src/main/drivers/accgyro/accgyro_mpu6500.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #define MPU6500_BIT_RESET                   (0x80)
  24
  25 // Register 0x37/55 - INT_PIN_CFG / Pin Bypass Enable Configuration
  26 #define MPU6500_BIT_RESERVED                (1 << 0)
  27 #define MPU6500_BIT_BYPASS_EN               (1 << 1)
  28 #define MPU6500_BIT_INT_ANYRD_2CLEAR        (1 << 4)
  29
  30 // Register 0x38/56 INT_ENABLE
  31 #define MPU6500_BIT_RAW_RDY_EN              (1 << 0)
  32
  33 // Register 0x6a/106 - USER_CTRL / User Control
  34 #define MPU6500_BIT_I2C_IF_DIS              (1 << 4)
  35
  36 bool mpu6500AccDetect(accDev_t *acc);
  37 bool mpu6500GyroDetect(gyroDev_t *gyro);
  38
  39 void mpu6500AccInit(accDev_t *acc);
  40 void mpu6500GyroInit(gyroDev_t *gyro);