MPU6050程序（转）

源：MPU6050程序

初始化定义

#ifndef _MPU6050_H

#define _MPU6050_H

#define PORT_USED        0

#define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board

#define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)

#define MPU6050_DEFAULT_ADDRESS     (MPU6050_ADDRESS_AD0_LOW<<1)

#define MPU6050_RA_XG_OFFS_TC       0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD

#define MPU6050_RA_YG_OFFS_TC       0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD

#define MPU6050_RA_ZG_OFFS_TC       0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD

#define MPU6050_RA_X_FINE_GAIN      0x03 //[7:0] X_FINE_GAIN

#define MPU6050_RA_Y_FINE_GAIN      0x04 //[7:0] Y_FINE_GAIN

#define MPU6050_RA_Z_FINE_GAIN      0x05 //[7:0] Z_FINE_GAIN

#define MPU6050_RA_XA_OFFS_H        0x06 //[15:0] XA_OFFS

#define MPU6050_RA_XA_OFFS_L_TC     0x07

#define MPU6050_RA_YA_OFFS_H        0x08 //[15:0] YA_OFFS

#define MPU6050_RA_YA_OFFS_L_TC     0x09

#define MPU6050_RA_ZA_OFFS_H        0x0A //[15:0] ZA_OFFS

#define MPU6050_RA_ZA_OFFS_L_TC     0x0B

#define MPU6050_RA_XG_OFFS_USRH     0x13 //[15:0] XG_OFFS_USR

#define MPU6050_RA_XG_OFFS_USRL     0x14

#define MPU6050_RA_YG_OFFS_USRH     0x15 //[15:0] YG_OFFS_USR

#define MPU6050_RA_YG_OFFS_USRL     0x16

#define MPU6050_RA_ZG_OFFS_USRH     0x17 //[15:0] ZG_OFFS_USR

#define MPU6050_RA_ZG_OFFS_USRL     0x18

#define MPU6050_RA_SMPLRT_DIV       0x19

#define MPU6050_RA_CONFIG           0x1A

#define MPU6050_RA_GYRO_CONFIG      0x1B

#define MPU6050_RA_ACCEL_CONFIG     0x1C

#define MPU6050_RA_FF_THR           0x1D

#define MPU6050_RA_FF_DUR           0x1E

#define MPU6050_RA_MOT_THR          0x1F

#define MPU6050_RA_MOT_DUR          0x20

#define MPU6050_RA_ZRMOT_THR        0x21

#define MPU6050_RA_ZRMOT_DUR        0x22

#define MPU6050_RA_FIFO_EN          0x23

#define MPU6050_RA_I2C_MST_CTRL     0x24

#define MPU6050_RA_I2C_SLV0_ADDR    0x25

#define MPU6050_RA_I2C_SLV0_REG     0x26

#define MPU6050_RA_I2C_SLV0_CTRL    0x27

#define MPU6050_RA_I2C_SLV1_ADDR    0x28

#define MPU6050_RA_I2C_SLV1_REG     0x29

#define MPU6050_RA_I2C_SLV1_CTRL    0x2A

#define MPU6050_RA_I2C_SLV2_ADDR    0x2B

#define MPU6050_RA_I2C_SLV2_REG     0x2C

#define MPU6050_RA_I2C_SLV2_CTRL    0x2D

#define MPU6050_RA_I2C_SLV3_ADDR    0x2E

#define MPU6050_RA_I2C_SLV3_REG     0x2F

#define MPU6050_RA_I2C_SLV3_CTRL    0x30

#define MPU6050_RA_I2C_SLV4_ADDR    0x31

#define MPU6050_RA_I2C_SLV4_REG     0x32

#define MPU6050_RA_I2C_SLV4_DO      0x33

#define MPU6050_RA_I2C_SLV4_CTRL    0x34

#define MPU6050_RA_I2C_SLV4_DI      0x35

#define MPU6050_RA_I2C_MST_STATUS   0x36

#define MPU6050_RA_INT_PIN_CFG      0x37

#define MPU6050_RA_INT_ENABLE       0x38

#define MPU6050_RA_DMP_INT_STATUS   0x39

#define MPU6050_RA_INT_STATUS       0x3A

#define MPU6050_RA_ACCEL_XOUT_H     0x3B

#define MPU6050_RA_ACCEL_XOUT_L     0x3C

#define MPU6050_RA_ACCEL_YOUT_H     0x3D

#define MPU6050_RA_ACCEL_YOUT_L     0x3E

#define MPU6050_RA_ACCEL_ZOUT_H     0x3F

#define MPU6050_RA_ACCEL_ZOUT_L     0x40

#define MPU6050_RA_TEMP_OUT_H       0x41

#define MPU6050_RA_TEMP_OUT_L       0x42

#define MPU6050_RA_GYRO_XOUT_H      0x43

#define MPU6050_RA_GYRO_XOUT_L      0x44

#define MPU6050_RA_GYRO_YOUT_H      0x45

#define MPU6050_RA_GYRO_YOUT_L      0x46

#define MPU6050_RA_GYRO_ZOUT_H      0x47

#define MPU6050_RA_GYRO_ZOUT_L      0x48

#define MPU6050_RA_EXT_SENS_DATA_00 0x49

#define MPU6050_RA_EXT_SENS_DATA_01 0x4A

#define MPU6050_RA_EXT_SENS_DATA_02 0x4B

#define MPU6050_RA_EXT_SENS_DATA_03 0x4C

#define MPU6050_RA_EXT_SENS_DATA_04 0x4D

#define MPU6050_RA_EXT_SENS_DATA_05 0x4E

#define MPU6050_RA_EXT_SENS_DATA_06 0x4F

#define MPU6050_RA_EXT_SENS_DATA_07 0x50

#define MPU6050_RA_EXT_SENS_DATA_08 0x51

#define MPU6050_RA_EXT_SENS_DATA_09 0x52

#define MPU6050_RA_EXT_SENS_DATA_10 0x53

#define MPU6050_RA_EXT_SENS_DATA_11 0x54

#define MPU6050_RA_EXT_SENS_DATA_12 0x55

#define MPU6050_RA_EXT_SENS_DATA_13 0x56

#define MPU6050_RA_EXT_SENS_DATA_14 0x57

#define MPU6050_RA_EXT_SENS_DATA_15 0x58

#define MPU6050_RA_EXT_SENS_DATA_16 0x59

#define MPU6050_RA_EXT_SENS_DATA_17 0x5A

#define MPU6050_RA_EXT_SENS_DATA_18 0x5B

#define MPU6050_RA_EXT_SENS_DATA_19 0x5C

#define MPU6050_RA_EXT_SENS_DATA_20 0x5D

#define MPU6050_RA_EXT_SENS_DATA_21 0x5E

#define MPU6050_RA_EXT_SENS_DATA_22 0x5F

#define MPU6050_RA_EXT_SENS_DATA_23 0x60

#define MPU6050_RA_MOT_DETECT_STATUS    0x61

#define MPU6050_RA_I2C_SLV0_DO      0x63

#define MPU6050_RA_I2C_SLV1_DO      0x64

#define MPU6050_RA_I2C_SLV2_DO      0x65

#define MPU6050_RA_I2C_SLV3_DO      0x66

#define MPU6050_RA_I2C_MST_DELAY_CTRL   0x67

#define MPU6050_RA_SIGNAL_PATH_RESET    0x68

#define MPU6050_RA_MOT_DETECT_CTRL      0x69

#define MPU6050_RA_USER_CTRL        0x6A

#define MPU6050_RA_PWR_MGMT_1       0x6B

#define MPU6050_RA_PWR_MGMT_2       0x6C

#define MPU6050_RA_BANK_SEL         0x6D

#define MPU6050_RA_MEM_START_ADDR   0x6E

#define MPU6050_RA_MEM_R_W          0x6F

#define MPU6050_RA_DMP_CFG_1        0x70

#define MPU6050_RA_DMP_CFG_2        0x71

#define MPU6050_RA_FIFO_COUNTH      0x72

#define MPU6050_RA_FIFO_COUNTL      0x73

#define MPU6050_RA_FIFO_R_W         0x74

#define MPU6050_RA_WHO_AM_I         0x75

#define MPU6050_TC_PWR_MODE_BIT     7

#define MPU6050_TC_OFFSET_BIT       6

#define MPU6050_TC_OFFSET_LENGTH    6

#define MPU6050_TC_OTP_BNK_VLD_BIT  0

#define MPU6050_VDDIO_LEVEL_VLOGIC  0

#define MPU6050_VDDIO_LEVEL_VDD     1

#define MPU6050_CFG_EXT_SYNC_SET_BIT    5

#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3

#define MPU6050_CFG_DLPF_CFG_BIT    2

#define MPU6050_CFG_DLPF_CFG_LENGTH 3

#define MPU6050_EXT_SYNC_DISABLED       0x0

#define MPU6050_EXT_SYNC_TEMP_OUT_L     0x1

#define MPU6050_EXT_SYNC_GYRO_XOUT_L    0x2

#define MPU6050_EXT_SYNC_GYRO_YOUT_L    0x3

#define MPU6050_EXT_SYNC_GYRO_ZOUT_L    0x4

#define MPU6050_EXT_SYNC_ACCEL_XOUT_L   0x5

#define MPU6050_EXT_SYNC_ACCEL_YOUT_L   0x6

#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L   0x7

#define MPU6050_DLPF_BW_256         0x00

#define MPU6050_DLPF_BW_188         0x01

#define MPU6050_DLPF_BW_98          0x02

#define MPU6050_DLPF_BW_42          0x03

#define MPU6050_DLPF_BW_20          0x04

#define MPU6050_DLPF_BW_10          0x05

#define MPU6050_DLPF_BW_5           0x06

#define MPU6050_GCONFIG_FS_SEL_BIT      4

#define MPU6050_GCONFIG_FS_SEL_LENGTH   2

#define MPU6050_GYRO_FS_250         0x00

#define MPU6050_GYRO_FS_500         0x01

#define MPU6050_GYRO_FS_1000        0x02

#define MPU6050_GYRO_FS_2000        0x03

#define MPU6050_ACONFIG_XA_ST_BIT           7

#define MPU6050_ACONFIG_YA_ST_BIT           6

#define MPU6050_ACONFIG_ZA_ST_BIT           5

#define MPU6050_ACONFIG_AFS_SEL_BIT         4

#define MPU6050_ACONFIG_AFS_SEL_LENGTH      2

#define MPU6050_ACONFIG_ACCEL_HPF_BIT       2

#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH    3

#define MPU6050_ACCEL_FS_2          0x00

#define MPU6050_ACCEL_FS_4          0x01

#define MPU6050_ACCEL_FS_8          0x02

#define MPU6050_ACCEL_FS_16         0x03

#define MPU6050_DHPF_RESET          0x00

#define MPU6050_DHPF_5              0x01

#define MPU6050_DHPF_2P5            0x02

#define MPU6050_DHPF_1P25           0x03

#define MPU6050_DHPF_0P63           0x04

#define MPU6050_DHPF_HOLD           0x07

#define MPU6050_TEMP_FIFO_EN_BIT    7

#define MPU6050_XG_FIFO_EN_BIT      6

#define MPU6050_YG_FIFO_EN_BIT      5

#define MPU6050_ZG_FIFO_EN_BIT      4

#define MPU6050_ACCEL_FIFO_EN_BIT   3

#define MPU6050_SLV2_FIFO_EN_BIT    2

#define MPU6050_SLV1_FIFO_EN_BIT    1

#define MPU6050_SLV0_FIFO_EN_BIT    0

#define MPU6050_MULT_MST_EN_BIT     7

#define MPU6050_WAIT_FOR_ES_BIT     6

#define MPU6050_SLV_3_FIFO_EN_BIT   5

#define MPU6050_I2C_MST_P_NSR_BIT   4

#define MPU6050_I2C_MST_CLK_BIT     3

#define MPU6050_I2C_MST_CLK_LENGTH  4

#define MPU6050_CLOCK_DIV_348       0x0

#define MPU6050_CLOCK_DIV_333       0x1

#define MPU6050_CLOCK_DIV_320       0x2

#define MPU6050_CLOCK_DIV_308       0x3

#define MPU6050_CLOCK_DIV_296       0x4

#define MPU6050_CLOCK_DIV_286       0x5

#define MPU6050_CLOCK_DIV_276       0x6

#define MPU6050_CLOCK_DIV_267       0x7

#define MPU6050_CLOCK_DIV_258       0x8

#define MPU6050_CLOCK_DIV_500       0x9

#define MPU6050_CLOCK_DIV_471       0xA

#define MPU6050_CLOCK_DIV_444       0xB

#define MPU6050_CLOCK_DIV_421       0xC

#define MPU6050_CLOCK_DIV_400       0xD

#define MPU6050_CLOCK_DIV_381       0xE

#define MPU6050_CLOCK_DIV_364       0xF

#define MPU6050_I2C_SLV_RW_BIT      7

#define MPU6050_I2C_SLV_ADDR_BIT    6

#define MPU6050_I2C_SLV_ADDR_LENGTH 7

#define MPU6050_I2C_SLV_EN_BIT      7

#define MPU6050_I2C_SLV_BYTE_SW_BIT 6

#define MPU6050_I2C_SLV_REG_DIS_BIT 5

#define MPU6050_I2C_SLV_GRP_BIT     4

#define MPU6050_I2C_SLV_LEN_BIT     3

#define MPU6050_I2C_SLV_LEN_LENGTH  4

#define MPU6050_I2C_SLV4_RW_BIT         7

#define MPU6050_I2C_SLV4_ADDR_BIT       6

#define MPU6050_I2C_SLV4_ADDR_LENGTH    7

#define MPU6050_I2C_SLV4_EN_BIT         7

#define MPU6050_I2C_SLV4_INT_EN_BIT     6

#define MPU6050_I2C_SLV4_REG_DIS_BIT    5

#define MPU6050_I2C_SLV4_MST_DLY_BIT    4

#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5

#define MPU6050_MST_PASS_THROUGH_BIT    7

#define MPU6050_MST_I2C_SLV4_DONE_BIT   6

#define MPU6050_MST_I2C_LOST_ARB_BIT    5

#define MPU6050_MST_I2C_SLV4_NACK_BIT   4

#define MPU6050_MST_I2C_SLV3_NACK_BIT   3

#define MPU6050_MST_I2C_SLV2_NACK_BIT   2

#define MPU6050_MST_I2C_SLV1_NACK_BIT   1

#define MPU6050_MST_I2C_SLV0_NACK_BIT   0

#define MPU6050_INTCFG_INT_LEVEL_BIT        7

#define MPU6050_INTCFG_INT_OPEN_BIT         6

#define MPU6050_INTCFG_LATCH_INT_EN_BIT     5

#define MPU6050_INTCFG_INT_RD_CLEAR_BIT     4

#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT  3

#define MPU6050_INTCFG_FSYNC_INT_EN_BIT     2

#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT    1

#define MPU6050_INTCFG_CLKOUT_EN_BIT        0

#define MPU6050_INTMODE_ACTIVEHIGH  0x00

#define MPU6050_INTMODE_ACTIVELOW   0x01

#define MPU6050_INTDRV_PUSHPULL     0x00

#define MPU6050_INTDRV_OPENDRAIN    0x01

#define MPU6050_INTLATCH_50USPULSE  0x00

#define MPU6050_INTLATCH_WAITCLEAR  0x01

#define MPU6050_INTCLEAR_STATUSREAD 0x00

#define MPU6050_INTCLEAR_ANYREAD    0x01

#define MPU6050_INTERRUPT_FF_BIT            7

#define MPU6050_INTERRUPT_MOT_BIT           6

#define MPU6050_INTERRUPT_ZMOT_BIT          5

#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT    4

#define MPU6050_INTERRUPT_I2C_MST_INT_BIT   3

#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT   2

#define MPU6050_INTERRUPT_DMP_INT_BIT       1

#define MPU6050_INTERRUPT_DATA_RDY_BIT      0

// TODO: Need to work on DMP related things

#define MPU6050_DMPINT_5_BIT            5

#define MPU6050_DMPINT_4_BIT            4

#define MPU6050_DMPINT_3_BIT            3

#define MPU6050_DMPINT_2_BIT            2

#define MPU6050_DMPINT_1_BIT            1

#define MPU6050_DMPINT_0_BIT            0

#define MPU6050_MOTION_MOT_XNEG_BIT     7

#define MPU6050_MOTION_MOT_XPOS_BIT     6

#define MPU6050_MOTION_MOT_YNEG_BIT     5

#define MPU6050_MOTION_MOT_YPOS_BIT     4

#define MPU6050_MOTION_MOT_ZNEG_BIT     3

#define MPU6050_MOTION_MOT_ZPOS_BIT     2

#define MPU6050_MOTION_MOT_ZRMOT_BIT    0

#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT   7

#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT   4

#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT   3

#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT   2

#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT   1

#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT   0

#define MPU6050_PATHRESET_GYRO_RESET_BIT    2

#define MPU6050_PATHRESET_ACCEL_RESET_BIT   1

#define MPU6050_PATHRESET_TEMP_RESET_BIT    0

#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT       5

#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH    2

#define MPU6050_DETECT_FF_COUNT_BIT             3

#define MPU6050_DETECT_FF_COUNT_LENGTH          2

#define MPU6050_DETECT_MOT_COUNT_BIT            1

#define MPU6050_DETECT_MOT_COUNT_LENGTH         2

#define MPU6050_DETECT_DECREMENT_RESET  0x0

#define MPU6050_DETECT_DECREMENT_1      0x1

#define MPU6050_DETECT_DECREMENT_2      0x2

#define MPU6050_DETECT_DECREMENT_4      0x3

#define MPU6050_USERCTRL_DMP_EN_BIT             7

#define MPU6050_USERCTRL_FIFO_EN_BIT            6

#define MPU6050_USERCTRL_I2C_MST_EN_BIT         5

#define MPU6050_USERCTRL_I2C_IF_DIS_BIT         4

#define MPU6050_USERCTRL_DMP_RESET_BIT          3

#define MPU6050_USERCTRL_FIFO_RESET_BIT         2

#define MPU6050_USERCTRL_I2C_MST_RESET_BIT      1

#define MPU6050_USERCTRL_SIG_COND_RESET_BIT     0

#define MPU6050_PWR1_DEVICE_RESET_BIT   7

#define MPU6050_PWR1_SLEEP_BIT          6

#define MPU6050_PWR1_CYCLE_BIT          5

#define MPU6050_PWR1_TEMP_DIS_BIT       3

#define MPU6050_PWR1_CLKSEL_BIT         2

#define MPU6050_PWR1_CLKSEL_LENGTH      3

#define MPU6050_CLOCK_INTERNAL          0x00

#define MPU6050_CLOCK_PLL_XGYRO         0x01

#define MPU6050_CLOCK_PLL_YGYRO         0x02

#define MPU6050_CLOCK_PLL_ZGYRO         0x03

#define MPU6050_CLOCK_PLL_EXT32K        0x04

#define MPU6050_CLOCK_PLL_EXT19M        0x05

#define MPU6050_CLOCK_KEEP_RESET        0x07

#define MPU6050_PWR2_LP_WAKE_CTRL_BIT       7

#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH    2

#define MPU6050_PWR2_STBY_XA_BIT            5

#define MPU6050_PWR2_STBY_YA_BIT            4

#define MPU6050_PWR2_STBY_ZA_BIT            3

#define MPU6050_PWR2_STBY_XG_BIT            2

#define MPU6050_PWR2_STBY_YG_BIT            1

#define MPU6050_PWR2_STBY_ZG_BIT            0

#define MPU6050_WAKE_FREQ_1P25      0x0

#define MPU6050_WAKE_FREQ_2P5       0x1

#define MPU6050_WAKE_FREQ_5         0x2

#define MPU6050_WAKE_FREQ_10        0x3

#define MPU6050_BANKSEL_PRFTCH_EN_BIT       6

#define MPU6050_BANKSEL_CFG_USER_BANK_BIT   5

#define MPU6050_BANKSEL_MEM_SEL_BIT         4

#define MPU6050_BANKSEL_MEM_SEL_LENGTH      5

#define MPU6050_WHO_AM_I_BIT        6

#define MPU6050_WHO_AM_I_LENGTH     6

#define MPU6050_DMP_MEMORY_BANKS        8

#define MPU6050_DMP_MEMORY_BANK_SIZE    256

#define MPU6050_DMP_MEMORY_CHUNK_SIZE   16

void MPU6050_Read(unsigned char SlaveAddress,unsigned char REG_Address,unsigned char readNum);

void MPU6050_WriteBits(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);

void MPU6050_WriteBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);

void MPU6050_ReadBits(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data);

void MPU6050_Initialize(void);

uint8_t MPU6050_GetDeviceID(void);

uint8_t MPU6050_TestConnection(void);

void MPU6050_GetRawAccelGyro(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);

#endif

/*****************************************************************************

**                            End Of File

******************************************************************************/

MPU6050

#include "lpc17xx.h"

#include "type.h"

#include "i2c.h"

#include "MPU6050.h"

//volatile int16_t ax = 0, ay = 0, az = 0;

//volatile int16_t gx = 0, gy = 0, gz = 0;

extern volatile uint8_t I2CMasterBuffer[I2C_PORT_NUM][BUFSIZE];

extern volatile uint8_t I2CSlaveBuffer[I2C_PORT_NUM][BUFSIZE];

extern volatile uint32_t I2CReadLength[I2C_PORT_NUM];

extern volatile uint32_t I2CWriteLength[I2C_PORT_NUM];

void DelayI2C(uint32_t m)

{

  uint32_t i;

  for(; m != ; m--)

       for (i=; i<; i++);

}

void MPU6050_Read(unsigned char SlaveAddress,unsigned char REG_Address,unsigned char readNum)

{//   unsigned char REG_data;

    I2CWriteLength[PORT_USED] = ;

    I2CReadLength[PORT_USED] = ;

    I2CMasterBuffer[PORT_USED][] = SlaveAddress;

    I2CMasterBuffer[PORT_USED][] = REG_Address;            //0x31;

    I2CEngine(PORT_USED);

//    DelayI2C(100);

    I2CWriteLength[PORT_USED] = ;

    I2CReadLength[PORT_USED] = readNum;

    I2CMasterBuffer[PORT_USED][] = SlaveAddress|0x01;

    I2CEngine(PORT_USED);

//    DelayI2C(100);

    I2CWriteLength[PORT_USED] = ;

    I2CReadLength[PORT_USED] = ;

    I2CMasterBuffer[PORT_USED][] = SlaveAddress;

    I2CEngine(PORT_USED);

}

void MPU6050_Write(unsigned char SlaveAddress,unsigned char REG_Address,unsigned char REG_data)             //void

{

    I2CWriteLength[PORT_USED] = ;

    I2CReadLength[PORT_USED] = ;

    I2CMasterBuffer[PORT_USED][] = SlaveAddress;

    I2CMasterBuffer[PORT_USED][] = REG_Address;//0x31;

    I2CMasterBuffer[PORT_USED][] = REG_data;//0x2B;

//    I2CCmd = 0x01;

    I2CEngine(PORT_USED);

}

void MPU6050_WriteBits(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data)

{

    //      010 value to write

    // 76543210 bit numbers

    //    xxx   args: bitStart=4, length=3

    // 00011100 mask byte

    // 10101111 original value (sample)

    // 10100011 original & ~mask

    // 10101011 masked | value

    uint8_t tmp;

    uint8_t mask = (( << length) - ) << (bitStart - length + );

    MPU6050_Read(slaveAddr, regAddr, );

    tmp = I2CSlaveBuffer[PORT_USED][];

//    uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);

    data <<= (bitStart - length + ); // shift data into correct position

    data &= mask; // zero all non-important bits in data

    tmp &= ~(mask); // zero all important bits in existing byte

    tmp |= data; // combine data with existing byte

    MPU6050_Write(slaveAddr,regAddr,tmp);

}

void MPU6050_WriteBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data)

{

    uint8_t tmp;

    MPU6050_Read(slaveAddr, regAddr, );

    tmp = I2CSlaveBuffer[PORT_USED][];

    tmp = (data != ) ? (tmp | ( << bitNum)) : (tmp & ~( << bitNum));

    MPU6050_Write(slaveAddr,regAddr,tmp);

}

void MPU6050_ReadBits(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data)

{

    // 01101001 read byte

    // 76543210 bit numbers

    //    xxx   args: bitStart=4, length=3

    //    010   masked

    //   -> 010 shifted

    uint8_t tmp;

    uint8_t mask = (( << length) - ) << (bitStart - length + );

    MPU6050_Read(slaveAddr, regAddr, );

    tmp = I2CSlaveBuffer[PORT_USED][];

//    uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);

    tmp &= mask;

    tmp >>= (bitStart - length + );

    *data = tmp;

}

void MPU6050_Initialize(void)

{

    MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1,

        MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, MPU6050_CLOCK_PLL_XGYRO);

    MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG,

        MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, MPU6050_GYRO_FS_250);

    MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG,

        MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, MPU6050_ACCEL_FS_2);

    MPU6050_WriteBit(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, );//(DISABLE);

}

uint8_t MPU6050_GetDeviceID()

{

    uint8_t tmp;

    MPU6050_ReadBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, &tmp);

    return tmp;

}

uint8_t MPU6050_TestConnection()

{

//    uint8_t tmp;

    if(MPU6050_GetDeviceID() == 0x34) //0b110100; 8-bit representation in hex = 0x34

      return ;

    else

      return ;

}

void MPU6050_GetRawAccelGyro(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)

{

//    u8 tmpBuffer[14];

//    int i;

    MPU6050_Read(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_XOUT_H, );

    /* Get acceleration */

 //   for(i=0; i<3; i++)

//      AccelGyro[i]=((int16_t)((uint16_t)I2CSlaveBuffer[PORT_USED][2*i] << 8) + I2CSlaveBuffer[PORT_USED][2*i+1]);

   /* Get Angular rate */

//    for(i=4; i<7; i++)

//      AccelGyro[i-1]=((int16_t)((uint16_t)I2CSlaveBuffer[PORT_USED][2*i] << 8) + I2CSlaveBuffer[PORT_USED][2*i+1]);

    *ax = (((int16_t)I2CSlaveBuffer[PORT_USED][]) << ) | ((int16_t)I2CSlaveBuffer[PORT_USED][]);

        *ay = (((int16_t)I2CSlaveBuffer[PORT_USED][]) << ) | ((int16_t)I2CSlaveBuffer[PORT_USED][]);

        *az = (((int16_t)I2CSlaveBuffer[PORT_USED][]) << ) | ((int16_t)I2CSlaveBuffer[PORT_USED][]);

        *gx = (((int16_t)I2CSlaveBuffer[PORT_USED][]) << ) | ((int16_t)I2CSlaveBuffer[PORT_USED][]);

        *gy = (((int16_t)I2CSlaveBuffer[PORT_USED][]) << ) | ((int16_t)I2CSlaveBuffer[PORT_USED][]);

        *gz = (((int16_t)I2CSlaveBuffer[PORT_USED][]) << ) | ((int16_t)I2CSlaveBuffer[PORT_USED][]);

}

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