26 lines
714 B
C
26 lines
714 B
C
#pragma once
|
|
|
|
// I2c address of MPU6050
|
|
#define MPU6050_ADDR 0x68 // With AD0 pin grounded/floating, otherwise 0x69
|
|
|
|
// MPU-6050 register addresses
|
|
#define MPU6050_REG_ACCEL_XOUT_H 0x3B
|
|
#define MPU6050_REG_ACCEL_XOUT_L 0x3C
|
|
#define MPU6050_REG_GYRO_XOUT_H 0x43
|
|
#define MPU6050_REG_GYRO_XOUT_L 0x44
|
|
#define MPU6050_TEMP_OUT_H 0x41
|
|
#define MPU6050_TEMP_OUT_L 0x42
|
|
#define MPU6050_REG_PWR_MGMT_1 0x6B
|
|
|
|
#include <stdint.h>
|
|
#include <avr/io.h>
|
|
#include <util/delay.h>
|
|
|
|
// Function to initialize MPU-6050
|
|
void MPU6050_Init();
|
|
|
|
// Function to read accelerometer data from MPU-6050
|
|
void MPU6050_Read_Accel(int16_t* accel_data);
|
|
|
|
// Function to read gyroscope data from MPU-6050
|
|
void MPU6050_Read_Gyro(int16_t* gyro_data);
|