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core.con.mpu6050.spin
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core.con.mpu6050.spin
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{
--------------------------------------------
Filename: core.con.mpu6050.spin
Author: Jesse Burt
Description: MPU6050-specific constants
Copyright (c) 2022
Started Nov 5, 2022
Updated Nov 6, 2022
See end of file for terms of use.
--------------------------------------------
}
CON
I2C_MAX_FREQ = 400_000
SLAVE_ADDR = $68 << 1
DEVID_RESP = $68
' Startup time
TREGRW = 100_000 ' usec
' Accelerometer / Gyroscope registers
SELF_TEST_X = $0D
SELF_TEST_Y = $0E
SELF_TEST_Z = $0F
SELF_TEST_A = $10
SMPLRT_DIV = $19
CONFIG = $1A
CONFIG_MASK = $3F
EXT_SYNC_SET = 3
DLPF_CFG = 0
EXT_SYNC_SET_BITS = %111
DLPF_CFG_BITS = %111
EXT_SYNC_SET_MASK = (EXT_SYNC_SET_BITS << EXT_SYNC_SET) ^ CONFIG_MASK
DLPF_CFG_MASK = (DLPF_CFG_BITS << DLPF_CFG) ^ CONFIG_MASK
GYRO_CFG = $1B
GYRO_CFG_MASK = $F8
XG_ST = 7
YG_ST = 6
ZG_ST = 5
XYZG_ST = 4
GYRO_FS_SEL = 3
GYRO_FS_SEL_BITS = %11
XYZG_ST_BITS = %111
XYZG_ST_MASK = (XYZG_ST_BITS << XYZG_ST) ^ GYRO_CFG_MASK
GYRO_FS_SEL_MASK = (GYRO_FS_SEL_BITS << GYRO_FS_SEL) ^ GYRO_CFG_MASK
ACCEL_CFG = $1C
ACCEL_CFG_MASK = $F8
XA_ST = 7
YA_ST = 6
ZA_ST = 5
XYZA_ST = 5
AFS_SEL = 3
AFS_SEL_BITS = %11
XYZA_ST_BITS = %111
XA_ST_MASK = (1 << XA_ST) ^ ACCEL_CFG_MASK
YA_ST_MASK = (1 << YA_ST) ^ ACCEL_CFG_MASK
ZA_ST_MASK = (1 << ZA_ST) ^ ACCEL_CFG_MASK
XYZA_ST_MASK = (1 << XYZA_ST) ^ ACCEL_CFG_MASK
AFS_SEL_MASK = AFS_SEL_BITS ^ ACCEL_CFG_MASK
FIFO_EN = $23
FIFO_EN_MASK = $FF
TEMP_FIFO_EN = 7
XG_FIFO_EN = 6
YG_FIFO_EN = 5
ZG_FIFO_EN = 4
ACCEL_FIFO_EN = 3
SLV2_FIFO_EN = 2
SLV1_FIFO_EN = 1
SLV0_FIFO_EN = 0
I2C_MST_CTRL = $24
I2C_SLV0_ADDR = $25
I2C_SLV0_REG = $26
I2C_SLV0_CTRL = $27
I2C_SLV1_ADDR = $28
I2C_SLV1_REG = $29
I2C_SLV1_CTRL = $2A
I2C_SLV2_ADDR = $2B
I2C_SLV2_REG = $2C
I2C_SLV2_CTRL = $2D
I2C_SLV3_ADDR = $2E
I2C_SLV3_REG = $2F
I2C_SLV3_CTRL = $30
I2C_SLV4_ADDR = $31
I2C_SLV4_REG = $32
I2C_SLV4_DO = $33
I2C_SLV4_CTRL = $34
I2C_SLV4_DI = $35
I2C_MST_STATUS = $36
INT_PIN_CFG = $37
INT_PIN_CFG_MASK = $FE
LEVEL = 7
OPEN = 6
LATCH_INT_EN = 5
INT_RD_CLEAR = 4
FSYNC_INT_LVL = 3
FSYNC_INT_EN = 2
I2C_BYPASS_EN = 1
LEVEL_MASK = (1 << LEVEL) ^ INT_PIN_CFG_MASK
OPEN_MASK = (1 << OPEN) ^ INT_PIN_CFG_MASK
LATCH_INT_EN_MASK = (1 << LATCH_INT_EN) ^ INT_PIN_CFG_MASK
INT_RD_CLEAR_MASK = (1 << INT_RD_CLEAR) ^ INT_PIN_CFG_MASK
FSYNC_INT_LVL_MASK = (1 << FSYNC_INT_LVL) ^ INT_PIN_CFG_MASK
FSYNC_INT_EN_MASK = (1 << FSYNC_INT_EN) ^ INT_PIN_CFG_MASK
I2C_BYPASS_EN_MASK = (1 << I2C_BYPASS_EN) ^ INT_PIN_CFG_MASK
INT_ENABLE = $38
INT_ENABLE_MASK = $19
FIFO_OVERFL_EN = 4
I2C_MST_INT_EN = 3
DATA_RDY_EN = 0
FIFO_OVERFL_MASK = (1 << FIFO_OVERFL_EN) ^ INT_ENABLE_MASK
I2C_MST_INT_EN_MASK = (1 << I2C_MST_INT_EN) ^ INT_ENABLE_MASK
DATA_RDY_EN_MASK = (1 << DATA_RDY_EN) ^ INT_ENABLE_MASK
INT_STATUS = $3A
INT_STATUS_MASK = $19
FIFO_OVERFL_INT = 4
I2C_MST_INT = 3
DATA_RDY_INT = 0
ACCEL_XOUT_H = $3B
ACCEL_XOUT_L = $3C
ACCEL_YOUT_H = $3D
ACCEL_YOUT_L = $3E
ACCEL_ZOUT_H = $3F
ACCEL_ZOUT_L = $40
TEMP_OUT_H = $41
TEMP_OUT_L = $42
GYRO_XOUT_H = $43
GYRO_XOUT_L = $44
GYRO_YOUT_H = $45
GYRO_YOUT_L = $46
GYRO_ZOUT_H = $47
GYRO_ZOUT_L = $48
EXT_SENS_DATA_00 = $49
EXT_SENS_DATA_01 = $4A
EXT_SENS_DATA_02 = $4B
EXT_SENS_DATA_03 = $4C
EXT_SENS_DATA_04 = $4D
EXT_SENS_DATA_05 = $4E
EXT_SENS_DATA_06 = $4F
EXT_SENS_DATA_07 = $50
EXT_SENS_DATA_08 = $51
EXT_SENS_DATA_09 = $52
EXT_SENS_DATA_10 = $53
EXT_SENS_DATA_11 = $54
EXT_SENS_DATA_12 = $55
EXT_SENS_DATA_13 = $56
EXT_SENS_DATA_14 = $57
EXT_SENS_DATA_15 = $58
EXT_SENS_DATA_16 = $59
EXT_SENS_DATA_17 = $5A
EXT_SENS_DATA_18 = $5B
EXT_SENS_DATA_19 = $5C
EXT_SENS_DATA_20 = $5D
EXT_SENS_DATA_21 = $5E
EXT_SENS_DATA_22 = $5F
EXT_SENS_DATA_23 = $60
I2C_SLV0_DO = $63
I2C_SLV1_DO = $64
I2C_SLV2_DO = $65
I2C_SLV3_DO = $66
I2C_MST_DELAY_CTRL = $67
SIGNAL_PATH_RESET = $68
SIGNAL_PATH_RESET_MASK = $07
GYRO_RESET = 2
ACCEL_RESET = 1
TEMP_RESET = 0
USER_CTRL = $6A
USER_CTRL_MASK = $77
FIFOEN = 6
I2C_MST_EN = 5
I2C_IF_DIS = 4 ' 6000: DIS. I2C/ENA SPI; 6050: ALWAYS WRITE 0
FIFO_RST = 2
I2C_MST_RST = 1
SIG_COND_RST = 0
FIFOEN_MASK = (1 << FIFOEN) ^ USER_CTRL_MASK
I2C_MST_EN_MASK = (1 << I2C_MST_EN) ^ USER_CTRL_MASK
I2C_IF_DIS_MASK = (1 << I2C_IF_DIS) ^ USER_CTRL_MASK
FIFO_RST_MASK = (1 << FIFO_RST) ^ USER_CTRL_MASK
I2C_MST_RST_MASK = (1 << I2C_MST_RST) ^ USER_CTRL_MASK
SIG_COND_RST_MASK = (1 << SIG_COND_RST) ^ USER_CTRL_MASK
PWR_MGMT_1 = $6B
PWR_MGMT_1_MASK = $EF
DEV_RESET = 7
SLEEP = 6
CYCLE = 5
TEMP_DIS = 3
CLKSEL = 0
CLKSEL_BITS = %111
DEV_RESET_MASK = (1 << DEV_RESET) ^ PWR_MGMT_1_MASK
SLEEP_MASK = (1 << SLEEP) ^ PWR_MGMT_1_MASK
CYCLE_MASK = (1 << CYCLE) ^ PWR_MGMT_1_MASK
TEMP_DIS_MASK = (1 << TEMP_DIS) ^ PWR_MGMT_1_MASK
CLKSEL_MASK = CLKSEL_BITS ^ PWR_MGMT_1_MASK
XLG_SOFT_RST = 1 << DEV_RESET
PWR_MGMT_2 = $6C
PWR_MGMT_2_MASK = $3F
LP_WAKE_CTRL = 6
STBY_XYZA = 3
STBY_XYZG = 0
STBY_XYZA_BITS = %111
STBY_XYZG_BITS = %111
STBY_XYZA_MASK = (STBY_XYZA_BITS << STBY_XYZA) ^ PWR_MGMT_2_MASK
STBY_XYZG_MASK = (STBY_XYZG_BITS << STBY_XYZG) ^ PWR_MGMT_2_MASK
STBY_INVERT = %111
FIFO_COUNTH = $72
FIFO_COUNTL = $73
FIFO_R_W = $74
WHO_AM_I = $75
WHO_AM_I_RESP = $71
PUB null{}
' This is not a top-level object
DAT
{
Copyright 2022 Jesse Burt
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
associated documentation files (the "Software"), to deal in the Software without restriction,
including without limitation the rights to use, copy, modify, merge, publish, distribute,
sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or
substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT
OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
}