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MPU6050RegDefs.h
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MPU6050RegDefs.h
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/*
* File: MPU6050Registers.h
* Author: matt
*
* Created on 22 October 2012, 14:49
*/
#ifndef MPU6050REGISTERS_H
#define MPU6050REGISTERS_H
const unsigned char MPU6050_ADDRESS = 0x69;
//Register address map
const unsigned char MPU6050_RA_XG_OFFS_TC = 0x00; //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
const unsigned char MPU6050_RA_YG_OFFS_TC = 0x01; //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
const unsigned char MPU6050_RA_ZG_OFFS_TC = 0x02; //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
const unsigned char MPU6050_RA_X_FINE_GAIN = 0x03; //[7:0] X_FINE_GAIN
const unsigned char MPU6050_RA_Y_FINE_GAIN = 0x04; //[7:0] Y_FINE_GAIN
const unsigned char MPU6050_RA_Z_FINE_GAIN = 0x05; //[7:0] Z_FINE_GAIN
const unsigned char MPU6050_RA_XA_OFFS_H = 0x06; //[15:0] XA_OFFS
const unsigned char MPU6050_RA_XA_OFFS_L_TC = 0x07;
const unsigned char MPU6050_RA_YA_OFFS_H = 0x08; //[15:0] YA_OFFS
const unsigned char MPU6050_RA_YA_OFFS_L_TC = 0x09;
const unsigned char MPU6050_RA_ZA_OFFS_H = 0x0A; //[15:0] ZA_OFFS
const unsigned char MPU6050_RA_ZA_OFFS_L_TC = 0x0B;
const unsigned char MPU6050_RA_XG_OFFS_USRH = 0x13; //[15:0] XG_OFFS_USR
const unsigned char MPU6050_RA_XG_OFFS_USRL = 0x14;
const unsigned char MPU6050_RA_YG_OFFS_USRH = 0x15; //[15:0] YG_OFFS_USR
const unsigned char MPU6050_RA_YG_OFFS_USRL = 0x16;
const unsigned char MPU6050_RA_ZG_OFFS_USRH = 0x17; //[15:0] ZG_OFFS_USR
const unsigned char MPU6050_RA_ZG_OFFS_USRL = 0x18;
const unsigned char MPU6050_RA_SMPLRT_DIV = 0x19;
const unsigned char MPU6050_RA_CONFIG = 0x1A;
const unsigned char MPU6050_RA_GYRO_CONFIG = 0x1B;
const unsigned char MPU6050_RA_ACCEL_CONFIG = 0x1C;
const unsigned char MPU6050_RA_FF_THR = 0x1D;
const unsigned char MPU6050_RA_FF_DUR = 0x1E;
const unsigned char MPU6050_RA_MOT_THR = 0x1F;
const unsigned char MPU6050_RA_MOT_DUR = 0x20;
const unsigned char MPU6050_RA_ZRMOT_THR = 0x21;
const unsigned char MPU6050_RA_ZRMOT_DUR = 0x22;
const unsigned char MPU6050_RA_FIFO_EN = 0x23;
const unsigned char MPU6050_RA_I2C_MST_CTRL = 0x24;
const unsigned char MPU6050_RA_I2C_SLV0_ADDR = 0x25;
const unsigned char MPU6050_RA_I2C_SLV0_REG = 0x26;
const unsigned char MPU6050_RA_I2C_SLV0_CTRL = 0x27;
const unsigned char MPU6050_RA_I2C_SLV1_ADDR = 0x28;
const unsigned char MPU6050_RA_I2C_SLV1_REG = 0x29;
const unsigned char MPU6050_RA_I2C_SLV1_CTRL = 0x2A;
const unsigned char MPU6050_RA_I2C_SLV2_ADDR = 0x2B;
const unsigned char MPU6050_RA_I2C_SLV2_REG = 0x2C;
const unsigned char MPU6050_RA_I2C_SLV2_CTRL = 0x2D;
const unsigned char MPU6050_RA_I2C_SLV3_ADDR = 0x2E;
const unsigned char MPU6050_RA_I2C_SLV3_REG = 0x2F;
const unsigned char MPU6050_RA_I2C_SLV3_CTRL = 0x30;
const unsigned char MPU6050_RA_I2C_SLV4_ADDR = 0x31;
const unsigned char MPU6050_RA_I2C_SLV4_REG = 0x32;
const unsigned char MPU6050_RA_I2C_SLV4_DO = 0x33;
const unsigned char MPU6050_RA_I2C_SLV4_CTRL = 0x34;
const unsigned char MPU6050_RA_I2C_SLV4_DI = 0x35;
const unsigned char MPU6050_RA_I2C_MST_STATUS = 0x36;
const unsigned char MPU6050_RA_INT_PIN_CFG = 0x37;
const unsigned char MPU6050_RA_INT_ENABLE = 0x38;
const unsigned char MPU6050_RA_DMP_INT_STATUS = 0x39;
const unsigned char MPU6050_RA_INT_STATUS = 0x3A;
const unsigned char MPU6050_RA_ACCEL_XOUT_H = 0x3B;
const unsigned char MPU6050_RA_ACCEL_XOUT_L = 0x3C;
const unsigned char MPU6050_RA_ACCEL_YOUT_H = 0x3D;
const unsigned char MPU6050_RA_ACCEL_YOUT_L = 0x3E;
const unsigned char MPU6050_RA_ACCEL_ZOUT_H = 0x3F;
const unsigned char MPU6050_RA_ACCEL_ZOUT_L = 0x40;
const unsigned char MPU6050_RA_TEMP_OUT_H = 0x41;
const unsigned char MPU6050_RA_TEMP_OUT_L = 0x42;
const unsigned char MPU6050_RA_GYRO_XOUT_H = 0x43;
const unsigned char MPU6050_RA_GYRO_XOUT_L = 0x44;
const unsigned char MPU6050_RA_GYRO_YOUT_H = 0x45;
const unsigned char MPU6050_RA_GYRO_YOUT_L = 0x46;
const unsigned char MPU6050_RA_GYRO_ZOUT_H = 0x47;
const unsigned char MPU6050_RA_GYRO_ZOUT_L = 0x48;
const unsigned char MPU6050_RA_EXT_SENS_DATA_00 = 0x49;
const unsigned char MPU6050_RA_EXT_SENS_DATA_01 = 0x4A;
const unsigned char MPU6050_RA_EXT_SENS_DATA_02 = 0x4B;
const unsigned char MPU6050_RA_EXT_SENS_DATA_03 = 0x4C;
const unsigned char MPU6050_RA_EXT_SENS_DATA_04 = 0x4D;
const unsigned char MPU6050_RA_EXT_SENS_DATA_05 = 0x4E;
const unsigned char MPU6050_RA_EXT_SENS_DATA_06 = 0x4F;
const unsigned char MPU6050_RA_EXT_SENS_DATA_07 = 0x50;
const unsigned char MPU6050_RA_EXT_SENS_DATA_08 = 0x51;
const unsigned char MPU6050_RA_EXT_SENS_DATA_09 = 0x52;
const unsigned char MPU6050_RA_EXT_SENS_DATA_10 = 0x53;
const unsigned char MPU6050_RA_EXT_SENS_DATA_11 = 0x54;
const unsigned char MPU6050_RA_EXT_SENS_DATA_12 = 0x55;
const unsigned char MPU6050_RA_EXT_SENS_DATA_13 = 0x56;
const unsigned char MPU6050_RA_EXT_SENS_DATA_14 = 0x57;
const unsigned char MPU6050_RA_EXT_SENS_DATA_15 = 0x58;
const unsigned char MPU6050_RA_EXT_SENS_DATA_16 = 0x59;
const unsigned char MPU6050_RA_EXT_SENS_DATA_17 = 0x5A;
const unsigned char MPU6050_RA_EXT_SENS_DATA_18 = 0x5B;
const unsigned char MPU6050_RA_EXT_SENS_DATA_19 = 0x5C;
const unsigned char MPU6050_RA_EXT_SENS_DATA_20 = 0x5D;
const unsigned char MPU6050_RA_EXT_SENS_DATA_21 = 0x5E;
const unsigned char MPU6050_RA_EXT_SENS_DATA_22 = 0x5F;
const unsigned char MPU6050_RA_EXT_SENS_DATA_23 = 0x60;
const unsigned char MPU6050_RA_MOT_DETECT_STATUS = 0x61;
const unsigned char MPU6050_RA_I2C_SLV0_DO = 0x63;
const unsigned char MPU6050_RA_I2C_SLV1_DO = 0x64;
const unsigned char MPU6050_RA_I2C_SLV2_DO = 0x65;
const unsigned char MPU6050_RA_I2C_SLV3_DO = 0x66;
const unsigned char MPU6050_RA_I2C_MST_DELAY_CTRL = 0x67;
const unsigned char MPU6050_RA_SIGNAL_PATH_RESET = 0x68;
const unsigned char MPU6050_RA_MOT_DETECT_CTRL = 0x69;
const unsigned char MPU6050_RA_USER_CTRL = 0x6A;
const unsigned char MPU6050_RA_PWR_MGMT_1 = 0x6B;
const unsigned char MPU6050_RA_PWR_MGMT_2 = 0x6C;
const unsigned char MPU6050_RA_BANK_SEL = 0x6D;
const unsigned char MPU6050_RA_MEM_START_ADDR = 0x6E;
const unsigned char MPU6050_RA_MEM_R_W = 0x6F;
const unsigned char MPU6050_RA_DMP_CFG_1 = 0x70;
const unsigned char MPU6050_RA_DMP_CFG_2 = 0x71;
const unsigned char MPU6050_RA_FIFO_COUNTH = 0x72;
const unsigned char MPU6050_RA_FIFO_COUNTL = 0x73;
const unsigned char MPU6050_RA_FIFO_R_W = 0x74;
const unsigned char MPU6050_RA_WHO_AM_I = 0x75;
//
//const unsigned char MPU6050_TC_PWR_MODE_BIT = 7;
//const unsigned char MPU6050_TC_OFFSET_BIT = 6;
//const unsigned char MPU6050_TC_OFFSET_LENGTH = 6;
//const unsigned char MPU6050_TC_OTP_BNK_VLD_BIT = 0;
//
//const unsigned char MPU6050_VDDIO_LEVEL_VLOGIC = 0;
//const unsigned char MPU6050_VDDIO_LEVEL_VDD = 1;
//
//const unsigned char MPU6050_CFG_EXT_SYNC_SET_BIT = 5;
//const unsigned char MPU6050_CFG_EXT_SYNC_SET_LENGTH = 3;
//const unsigned char MPU6050_CFG_DLPF_CFG_BIT = 2;
//const unsigned char MPU6050_CFG_DLPF_CFG_LENGTH = 3;
//
//const unsigned char MPU6050_EXT_SYNC_DISABLED = 0x0;
//const unsigned char MPU6050_EXT_SYNC_TEMP_OUT_L = 0x1;
//const unsigned char MPU6050_EXT_SYNC_GYRO_XOUT_L = 0x2;
//const unsigned char MPU6050_EXT_SYNC_GYRO_YOUT_L = 0x3;
//const unsigned char MPU6050_EXT_SYNC_GYRO_ZOUT_L = 0x4;
//const unsigned char MPU6050_EXT_SYNC_ACCEL_XOUT_L = 0x5;
//const unsigned char MPU6050_EXT_SYNC_ACCEL_YOUT_L = 0x6;
//const unsigned char MPU6050_EXT_SYNC_ACCEL_ZOUT_L = 0x7;
//
const unsigned char MPU6050_DLPF_BW_256 = 0x00;
const unsigned char MPU6050_DLPF_BW_188 = 0x01;
const unsigned char MPU6050_DLPF_BW_98 = 0x02;
const unsigned char MPU6050_DLPF_BW_42 = 0x03;
const unsigned char MPU6050_DLPF_BW_20 = 0x04;
const unsigned char MPU6050_DLPF_BW_10 = 0x05;
const unsigned char MPU6050_DLPF_BW_5 = 0x06;
//
//const unsigned char MPU6050_GCONFIG_FS_SEL_BIT = 4;
//const unsigned char MPU6050_GCONFIG_FS_SEL_LENGTH = 2;
//
const unsigned char MPU6050_GYRO_FS_250 = 0x00<<3;
const unsigned char MPU6050_GYRO_FS_500 = 0x01<<3;
const unsigned char MPU6050_GYRO_FS_1000 = 0x02<<3;
const unsigned char MPU6050_GYRO_FS_2000 = 0x03<<3;
//
//const unsigned char MPU6050_ACONFIG_XA_ST_BIT = 7;
//const unsigned char MPU6050_ACONFIG_YA_ST_BIT = 6;
//const unsigned char MPU6050_ACONFIG_ZA_ST_BIT = 5;
//const unsigned char MPU6050_ACONFIG_AFS_SEL_BIT = 4;
//const unsigned char MPU6050_ACONFIG_AFS_SEL_LENGTH = 2;
//const unsigned char MPU6050_ACONFIG_ACCEL_HPF_BIT = 2;
//const unsigned char MPU6050_ACONFIG_ACCEL_HPF_LENGTH = 3;
//
const unsigned char MPU6050_ACCEL_FS_2 = 0x00<<3;
const unsigned char MPU6050_ACCEL_FS_4 = 0x01<<3;
const unsigned char MPU6050_ACCEL_FS_8 = 0x02<<3;
const unsigned char MPU6050_ACCEL_FS_16 = 0x03<<3;
//
//const unsigned char MPU6050_DHPF_RESET = 0x00;
//const unsigned char MPU6050_DHPF_5 = 0x01;
//const unsigned char MPU6050_DHPF_2P5 = 0x02;
//const unsigned char MPU6050_DHPF_1P25 = 0x03;
//const unsigned char MPU6050_DHPF_0P63 = 0x04;
//const unsigned char MPU6050_DHPF_HOLD = 0x07;
//
//const unsigned char MPU6050_TEMP_FIFO_EN_BIT = 7;
//const unsigned char MPU6050_XG_FIFO_EN_BIT = 6;
//const unsigned char MPU6050_YG_FIFO_EN_BIT = 5;
//const unsigned char MPU6050_ZG_FIFO_EN_BIT = 4;
//const unsigned char MPU6050_ACCEL_FIFO_EN_BIT = 3;
//const unsigned char MPU6050_SLV2_FIFO_EN_BIT = 2;
//const unsigned char MPU6050_SLV1_FIFO_EN_BIT = 1;
//const unsigned char MPU6050_SLV0_FIFO_EN_BIT = 0;
//
//const unsigned char MPU6050_MULT_MST_EN_BIT = 7;
//const unsigned char MPU6050_WAIT_FOR_ES_BIT = 6;
//const unsigned char MPU6050_SLV_3_FIFO_EN_BIT = 5;
//const unsigned char MPU6050_I2C_MST_P_NSR_BIT = 4;
//const unsigned char MPU6050_I2C_MST_CLK_BIT = 3;
//const unsigned char MPU6050_I2C_MST_CLK_LENGTH = 4;
//
//const unsigned char MPU6050_CLOCK_DIV_348 = 0x0;
//const unsigned char MPU6050_CLOCK_DIV_333 = 0x1;
//const unsigned char MPU6050_CLOCK_DIV_320 = 0x2;
//const unsigned char MPU6050_CLOCK_DIV_308 = 0x3;
//const unsigned char MPU6050_CLOCK_DIV_296 = 0x4;
//const unsigned char MPU6050_CLOCK_DIV_286 = 0x5;
//const unsigned char MPU6050_CLOCK_DIV_276 = 0x6;
//const unsigned char MPU6050_CLOCK_DIV_267 = 0x7;
//const unsigned char MPU6050_CLOCK_DIV_258 = 0x8;
//const unsigned char MPU6050_CLOCK_DIV_500 = 0x9;
//const unsigned char MPU6050_CLOCK_DIV_471 = 0xA;
//const unsigned char MPU6050_CLOCK_DIV_444 = 0xB;
//const unsigned char MPU6050_CLOCK_DIV_421 = 0xC;
//const unsigned char MPU6050_CLOCK_DIV_400 = 0xD;
//const unsigned char MPU6050_CLOCK_DIV_381 = 0xE;
//const unsigned char MPU6050_CLOCK_DIV_364 = 0xF;
//
//const unsigned char MPU6050_I2C_SLV_RW_BIT = 7;
//const unsigned char MPU6050_I2C_SLV_ADDR_BIT = 6;
//const unsigned char MPU6050_I2C_SLV_ADDR_LENGTH = 7;
//const unsigned char MPU6050_I2C_SLV_EN_BIT = 7;
//const unsigned char MPU6050_I2C_SLV_BYTE_SW_BIT = 6;
//const unsigned char MPU6050_I2C_SLV_REG_DIS_BIT = 5;
//const unsigned char MPU6050_I2C_SLV_GRP_BIT = 4;
//const unsigned char MPU6050_I2C_SLV_LEN_BIT = 3;
//const unsigned char MPU6050_I2C_SLV_LEN_LENGTH = 4;
//
//const unsigned char MPU6050_I2C_SLV4_RW_BIT = 7;
//const unsigned char MPU6050_I2C_SLV4_ADDR_BIT = 6;
//const unsigned char MPU6050_I2C_SLV4_ADDR_LENGTH = 7;
//const unsigned char MPU6050_I2C_SLV4_EN_BIT = 7;
//const unsigned char MPU6050_I2C_SLV4_INT_EN_BIT = 6;
//const unsigned char MPU6050_I2C_SLV4_REG_DIS_BIT = 5;
//const unsigned char MPU6050_I2C_SLV4_MST_DLY_BIT = 4;
//const unsigned char MPU6050_I2C_SLV4_MST_DLY_LENGTH = 5;
//
//const unsigned char MPU6050_MST_PASS_THROUGH_BIT = 7;
//const unsigned char MPU6050_MST_I2C_SLV4_DONE_BIT = 6;
//const unsigned char MPU6050_MST_I2C_LOST_ARB_BIT = 5;
//const unsigned char MPU6050_MST_I2C_SLV4_NACK_BIT = 4;
//const unsigned char MPU6050_MST_I2C_SLV3_NACK_BIT = 3;
//const unsigned char MPU6050_MST_I2C_SLV2_NACK_BIT = 2;
//const unsigned char MPU6050_MST_I2C_SLV1_NACK_BIT = 1;
//const unsigned char MPU6050_MST_I2C_SLV0_NACK_BIT = 0;
//
//const unsigned char MPU6050_INTCFG_INT_LEVEL_BIT = 7;
//const unsigned char MPU6050_INTCFG_INT_OPEN_BIT = 6;
//const unsigned char MPU6050_INTCFG_LATCH_INT_EN_BIT = 5;
//const unsigned char MPU6050_INTCFG_INT_RD_CLEAR_BIT = 4;
//const unsigned char MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT = 3;
//const unsigned char MPU6050_INTCFG_FSYNC_INT_EN_BIT = 2;
//const unsigned char MPU6050_INTCFG_I2C_BYPASS_EN_BIT = 1;
//const unsigned char MPU6050_INTCFG_CLKOUT_EN_BIT = 0;
//
//const unsigned char MPU6050_INTMODE_ACTIVEHIGH = 0x00;
//const unsigned char MPU6050_INTMODE_ACTIVELOW = 0x01;
//
//const unsigned char MPU6050_INTDRV_PUSHPULL = 0x00;
//const unsigned char MPU6050_INTDRV_OPENDRAIN = 0x01;
//
//const unsigned char MPU6050_INTLATCH_50USPULSE = 0x00;
//const unsigned char MPU6050_INTLATCH_WAITCLEAR = 0x01;
//
//const unsigned char MPU6050_INTCLEAR_STATUSREAD = 0x00;
//const unsigned char MPU6050_INTCLEAR_ANYREAD = 0x01;
//
//const unsigned char MPU6050_INTERRUPT_FF_BIT = 7;
//const unsigned char MPU6050_INTERRUPT_MOT_BIT = 6;
//const unsigned char MPU6050_INTERRUPT_ZMOT_BIT = 5;
//const unsigned char MPU6050_INTERRUPT_FIFO_OFLOW_BIT = 4;
//const unsigned char MPU6050_INTERRUPT_I2C_MST_INT_BIT = 3;
//const unsigned char MPU6050_INTERRUPT_PLL_RDY_INT_BIT = 2;
//const unsigned char MPU6050_INTERRUPT_DMP_INT_BIT = 1;
//const unsigned char MPU6050_INTERRUPT_DATA_RDY_BIT = 0;
//
//// TODO: figure out what these actually do
//// UMPL source code is not very obivous
//const unsigned char MPU6050_DMPINT_5_BIT = 5;
//const unsigned char MPU6050_DMPINT_4_BIT = 4;
//const unsigned char MPU6050_DMPINT_3_BIT = 3;
//const unsigned char MPU6050_DMPINT_2_BIT = 2;
//const unsigned char MPU6050_DMPINT_1_BIT = 1;
//const unsigned char MPU6050_DMPINT_0_BIT = 0;
//
//const unsigned char MPU6050_MOTION_MOT_XNEG_BIT = 7;
//const unsigned char MPU6050_MOTION_MOT_XPOS_BIT = 6;
//const unsigned char MPU6050_MOTION_MOT_YNEG_BIT = 5;
//const unsigned char MPU6050_MOTION_MOT_YPOS_BIT = 4;
//const unsigned char MPU6050_MOTION_MOT_ZNEG_BIT = 3;
//const unsigned char MPU6050_MOTION_MOT_ZPOS_BIT = 2;
//const unsigned char MPU6050_MOTION_MOT_ZRMOT_BIT = 0;
//
//const unsigned char MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT = 7;
//const unsigned char MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT = 4;
//const unsigned char MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT = 3;
//const unsigned char MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT = 2;
//const unsigned char MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT = 1;
//const unsigned char MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT = 0;
//
//const unsigned char MPU6050_PATHRESET_GYRO_RESET_BIT = 2;
//const unsigned char MPU6050_PATHRESET_ACCEL_RESET_BIT = 1;
//const unsigned char MPU6050_PATHRESET_TEMP_RESET_BIT = 0;
//
//const unsigned char MPU6050_DETECT_ACCEL_ON_DELAY_BIT = 5;
//const unsigned char MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH = 2;
//const unsigned char MPU6050_DETECT_FF_COUNT_BIT = 3;
//const unsigned char MPU6050_DETECT_FF_COUNT_LENGTH = 2;
//const unsigned char MPU6050_DETECT_MOT_COUNT_BIT = 1;
//const unsigned char MPU6050_DETECT_MOT_COUNT_LENGTH = 2;
//
//const unsigned char MPU6050_DETECT_DECREMENT_RESET = 0x0;
//const unsigned char MPU6050_DETECT_DECREMENT_1 = 0x1;
//const unsigned char MPU6050_DETECT_DECREMENT_2 = 0x2;
//const unsigned char MPU6050_DETECT_DECREMENT_4 = 0x3;
//
//const unsigned char MPU6050_USERCTRL_DMP_EN_BIT = 7;
//const unsigned char MPU6050_USERCTRL_FIFO_EN_BIT = 6;
//const unsigned char MPU6050_USERCTRL_I2C_MST_EN_BIT = 5;
//const unsigned char MPU6050_USERCTRL_I2C_IF_DIS_BIT = 4;
//const unsigned char MPU6050_USERCTRL_DMP_RESET_BIT = 3;
//const unsigned char MPU6050_USERCTRL_FIFO_RESET_BIT = 2;
//const unsigned char MPU6050_USERCTRL_I2C_MST_RESET_BIT = 1;
//const unsigned char MPU6050_USERCTRL_SIG_COND_RESET_BIT = 0;
//
//const unsigned char MPU6050_PWR1_DEVICE_RESET_BIT = 7;
//const unsigned char MPU6050_PWR1_SLEEP_BIT = 6;
//const unsigned char MPU6050_PWR1_CYCLE_BIT = 5;
//const unsigned char MPU6050_PWR1_TEMP_DIS_BIT = 3;
//const unsigned char MPU6050_PWR1_CLKSEL_BIT = 2;
//const unsigned char MPU6050_PWR1_CLKSEL_LENGTH = 3;
//
const unsigned char MPU6050_CLOCK_INTERNAL = 0x00;
const unsigned char MPU6050_CLOCK_PLL_XGYRO = 0x01;
const unsigned char MPU6050_CLOCK_PLL_YGYRO = 0x02;
const unsigned char MPU6050_CLOCK_PLL_ZGYRO = 0x03;
const unsigned char MPU6050_CLOCK_PLL_EXT32K = 0x04;
const unsigned char MPU6050_CLOCK_PLL_EXT19M = 0x05;
const unsigned char MPU6050_CLOCK_KEEP_RESET = 0x07;
//
//const unsigned char MPU6050_PWR2_LP_WAKE_CTRL_BIT = 7;
//const unsigned char MPU6050_PWR2_LP_WAKE_CTRL_LENGTH = 2;
//const unsigned char MPU6050_PWR2_STBY_XA_BIT = 5;
//const unsigned char MPU6050_PWR2_STBY_YA_BIT = 4;
//const unsigned char MPU6050_PWR2_STBY_ZA_BIT = 3;
//const unsigned char MPU6050_PWR2_STBY_XG_BIT = 2;
//const unsigned char MPU6050_PWR2_STBY_YG_BIT = 1;
//const unsigned char MPU6050_PWR2_STBY_ZG_BIT = 0;
//
//const unsigned char MPU6050_WAKE_FREQ_1P25 = 0x0;
//const unsigned char MPU6050_WAKE_FREQ_2P5 = 0x1;
//const unsigned char MPU6050_WAKE_FREQ_5 = 0x2;
//const unsigned char MPU6050_WAKE_FREQ_10 = 0x3;
//
//const unsigned char MPU6050_BANKSEL_PRFTCH_EN_BIT = 6;
//const unsigned char MPU6050_BANKSEL_CFG_USER_BANK_BIT = 5;
//const unsigned char MPU6050_BANKSEL_MEM_SEL_BIT = 4;
//const unsigned char MPU6050_BANKSEL_MEM_SEL_LENGTH = 5;
//
//const unsigned char MPU6050_WHO_AM_I_BIT = 6;
//const unsigned char MPU6050_WHO_AM_I_LENGTH = 6;
//
//const unsigned char MPU6050_DMP_MEMORY_BANKS = 8;
//const unsigned short MPU6050_DMP_MEMORY_BANK_SIZE = 256;
//const unsigned char MPU6050_DMP_MEMORY_CHUNK_SIZE = 16;
#endif /* MPU6050REGISTERS_H */