anyThing Connected Team / MPU9250

MPU library edited by kevin

Dependents:   Sensor_tap_BLE

MPU9250-common.h@0:264ee5acfe00, 2018-03-02 (annotated)

Committer:
MarijnJ
Date:
Fri Mar 02 10:29:51 2018 +0000
Revision:
0:264ee5acfe00
bla

Who changed what in which revision?

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MarijnJ 0:264ee5acfe00 1 #ifndef MPU9250_COMMON_H
MarijnJ 0:264ee5acfe00 2 #define MPU9250_COMMON_H
MarijnJ 0:264ee5acfe00 3
MarijnJ 0:264ee5acfe00 4 /*
MarijnJ 0:264ee5acfe00 5 See also MPU-9250 Register Map and Descriptions, Revision 4.0, RM-MPU-9250A-00,
MarijnJ 0:264ee5acfe00 6 Rev. 1.4, 9/9/2013 for registers not listed in above document. The MPU9250
MarijnJ 0:264ee5acfe00 7 and MPU9150 are virtually identical but the latter has a different register map.
MarijnJ 0:264ee5acfe00 8 */
MarijnJ 0:264ee5acfe00 9
MarijnJ 0:264ee5acfe00 10 // Magnetometer Registers
MarijnJ 0:264ee5acfe00 11 #define AK8963_ADDRESS 0x0C<<1
MarijnJ 0:264ee5acfe00 12 #define WHO_AM_I_AK8963 0x00 // should return 0x48
MarijnJ 0:264ee5acfe00 13 #define INFO 0x01
MarijnJ 0:264ee5acfe00 14 #define AK8963_ST1 0x02 // data ready status bit 0
MarijnJ 0:264ee5acfe00 15 #define AK8963_XOUT_L 0x03 // data
MarijnJ 0:264ee5acfe00 16 #define AK8963_XOUT_H 0x04
MarijnJ 0:264ee5acfe00 17 #define AK8963_YOUT_L 0x05
MarijnJ 0:264ee5acfe00 18 #define AK8963_YOUT_H 0x06
MarijnJ 0:264ee5acfe00 19 #define AK8963_ZOUT_L 0x07
MarijnJ 0:264ee5acfe00 20 #define AK8963_ZOUT_H 0x08
MarijnJ 0:264ee5acfe00 21 #define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
MarijnJ 0:264ee5acfe00 22 #define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
MarijnJ 0:264ee5acfe00 23 #define AK8963_ASTC 0x0C // Self test control
MarijnJ 0:264ee5acfe00 24 #define AK8963_I2CDIS 0x0F // I2C disable
MarijnJ 0:264ee5acfe00 25 #define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
MarijnJ 0:264ee5acfe00 26 #define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
MarijnJ 0:264ee5acfe00 27 #define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
MarijnJ 0:264ee5acfe00 28
MarijnJ 0:264ee5acfe00 29 #define SELF_TEST_X_GYRO 0x00
MarijnJ 0:264ee5acfe00 30 #define SELF_TEST_Y_GYRO 0x01
MarijnJ 0:264ee5acfe00 31 #define SELF_TEST_Z_GYRO 0x02
MarijnJ 0:264ee5acfe00 32
MarijnJ 0:264ee5acfe00 33 /*
MarijnJ 0:264ee5acfe00 34 #define X_FINE_GAIN 0x03 // [7:0] fine gain
MarijnJ 0:264ee5acfe00 35 #define Y_FINE_GAIN 0x04
MarijnJ 0:264ee5acfe00 36 #define Z_FINE_GAIN 0x05
MarijnJ 0:264ee5acfe00 37 #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
MarijnJ 0:264ee5acfe00 38 #define XA_OFFSET_L_TC 0x07
MarijnJ 0:264ee5acfe00 39 #define YA_OFFSET_H 0x08
MarijnJ 0:264ee5acfe00 40 #define YA_OFFSET_L_TC 0x09
MarijnJ 0:264ee5acfe00 41 #define ZA_OFFSET_H 0x0A
MarijnJ 0:264ee5acfe00 42 #define ZA_OFFSET_L_TC 0x0B
MarijnJ 0:264ee5acfe00 43 */
MarijnJ 0:264ee5acfe00 44
MarijnJ 0:264ee5acfe00 45 #define SELF_TEST_X_ACCEL 0x0D
MarijnJ 0:264ee5acfe00 46 #define SELF_TEST_Y_ACCEL 0x0E
MarijnJ 0:264ee5acfe00 47 #define SELF_TEST_Z_ACCEL 0x0F
MarijnJ 0:264ee5acfe00 48
MarijnJ 0:264ee5acfe00 49 #define SELF_TEST_A 0x10
MarijnJ 0:264ee5acfe00 50
MarijnJ 0:264ee5acfe00 51 #define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
MarijnJ 0:264ee5acfe00 52 #define XG_OFFSET_L 0x14
MarijnJ 0:264ee5acfe00 53 #define YG_OFFSET_H 0x15
MarijnJ 0:264ee5acfe00 54 #define YG_OFFSET_L 0x16
MarijnJ 0:264ee5acfe00 55 #define ZG_OFFSET_H 0x17
MarijnJ 0:264ee5acfe00 56 #define ZG_OFFSET_L 0x18
MarijnJ 0:264ee5acfe00 57 #define SMPLRT_DIV 0x19
MarijnJ 0:264ee5acfe00 58 #define CONFIG 0x1A
MarijnJ 0:264ee5acfe00 59 #define GYRO_CONFIG 0x1B
MarijnJ 0:264ee5acfe00 60 #define ACCEL_CONFIG 0x1C
MarijnJ 0:264ee5acfe00 61 #define ACCEL_CONFIG2 0x1D
MarijnJ 0:264ee5acfe00 62 #define LP_ACCEL_ODR 0x1E
MarijnJ 0:264ee5acfe00 63 #define WOM_THR 0x1F
MarijnJ 0:264ee5acfe00 64
MarijnJ 0:264ee5acfe00 65 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
MarijnJ 0:264ee5acfe00 66 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
MarijnJ 0:264ee5acfe00 67 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
MarijnJ 0:264ee5acfe00 68
MarijnJ 0:264ee5acfe00 69 #define FIFO_EN 0x23
MarijnJ 0:264ee5acfe00 70 #define I2C_MST_CTRL 0x24
MarijnJ 0:264ee5acfe00 71 #define I2C_SLV0_ADDR 0x25
MarijnJ 0:264ee5acfe00 72 #define I2C_SLV0_REG 0x26
MarijnJ 0:264ee5acfe00 73 #define I2C_SLV0_CTRL 0x27
MarijnJ 0:264ee5acfe00 74 #define I2C_SLV1_ADDR 0x28
MarijnJ 0:264ee5acfe00 75 #define I2C_SLV1_REG 0x29
MarijnJ 0:264ee5acfe00 76 #define I2C_SLV1_CTRL 0x2A
MarijnJ 0:264ee5acfe00 77 #define I2C_SLV2_ADDR 0x2B
MarijnJ 0:264ee5acfe00 78 #define I2C_SLV2_REG 0x2C
MarijnJ 0:264ee5acfe00 79 #define I2C_SLV2_CTRL 0x2D
MarijnJ 0:264ee5acfe00 80 #define I2C_SLV3_ADDR 0x2E
MarijnJ 0:264ee5acfe00 81 #define I2C_SLV3_REG 0x2F
MarijnJ 0:264ee5acfe00 82 #define I2C_SLV3_CTRL 0x30
MarijnJ 0:264ee5acfe00 83 #define I2C_SLV4_ADDR 0x31
MarijnJ 0:264ee5acfe00 84 #define I2C_SLV4_REG 0x32
MarijnJ 0:264ee5acfe00 85 #define I2C_SLV4_DO 0x33
MarijnJ 0:264ee5acfe00 86 #define I2C_SLV4_CTRL 0x34
MarijnJ 0:264ee5acfe00 87 #define I2C_SLV4_DI 0x35
MarijnJ 0:264ee5acfe00 88 #define I2C_MST_STATUS 0x36
MarijnJ 0:264ee5acfe00 89 #define INT_PIN_CFG 0x37
MarijnJ 0:264ee5acfe00 90 #define INT_ENABLE 0x38
MarijnJ 0:264ee5acfe00 91 #define DMP_INT_STATUS 0x39 // Check DMP interrupt
MarijnJ 0:264ee5acfe00 92 #define INT_STATUS 0x3A
MarijnJ 0:264ee5acfe00 93 #define ACCEL_XOUT_H 0x3B
MarijnJ 0:264ee5acfe00 94 #define ACCEL_XOUT_L 0x3C
MarijnJ 0:264ee5acfe00 95 #define ACCEL_YOUT_H 0x3D
MarijnJ 0:264ee5acfe00 96 #define ACCEL_YOUT_L 0x3E
MarijnJ 0:264ee5acfe00 97 #define ACCEL_ZOUT_H 0x3F
MarijnJ 0:264ee5acfe00 98 #define ACCEL_ZOUT_L 0x40
MarijnJ 0:264ee5acfe00 99 #define TEMP_OUT_H 0x41
MarijnJ 0:264ee5acfe00 100 #define TEMP_OUT_L 0x42
MarijnJ 0:264ee5acfe00 101 #define GYRO_XOUT_H 0x43
MarijnJ 0:264ee5acfe00 102 #define GYRO_XOUT_L 0x44
MarijnJ 0:264ee5acfe00 103 #define GYRO_YOUT_H 0x45
MarijnJ 0:264ee5acfe00 104 #define GYRO_YOUT_L 0x46
MarijnJ 0:264ee5acfe00 105 #define GYRO_ZOUT_H 0x47
MarijnJ 0:264ee5acfe00 106 #define GYRO_ZOUT_L 0x48
MarijnJ 0:264ee5acfe00 107 #define EXT_SENS_DATA_00 0x49
MarijnJ 0:264ee5acfe00 108 #define EXT_SENS_DATA_01 0x4A
MarijnJ 0:264ee5acfe00 109 #define EXT_SENS_DATA_02 0x4B
MarijnJ 0:264ee5acfe00 110 #define EXT_SENS_DATA_03 0x4C
MarijnJ 0:264ee5acfe00 111 #define EXT_SENS_DATA_04 0x4D
MarijnJ 0:264ee5acfe00 112 #define EXT_SENS_DATA_05 0x4E
MarijnJ 0:264ee5acfe00 113 #define EXT_SENS_DATA_06 0x4F
MarijnJ 0:264ee5acfe00 114 #define EXT_SENS_DATA_07 0x50
MarijnJ 0:264ee5acfe00 115 #define EXT_SENS_DATA_08 0x51
MarijnJ 0:264ee5acfe00 116 #define EXT_SENS_DATA_09 0x52
MarijnJ 0:264ee5acfe00 117 #define EXT_SENS_DATA_10 0x53
MarijnJ 0:264ee5acfe00 118 #define EXT_SENS_DATA_11 0x54
MarijnJ 0:264ee5acfe00 119 #define EXT_SENS_DATA_12 0x55
MarijnJ 0:264ee5acfe00 120 #define EXT_SENS_DATA_13 0x56
MarijnJ 0:264ee5acfe00 121 #define EXT_SENS_DATA_14 0x57
MarijnJ 0:264ee5acfe00 122 #define EXT_SENS_DATA_15 0x58
MarijnJ 0:264ee5acfe00 123 #define EXT_SENS_DATA_16 0x59
MarijnJ 0:264ee5acfe00 124 #define EXT_SENS_DATA_17 0x5A
MarijnJ 0:264ee5acfe00 125 #define EXT_SENS_DATA_18 0x5B
MarijnJ 0:264ee5acfe00 126 #define EXT_SENS_DATA_19 0x5C
MarijnJ 0:264ee5acfe00 127 #define EXT_SENS_DATA_20 0x5D
MarijnJ 0:264ee5acfe00 128 #define EXT_SENS_DATA_21 0x5E
MarijnJ 0:264ee5acfe00 129 #define EXT_SENS_DATA_22 0x5F
MarijnJ 0:264ee5acfe00 130 #define EXT_SENS_DATA_23 0x60
MarijnJ 0:264ee5acfe00 131 #define MOT_DETECT_STATUS 0x61
MarijnJ 0:264ee5acfe00 132 #define I2C_SLV0_DO 0x63
MarijnJ 0:264ee5acfe00 133 #define I2C_SLV1_DO 0x64
MarijnJ 0:264ee5acfe00 134 #define I2C_SLV2_DO 0x65
MarijnJ 0:264ee5acfe00 135 #define I2C_SLV3_DO 0x66
MarijnJ 0:264ee5acfe00 136 #define I2C_MST_DELAY_CTRL 0x67
MarijnJ 0:264ee5acfe00 137 #define SIGNAL_PATH_RESET 0x68
MarijnJ 0:264ee5acfe00 138 #define MOT_DETECT_CTRL 0x69
MarijnJ 0:264ee5acfe00 139 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
MarijnJ 0:264ee5acfe00 140 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
MarijnJ 0:264ee5acfe00 141 #define PWR_MGMT_2 0x6C
MarijnJ 0:264ee5acfe00 142 #define DMP_BANK 0x6D // Activates a specific bank in the DMP
MarijnJ 0:264ee5acfe00 143 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
MarijnJ 0:264ee5acfe00 144 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
MarijnJ 0:264ee5acfe00 145 #define DMP_REG_1 0x70
MarijnJ 0:264ee5acfe00 146 #define DMP_REG_2 0x71
MarijnJ 0:264ee5acfe00 147 #define FIFO_COUNTH 0x72
MarijnJ 0:264ee5acfe00 148 #define FIFO_COUNTL 0x73
MarijnJ 0:264ee5acfe00 149 #define FIFO_R_W 0x74
MarijnJ 0:264ee5acfe00 150 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71
MarijnJ 0:264ee5acfe00 151 #define XA_OFFSET_H 0x77
MarijnJ 0:264ee5acfe00 152 #define XA_OFFSET_L 0x78
MarijnJ 0:264ee5acfe00 153 #define YA_OFFSET_H 0x7A
MarijnJ 0:264ee5acfe00 154 #define YA_OFFSET_L 0x7B
MarijnJ 0:264ee5acfe00 155 #define ZA_OFFSET_H 0x7D
MarijnJ 0:264ee5acfe00 156 #define ZA_OFFSET_L 0x7E
MarijnJ 0:264ee5acfe00 157
MarijnJ 0:264ee5acfe00 158 // Using the MSENSR-9250 breakout board, ADO is set to 0
MarijnJ 0:264ee5acfe00 159 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
MarijnJ 0:264ee5acfe00 160 // mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
MarijnJ 0:264ee5acfe00 161 #define ADO 1
MarijnJ 0:264ee5acfe00 162 #if ADO
MarijnJ 0:264ee5acfe00 163 #define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1
MarijnJ 0:264ee5acfe00 164 #else
MarijnJ 0:264ee5acfe00 165 #define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0
MarijnJ 0:264ee5acfe00 166 #endif
MarijnJ 0:264ee5acfe00 167
MarijnJ 0:264ee5acfe00 168 #define PI 3.14159265358979323846f
MarijnJ 0:264ee5acfe00 169 #define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral
MarijnJ 0:264ee5acfe00 170 #define Ki 0.0f
MarijnJ 0:264ee5acfe00 171
MarijnJ 0:264ee5acfe00 172 #define CORRECT_WHO_AM_I 0x71
MarijnJ 0:264ee5acfe00 173
MarijnJ 0:264ee5acfe00 174 #define DEG2RAD(x) (x * PI / 180.0f)
MarijnJ 0:264ee5acfe00 175 #define RAD2DEG(x) (x / PI * 180.0f)
MarijnJ 0:264ee5acfe00 176
MarijnJ 0:264ee5acfe00 177 #endif