#ifndef __MPU__
#define __MPU__
#include "data.h"



// Read-only Reg
#define AK8963_I2C_ADDR 0x18 // slave address for the AK8963
#define AK8963_DEVICE_ID 0x48
#define AK8963_WIA 0x00
#define AK8963_INFO 0x01
#define AK8963_ST1 0x02 // data ready status bit 0
#define AK8963_XOUT_L 0x03 // data
#define AK8963_XOUT_H 0x04
#define AK8963_YOUT_L 0x05
#define AK8963_YOUT_H 0x06
#define AK8963_ZOUT_L 0x07
#define AK8963_ZOUT_H 0x08
#define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
#define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
#define AK8963_ASTC 0x0C // Self test control
#define AK8963_I2CDIS 0x0F // I2C disable
#define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
#define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
#define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value

// Write/Read Reg
#define AK8963_CNTL1 0x0A
#define AK8963_CNTL2 0x0B
#define AK8963_ASTC 0x0C
#define AK8963_TS1 0x0D
#define AK8963_TS2 0x0E
#define AK8963_I2CDIS 0x0F


// Read-only Reg ( ROM )
#define AK8963_ASAX 0x10
#define AK8963_ASAY 0x11
#define AK8963_ASAZ 0x12

#define	SMPLRT_DIV		0x19	//陀螺仪采样率，典型值：0x07(125Hz)
#define	CONFIGL			0x1A	//低通滤波频率，典型值：0x06(5Hz)
#define	GYRO_CONFIG		0x1B	//陀螺仪自检及测量范围，典型值：0x18(不自检�?000deg/s)
#define	ACCEL_CONFIG	0x1C	//加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检�?G�?Hz)
#define ACCEL_CONFIG2           0X1D //加速度计低通滤波器 0x06 5hz

#define PWR_MGMT_1                  0X6B//电源管理1 典型值为0x00

#define INT_PIN_CFG    0x37
#define	ACCEL_ADDRESS	0x3B
#define	ACCEL_XOUT_H	0x3B
#define	ACCEL_XOUT_L	0x3C
#define	ACCEL_YOUT_H	0x3D
#define	ACCEL_YOUT_L	0x3E
#define	ACCEL_ZOUT_H	0x3F
#define	ACCEL_ZOUT_L	0x40
#define	TEMP_OUT_H		0x41
#define	TEMP_OUT_L		0x42
#define	GYRO_XOUT_H		0x43
#define GYRO_ADDRESS  0x43
#define	GYRO_XOUT_L		0x44	
#define	GYRO_YOUT_H		0x45
#define	GYRO_YOUT_L		0x46
#define	GYRO_ZOUT_H		0x47
#define	GYRO_ZOUT_L		0x48
#define	WHO_AM_I		  0x75	//IIC地址寄存�?默认数�?x68，只�?
#define MPU6050_PRODUCT_ID 0x68
#define MPU6052C_PRODUCT_ID 0x72
#define MPU9250_PRODUCT_ID 0x71  //
#define I2C_SLV0_ADDR 0x25
#define EXT_SENS_DATA_00  0x49
#define I2C_SLV0_CTRL 0x27
#define I2C_SLV0_DO 0x64
#define USER_CTRL 0x6A

extern _st_Mpu MPU6050;   //MPU6050原始数据
extern _st_AngE Angle;
extern _st_AngE Angle;

int8_t MpuInit(void); //初始�?
void MpuGetData(void); //读取陀螺仪数据加滤�?

#endif