File content as of revision 0:264ee5acfe00:

#ifndef MPU9250_COMMON_H
#define MPU9250_COMMON_H

/*
	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.
*/

// 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 1
#if ADO
#define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1
#else
#define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0
#endif

#define PI 3.14159265358979323846f
#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
#define Ki 0.0f

#define CORRECT_WHO_AM_I 0x71

#define DEG2RAD(x) (x * PI / 180.0f)
#define RAD2DEG(x) (x / PI * 180.0f)

#endif