43 lines
1.3 KiB
Rust
43 lines
1.3 KiB
Rust
pub const MPU6050_SLAVE_ADDR: u8 = 0x68;
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pub const MPU6050_WHOAMI: u8 = 0x75;
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/// High Bytle Register Gyro x orientation
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pub const MPU6050_GYRO_REGX_H: u8 = 0x43;
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/// High Bytle Register Gyro y orientation
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pub const MPU6050_GYRO_REGY_H: u8 = 0x45;
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/// High Bytle Register Gyro z orientation
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pub const MPU6050_GYRO_REGZ_H: u8 = 0x47;
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/// High Byte Register Calc roll
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pub const MPU6050_ACC_REGX_H: u8 = 0x3b;
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/// High Byte Register Calc pitch
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pub const MPU6050_ACC_REGY_H: u8 = 0x3d;
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/// High Byte Register Calc yaw
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pub const MPU6050_ACC_REGZ_H: u8 = 0x3f;
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/// Register to control chip waking from sleep, enabling sensors, default: sleep
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pub const POWER_MGMT_1: u8 = 0x6b;
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/// Internal clock
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pub const POWER_MGMT_2: u8 = 0x6c;
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/// Gyro Sensitivity
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pub const FS_SEL: (f32, f32, f32, f32) = (131., 65.5, 32.8, 16.4);
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/// Calcelerometer Sensitivity
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pub const AFS_SEL: (f32, f32, f32, f32) = (16384., 8192., 4096., 2048.);
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pub const PI: f32 = 3.14159;
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pub const GRAVITIY_MS2: f32 = 9.80665;
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pub const ACCEL_RANGE_2G: u8 = 0x00;
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pub const ACCEL_RANGE_4G: u8 = 0x08;
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pub const ACCEL_RANGE_8G: u8 = 0x10;
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pub const ACCEL_RANGE_16G: u8 = 0x18;
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pub const GYRO_RANGE_250DEG: u8 = 0x00;
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pub const GYRO_RANGE_500DEG: u8 = 0x08;
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pub const GYRO_RANGE_1000DEG: u8 = 0x10;
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pub const GYRO_RANGE_2000DEG: u8 = 0x18;
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pub const ACCEL_CONFIG: u8 = 0x1c;
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pub const GYRO_CONFIG: u8 = 0x1b;
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