应用介绍

此项目是linux下mpu6050驱动及测试程序。

#ifndef MPU6050_HHHH
#define MPU6050_HHHH
 
#define MPU6050_MAGIC 'K'

#define SMPLRT_DIV  0x19
#define CONFIG   0x1A
#define GYRO_CONFIG  0x1B
#define ACCEL_CONFIG 0x1C
#define ACCEL_XOUT_H 0x3B
#define ACCEL_XOUT_L 0x3C
#define ACCEL_YOUT_H 0x3D
#define ACCEL_YOUT_L 0x3E
#define ACCEL_ZOUT_H 0x3F
#define ACCEL_ZOUT_L 0x40
#define TEMP_OUT_H  0x41
#define TEMP_OUT_L  0x42
#define GYRO_XOUT_H  0x43
#define GYRO_XOUT_L  0x44
#define GYRO_YOUT_H  0x45
#define GYRO_YOUT_L  0x46
#define GYRO_ZOUT_H  0x47
#define GYRO_ZOUT_L  0x48
#define PWR_MGMT_1  0x6B
 
union mpu6050_data
{
 struct {
  unsigned short x;
  unsigned short y;
  unsigned short z;
 }accel;
 struct {
  unsigned short x;
  unsigned short y;
  unsigned short z;
 }gyro;
 unsigned short temp;
};
 
#define GET_ACCEL _IOR(MPU6050_MAGIC, 0, union mpu6050_data)
#define GET_GYRO  _IOR(MPU6050_MAGIC, 1, union mpu6050_data) 
#define GET_TEMP  _IOR(MPU6050_MAGIC, 2, union mpu6050_data)
 
#endif

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