Class of MPU9250
Dependencies: AHRS_fillter mbed
Fork of MPU9250AHRS by
Diff: register.h
- Revision:
- 9:a9b0f8540cc6
- Parent:
- 8:928673148b55
--- a/register.h Wed Jan 20 02:42:22 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,163 +0,0 @@ -// 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 -// above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map -// -//AD0 -#define MPU9250_ADDRESS_68 0x68 -#define MPU9250_ADDRESS_69 0x69 - -//Magnetometer Registers -#define AK8963_ADDRESS 0x0C<<1 -#define WHO_AM_I_AK8963 0x00 // should return 0x48 -#define 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 - -#define SELF_TEST_X_GYRO 0x00 -#define SELF_TEST_Y_GYRO 0x01 -#define SELF_TEST_Z_GYRO 0x02 - -/*#define X_FINE_GAIN 0x03 // [7:0] fine gain -#define Y_FINE_GAIN 0x04 -#define Z_FINE_GAIN 0x05 -#define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer -#define XA_OFFSET_L_TC 0x07 -#define YA_OFFSET_H 0x08 -#define YA_OFFSET_L_TC 0x09 -#define ZA_OFFSET_H 0x0A -#define ZA_OFFSET_L_TC 0x0B */ - -#define SELF_TEST_X_ACCEL 0x0D -#define SELF_TEST_Y_ACCEL 0x0E -#define SELF_TEST_Z_ACCEL 0x0F - -#define SELF_TEST_A 0x10 - -#define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope -#define XG_OFFSET_L 0x14 -#define YG_OFFSET_H 0x15 -#define YG_OFFSET_L 0x16 -#define ZG_OFFSET_H 0x17 -#define ZG_OFFSET_L 0x18 -#define SMPLRT_DIV 0x19 -#define CONFIG 0x1A -#define GYRO_CONFIG 0x1B -#define ACCEL_CONFIG 0x1C -#define ACCEL_CONFIG2 0x1D -#define LP_ACCEL_ODR 0x1E -#define WOM_THR 0x1F - -#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms -#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] -#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms - -#define FIFO_EN 0x23 -#define I2C_MST_CTRL 0x24 -#define I2C_SLV0_ADDR 0x25 -#define I2C_SLV0_REG 0x26 -#define I2C_SLV0_CTRL 0x27 -#define I2C_SLV1_ADDR 0x28 -#define I2C_SLV1_REG 0x29 -#define I2C_SLV1_CTRL 0x2A -#define I2C_SLV2_ADDR 0x2B -#define I2C_SLV2_REG 0x2C -#define I2C_SLV2_CTRL 0x2D -#define I2C_SLV3_ADDR 0x2E -#define I2C_SLV3_REG 0x2F -#define I2C_SLV3_CTRL 0x30 -#define I2C_SLV4_ADDR 0x31 -#define I2C_SLV4_REG 0x32 -#define I2C_SLV4_DO 0x33 -#define I2C_SLV4_CTRL 0x34 -#define I2C_SLV4_DI 0x35 -#define I2C_MST_STATUS 0x36 -#define INT_PIN_CFG 0x37 -#define INT_ENABLE 0x38 -#define DMP_INT_STATUS 0x39 // Check DMP interrupt -#define INT_STATUS 0x3A -#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_XOUT_L 0x44 -#define GYRO_YOUT_H 0x45 -#define GYRO_YOUT_L 0x46 -#define GYRO_ZOUT_H 0x47 -#define GYRO_ZOUT_L 0x48 -#define EXT_SENS_DATA_00 0x49 -#define EXT_SENS_DATA_01 0x4A -#define EXT_SENS_DATA_02 0x4B -#define EXT_SENS_DATA_03 0x4C -#define EXT_SENS_DATA_04 0x4D -#define EXT_SENS_DATA_05 0x4E -#define EXT_SENS_DATA_06 0x4F -#define EXT_SENS_DATA_07 0x50 -#define EXT_SENS_DATA_08 0x51 -#define EXT_SENS_DATA_09 0x52 -#define EXT_SENS_DATA_10 0x53 -#define EXT_SENS_DATA_11 0x54 -#define EXT_SENS_DATA_12 0x55 -#define EXT_SENS_DATA_13 0x56 -#define EXT_SENS_DATA_14 0x57 -#define EXT_SENS_DATA_15 0x58 -#define EXT_SENS_DATA_16 0x59 -#define EXT_SENS_DATA_17 0x5A -#define EXT_SENS_DATA_18 0x5B -#define EXT_SENS_DATA_19 0x5C -#define EXT_SENS_DATA_20 0x5D -#define EXT_SENS_DATA_21 0x5E -#define EXT_SENS_DATA_22 0x5F -#define EXT_SENS_DATA_23 0x60 -#define MOT_DETECT_STATUS 0x61 -#define I2C_SLV0_DO 0x63 -#define I2C_SLV1_DO 0x64 -#define I2C_SLV2_DO 0x65 -#define I2C_SLV3_DO 0x66 -#define I2C_MST_DELAY_CTRL 0x67 -#define SIGNAL_PATH_RESET 0x68 -#define MOT_DETECT_CTRL 0x69 -#define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP -#define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode -#define PWR_MGMT_2 0x6C -#define DMP_BANK 0x6D // Activates a specific bank in the DMP -#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank -#define DMP_REG 0x6F // Register in DMP from which to read or to which to write -#define DMP_REG_1 0x70 -#define DMP_REG_2 0x71 -#define FIFO_COUNTH 0x72 -#define FIFO_COUNTL 0x73 -#define FIFO_R_W 0x74 -#define WHO_AM_I_MPU9250 0x75 // Should return 0x71 -#define XA_OFFSET_H 0x77 -#define XA_OFFSET_L 0x78 -#define YA_OFFSET_H 0x7A -#define YA_OFFSET_L 0x7B -#define ZA_OFFSET_H 0x7D -#define ZA_OFFSET_L 0x7E - - -// Using the MSENSR-9250 breakout board, ADO is set to 0 -// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1 -//mbed uses the eight-bit device address, so shift seven-bit addresses left by one! -/*#define ADO 0 -#if ADO -#define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1 -#else -#define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0 -#endif*/ \ No newline at end of file