diff options
Diffstat (limited to 'include')
| -rw-r--r-- | include/linux/mpu.h | 117 | ||||
| -rw-r--r-- | include/linux/mpu6000.h | 179 |
2 files changed, 164 insertions, 132 deletions
diff --git a/include/linux/mpu.h b/include/linux/mpu.h index 5756f5709a75..15b5fef07c9a 100644 --- a/include/linux/mpu.h +++ b/include/linux/mpu.h @@ -31,9 +31,9 @@ #endif /* Number of axes on each sensor */ -#define GYRO_NUM_AXES (3) -#define ACCEL_NUM_AXES (3) -#define COMPASS_NUM_AXES (3) +#define GYRO_NUM_AXES (3) +#define ACCEL_NUM_AXES (3) +#define COMPASS_NUM_AXES (3) /* IOCTL commands for /dev/mpu */ #define MPU_SET_MPU_CONFIG (0x00) @@ -83,6 +83,10 @@ #define MPU_CONFIG_COMPASS (0x21) #define MPU_CONFIG_PRESSURE (0x22) +#define MPU_GET_CONFIG_ACCEL (0x28) +#define MPU_GET_CONFIG_COMPASS (0x29) +#define MPU_GET_CONFIG_PRESSURE (0x2a) + /* Structure for the following IOCTL's: MPU_SET_RAM MPU_GET_RAM @@ -97,18 +101,7 @@ struct mpu_read_write { unsigned char *data; }; -/* Structure for the following IOCTL's - MPU_SUSPEND - MPU_RESUME -*/ -struct mpu_suspend_resume { - int gyro; - int accel; - int compass; - int pressure; -}; - -struct irq_data { +struct mpuirq_data { int interruptcount; unsigned long long irqtime; int data_type; @@ -116,24 +109,38 @@ struct irq_data { void *data; }; enum ext_slave_config_key { - MPU_SLAVE_CONFIG_ODR_SUSPEND, - MPU_SLAVE_CONFIG_ODR_RESUME, - MPU_SLAVE_CONFIG_FSR_SUSPEND, - MPU_SLAVE_CONFIG_FSR_RESUME, - MPU_SLAVE_CONFIG_MOT_THS, - MPU_SLAVE_CONFIG_NMOT_THS, - MPU_SLAVE_CONFIG_MOT_DUR, - MPU_SLAVE_CONFIG_NMOT_DUR, - MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS, + MPU_SLAVE_CONFIG_ODR_SUSPEND, + MPU_SLAVE_CONFIG_ODR_RESUME, + MPU_SLAVE_CONFIG_FSR_SUSPEND, + MPU_SLAVE_CONFIG_FSR_RESUME, + MPU_SLAVE_CONFIG_MOT_THS, + MPU_SLAVE_CONFIG_NMOT_THS, + MPU_SLAVE_CONFIG_MOT_DUR, + MPU_SLAVE_CONFIG_NMOT_DUR, + MPU_SLAVE_CONFIG_IRQ_SUSPEND, + MPU_SLAVE_CONFIG_IRQ_RESUME, + MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS, }; + +/* For the MPU_SLAVE_CONFIG_IRQ_SUSPEND and MPU_SLAVE_CONFIG_IRQ_RESUME */ +enum ext_slave_config_irq_type { + MPU_SLAVE_IRQ_TYPE_NONE, + MPU_SLAVE_IRQ_TYPE_MOTION, + MPU_SLAVE_IRQ_TYPE_DATA_READY, +}; + /* Structure for the following IOCTS's * MPU_CONFIG_ACCEL * MPU_CONFIG_COMPASS * MPU_CONFIG_PRESSURE + * MPU_GET_CONFIG_ACCEL + * MPU_GET_CONFIG_COMPASS + * MPU_GET_CONFIG_PRESSURE */ struct ext_slave_config { int key; int len; + int apply; void *data; }; @@ -156,8 +163,9 @@ enum ext_slave_id { ACCEL_ID_BMA222, ACCEL_ID_ADI346, ACCEL_ID_MMA8450, - ACCEL_ID_MMA8451, + ACCEL_ID_MMA845X, ACCEL_ID_MPU6000, + ACCEL_ID_LIS3DH, COMPASS_ID_AKM, COMPASS_ID_AMI30X, @@ -166,6 +174,7 @@ enum ext_slave_id { COMPASS_ID_LSM303, COMPASS_ID_MMC314X, COMPASS_ID_HSCDTD002B, + COMPASS_ID_HSCDTD004A, PRESSURE_ID_BMA085, }; @@ -229,6 +238,7 @@ struct tFixPntRange { * @init: function used to preallocate memory used by the driver * @exit: function used to free memory allocated for the driver * @config: function used to configure the device + * @get_config:function used to get the device's configuration * * @name: text name of the device * @type: device type. enum ext_slave_type @@ -262,6 +272,10 @@ struct ext_slave_descr { struct ext_slave_descr *slave, struct ext_slave_platform_data *pdata, struct ext_slave_config *config); + int (*get_config) (void *mlsl_handle, + struct ext_slave_descr *slave, + struct ext_slave_platform_data *pdata, + struct ext_slave_config *config); char *name; unsigned char type; @@ -302,65 +316,73 @@ struct mpu3050_platform_data { */ #define get_accel_slave_descr NULL -#ifdef CONFIG_SENSORS_ADXL346 /* ADI accelerometer */ +#ifdef CONFIG_MPU_SENSORS_ADXL346 /* ADI accelerometer */ struct ext_slave_descr *adxl346_get_slave_descr(void); #undef get_accel_slave_descr #define get_accel_slave_descr adxl346_get_slave_descr #endif -#ifdef CONFIG_SENSORS_BMA150 /* Bosch accelerometer */ +#ifdef CONFIG_MPU_SENSORS_BMA150 /* Bosch accelerometer */ struct ext_slave_descr *bma150_get_slave_descr(void); #undef get_accel_slave_descr #define get_accel_slave_descr bma150_get_slave_descr #endif -#ifdef CONFIG_SENSORS_BMA222 /* Bosch 222 accelerometer */ +#ifdef CONFIG_MPU_SENSORS_BMA222 /* Bosch 222 accelerometer */ struct ext_slave_descr *bma222_get_slave_descr(void); #undef get_accel_slave_descr #define get_accel_slave_descr bma222_get_slave_descr #endif -#ifdef CONFIG_SENSORS_KXSD9 /* Kionix accelerometer */ +#ifdef CONFIG_MPU_SENSORS_KXSD9 /* Kionix accelerometer */ struct ext_slave_descr *kxsd9_get_slave_descr(void); #undef get_accel_slave_descr #define get_accel_slave_descr kxsd9_get_slave_descr #endif -#ifdef CONFIG_SENSORS_KXTF9_MPU /* Kionix accelerometer */ +#ifdef CONFIG_MPU_SENSORS_KXTF9 /* Kionix accelerometer */ struct ext_slave_descr *kxtf9_get_slave_descr(void); #undef get_accel_slave_descr #define get_accel_slave_descr kxtf9_get_slave_descr #endif -#ifdef CONFIG_SENSORS_LIS331DLH /* ST accelerometer */ +#ifdef CONFIG_MPU_SENSORS_LIS331DLH /* ST accelerometer */ struct ext_slave_descr *lis331dlh_get_slave_descr(void); #undef get_accel_slave_descr #define get_accel_slave_descr lis331dlh_get_slave_descr #endif -#ifdef CONFIG_SENSORS_LSM303DLHA /* ST accelerometer */ + +#ifdef CONFIG_MPU_SENSORS_LIS3DH /* ST accelerometer */ +struct ext_slave_descr *lis3dh_get_slave_descr(void); +#undef get_accel_slave_descr +#define get_accel_slave_descr lis3dh_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_LSM303DLHA /* ST accelerometer */ struct ext_slave_descr *lsm303dlha_get_slave_descr(void); #undef get_accel_slave_descr #define get_accel_slave_descr lsm303dlha_get_slave_descr #endif /* MPU6000 Accel */ -#if defined(CONFIG_SENSORS_MPU6000) || defined(CONFIG_SENSORS_MPU6000_MODULE) +#if defined(CONFIG_MPU_SENSORS_MPU6000) || \ + defined(CONFIG_MPU_SENSORS_MPU6000_MODULE) struct ext_slave_descr *mantis_get_slave_descr(void); #undef get_accel_slave_descr #define get_accel_slave_descr mantis_get_slave_descr #endif -#ifdef CONFIG_SENSORS_MMA8450 /* Freescale accelerometer */ +#ifdef CONFIG_MPU_SENSORS_MMA8450 /* Freescale accelerometer */ struct ext_slave_descr *mma8450_get_slave_descr(void); #undef get_accel_slave_descr #define get_accel_slave_descr mma8450_get_slave_descr #endif -#ifdef CONFIG_SENSORS_MMA8451 /* Freescale accelerometer */ -struct ext_slave_descr *mma8451_get_slave_descr(void); +#ifdef CONFIG_MPU_SENSORS_MMA845X /* Freescale accelerometer */ +struct ext_slave_descr *mma845x_get_slave_descr(void); #undef get_accel_slave_descr -#define get_accel_slave_descr mma8451_get_slave_descr +#define get_accel_slave_descr mma845x_get_slave_descr #endif @@ -369,54 +391,59 @@ struct ext_slave_descr *mma8451_get_slave_descr(void); */ #define get_compass_slave_descr NULL -#ifdef CONFIG_SENSORS_AK8975_MPU /* AKM compass */ +#ifdef CONFIG_MPU_SENSORS_AK8975 /* AKM compass */ struct ext_slave_descr *ak8975_get_slave_descr(void); #undef get_compass_slave_descr #define get_compass_slave_descr ak8975_get_slave_descr #endif -#ifdef CONFIG_SENSORS_AMI30X /* AICHI Steel compass */ +#ifdef CONFIG_MPU_SENSORS_AMI30X /* AICHI Steel compass */ struct ext_slave_descr *ami30x_get_slave_descr(void); #undef get_compass_slave_descr #define get_compass_slave_descr ami30x_get_slave_descr #endif -#ifdef CONFIG_SENSORS_HMC5883 /* Honeywell compass */ +#ifdef CONFIG_MPU_SENSORS_HMC5883 /* Honeywell compass */ struct ext_slave_descr *hmc5883_get_slave_descr(void); #undef get_compass_slave_descr #define get_compass_slave_descr hmc5883_get_slave_descr #endif -#ifdef CONFIG_SENSORS_MMC314X /* MEMSIC compass */ +#ifdef CONFIG_MPU_SENSORS_MMC314X /* MEMSIC compass */ struct ext_slave_descr *mmc314x_get_slave_descr(void); #undef get_compass_slave_descr #define get_compass_slave_descr mmc314x_get_slave_descr #endif -#ifdef CONFIG_SENSORS_LSM303DLHM /* ST compass */ +#ifdef CONFIG_MPU_SENSORS_LSM303DLHM /* ST compass */ struct ext_slave_descr *lsm303dlhm_get_slave_descr(void); #undef get_compass_slave_descr #define get_compass_slave_descr lsm303dlhm_get_slave_descr #endif -#ifdef CONFIG_SENSORS_YAS529 /* Yamaha compass */ +#ifdef CONFIG_MPU_SENSORS_YAS529 /* Yamaha compass */ struct ext_slave_descr *yas529_get_slave_descr(void); #undef get_compass_slave_descr #define get_compass_slave_descr yas529_get_slave_descr #endif -#ifdef CONFIG_SENSORS_HSCDTD002B /* Alps compass */ +#ifdef CONFIG_MPU_SENSORS_HSCDTD002B /* Alps HSCDTD002B compass */ struct ext_slave_descr *hscdtd002b_get_slave_descr(void); #undef get_compass_slave_descr #define get_compass_slave_descr hscdtd002b_get_slave_descr #endif +#ifdef CONFIG_MPU_SENSORS_HSCDTD004A /* Alps HSCDTD004A compass */ +struct ext_slave_descr *hscdtd004a_get_slave_descr(void); +#undef get_compass_slave_descr +#define get_compass_slave_descr hscdtd004a_get_slave_descr +#endif /* Pressure */ #define get_pressure_slave_descr NULL -#ifdef CONFIG_SENSORS_BMA085 /* BMA pressure */ +#ifdef CONFIG_MPU_SENSORS_BMA085 /* BMA pressure */ struct ext_slave_descr *bma085_get_slave_descr(void); #undef get_pressure_slave_descr #define get_pressure_slave_descr bma085_get_slave_descr diff --git a/include/linux/mpu6000.h b/include/linux/mpu6000.h index 89c4cbb90b69..5a63c8f07b70 100644 --- a/include/linux/mpu6000.h +++ b/include/linux/mpu6000.h @@ -34,122 +34,122 @@ /*==== M_HW REGISTER SET ====*/ enum { - MPUREG_XG_OFFS_TC = 0, - MPUREG_YG_OFFS_TC, - MPUREG_ZG_OFFS_TC, - MPUREG_X_FINE_GAIN, - MPUREG_Y_FINE_GAIN, - MPUREG_Z_FINE_GAIN, - MPUREG_XA_OFFS_H, - MPUREG_XA_OFFS_L_TC, - MPUREG_YA_OFFS_H, - MPUREG_YA_OFFS_L_TC, - MPUREG_ZA_OFFS_H, + MPUREG_XG_OFFS_TC = 0, /* 0x00 */ + MPUREG_YG_OFFS_TC, /* 0x00 */ + MPUREG_ZG_OFFS_TC, /* 0x00 */ + MPUREG_X_FINE_GAIN, /* 0x00 */ + MPUREG_Y_FINE_GAIN, /* 0x00 */ + MPUREG_Z_FINE_GAIN, /* 0x00 */ + MPUREG_XA_OFFS_H, /* 0x00 */ + MPUREG_XA_OFFS_L_TC, /* 0x00 */ + MPUREG_YA_OFFS_H, /* 0x00 */ + MPUREG_YA_OFFS_L_TC, /* 0x00 */ + MPUREG_ZA_OFFS_H, /* 0x00 */ MPUREG_ZA_OFFS_L_TC, /* 0xB */ - MPUREG_0C_RSVD, - MPUREG_0D_RSVD, - MPUREG_0E_RSVD, - MPUREG_0F_RSVD, - MPUREG_10_RSVD, - MPUREG_11_RSVD, - MPUREG_12_RSVD, - MPUREG_XG_OFFS_USRH, - MPUREG_XG_OFFS_USRL, - MPUREG_YG_OFFS_USRH, - MPUREG_YG_OFFS_USRL, - MPUREG_ZG_OFFS_USRH, - MPUREG_ZG_OFFS_USRL, + MPUREG_0C_RSVD, /* 0x00 */ + MPUREG_0D_RSVD, /* 0x00 */ + MPUREG_0E_RSVD, /* 0x00 */ + MPUREG_0F_RSVD, /* 0x00 */ + MPUREG_10_RSVD, /* 0x00 */ + MPUREG_11_RSVD, /* 0x00 */ + MPUREG_12_RSVD, /* 0x00 */ + MPUREG_XG_OFFS_USRH, /* 0x00 */ + MPUREG_XG_OFFS_USRL, /* 0x00 */ + MPUREG_YG_OFFS_USRH, /* 0x00 */ + MPUREG_YG_OFFS_USRL, /* 0x00 */ + MPUREG_ZG_OFFS_USRH, /* 0x00 */ + MPUREG_ZG_OFFS_USRL, /* 0x00 */ MPUREG_SMPLRT_DIV, /* 0x19 */ MPUREG_CONFIG, /* 0x1A ==> DLPF_FS_SYNC */ - MPUREG_GYRO_CONFIG, - MPUREG_ACCEL_CONFIG, - MPUREG_ACCEL_FF_THR, - MPUREG_ACCEL_FF_DUR, - MPUREG_ACCEL_MOT_THR, - MPUREG_ACCEL_MOT_DUR, - MPUREG_ACCEL_ZRMOT_THR, - MPUREG_ACCEL_ZRMOT_DUR, + MPUREG_GYRO_CONFIG, /* 0x00 */ + MPUREG_ACCEL_CONFIG, /* 0x00 */ + MPUREG_ACCEL_FF_THR, /* 0x00 */ + MPUREG_ACCEL_FF_DUR, /* 0x00 */ + MPUREG_ACCEL_MOT_THR, /* 0x00 */ + MPUREG_ACCEL_MOT_DUR, /* 0x00 */ + MPUREG_ACCEL_ZRMOT_THR, /* 0x00 */ + MPUREG_ACCEL_ZRMOT_DUR, /* 0x00 */ MPUREG_FIFO_EN, /* 0x23 */ - MPUREG_I2C_MST_CTRL, + MPUREG_I2C_MST_CTRL, /* 0x00 */ MPUREG_I2C_SLV0_ADDR, /* 0x25 */ - MPUREG_I2C_SLV0_REG, - MPUREG_I2C_SLV0_CTRL, + MPUREG_I2C_SLV0_REG, /* 0x00 */ + MPUREG_I2C_SLV0_CTRL, /* 0x00 */ MPUREG_I2C_SLV1_ADDR, /* 0x28 */ - MPUREG_I2C_SLV1_REG_PASSWORD, - MPUREG_I2C_SLV1_CTRL, + MPUREG_I2C_SLV1_REG_PASSWORD, /* 0x00 */ + MPUREG_I2C_SLV1_CTRL, /* 0x00 */ MPUREG_I2C_SLV2_ADDR, /* 0x2B */ - MPUREG_I2C_SLV2_REG, - MPUREG_I2C_SLV2_CTRL, + MPUREG_I2C_SLV2_REG, /* 0x00 */ + MPUREG_I2C_SLV2_CTRL, /* 0x00 */ MPUREG_I2C_SLV3_ADDR, /* 0x2E */ - MPUREG_I2C_SLV3_REG, - MPUREG_I2C_SLV3_CTRL, + MPUREG_I2C_SLV3_REG, /* 0x00 */ + MPUREG_I2C_SLV3_CTRL, /* 0x00 */ MPUREG_I2C_SLV4_ADDR, /* 0x31 */ - MPUREG_I2C_SLV4_REG, - MPUREG_I2C_SLV4_DO, - MPUREG_I2C_SLV4_CTRL, - MPUREG_I2C_SLV4_DI, + MPUREG_I2C_SLV4_REG, /* 0x00 */ + MPUREG_I2C_SLV4_DO, /* 0x00 */ + MPUREG_I2C_SLV4_CTRL, /* 0x00 */ + MPUREG_I2C_SLV4_DI, /* 0x00 */ MPUREG_I2C_MST_STATUS, /* 0x36 */ MPUREG_INT_PIN_CFG, /* 0x37 ==> -* INT_CFG */ MPUREG_INT_ENABLE, /* 0x38 ==> / */ MPUREG_DMP_INT_STATUS, /* 0x39 */ MPUREG_INT_STATUS, /* 0x3A */ MPUREG_ACCEL_XOUT_H, /* 0x3B */ - MPUREG_ACCEL_XOUT_L, - MPUREG_ACCEL_YOUT_H, - MPUREG_ACCEL_YOUT_L, - MPUREG_ACCEL_ZOUT_H, - MPUREG_ACCEL_ZOUT_L, + MPUREG_ACCEL_XOUT_L, /* 0x00 */ + MPUREG_ACCEL_YOUT_H, /* 0x00 */ + MPUREG_ACCEL_YOUT_L, /* 0x00 */ + MPUREG_ACCEL_ZOUT_H, /* 0x00 */ + MPUREG_ACCEL_ZOUT_L, /* 0x00 */ MPUREG_TEMP_OUT_H, /* 0x41 */ - MPUREG_TEMP_OUT_L, + MPUREG_TEMP_OUT_L, /* 0x00 */ MPUREG_GYRO_XOUT_H, /* 0x43 */ - MPUREG_GYRO_XOUT_L, - MPUREG_GYRO_YOUT_H, - MPUREG_GYRO_YOUT_L, - MPUREG_GYRO_ZOUT_H, - MPUREG_GYRO_ZOUT_L, + MPUREG_GYRO_XOUT_L, /* 0x00 */ + MPUREG_GYRO_YOUT_H, /* 0x00 */ + MPUREG_GYRO_YOUT_L, /* 0x00 */ + MPUREG_GYRO_ZOUT_H, /* 0x00 */ + MPUREG_GYRO_ZOUT_L, /* 0x00 */ MPUREG_EXT_SLV_SENS_DATA_00, /* 0x49 */ - MPUREG_EXT_SLV_SENS_DATA_01, - MPUREG_EXT_SLV_SENS_DATA_02, - MPUREG_EXT_SLV_SENS_DATA_03, - MPUREG_EXT_SLV_SENS_DATA_04, - MPUREG_EXT_SLV_SENS_DATA_05, + MPUREG_EXT_SLV_SENS_DATA_01, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_02, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_03, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_04, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_05, /* 0x00 */ MPUREG_EXT_SLV_SENS_DATA_06, /* 0x4F */ - MPUREG_EXT_SLV_SENS_DATA_07, - MPUREG_EXT_SLV_SENS_DATA_08, - MPUREG_EXT_SLV_SENS_DATA_09, - MPUREG_EXT_SLV_SENS_DATA_10, - MPUREG_EXT_SLV_SENS_DATA_11, + MPUREG_EXT_SLV_SENS_DATA_07, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_08, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_09, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_10, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_11, /* 0x00 */ MPUREG_EXT_SLV_SENS_DATA_12, /* 0x55 */ - MPUREG_EXT_SLV_SENS_DATA_13, - MPUREG_EXT_SLV_SENS_DATA_14, - MPUREG_EXT_SLV_SENS_DATA_15, - MPUREG_EXT_SLV_SENS_DATA_16, - MPUREG_EXT_SLV_SENS_DATA_17, + MPUREG_EXT_SLV_SENS_DATA_13, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_14, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_15, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_16, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_17, /* 0x00 */ MPUREG_EXT_SLV_SENS_DATA_18, /* 0x5B */ - MPUREG_EXT_SLV_SENS_DATA_19, - MPUREG_EXT_SLV_SENS_DATA_20, - MPUREG_EXT_SLV_SENS_DATA_21, - MPUREG_EXT_SLV_SENS_DATA_22, - MPUREG_EXT_SLV_SENS_DATA_23, + MPUREG_EXT_SLV_SENS_DATA_19, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_20, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_21, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_22, /* 0x00 */ + MPUREG_EXT_SLV_SENS_DATA_23, /* 0x00 */ ACCEL_INTEL_STATUS, /* 0x61 */ - MPUREG_62_RSVD, - MPUREG_63_RSVD, - MPUREG_64_RSVD, - MPUREG_65_RSVD, - MPUREG_66_RSVD, - MPUREG_67_RSVD, + MPUREG_62_RSVD, /* 0x00 */ + MPUREG_63_RSVD, /* 0x00 */ + MPUREG_64_RSVD, /* 0x00 */ + MPUREG_65_RSVD, /* 0x00 */ + MPUREG_66_RSVD, /* 0x00 */ + MPUREG_67_RSVD, /* 0x00 */ SIGNAL_PATH_RESET, /* 0x68 */ ACCEL_INTEL_CTRL, /* 0x69 */ MPUREG_USER_CTRL, /* 0x6A */ MPUREG_PWR_MGMT_1, /* 0x6B */ - MPUREG_PWR_MGMT_2, + MPUREG_PWR_MGMT_2, /* 0x00 */ MPUREG_BANK_SEL, /* 0x6D */ MPUREG_MEM_START_ADDR, /* 0x6E */ MPUREG_MEM_R_W, /* 0x6F */ - MPUREG_PRGM_STRT_ADDRH, - MPUREG_PRGM_STRT_ADDRL, + MPUREG_PRGM_STRT_ADDRH, /* 0x00 */ + MPUREG_PRGM_STRT_ADDRL, /* 0x00 */ MPUREG_FIFO_COUNTH, /* 0x72 */ - MPUREG_FIFO_COUNTL, + MPUREG_FIFO_COUNTL, /* 0x00 */ MPUREG_FIFO_R_W, /* 0x74 */ MPUREG_WHOAMI, /* 0x75,117 */ @@ -309,7 +309,12 @@ enum MPU_MEMORY_BANKS { #define BIT_STBY_ZG 0x01 /* although it has 6, this refers to the gyros */ -#define MPU_NUM_AXES (3) +#define MPU_NUM_AXES (3) + +#define ACCEL_MOT_THR_LSB (32) /* mg */ +#define ACCEL_MOT_DUR_LSB (1) +#define ACCEL_ZRMOT_THR_LSB_CONVERSION(mg) ((mg *1000)/255) +#define ACCEL_ZRMOT_DUR_LSB (64) /*----------------------------------------------------------------------------*/ /*---- Alternative names to take care of conflicts with current mpu3050.h ----*/ |