AMiRo-OS

/* Default I2C address */

#define MPU6050_LLD_I2C_ADDR_FIXED      0x68

#define MPU6050_LLD_I2C_ADDR_AD0        0x01

/* MPU6050 registers */

#define MPU6050_LLD_AUX_VDDIO   0x01

#define MPU6050_LLD_SMPLRT_DIV   0x19

#define MPU6050_LLD_CONFIG    0x1A

#define MPU6050_LLD_GYRO_CONFIG   0x1B

#define MPU6050_LLD_ACCEL_CONFIG  0x1C

#define MPU6050_LLD_MOTION_THRESH  0x1F

#define MPU6050_LLD_INT_PIN_CFG   0x37

#define MPU6050_LLD_INT_ENABLE   0x38

#define MPU6050_LLD_INT_STATUS   0x3A

#define MPU6050_LLD_ACCEL_XOUT_H  0x3B

#define MPU6050_LLD_ACCEL_XOUT_L  0x3C

#define MPU6050_LLD_ACCEL_YOUT_H  0x3D

#define MPU6050_LLD_ACCEL_YOUT_L  0x3E

#define MPU6050_LLD_ACCEL_ZOUT_H  0x3F

#define MPU6050_LLD_ACCEL_ZOUT_L  0x40

#define MPU6050_LLD_TEMP_OUT_H   0x41

#define MPU6050_LLD_TEMP_OUT_L   0x42

#define MPU6050_LLD_GYRO_XOUT_H   0x43

#define MPU6050_LLD_GYRO_XOUT_L   0x44

#define MPU6050_LLD_GYRO_YOUT_H   0x45

#define MPU6050_LLD_GYRO_YOUT_L   0x46

#define MPU6050_LLD_GYRO_ZOUT_H   0x47

#define MPU6050_LLD_GYRO_ZOUT_L   0x48

#define MPU6050_LLD_MOT_DETECT_STATUS 0x61

#define MPU6050_LLD_SIGNAL_PATH_RESET 0x68

#define MPU6050_LLD_MOT_DETECT_CTRL  0x69

#define MPU6050_LLD_USER_CTRL   0x6A

#define MPU6050_LLD_PWR_MGMT_1   0x6B

#define MPU6050_LLD_PWR_MGMT_2   0x6C

#define MPU6050_LLD_FIFO_COUNTH   0x72

#define MPU6050_LLD_FIFO_COUNTL   0x73

#define MPU6050_LLD_FIFO_R_W   0x74

#define MPU6050_LLD_WHO_AM_I   0x75

#define MPU6050_LLD_DataRate_8KHz        0   /**< Sample rate set to 8 kHz */

#define MPU6050_LLD_DataRate_4KHz        1   /**< Sample rate set to 4 kHz */

#define MPU6050_LLD_DataRate_2KHz        3   /**< Sample rate set to 2 kHz */

#define MPU6050_LLD_DataRate_1KHz        7   /**< Sample rate set to 1 kHz */

#define MPU6050_LLD_DataRate_500Hz       15  /**< Sample rate set to 500 Hz */

#define MPU6050_LLD_DataRate_250Hz       31  /**< Sample rate set to 250 Hz */

#define MPU6050_LLD_DataRate_125Hz       63  /**< Sample rate set to 125 Hz */

#define MPU6050_LLD_DataRate_100Hz       79  /**< Sample rate set to 100 Hz */

/* Who I am register value */

#define MPU6050_I_AM    MPU6050_LLD_I2C_ADDR_FIXED

/* Gyro sensitivities in degrees/s */

#define MPU6050_LLD_GYRO_SENS_250  ((float) 131)

#define MPU6050_LLD_GYRO_SENS_500  ((float) 65.5)

#define MPU6050_LLD_GYRO_SENS_1000  ((float) 32.8)

#define MPU6050_LLD_GYRO_SENS_2000  ((float) 16.4)

/* Acce sensitivities in g/s */

#define MPU6050_LLD_ACCE_SENS_2   ((float) 16384)

#define MPU6050_LLD_ACCE_SENS_4   ((float) 8192)

#define MPU6050_LLD_ACCE_SENS_8   ((float) 4096)

#define MPU6050_LLD_ACCE_SENS_16  ((float) 2048)

  apalExitStatus_t mpu6050_lld_read_register(const MPU6050Driver* const mpu6050, const uint8_t addr, uint8_t* const data, const uint8_t num, const apalTime_t timeout);

  apalExitStatus_t mpu6050_lld_write_register(const MPU6050Driver* const mpu6050, const uint8_t addr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout);