Diff: MPU9250-common.h

Revision:

0:264ee5acfe00

diff -r 000000000000 -r 264ee5acfe00 MPU9250-common.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250-common.h	Fri Mar 02 10:29:51 2018 +0000
@@ -0,0 +1,177 @@
+#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