Diff: MPU9250Sensor.h

Revision:

11:70359785c2a7

Parent:

10:3a24c970db40

Child:

13:ef0ce8fa871f

--- a/MPU9250Sensor.h	Tue Jan 27 13:25:37 2015 +0000
+++ b/MPU9250Sensor.h	Thu Jan 29 12:24:01 2015 +0000
@@ -5,10 +5,150 @@
 
 #include "BaseSensor.h"
 
-#define WHO_AM_I 0x75
+// mpu9250 registers
+#define MPU9250_XG_OFFS_TC 0x00
+#define MPU9250_YG_OFFS_TC 0x01
+#define MPU9250_ZG_OFFS_TC 0x02
+#define MPU9250_X_FINE_GAIN 0x03
+#define MPU9250_Y_FINE_GAIN 0x04
+#define MPU9250_Z_FINE_GAIN 0x05
+#define MPU9250_XA_OFFS_H 0x06
+#define MPU9250_XA_OFFS_L 0x07
+#define MPU9250_YA_OFFS_H 0x08
+#define MPU9250_YA_OFFS_L 0x09
+#define MPU9250_ZA_OFFS_H 0x0A
+#define MPU9250_ZA_OFFS_L 0x0B
+#define MPU9250_PRODUCT_ID 0x0C
+#define MPU9250_SELF_TEST_X 0x0D
+#define MPU9250_SELF_TEST_Y 0x0E
+#define MPU9250_SELF_TEST_Z 0x0F
+#define MPU9250_SELF_TEST_A 0x10
+#define MPU9250_XG_OFFS_USRH 0x13
+#define MPU9250_XG_OFFS_USRL 0x14
+#define MPU9250_YG_OFFS_USRH 0x15
+#define MPU9250_YG_OFFS_USRL 0x16
+#define MPU9250_ZG_OFFS_USRH 0x17
+#define MPU9250_ZG_OFFS_USRL 0x18
+#define MPU9250_SMPLRT_DIV 0x19
+#define MPU9250_CONFIG 0x1A
+#define MPU9250_GYRO_CONFIG 0x1B
+#define MPU9250_ACCEL_CONFIG 0x1C
+#define MPU9250_ACCEL_CONFIG_2      0x1D
+#define MPU9250_LP_ACCEL_ODR        0x1E
+#define MPU9250_MOT_THR             0x1F
+#define MPU9250_FIFO_EN             0x23
+#define MPU9250_I2C_MST_CTRL        0x24
+#define MPU9250_I2C_SLV0_ADDR       0x25
+#define MPU9250_I2C_SLV0_REG        0x26
+#define MPU9250_I2C_SLV0_CTRL       0x27
+#define MPU9250_I2C_SLV1_ADDR       0x28
+#define MPU9250_I2C_SLV1_REG        0x29
+#define MPU9250_I2C_SLV1_CTRL       0x2A
+#define MPU9250_I2C_SLV2_ADDR       0x2B
+#define MPU9250_I2C_SLV2_REG        0x2C
+#define MPU9250_I2C_SLV2_CTRL       0x2D
+#define MPU9250_I2C_SLV3_ADDR       0x2E
+#define MPU9250_I2C_SLV3_REG        0x2F
+#define MPU9250_I2C_SLV3_CTRL       0x30
+#define MPU9250_I2C_SLV4_ADDR       0x31
+#define MPU9250_I2C_SLV4_REG        0x32
+#define MPU9250_I2C_SLV4_DO         0x33
+#define MPU9250_I2C_SLV4_CTRL       0x34
+#define MPU9250_I2C_SLV4_DI         0x35
+#define MPU9250_I2C_MST_STATUS      0x36
+#define MPU9250_INT_PIN_CFG 0x37
+#define MPU9250_INT_ENABLE 0x38
+#define MPU9250_ACCEL_XOUT_H 0x3B
+#define MPU9250_ACCEL_XOUT_L 0x3C
+#define MPU9250_ACCEL_YOUT_H 0x3D
+#define MPU9250_ACCEL_YOUT_L 0x3E
+#define MPU9250_ACCEL_ZOUT_H 0x3F
+#define MPU9250_ACCEL_ZOUT_L 0x40
+#define MPU9250_TEMP_OUT_H 0x41
+#define MPU9250_TEMP_OUT_L 0x42
+#define MPU9250_GYRO_XOUT_H 0x43
+#define MPU9250_GYRO_XOUT_L 0x44
+#define MPU9250_GYRO_YOUT_H 0x45
+#define MPU9250_GYRO_YOUT_L 0x46
+#define MPU9250_GYRO_ZOUT_H 0x47
+#define MPU9250_GYRO_ZOUT_L 0x48
+#define MPU9250_EXT_SENS_DATA_00    0x49
+#define MPU9250_EXT_SENS_DATA_01    0x4A
+#define MPU9250_EXT_SENS_DATA_02    0x4B
+#define MPU9250_EXT_SENS_DATA_03    0x4C
+#define MPU9250_EXT_SENS_DATA_04    0x4D
+#define MPU9250_EXT_SENS_DATA_05    0x4E
+#define MPU9250_EXT_SENS_DATA_06    0x4F
+#define MPU9250_EXT_SENS_DATA_07    0x50
+#define MPU9250_EXT_SENS_DATA_08    0x51
+#define MPU9250_EXT_SENS_DATA_09    0x52
+#define MPU9250_EXT_SENS_DATA_10    0x53
+#define MPU9250_EXT_SENS_DATA_11    0x54
+#define MPU9250_EXT_SENS_DATA_12    0x55
+#define MPU9250_EXT_SENS_DATA_13    0x56
+#define MPU9250_EXT_SENS_DATA_14    0x57
+#define MPU9250_EXT_SENS_DATA_15    0x58
+#define MPU9250_EXT_SENS_DATA_16    0x59
+#define MPU9250_EXT_SENS_DATA_17    0x5A
+#define MPU9250_EXT_SENS_DATA_18    0x5B
+#define MPU9250_EXT_SENS_DATA_19    0x5C
+#define MPU9250_EXT_SENS_DATA_20    0x5D
+#define MPU9250_EXT_SENS_DATA_21    0x5E
+#define MPU9250_EXT_SENS_DATA_22    0x5F
+#define MPU9250_EXT_SENS_DATA_23    0x60
+#define MPU9250_I2C_SLV0_DO         0x63
+#define MPU9250_I2C_SLV1_DO         0x64
+#define MPU9250_I2C_SLV2_DO         0x65
+#define MPU9250_I2C_SLV3_DO         0x66
+#define MPU9250_I2C_MST_DELAY_CTRL  0x67
+#define MPU9250_SIGNAL_PATH_RESET   0x68
+#define MPU9250_MOT_DETECT_CTRL     0x69
+#define MPU9250_USER_CTRL 0x6A
+#define MPU9250_PWR_MGMT_1 0x6B
+#define MPU9250_PWR_MGMT_2 0x6C
+#define MPU9250_BANK_SEL 0x6D
+#define MPU9250_MEM_START_ADDR 0x6E
+#define MPU9250_MEM_R_W 0x6F
+#define MPU9250_DMP_CFG_1 0x70
+#define MPU9250_DMP_CFG_2 0x71
+#define MPU9250_FIFO_COUNTH 0x72
+#define MPU9250_FIFO_COUNTL 0x73
+#define MPU9250_FIFO_R_W 0x74
+#define MPU9250_WHOAMI 0x75
+#define MPU9250_XA_OFFSET_H         0x77
+#define MPU9250_XA_OFFSET_L         0x78
+#define MPU9250_YA_OFFSET_H         0x7A
+#define MPU9250_YA_OFFSET_L         0x7B
+#define MPU9250_ZA_OFFSET_H         0x7D
+#define MPU9250_ZA_OFFSET_L         0x7E
+/* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */
+#define AK8963_I2C_ADDR             0x0c//0x18
+#define AK8963_Device_ID            0x48
+ 
+// Read-only Reg
+#define AK8963_WIA                  0x00
+#define AK8963_INFO                 0x01
+#define AK8963_ST1                  0x02
+#define AK8963_HXL                  0x03
+#define AK8963_HXH                  0x04
+#define AK8963_HYL                  0x05
+#define AK8963_HYH                  0x06
+#define AK8963_HZL                  0x07
+#define AK8963_HZH                  0x08
+#define AK8963_ST2                  0x09
+// 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 MPU9250_READ_REGISTER=
-
+#define MPU9250_READ_FLAG 0x80
  
 class MPU9250Sensor : public BaseSensor {
 public: