_YG_FIFO_EN_BIT 5

define MPU6050_ZG_FIFO_EN_BIT

#define MPU6050_ZG_FIFO_EN_BIT 4

---

The documentation for this class was generated from the following file fw/rbcx-coprocessor/include/Mpu6050.hpp