2019-03-10 06:57:42 -07:00
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/*
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Copyright 2013 - 2019 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef MPU9150_H_
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#define MPU9150_H_
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#include "ch.h"
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#include "hal.h"
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// Functions
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2019-05-03 10:55:36 -07:00
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void mpu9150_init(stm32_gpio_t *sda_gpio, int sda_pin,
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stm32_gpio_t *scl_gpio, int scl_pin,
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stkalign_t *work_area, size_t work_area_size);
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2019-09-03 11:39:05 -07:00
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void mpu9150_stop(void);
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2019-03-10 06:57:42 -07:00
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bool mpu9150_is_mpu9250(void);
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void mpu9150_cmd_print(BaseSequentialStream *chp, int argc, char *argv[]);
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void mpu9150_cmd_sample_offsets(BaseSequentialStream *chp, int argc, char *argv[]);
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void mpu9150_get_raw_accel_gyro_mag(int16_t *gyro_accel);
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void mpu9150_get_accel(float *accel);
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void mpu9150_get_gyro(float *gyro);
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void mpu9150_get_mag(float *mag);
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void mpu9150_get_accel_gyro_mag(float *accel, float *gyro, float *mag);
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2019-09-03 11:39:05 -07:00
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void mpu9150_set_rate_hz(int hz);
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2019-03-10 06:57:42 -07:00
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void mpu9150_sample_gyro_offsets(uint32_t iteratons);
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2019-05-03 10:55:36 -07:00
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void mpu9150_set_read_callback(void(*func)(float *accel, float *gyro, float *mag));
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2019-03-10 06:57:42 -07:00
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uint32_t mpu9150_get_time_since_update(void);
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float mpu9150_get_last_sample_duration(void);
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int mpu9150_get_failed_reads(void);
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int mpu9150_get_failed_mag_reads(void);
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int mpu9150_mag_updated(void);
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// Magnetometer Registers
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#define MPU9150_WIA 0x00
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#define MPU9150_INFO 0x01
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#define MPU9150_ST1 0x02
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#define MPU9150_HXL 0x03
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#define MPU9150_HXH 0x04
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#define MPU9150_HYL 0x05
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#define MPU9150_HYH 0x06
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#define MPU9150_HZL 0x07
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#define MPU9150_HZH 0x08
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#define MPU9150_ST2 0x09
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#define MPU9150_CNTL 0x0A
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#define MPU9150_RSV 0x0B
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#define MPU9150_ASTC 0x0C
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#define MPU9150_TS1 0x0D
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#define MPU9150_TS2 0x0E
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#define MPU9150_I2CDIS 0x0F
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#define MPU9150_ASAX 0x10
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#define MPU9150_ASAY 0x11
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#define MPU9150_ASAZ 0x12
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//#define MPU9150_ASTC 0x13 // ??
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// Gyroscope/accelerometer registers
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#define MPU9150_SELF_TEST_X 0x0D
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#define MPU9150_SELF_TEST_Y 0x0E
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#define MPU9150_SELF_TEST_Z 0x0F
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#define MPU9150_SELF_TEST_A 0x10
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#define MPU9150_SMPLRT_DIV 0x19
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#define MPU9150_CONFIG 0x1A
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#define MPU9150_GYRO_CONFIG 0x1B
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#define MPU9150_ACCEL_CONFIG 0x1C
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#define MPU9150_FF_THR 0x1D
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#define MPU9150_FF_DUR 0x1E
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#define MPU9150_MOT_THR 0x1F
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#define MPU9150_MOT_DUR 0x20
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#define MPU9150_ZRMOT_THR 0x21
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#define MPU9150_ZRMOT_DUR 0x22
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#define MPU9150_FIFO_EN 0x23
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#define MPU9150_I2C_MST_CTRL 0x24
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#define MPU9150_I2C_SLV0_ADDR 0x25
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#define MPU9150_I2C_SLV0_REG 0x26
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#define MPU9150_I2C_SLV0_CTRL 0x27
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#define MPU9150_I2C_SLV1_ADDR 0x28
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#define MPU9150_I2C_SLV1_REG 0x29
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#define MPU9150_I2C_SLV1_CTRL 0x2A
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#define MPU9150_I2C_SLV2_ADDR 0x2B
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#define MPU9150_I2C_SLV2_REG 0x2C
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#define MPU9150_I2C_SLV2_CTRL 0x2D
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#define MPU9150_I2C_SLV3_ADDR 0x2E
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#define MPU9150_I2C_SLV3_REG 0x2F
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#define MPU9150_I2C_SLV3_CTRL 0x30
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#define MPU9150_I2C_SLV4_ADDR 0x31
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#define MPU9150_I2C_SLV4_REG 0x32
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#define MPU9150_I2C_SLV4_DO 0x33
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#define MPU9150_I2C_SLV4_CTRL 0x34
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#define MPU9150_I2C_SLV4_DI 0x35
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#define MPU9150_I2C_MST_STATUS 0x36
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#define MPU9150_INT_PIN_CFG 0x37
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#define MPU9150_INT_ENABLE 0x38
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#define MPU9150_DMP_INT_STATUS 0x39
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#define MPU9150_INT_STATUS 0x3A
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#define MPU9150_ACCEL_XOUT_H 0x3B
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#define MPU9150_ACCEL_XOUT_L 0x3C
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#define MPU9150_ACCEL_YOUT_H 0x3D
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#define MPU9150_ACCEL_YOUT_L 0x3E
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#define MPU9150_ACCEL_ZOUT_H 0x3F
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#define MPU9150_ACCEL_ZOUT_L 0x40
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#define MPU9150_TEMP_OUT_H 0x41
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#define MPU9150_TEMP_OUT_L 0x42
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#define MPU9150_GYRO_XOUT_H 0x43
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#define MPU9150_GYRO_XOUT_L 0x44
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#define MPU9150_GYRO_YOUT_H 0x45
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#define MPU9150_GYRO_YOUT_L 0x46
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#define MPU9150_GYRO_ZOUT_H 0x47
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#define MPU9150_GYRO_ZOUT_L 0x48
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#define MPU9150_EXT_SENS_DATA_00 0x49
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#define MPU9150_EXT_SENS_DATA_01 0x4A
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#define MPU9150_EXT_SENS_DATA_02 0x4B
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#define MPU9150_EXT_SENS_DATA_03 0x4C
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#define MPU9150_EXT_SENS_DATA_04 0x4D
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#define MPU9150_EXT_SENS_DATA_05 0x4E
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#define MPU9150_EXT_SENS_DATA_06 0x4F
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#define MPU9150_EXT_SENS_DATA_07 0x50
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#define MPU9150_EXT_SENS_DATA_08 0x51
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#define MPU9150_EXT_SENS_DATA_09 0x52
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#define MPU9150_EXT_SENS_DATA_10 0x53
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#define MPU9150_EXT_SENS_DATA_11 0x54
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#define MPU9150_EXT_SENS_DATA_12 0x55
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#define MPU9150_EXT_SENS_DATA_13 0x56
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#define MPU9150_EXT_SENS_DATA_14 0x57
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#define MPU9150_EXT_SENS_DATA_15 0x58
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#define MPU9150_EXT_SENS_DATA_16 0x59
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#define MPU9150_EXT_SENS_DATA_17 0x5A
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#define MPU9150_EXT_SENS_DATA_18 0x5B
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#define MPU9150_EXT_SENS_DATA_19 0x5C
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#define MPU9150_EXT_SENS_DATA_20 0x5D
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#define MPU9150_EXT_SENS_DATA_21 0x5E
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#define MPU9150_EXT_SENS_DATA_22 0x5F
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#define MPU9150_EXT_SENS_DATA_23 0x60
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#define MPU9150_MOT_DETECT_STATUS 0x61
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#define MPU9150_I2C_SLV0_DO 0x63
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#define MPU9150_I2C_SLV1_DO 0x64
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#define MPU9150_I2C_SLV2_DO 0x65
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#define MPU9150_I2C_SLV3_DO 0x66
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#define MPU9150_I2C_MST_DELAY_CTRL 0x67
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#define MPU9150_SIGNAL_PATH_RESET 0x68
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#define MPU9150_MOT_DETECT_CTRL 0x69
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#define MPU9150_USER_CTRL 0x6A
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#define MPU9150_PWR_MGMT_1 0x6B
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#define MPU9150_PWR_MGMT_2 0x6C
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#define MPU9150_BANK_SEL 0x6D
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#define MPU9150_MEM_START_ADDR 0x6E
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#define MPU9150_MEM_R_W 0x6F
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#define MPU9150_DMP_CFG_1 0x70
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#define MPU9150_DMP_CFG_2 0x71
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#define MPU9150_FIFO_COUNTH 0x72
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#define MPU9150_FIFO_COUNTL 0x73
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#define MPU9150_FIFO_R_W 0x74
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#define MPU9150_WHO_AM_I 0x75
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#define MPU9150_ADDRESS_AD0_LOW 0x68
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#define MPU9150_ADDRESS_AD0_HIGH 0x69
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#define MPU9150_DEFAULT_ADDRESS (MPU9150_ADDRESS_AD0_LOW<<1)
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#define MPU9150_TC_PWR_MODE_BIT 7
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#define MPU9150_TC_OFFSET_BIT 6
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#define MPU9150_TC_OFFSET_LENGTH 6
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#define MPU9150_TC_OTP_BNK_VLD_BIT 0
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#define MPU9150_VDDIO_LEVEL_VLOGIC 0
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#define MPU9150_VDDIO_LEVEL_VDD 1
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#define MPU9150_CFG_EXT_SYNC_SET_BIT 5
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#define MPU9150_CFG_EXT_SYNC_SET_LENGTH 3
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#define MPU9150_CFG_DLPF_CFG_BIT 2
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#define MPU9150_CFG_DLPF_CFG_LENGTH 3
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#define MPU9150_EXT_SYNC_DISABLED 0x0
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#define MPU9150_EXT_SYNC_TEMP_OUT_L 0x1
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#define MPU9150_EXT_SYNC_GYRO_XOUT_L 0x2
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#define MPU9150_EXT_SYNC_GYRO_YOUT_L 0x3
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#define MPU9150_EXT_SYNC_GYRO_ZOUT_L 0x4
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#define MPU9150_EXT_SYNC_ACCEL_XOUT_L 0x5
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#define MPU9150_EXT_SYNC_ACCEL_YOUT_L 0x6
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#define MPU9150_EXT_SYNC_ACCEL_ZOUT_L 0x7
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#define MPU9150_DLPF_BW_256 0x00
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#define MPU9150_DLPF_BW_188 0x01
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#define MPU9150_DLPF_BW_98 0x02
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#define MPU9150_DLPF_BW_42 0x03
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#define MPU9150_DLPF_BW_20 0x04
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#define MPU9150_DLPF_BW_10 0x05
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#define MPU9150_DLPF_BW_5 0x06
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#define MPU9150_GCONFIG_FS_SEL_BIT 3
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#define MPU9150_GCONFIG_FS_SEL_LENGTH 2
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#define MPU9150_GYRO_FS_250 0x00
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#define MPU9150_GYRO_FS_500 0x01
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#define MPU9150_GYRO_FS_1000 0x02
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#define MPU9150_GYRO_FS_2000 0x03
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#define MPU9150_ACONFIG_XA_ST_BIT 7
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#define MPU9150_ACONFIG_YA_ST_BIT 6
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#define MPU9150_ACONFIG_ZA_ST_BIT 5
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#define MPU9150_ACONFIG_AFS_SEL_BIT 3
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#define MPU9150_ACONFIG_AFS_SEL_LENGTH 2
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#define MPU9150_ACONFIG_ACCEL_HPF_BIT 0
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#define MPU9150_ACONFIG_ACCEL_HPF_LENGTH 3
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#define MPU9150_ACCEL_FS_2 0x00
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#define MPU9150_ACCEL_FS_4 0x01
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#define MPU9150_ACCEL_FS_8 0x02
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#define MPU9150_ACCEL_FS_16 0x03
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#define MPU9150_DHPF_RESET 0x00
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#define MPU9150_DHPF_5 0x01
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#define MPU9150_DHPF_2P5 0x02
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#define MPU9150_DHPF_1P25 0x03
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#define MPU9150_DHPF_0P63 0x04
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#define MPU9150_DHPF_HOLD 0x07
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#define MPU9150_TEMP_FIFO_EN_BIT 7
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#define MPU9150_XG_FIFO_EN_BIT 6
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#define MPU9150_YG_FIFO_EN_BIT 5
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#define MPU9150_ZG_FIFO_EN_BIT 4
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#define MPU9150_ACCEL_FIFO_EN_BIT 3
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#define MPU9150_SLV2_FIFO_EN_BIT 2
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#define MPU9150_SLV1_FIFO_EN_BIT 1
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#define MPU9150_SLV0_FIFO_EN_BIT 0
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#define MPU9150_MULT_MST_EN_BIT 7
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#define MPU9150_WAIT_FOR_ES_BIT 6
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#define MPU9150_SLV_3_FIFO_EN_BIT 5
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#define MPU9150_I2C_MST_P_NSR_BIT 4
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#define MPU9150_I2C_MST_CLK_BIT 3
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#define MPU9150_I2C_MST_CLK_LENGTH 4
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#define MPU9150_CLOCK_DIV_348 0x0
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#define MPU9150_CLOCK_DIV_333 0x1
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#define MPU9150_CLOCK_DIV_320 0x2
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#define MPU9150_CLOCK_DIV_308 0x3
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#define MPU9150_CLOCK_DIV_296 0x4
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#define MPU9150_CLOCK_DIV_286 0x5
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#define MPU9150_CLOCK_DIV_276 0x6
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#define MPU9150_CLOCK_DIV_267 0x7
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#define MPU9150_CLOCK_DIV_258 0x8
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#define MPU9150_CLOCK_DIV_500 0x9
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#define MPU9150_CLOCK_DIV_471 0xA
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#define MPU9150_CLOCK_DIV_444 0xB
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#define MPU9150_CLOCK_DIV_421 0xC
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#define MPU9150_CLOCK_DIV_400 0xD
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#define MPU9150_CLOCK_DIV_381 0xE
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#define MPU9150_CLOCK_DIV_364 0xF
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#define MPU9150_I2C_SLV_RW_BIT 7
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#define MPU9150_I2C_SLV_ADDR_BIT 6
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#define MPU9150_I2C_SLV_ADDR_LENGTH 7
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#define MPU9150_I2C_SLV_EN_BIT 7
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#define MPU9150_I2C_SLV_BYTE_SW_BIT 6
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#define MPU9150_I2C_SLV_REG_DIS_BIT 5
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#define MPU9150_I2C_SLV_GRP_BIT 4
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#define MPU9150_I2C_SLV_LEN_BIT 3
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#define MPU9150_I2C_SLV_LEN_LENGTH 4
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#define MPU9150_I2C_SLV4_RW_BIT 7
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#define MPU9150_I2C_SLV4_ADDR_BIT 6
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#define MPU9150_I2C_SLV4_ADDR_LENGTH 7
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#define MPU9150_I2C_SLV4_EN_BIT 7
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#define MPU9150_I2C_SLV4_INT_EN_BIT 6
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#define MPU9150_I2C_SLV4_REG_DIS_BIT 5
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#define MPU9150_I2C_SLV4_MST_DLY_BIT 4
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#define MPU9150_I2C_SLV4_MST_DLY_LENGTH 5
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#define MPU9150_MST_PASS_THROUGH_BIT 7
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#define MPU9150_MST_I2C_SLV4_DONE_BIT 6
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#define MPU9150_MST_I2C_LOST_ARB_BIT 5
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#define MPU9150_MST_I2C_SLV4_NACK_BIT 4
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#define MPU9150_MST_I2C_SLV3_NACK_BIT 3
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#define MPU9150_MST_I2C_SLV2_NACK_BIT 2
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#define MPU9150_MST_I2C_SLV1_NACK_BIT 1
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#define MPU9150_MST_I2C_SLV0_NACK_BIT 0
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#define MPU9150_INTCFG_INT_LEVEL_BIT 7
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#define MPU9150_INTCFG_INT_OPEN_BIT 6
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#define MPU9150_INTCFG_LATCH_INT_EN_BIT 5
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#define MPU9150_INTCFG_INT_RD_CLEAR_BIT 4
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#define MPU9150_INTCFG_FSYNC_INT_LEVEL_BIT 3
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#define MPU9150_INTCFG_FSYNC_INT_EN_BIT 2
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#define MPU9150_INTCFG_I2C_BYPASS_EN_BIT 1
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#define MPU9150_INTCFG_CLKOUT_EN_BIT 0
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#define MPU9150_INTMODE_ACTIVEHIGH 0x00
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#define MPU9150_INTMODE_ACTIVELOW 0x01
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#define MPU9150_INTDRV_PUSHPULL 0x00
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#define MPU9150_INTDRV_OPENDRAIN 0x01
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#define MPU9150_INTLATCH_50USPULSE 0x00
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#define MPU9150_INTLATCH_WAITCLEAR 0x01
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#define MPU9150_INTCLEAR_STATUSREAD 0x00
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#define MPU9150_INTCLEAR_ANYREAD 0x01
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#define MPU9150_INTERRUPT_FF_BIT 7
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#define MPU9150_INTERRUPT_MOT_BIT 6
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#define MPU9150_INTERRUPT_ZMOT_BIT 5
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#define MPU9150_INTERRUPT_FIFO_OFLOW_BIT 4
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#define MPU9150_INTERRUPT_I2C_MST_INT_BIT 3
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#define MPU9150_INTERRUPT_PLL_RDY_INT_BIT 2
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#define MPU9150_INTERRUPT_DMP_INT_BIT 1
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#define MPU9150_INTERRUPT_DATA_RDY_BIT 0
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#define MPU9150_DMPINT_5_BIT 5
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#define MPU9150_DMPINT_4_BIT 4
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#define MPU9150_DMPINT_3_BIT 3
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#define MPU9150_DMPINT_2_BIT 2
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#define MPU9150_DMPINT_1_BIT 1
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#define MPU9150_DMPINT_0_BIT 0
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#define MPU9150_MOTION_MOT_XNEG_BIT 7
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#define MPU9150_MOTION_MOT_XPOS_BIT 6
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#define MPU9150_MOTION_MOT_YNEG_BIT 5
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#define MPU9150_MOTION_MOT_YPOS_BIT 4
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#define MPU9150_MOTION_MOT_ZNEG_BIT 3
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#define MPU9150_MOTION_MOT_ZPOS_BIT 2
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#define MPU9150_MOTION_MOT_ZRMOT_BIT 0
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#define MPU9150_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
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#define MPU9150_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
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#define MPU9150_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
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#define MPU9150_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
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#define MPU9150_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
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#define MPU9150_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
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#define MPU9150_PATHRESET_GYRO_RESET_BIT 2
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#define MPU9150_PATHRESET_ACCEL_RESET_BIT 1
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#define MPU9150_PATHRESET_TEMP_RESET_BIT 0
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#define MPU9150_DETECT_ACCEL_ON_DELAY_BIT 5
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#define MPU9150_DETECT_ACCEL_ON_DELAY_LENGTH 2
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#define MPU9150_DETECT_FF_COUNT_BIT 3
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#define MPU9150_DETECT_FF_COUNT_LENGTH 2
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#define MPU9150_DETECT_MOT_COUNT_BIT 1
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#define MPU9150_DETECT_MOT_COUNT_LENGTH 2
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#define MPU9150_DETECT_DECREMENT_RESET 0x0
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#define MPU9150_DETECT_DECREMENT_1 0x1
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#define MPU9150_DETECT_DECREMENT_2 0x2
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#define MPU9150_DETECT_DECREMENT_4 0x3
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#define MPU9150_USERCTRL_DMP_EN_BIT 7
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#define MPU9150_USERCTRL_FIFO_EN_BIT 6
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#define MPU9150_USERCTRL_I2C_MST_EN_BIT 5
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#define MPU9150_USERCTRL_I2C_IF_DIS_BIT 4
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#define MPU9150_USERCTRL_DMP_RESET_BIT 3
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#define MPU9150_USERCTRL_FIFO_RESET_BIT 2
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#define MPU9150_USERCTRL_I2C_MST_RESET_BIT 1
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#define MPU9150_USERCTRL_SIG_COND_RESET_BIT 0
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#define MPU9150_PWR1_DEVICE_RESET_BIT 7
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#define MPU9150_PWR1_SLEEP_BIT 6
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#define MPU9150_PWR1_CYCLE_BIT 5
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#define MPU9150_PWR1_TEMP_DIS_BIT 3
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#define MPU9150_PWR1_CLKSEL_BIT 2
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#define MPU9150_PWR1_CLKSEL_LENGTH 3
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#define MPU9150_CLOCK_INTERNAL 0x00
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#define MPU9150_CLOCK_PLL_XGYRO 0x01
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#define MPU9150_CLOCK_PLL_YGYRO 0x02
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#define MPU9150_CLOCK_PLL_ZGYRO 0x03
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#define MPU9150_CLOCK_PLL_EXT32K 0x04
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#define MPU9150_CLOCK_PLL_EXT19M 0x05
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#define MPU9150_CLOCK_KEEP_RESET 0x07
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#define MPU9150_PWR2_LP_WAKE_CTRL_BIT 7
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#define MPU9150_PWR2_LP_WAKE_CTRL_LENGTH 2
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#define MPU9150_PWR2_STBY_XA_BIT 5
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#define MPU9150_PWR2_STBY_YA_BIT 4
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#define MPU9150_PWR2_STBY_ZA_BIT 3
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#define MPU9150_PWR2_STBY_XG_BIT 2
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#define MPU9150_PWR2_STBY_YG_BIT 1
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#define MPU9150_PWR2_STBY_ZG_BIT 0
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#define MPU9150_WAKE_FREQ_1P25 0x0
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#define MPU9150_WAKE_FREQ_2P5 0x1
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#define MPU9150_WAKE_FREQ_5 0x2
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#define MPU9150_WAKE_FREQ_10 0x3
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#define MPU9150_BANKSEL_PRFTCH_EN_BIT 6
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#define MPU9150_BANKSEL_CFG_USER_BANK_BIT 5
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#define MPU9150_BANKSEL_MEM_SEL_BIT 4
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#define MPU9150_BANKSEL_MEM_SEL_LENGTH 5
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#define MPU9150_WHO_AM_I_BIT 6
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#define MPU9150_WHO_AM_I_LENGTH 6
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#define MPU9150_DMP_MEMORY_BANKS 8
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#define MPU9150_DMP_MEMORY_BANK_SIZE 256
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#define MPU9150_DMP_MEMORY_CHUNK_SIZE 16
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#endif /* MP9150_H_ */
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