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ivoszz
117 lines
2.1 KiB
Go
117 lines
2.1 KiB
Go
package mpu6886
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// Constants/addresses used for I2C.
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// The I2C address which this device listens to.
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const (
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DefaultAddress = 0x68
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SecondaryAddress = 0x69
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)
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// Registers. Names, addresses and comments copied from the datasheet.
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const (
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XG_OFFS_TC_H = 0x04
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XG_OFFS_TC_L = 0x05
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YG_OFFS_TC_H = 0x07
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YG_OFFS_TC_L = 0x08
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ZG_OFFS_TC_H = 0x0A
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ZG_OFFS_TC_L = 0x0B
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// Self test registers
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SELF_TEST_X_ACCEL = 0x0D
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SELF_TEST_Y_ACCEL = 0x0E
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SELF_TEST_Z_ACCEL = 0x0F
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XG_OFFS_USRH = 0x13
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XG_OFFS_USRL = 0x14
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YG_OFFS_USRH = 0x15
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YG_OFFS_USRL = 0x16
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ZG_OFFS_USRH = 0x17
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ZG_OFFS_USRL = 0x18
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SMPLRT_DIV = 0x19
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CONFIG = 0x1A
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GYRO_CONFIG = 0x1B
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ACCEL_CONFIG = 0x1C
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ACCEL_CONFIG_2 = 0x1D
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LP_MODE_CFG = 0x1E
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ACCEL_WOM_X_THR = 0x20
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ACCEL_WOM_Y_THR = 0x21
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ACCEL_WOM_Z_THR = 0x22
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FIFO_EN = 0x23
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FSYNC_INT = 0x36
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// Interrupt configuration
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INT_PIN_CFG = 0x37
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INT_ENABLE = 0x38
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FIFO_WM_INT_STATUS = 0x39
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INT_STATUS = 0x3A
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// Accelerometer measurements
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ACCEL_XOUT_H = 0x3B
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ACCEL_XOUT_L = 0x3C
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ACCEL_YOUT_H = 0x3D
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ACCEL_YOUT_L = 0x3E
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ACCEL_ZOUT_H = 0x3F
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ACCEL_ZOUT_L = 0x40
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// Temperature measurement
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TEMP_OUT_H = 0x41
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TEMP_OUT_L = 0x42
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// Gyroscope measurements
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GYRO_XOUT_H = 0x43
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GYRO_XOUT_L = 0x44
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GYRO_YOUT_H = 0x45
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GYRO_YOUT_L = 0x46
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GYRO_ZOUT_H = 0x47
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GYRO_ZOUT_L = 0x48
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SELF_TEST_X_GYRO = 0x50
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SELF_TEST_Y_GYRO = 0x51
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SELF_TEST_Z_GYRO = 0x52
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E_ID0 = 0x53
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E_ID1 = 0x54
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E_ID2 = 0x55
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E_ID3 = 0x56
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E_ID4 = 0x57
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E_ID5 = 0x58
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E_ID6 = 0x59
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FIFO_WM_TH1 = 0x60
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FIFO_WM_TH2 = 0x61
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SIGNAL_PATH_RESET = 0x68
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ACCEL_INTEL_CTRL = 0x69
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USER_CTRL = 0x6A
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PWR_MGMT_1 = 0x6B
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PWR_MGMT_2 = 0x6C
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I2C_IF = 0x70
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FIFO_COUNTH = 0x72
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FIFO_COUNTL = 0x73
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FIFO_R_W = 0x74
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WHO_AM_I = 0x75
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XA_OFFSET_H = 0x77
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XA_OFFSET_L = 0x78
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YA_OFFSET_H = 0x7A
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YA_OFFSET_L = 0x7B
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ZA_OFFSET_H = 0x7D
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ZA_OFFSET_L = 0x7E
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)
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// Accelerometer and gyroscope ranges
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const (
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AFS_RANGE_2_G = iota
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AFS_RANGE_4_G
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AFS_RANGE_8_G
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AFS_RANGE_16_G
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)
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const (
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GFS_RANGE_250 = iota
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GFS_RANGE_500
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GFS_RANGE_1000
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GFS_RANGE_2000
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)
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