/** * Hunter Adams (vha3@cornell.edu) * * */ #define ADDRESS 0x68 #define I2C_CHAN i2c0 #define SDA_PIN 8 #define SCL_PIN 9 #define I2C_BAUD_RATE 400000 // Fixed point data type typedef signed int fix15 ; #define multfix15(a,b) ((fix15)(((( signed long long)(a))*(( signed long long)(b)))>>16)) #define float2fix15(a) ((fix15)((a)*65536.0f)) // 2^16 #define fix2float15(a) ((float)(a)/65536.0f) #define int2fix15(a) ((a)<<16) #define fix2int15(a) ((a)>>16) #define divfix(a,b) ((fix15)(((( signed long long)(a) << 16 / (b))))) // Parameter values #define oneeightyoverpi 3754936 #define zeropt001 65 #define zeropt999 65470 #define zeropt01 655 #define zeropt99 64880 #define zeropt1 6553 #define zeropt9 58982 // VGA primitives - usable in main void mpu6050_reset(void) ; void mpu6050_read_raw(fix15 accel[3], fix15 gyro[3]) ;