航空研究会 / Mbed 2 deprecated AutoFlight2017_now3

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Dependencies:   HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of AutoFlight2017_now2 by 航空研究会

MPU9250/MPU9250_register.h@2:e7025f2cf0e1, 2018-09-08 (annotated)

Committer:
TUATBM
Date:
Sat Sep 08 09:21:46 2018 +0000
Revision:
2:e7025f2cf0e1
Parent:
0:92024886c0be 
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Who changed what in which revision?

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TUATBM 0:92024886c0be 1 #ifndef MPU9250_REGISTER_H
TUATBM 0:92024886c0be 2 #define MPU9250_REGISTER_H
TUATBM 0:92024886c0be 3
TUATBM 0:92024886c0be 4 // See also MPU-9250 Register Map and Descriptions, Revision 4.0, RM-MPU-9250A-00, Rev. 1.4, 9/9/2013 for registers not listed in
TUATBM 0:92024886c0be 5 // above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
TUATBM 0:92024886c0be 6
TUATBM 0:92024886c0be 7 //AK8963 registers
TUATBM 0:92024886c0be 8 #define WHO_AM_I_AK8963 0x00 // should return 0x48
TUATBM 0:92024886c0be 9 #define INFO 0x01
TUATBM 0:92024886c0be 10 #define AK8963_ST1 0x02 // data ready status bit 0
TUATBM 0:92024886c0be 11 #define AK8963_XOUT_L 0x03 // data
TUATBM 0:92024886c0be 12 #define AK8963_XOUT_H 0x04
TUATBM 0:92024886c0be 13 #define AK8963_YOUT_L 0x05
TUATBM 0:92024886c0be 14 #define AK8963_YOUT_H 0x06
TUATBM 0:92024886c0be 15 #define AK8963_ZOUT_L 0x07
TUATBM 0:92024886c0be 16 #define AK8963_ZOUT_H 0x08
TUATBM 0:92024886c0be 17 #define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
TUATBM 0:92024886c0be 18 #define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
TUATBM 0:92024886c0be 19 #define AK8963_ASTC 0x0C // Self test control
TUATBM 0:92024886c0be 20 #define AK8963_I2CDIS 0x0F // I2C disable
TUATBM 0:92024886c0be 21 #define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
TUATBM 0:92024886c0be 22 #define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
TUATBM 0:92024886c0be 23 #define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
TUATBM 0:92024886c0be 24
TUATBM 0:92024886c0be 25
TUATBM 0:92024886c0be 26
TUATBM 0:92024886c0be 27 //MPU6500 register
TUATBM 0:92024886c0be 28 #define SELF_TEST_X_GYRO 0x00
TUATBM 0:92024886c0be 29 #define SELF_TEST_Y_GYRO 0x01
TUATBM 0:92024886c0be 30 #define SELF_TEST_Z_GYRO 0x02
TUATBM 0:92024886c0be 31
TUATBM 0:92024886c0be 32 #define SELF_TEST_X_ACCEL 0x0D
TUATBM 0:92024886c0be 33 #define SELF_TEST_Y_ACCEL 0x0E
TUATBM 0:92024886c0be 34 #define SELF_TEST_Z_ACCEL 0x0F
TUATBM 0:92024886c0be 35
TUATBM 0:92024886c0be 36 #define SELF_TEST_A 0x10
TUATBM 0:92024886c0be 37
TUATBM 0:92024886c0be 38 #define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
TUATBM 0:92024886c0be 39 #define XG_OFFSET_L 0x14
TUATBM 0:92024886c0be 40 #define YG_OFFSET_H 0x15
TUATBM 0:92024886c0be 41 #define YG_OFFSET_L 0x16
TUATBM 0:92024886c0be 42 #define ZG_OFFSET_H 0x17
TUATBM 0:92024886c0be 43 #define ZG_OFFSET_L 0x18
TUATBM 0:92024886c0be 44 #define SMPLRT_DIV 0x19
TUATBM 0:92024886c0be 45 #define CONFIG 0x1A
TUATBM 0:92024886c0be 46 #define GYRO_CONFIG 0x1B
TUATBM 0:92024886c0be 47 #define ACCEL_CONFIG 0x1C
TUATBM 0:92024886c0be 48 #define ACCEL_CONFIG2 0x1D
TUATBM 0:92024886c0be 49 #define LP_ACCEL_ODR 0x1E
TUATBM 0:92024886c0be 50 #define WOM_THR 0x1F
TUATBM 0:92024886c0be 51
TUATBM 0:92024886c0be 52 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
TUATBM 0:92024886c0be 53 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
TUATBM 0:92024886c0be 54 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
TUATBM 0:92024886c0be 55
TUATBM 0:92024886c0be 56 #define FIFO_EN 0x23
TUATBM 0:92024886c0be 57 #define I2C_MST_CTRL 0x24
TUATBM 0:92024886c0be 58 #define I2C_SLV0_ADDR 0x25
TUATBM 0:92024886c0be 59 #define I2C_SLV0_REG 0x26
TUATBM 0:92024886c0be 60 #define I2C_SLV0_CTRL 0x27
TUATBM 0:92024886c0be 61 #define I2C_SLV1_ADDR 0x28
TUATBM 0:92024886c0be 62 #define I2C_SLV1_REG 0x29
TUATBM 0:92024886c0be 63 #define I2C_SLV1_CTRL 0x2A
TUATBM 0:92024886c0be 64 #define I2C_SLV2_ADDR 0x2B
TUATBM 0:92024886c0be 65 #define I2C_SLV2_REG 0x2C
TUATBM 0:92024886c0be 66 #define I2C_SLV2_CTRL 0x2D
TUATBM 0:92024886c0be 67 #define I2C_SLV3_ADDR 0x2E
TUATBM 0:92024886c0be 68 #define I2C_SLV3_REG 0x2F
TUATBM 0:92024886c0be 69 #define I2C_SLV3_CTRL 0x30
TUATBM 0:92024886c0be 70 #define I2C_SLV4_ADDR 0x31
TUATBM 0:92024886c0be 71 #define I2C_SLV4_REG 0x32
TUATBM 0:92024886c0be 72 #define I2C_SLV4_DO 0x33
TUATBM 0:92024886c0be 73 #define I2C_SLV4_CTRL 0x34
TUATBM 0:92024886c0be 74 #define I2C_SLV4_DI 0x35
TUATBM 0:92024886c0be 75 #define I2C_MST_STATUS 0x36
TUATBM 0:92024886c0be 76 #define INT_PIN_CFG 0x37
TUATBM 0:92024886c0be 77 #define INT_ENABLE 0x38
TUATBM 0:92024886c0be 78 #define DMP_INT_STATUS 0x39 // Check DMP interrupt
TUATBM 0:92024886c0be 79 #define INT_STATUS 0x3A
TUATBM 0:92024886c0be 80 #define ACCEL_XOUT_H 0x3B
TUATBM 0:92024886c0be 81 #define ACCEL_XOUT_L 0x3C
TUATBM 0:92024886c0be 82 #define ACCEL_YOUT_H 0x3D
TUATBM 0:92024886c0be 83 #define ACCEL_YOUT_L 0x3E
TUATBM 0:92024886c0be 84 #define ACCEL_ZOUT_H 0x3F
TUATBM 0:92024886c0be 85 #define ACCEL_ZOUT_L 0x40
TUATBM 0:92024886c0be 86 #define TEMP_OUT_H 0x41
TUATBM 0:92024886c0be 87 #define TEMP_OUT_L 0x42
TUATBM 0:92024886c0be 88 #define GYRO_XOUT_H 0x43
TUATBM 0:92024886c0be 89 #define GYRO_XOUT_L 0x44
TUATBM 0:92024886c0be 90 #define GYRO_YOUT_H 0x45
TUATBM 0:92024886c0be 91 #define GYRO_YOUT_L 0x46
TUATBM 0:92024886c0be 92 #define GYRO_ZOUT_H 0x47
TUATBM 0:92024886c0be 93 #define GYRO_ZOUT_L 0x48
TUATBM 0:92024886c0be 94 #define EXT_SENS_DATA_00 0x49
TUATBM 0:92024886c0be 95 #define EXT_SENS_DATA_01 0x4A
TUATBM 0:92024886c0be 96 #define EXT_SENS_DATA_02 0x4B
TUATBM 0:92024886c0be 97 #define EXT_SENS_DATA_03 0x4C
TUATBM 0:92024886c0be 98 #define EXT_SENS_DATA_04 0x4D
TUATBM 0:92024886c0be 99 #define EXT_SENS_DATA_05 0x4E
TUATBM 0:92024886c0be 100 #define EXT_SENS_DATA_06 0x4F
TUATBM 0:92024886c0be 101 #define EXT_SENS_DATA_07 0x50
TUATBM 0:92024886c0be 102 #define EXT_SENS_DATA_08 0x51
TUATBM 0:92024886c0be 103 #define EXT_SENS_DATA_09 0x52
TUATBM 0:92024886c0be 104 #define EXT_SENS_DATA_10 0x53
TUATBM 0:92024886c0be 105 #define EXT_SENS_DATA_11 0x54
TUATBM 0:92024886c0be 106 #define EXT_SENS_DATA_12 0x55
TUATBM 0:92024886c0be 107 #define EXT_SENS_DATA_13 0x56
TUATBM 0:92024886c0be 108 #define EXT_SENS_DATA_14 0x57
TUATBM 0:92024886c0be 109 #define EXT_SENS_DATA_15 0x58
TUATBM 0:92024886c0be 110 #define EXT_SENS_DATA_16 0x59
TUATBM 0:92024886c0be 111 #define EXT_SENS_DATA_17 0x5A
TUATBM 0:92024886c0be 112 #define EXT_SENS_DATA_18 0x5B
TUATBM 0:92024886c0be 113 #define EXT_SENS_DATA_19 0x5C
TUATBM 0:92024886c0be 114 #define EXT_SENS_DATA_20 0x5D
TUATBM 0:92024886c0be 115 #define EXT_SENS_DATA_21 0x5E
TUATBM 0:92024886c0be 116 #define EXT_SENS_DATA_22 0x5F
TUATBM 0:92024886c0be 117 #define EXT_SENS_DATA_23 0x60
TUATBM 0:92024886c0be 118 #define MOT_DETECT_STATUS 0x61
TUATBM 0:92024886c0be 119 #define I2C_SLV0_DO 0x63
TUATBM 0:92024886c0be 120 #define I2C_SLV1_DO 0x64
TUATBM 0:92024886c0be 121 #define I2C_SLV2_DO 0x65
TUATBM 0:92024886c0be 122 #define I2C_SLV3_DO 0x66
TUATBM 0:92024886c0be 123 #define I2C_MST_DELAY_CTRL 0x67
TUATBM 0:92024886c0be 124 #define SIGNAL_PATH_RESET 0x68
TUATBM 0:92024886c0be 125 #define MOT_DETECT_CTRL 0x69
TUATBM 0:92024886c0be 126 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
TUATBM 0:92024886c0be 127 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
TUATBM 0:92024886c0be 128 #define PWR_MGMT_2 0x6C
TUATBM 0:92024886c0be 129 #define DMP_BANK 0x6D // Activates a specific bank in the DMP
TUATBM 0:92024886c0be 130 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
TUATBM 0:92024886c0be 131 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
TUATBM 0:92024886c0be 132 #define DMP_REG_1 0x70
TUATBM 0:92024886c0be 133 #define DMP_REG_2 0x71
TUATBM 0:92024886c0be 134 #define FIFO_COUNTH 0x72
TUATBM 0:92024886c0be 135 #define FIFO_COUNTL 0x73
TUATBM 0:92024886c0be 136 #define FIFO_R_W 0x74
TUATBM 0:92024886c0be 137 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71
TUATBM 0:92024886c0be 138 #define XA_OFFSET_H 0x77
TUATBM 0:92024886c0be 139 #define XA_OFFSET_L 0x78
TUATBM 0:92024886c0be 140 #define YA_OFFSET_H 0x7A
TUATBM 0:92024886c0be 141 #define YA_OFFSET_L 0x7B
TUATBM 0:92024886c0be 142 #define ZA_OFFSET_H 0x7D
TUATBM 0:92024886c0be 143 #define ZA_OFFSET_L 0x7E
TUATBM 0:92024886c0be 144
TUATBM 0:92024886c0be 145 #endif