Oğuz Özdemir / SparkFunMPU9250-DMP

It is the library published by sparkfun, edited accordingly to make it work under mbed platform.

Dependents:   MPU9250-dmp-bluepill MPU9250-dmp

MPU9250_RegisterMap.h@4:2c4e849b8ecf, 2017-08-15 (annotated)

Committer:
mbedoguz
Date:
Tue Aug 15 10:49:44 2017 +0000
Revision:
4:2c4e849b8ecf
Parent:
0:d1f0ae13f4a7 
computeEulerAngles are corrected to below issue ; https://github.com/sparkfun/SparkFun_MPU-9250-DMP_Arduino_Library/issues/5

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedoguz 0:d1f0ae13f4a7 1 /******************************************************************************
mbedoguz 0:d1f0ae13f4a7 2 MPU9250_RegisterMap.h - MPU-9250 Digital Motion Processor Arduino Library
mbedoguz 0:d1f0ae13f4a7 3 Jim Lindblom @ SparkFun Electronics
mbedoguz 0:d1f0ae13f4a7 4 original creation date: November 23, 2016
mbedoguz 0:d1f0ae13f4a7 5 https://github.com/sparkfun/SparkFun_MPU9250_DMP_Arduino_Library
mbedoguz 0:d1f0ae13f4a7 6
mbedoguz 0:d1f0ae13f4a7 7 This library implements motion processing functions of Invensense's MPU-9250.
mbedoguz 0:d1f0ae13f4a7 8 It is based on their Emedded MotionDriver 6.12 library.
mbedoguz 0:d1f0ae13f4a7 9 https://www.invensense.com/developers/software-downloads/
mbedoguz 0:d1f0ae13f4a7 10
mbedoguz 0:d1f0ae13f4a7 11 Development environment specifics:
mbedoguz 0:d1f0ae13f4a7 12 Arduino IDE 1.6.12
mbedoguz 0:d1f0ae13f4a7 13 SparkFun 9DoF Razor IMU M0
mbedoguz 0:d1f0ae13f4a7 14
mbedoguz 0:d1f0ae13f4a7 15 Supported Platforms:
mbedoguz 0:d1f0ae13f4a7 16 - ATSAMD21 (Arduino Zero, SparkFun SAMD21 Breakouts)
mbedoguz 0:d1f0ae13f4a7 17 ******************************************************************************/
mbedoguz 0:d1f0ae13f4a7 18 #ifndef _MPU9250_REGISTER_MAP_H_
mbedoguz 0:d1f0ae13f4a7 19 #define _MPU9250_REGISTER_MAP_H_
mbedoguz 0:d1f0ae13f4a7 20
mbedoguz 0:d1f0ae13f4a7 21 enum mpu9250_register {
mbedoguz 0:d1f0ae13f4a7 22 MPU9250_SELF_TEST_X_GYRO = 0x00,
mbedoguz 0:d1f0ae13f4a7 23 MPU9250_SELF_TEST_Y_GYRO = 0x01,
mbedoguz 0:d1f0ae13f4a7 24 MPU9250_SELF_TEST_Z_GYRO = 0x02,
mbedoguz 0:d1f0ae13f4a7 25 MPU9250_SELF_TEST_X_ACCEL = 0x0D,
mbedoguz 0:d1f0ae13f4a7 26 MPU9250_SELF_TEST_Y_ACCEL = 0x0E,
mbedoguz 0:d1f0ae13f4a7 27 MPU9250_SELF_TEST_Z_ACCEL = 0x0F,
mbedoguz 0:d1f0ae13f4a7 28 MPU9250_XG_OFFSET_H = 0x13,
mbedoguz 0:d1f0ae13f4a7 29 MPU9250_XG_OFFSET_L = 0x14,
mbedoguz 0:d1f0ae13f4a7 30 MPU9250_YG_OFFSET_H = 0x15,
mbedoguz 0:d1f0ae13f4a7 31 MPU9250_YG_OFFSET_L = 0x16,
mbedoguz 0:d1f0ae13f4a7 32 MPU9250_ZG_OFFSET_H = 0x17,
mbedoguz 0:d1f0ae13f4a7 33 MPU9250_ZG_OFFSET_L = 0x18,
mbedoguz 0:d1f0ae13f4a7 34 MPU9250_SMPLRT_DIV = 0x19,
mbedoguz 0:d1f0ae13f4a7 35 MPU9250_CONFIG = 0x1A,
mbedoguz 0:d1f0ae13f4a7 36 MPU9250_GYRO_CONFIG = 0x1B,
mbedoguz 0:d1f0ae13f4a7 37 MPU9250_ACCEL_CONFIG = 0x1C,
mbedoguz 0:d1f0ae13f4a7 38 MPU9250_ACCEL_CONFIG_2 = 0x1D,
mbedoguz 0:d1f0ae13f4a7 39 MPU9250_LP_ACCEL_ODR = 0x1E,
mbedoguz 0:d1f0ae13f4a7 40 MPU9250_WOM_THR = 0x1F,
mbedoguz 0:d1f0ae13f4a7 41 MPU9250_FIFO_EN = 0x23,
mbedoguz 0:d1f0ae13f4a7 42 MPU9250_I2C_MST_CTRL = 0x24,
mbedoguz 0:d1f0ae13f4a7 43 MPU9250_I2C_SLV0_ADDR = 0x25,
mbedoguz 0:d1f0ae13f4a7 44 MPU9250_I2C_SLV0_REG = 0x26,
mbedoguz 0:d1f0ae13f4a7 45 MPU9250_I2C_SLV0_CTRL = 0x27,
mbedoguz 0:d1f0ae13f4a7 46 MPU9250_I2C_SLV1_ADDR = 0x28,
mbedoguz 0:d1f0ae13f4a7 47 MPU9250_I2C_SLV1_REG = 0x29,
mbedoguz 0:d1f0ae13f4a7 48 MPU9250_I2C_SLV1_CTRL = 0x2A,
mbedoguz 0:d1f0ae13f4a7 49 MPU9250_I2C_SLV2_ADDR = 0x2B,
mbedoguz 0:d1f0ae13f4a7 50 MPU9250_I2C_SLV2_REG = 0x2C,
mbedoguz 0:d1f0ae13f4a7 51 MPU9250_I2C_SLV2_CTRL = 0x2D,
mbedoguz 0:d1f0ae13f4a7 52 MPU9250_I2C_SLV3_ADDR = 0x2E,
mbedoguz 0:d1f0ae13f4a7 53 MPU9250_I2C_SLV3_REG = 0x2F,
mbedoguz 0:d1f0ae13f4a7 54 MPU9250_I2C_SLV3_CTRL = 0x30,
mbedoguz 0:d1f0ae13f4a7 55 MPU9250_I2C_SLV4_ADDR = 0x31,
mbedoguz 0:d1f0ae13f4a7 56 MPU9250_I2C_SLV4_REG = 0x32,
mbedoguz 0:d1f0ae13f4a7 57 MPU9250_I2C_SLV4_DO = 0x33,
mbedoguz 0:d1f0ae13f4a7 58 MPU9250_I2C_SLV4_CTRL = 0x34,
mbedoguz 0:d1f0ae13f4a7 59 MPU9250_I2C_SLV4_DI = 0x35,
mbedoguz 0:d1f0ae13f4a7 60 MPU9250_I2C_MST_STATUS = 0x36,
mbedoguz 0:d1f0ae13f4a7 61 MPU9250_INT_PIN_CFG = 0x37,
mbedoguz 0:d1f0ae13f4a7 62 MPU9250_INT_ENABLE = 0x38,
mbedoguz 0:d1f0ae13f4a7 63 MPU9250_INT_STATUS = 0x3A,
mbedoguz 0:d1f0ae13f4a7 64 MPU9250_ACCEL_XOUT_H = 0x3B,
mbedoguz 0:d1f0ae13f4a7 65 MPU9250_ACCEL_XOUT_L = 0x3C,
mbedoguz 0:d1f0ae13f4a7 66 MPU9250_ACCEL_YOUT_H = 0x3D,
mbedoguz 0:d1f0ae13f4a7 67 MPU9250_ACCEL_YOUT_L = 0x3E,
mbedoguz 0:d1f0ae13f4a7 68 MPU9250_ACCEL_ZOUT_H = 0x3F,
mbedoguz 0:d1f0ae13f4a7 69 MPU9250_ACCEL_ZOUT_L = 0x40,
mbedoguz 0:d1f0ae13f4a7 70 MPU9250_TEMP_OUT_H = 0x41,
mbedoguz 0:d1f0ae13f4a7 71 MPU9250_TEMP_OUT_L = 0x42,
mbedoguz 0:d1f0ae13f4a7 72 MPU9250_GYRO_XOUT_H = 0x43,
mbedoguz 0:d1f0ae13f4a7 73 MPU9250_GYRO_XOUT_L = 0x44,
mbedoguz 0:d1f0ae13f4a7 74 MPU9250_GYRO_YOUT_H = 0x45,
mbedoguz 0:d1f0ae13f4a7 75 MPU9250_GYRO_YOUT_L = 0x46,
mbedoguz 0:d1f0ae13f4a7 76 MPU9250_GYRO_ZOUT_H = 0x47,
mbedoguz 0:d1f0ae13f4a7 77 MPU9250_GYRO_ZOUT_L = 0x48,
mbedoguz 0:d1f0ae13f4a7 78 MPU9250_EXT_SENS_DATA_00 = 0x49,
mbedoguz 0:d1f0ae13f4a7 79 MPU9250_EXT_SENS_DATA_01 = 0x4A,
mbedoguz 0:d1f0ae13f4a7 80 MPU9250_EXT_SENS_DATA_02 = 0x4B,
mbedoguz 0:d1f0ae13f4a7 81 MPU9250_EXT_SENS_DATA_03 = 0x4C,
mbedoguz 0:d1f0ae13f4a7 82 MPU9250_EXT_SENS_DATA_04 = 0x4D,
mbedoguz 0:d1f0ae13f4a7 83 MPU9250_EXT_SENS_DATA_05 = 0x4E,
mbedoguz 0:d1f0ae13f4a7 84 MPU9250_EXT_SENS_DATA_06 = 0x4F,
mbedoguz 0:d1f0ae13f4a7 85 MPU9250_EXT_SENS_DATA_07 = 0x50,
mbedoguz 0:d1f0ae13f4a7 86 MPU9250_EXT_SENS_DATA_08 = 0x51,
mbedoguz 0:d1f0ae13f4a7 87 MPU9250_EXT_SENS_DATA_09 = 0x52,
mbedoguz 0:d1f0ae13f4a7 88 MPU9250_EXT_SENS_DATA_10 = 0x53,
mbedoguz 0:d1f0ae13f4a7 89 MPU9250_EXT_SENS_DATA_11 = 0x54,
mbedoguz 0:d1f0ae13f4a7 90 MPU9250_EXT_SENS_DATA_12 = 0x55,
mbedoguz 0:d1f0ae13f4a7 91 MPU9250_EXT_SENS_DATA_13 = 0x56,
mbedoguz 0:d1f0ae13f4a7 92 MPU9250_EXT_SENS_DATA_14 = 0x57,
mbedoguz 0:d1f0ae13f4a7 93 MPU9250_EXT_SENS_DATA_15 = 0x58,
mbedoguz 0:d1f0ae13f4a7 94 MPU9250_EXT_SENS_DATA_16 = 0x59,
mbedoguz 0:d1f0ae13f4a7 95 MPU9250_EXT_SENS_DATA_17 = 0x5A,
mbedoguz 0:d1f0ae13f4a7 96 MPU9250_EXT_SENS_DATA_18 = 0x5B,
mbedoguz 0:d1f0ae13f4a7 97 MPU9250_EXT_SENS_DATA_19 = 0x5C,
mbedoguz 0:d1f0ae13f4a7 98 MPU9250_EXT_SENS_DATA_20 = 0x5D,
mbedoguz 0:d1f0ae13f4a7 99 MPU9250_EXT_SENS_DATA_21 = 0x5E,
mbedoguz 0:d1f0ae13f4a7 100 MPU9250_EXT_SENS_DATA_22 = 0x5F,
mbedoguz 0:d1f0ae13f4a7 101 MPU9250_EXT_SENS_DATA_23 = 0x60,
mbedoguz 0:d1f0ae13f4a7 102 MPU9250_I2C_SLV0_DO = 0x63,
mbedoguz 0:d1f0ae13f4a7 103 MPU9250_I2C_SLV1_DO = 0x64,
mbedoguz 0:d1f0ae13f4a7 104 MPU9250_I2C_SLV2_DO = 0x65,
mbedoguz 0:d1f0ae13f4a7 105 MPU9250_I2C_SLV3_DO = 0x66,
mbedoguz 0:d1f0ae13f4a7 106 MPU9250_I2C_MST_DELAY_CTRL =0x67,
mbedoguz 0:d1f0ae13f4a7 107 MPU9250_SIGNAL_PATH_RESET = 0x68,
mbedoguz 0:d1f0ae13f4a7 108 MPU9250_MOT_DETECT_CTRL = 0x69,
mbedoguz 0:d1f0ae13f4a7 109 MPU9250_USER_CTRL = 0x6A,
mbedoguz 0:d1f0ae13f4a7 110 MPU9250_PWR_MGMT_1 = 0x6B,
mbedoguz 0:d1f0ae13f4a7 111 MPU9250_PWR_MGMT_2 = 0x6C,
mbedoguz 0:d1f0ae13f4a7 112 MPU9250_FIFO_COUNTH = 0x72,
mbedoguz 0:d1f0ae13f4a7 113 MPU9250_FIFO_COUNTL = 0x73,
mbedoguz 0:d1f0ae13f4a7 114 MPU9250_FIFO_R_W = 0x74,
mbedoguz 0:d1f0ae13f4a7 115 MPU9250_WHO_AM_I = 0x75,
mbedoguz 0:d1f0ae13f4a7 116 MPU9250_XA_OFFSET_H = 0x77,
mbedoguz 0:d1f0ae13f4a7 117 MPU9250_XA_OFFSET_L = 0x78,
mbedoguz 0:d1f0ae13f4a7 118 MPU9250_YA_OFFSET_H = 0x7A,
mbedoguz 0:d1f0ae13f4a7 119 MPU9250_YA_OFFSET_L = 0x7B,
mbedoguz 0:d1f0ae13f4a7 120 MPU9250_ZA_OFFSET_H = 0x7D,
mbedoguz 0:d1f0ae13f4a7 121 MPU9250_ZA_OFFSET_L = 0x7E
mbedoguz 0:d1f0ae13f4a7 122 };
mbedoguz 0:d1f0ae13f4a7 123
mbedoguz 0:d1f0ae13f4a7 124 enum interrupt_status_bits {
mbedoguz 0:d1f0ae13f4a7 125 INT_STATUS_RAW_DATA_RDY_INT = 0,
mbedoguz 0:d1f0ae13f4a7 126 INT_STATUS_FSYNC_INT = 3,
mbedoguz 0:d1f0ae13f4a7 127 INT_STATUS_FIFO_OVERFLOW_INT = 4,
mbedoguz 0:d1f0ae13f4a7 128 INT_STATUS_WOM_INT = 6,
mbedoguz 0:d1f0ae13f4a7 129 };
mbedoguz 0:d1f0ae13f4a7 130
mbedoguz 0:d1f0ae13f4a7 131 enum gyro_config_bits {
mbedoguz 0:d1f0ae13f4a7 132 GYRO_CONFIG_FCHOICE_B = 0,
mbedoguz 0:d1f0ae13f4a7 133 GYRO_CONFIG_GYRO_FS_SEL = 3,
mbedoguz 0:d1f0ae13f4a7 134 GYRO_CONFIG_ZGYRO_CTEN = 5,
mbedoguz 0:d1f0ae13f4a7 135 GYRO_CONFIG_YGYRO_CTEN = 6,
mbedoguz 0:d1f0ae13f4a7 136 GYRO_CONFIG_XGYRO_CTEN = 7,
mbedoguz 0:d1f0ae13f4a7 137 };
mbedoguz 0:d1f0ae13f4a7 138 #define MPU9250_GYRO_FS_SEL_MASK 0x3
mbedoguz 0:d1f0ae13f4a7 139 #define MPU9250_GYRO_FCHOICE_MASK 0x3
mbedoguz 0:d1f0ae13f4a7 140
mbedoguz 0:d1f0ae13f4a7 141 enum accel_config_bit {
mbedoguz 0:d1f0ae13f4a7 142 ACCEL_CONFIG_ACCEL_FS_SEL = 3,
mbedoguz 0:d1f0ae13f4a7 143 ACCEL_CONFIG_AZ_ST_EN = 5,
mbedoguz 0:d1f0ae13f4a7 144 ACCEL_CONFIG_AY_ST_EN = 6,
mbedoguz 0:d1f0ae13f4a7 145 ACCEL_CONFIG_AX_ST_EN = 7,
mbedoguz 0:d1f0ae13f4a7 146 };
mbedoguz 0:d1f0ae13f4a7 147 #define MPU9250_ACCEL_FS_SEL_MASK 0x3
mbedoguz 0:d1f0ae13f4a7 148
mbedoguz 0:d1f0ae13f4a7 149 enum accel_config_2_bits {
mbedoguz 0:d1f0ae13f4a7 150 ACCEL_CONFIG_2_A_DLPFCFG = 0,
mbedoguz 0:d1f0ae13f4a7 151 ACCEL_CONFIG_2_ACCEL_FCHOICE_B = 3,
mbedoguz 0:d1f0ae13f4a7 152 };
mbedoguz 0:d1f0ae13f4a7 153
mbedoguz 0:d1f0ae13f4a7 154 enum pwr_mgmt_1_bits {
mbedoguz 0:d1f0ae13f4a7 155 PWR_MGMT_1_CLKSEL = 0,
mbedoguz 0:d1f0ae13f4a7 156 PWR_MGMT_1_PD_PTAT = 3,
mbedoguz 0:d1f0ae13f4a7 157 PWR_MGMT_1_GYRO_STANDBY = 4,
mbedoguz 0:d1f0ae13f4a7 158 PWR_MGMT_1_CYCLE = 5,
mbedoguz 0:d1f0ae13f4a7 159 PWR_MGMT_1_SLEEP = 6,
mbedoguz 0:d1f0ae13f4a7 160 PWR_MGMT_1_H_RESET = 7
mbedoguz 0:d1f0ae13f4a7 161 };
mbedoguz 0:d1f0ae13f4a7 162
mbedoguz 0:d1f0ae13f4a7 163 enum pwr_mgmt_2_bits {
mbedoguz 0:d1f0ae13f4a7 164 PWR_MGMT_2_DISABLE_ZG = 0,
mbedoguz 0:d1f0ae13f4a7 165 PWR_MGMT_2_DISABLE_YG = 1,
mbedoguz 0:d1f0ae13f4a7 166 PWR_MGMT_2_DISABLE_XG = 2,
mbedoguz 0:d1f0ae13f4a7 167 PWR_MGMT_2_DISABLE_ZA = 3,
mbedoguz 0:d1f0ae13f4a7 168 PWR_MGMT_2_DISABLE_YA = 4,
mbedoguz 0:d1f0ae13f4a7 169 PWR_MGMT_2_DISABLE_XA = 5,
mbedoguz 0:d1f0ae13f4a7 170 };
mbedoguz 0:d1f0ae13f4a7 171
mbedoguz 0:d1f0ae13f4a7 172 enum int_enable_bits {
mbedoguz 0:d1f0ae13f4a7 173 INT_ENABLE_RAW_RDY_EN = 0,
mbedoguz 0:d1f0ae13f4a7 174 INT_ENABLE_FSYNC_INT_EN = 3,
mbedoguz 0:d1f0ae13f4a7 175 INT_ENABLE_FIFO_OVERFLOW_EN = 4,
mbedoguz 0:d1f0ae13f4a7 176 INT_ENABLE_WOM_EN = 6,
mbedoguz 0:d1f0ae13f4a7 177 };
mbedoguz 0:d1f0ae13f4a7 178
mbedoguz 0:d1f0ae13f4a7 179 enum int_pin_cfg_bits {
mbedoguz 0:d1f0ae13f4a7 180 INT_PIN_CFG_BYPASS_EN = 1,
mbedoguz 0:d1f0ae13f4a7 181 INT_PIN_CFG_FSYNC_INT_MODE_EN = 2,
mbedoguz 0:d1f0ae13f4a7 182 INT_PIN_CFG_ACTL_FSYNC = 3,
mbedoguz 0:d1f0ae13f4a7 183 INT_PIN_CFG_INT_ANYRD_2CLEAR = 4,
mbedoguz 0:d1f0ae13f4a7 184 INT_PIN_CFG_LATCH_INT_EN = 5,
mbedoguz 0:d1f0ae13f4a7 185 INT_PIN_CFG_OPEN = 6,
mbedoguz 0:d1f0ae13f4a7 186 INT_PIN_CFG_ACTL = 7,
mbedoguz 0:d1f0ae13f4a7 187 };
mbedoguz 0:d1f0ae13f4a7 188 #define INT_PIN_CFG_INT_MASK 0xF0
mbedoguz 0:d1f0ae13f4a7 189
mbedoguz 0:d1f0ae13f4a7 190 #define MPU9250_WHO_AM_I_RESULT 0x71
mbedoguz 0:d1f0ae13f4a7 191
mbedoguz 0:d1f0ae13f4a7 192 enum ak8963_register {
mbedoguz 0:d1f0ae13f4a7 193 AK8963_WIA = 0x0,
mbedoguz 0:d1f0ae13f4a7 194 AK8963_INFO = 0x1,
mbedoguz 0:d1f0ae13f4a7 195 AK8963_ST1 = 0x2,
mbedoguz 0:d1f0ae13f4a7 196 AK8963_HXL = 0x3,
mbedoguz 0:d1f0ae13f4a7 197 AK8963_HXH = 0x4,
mbedoguz 0:d1f0ae13f4a7 198 AK8963_HYL = 0x5,
mbedoguz 0:d1f0ae13f4a7 199 AK8963_HYH = 0x6,
mbedoguz 0:d1f0ae13f4a7 200 AK8963_HZL = 0x7,
mbedoguz 0:d1f0ae13f4a7 201 AK8963_HZH = 0x8,
mbedoguz 0:d1f0ae13f4a7 202 AK8963_ST2 = 0x9,
mbedoguz 0:d1f0ae13f4a7 203 AK8963_CNTL = 0xA,
mbedoguz 0:d1f0ae13f4a7 204 AK8963_RSV = 0xB,
mbedoguz 0:d1f0ae13f4a7 205 AK8963_ASTC = 0xC,
mbedoguz 0:d1f0ae13f4a7 206 AK8963_TS1 = 0xD,
mbedoguz 0:d1f0ae13f4a7 207 AK8963_TS2 = 0xE,
mbedoguz 0:d1f0ae13f4a7 208 AK8963_I2CDIS = 0xF,
mbedoguz 0:d1f0ae13f4a7 209 AK8963_ASAX = 0x10,
mbedoguz 0:d1f0ae13f4a7 210 AK8963_ASAY = 0x11,
mbedoguz 0:d1f0ae13f4a7 211 AK8963_ASAZ = 0x12,
mbedoguz 0:d1f0ae13f4a7 212 };
mbedoguz 0:d1f0ae13f4a7 213 #define MAG_CTRL_OP_MODE_MASK 0xF
mbedoguz 0:d1f0ae13f4a7 214
mbedoguz 0:d1f0ae13f4a7 215 #define AK8963_ST1_DRDY_BIT 0
mbedoguz 0:d1f0ae13f4a7 216
mbedoguz 0:d1f0ae13f4a7 217 #define AK8963_WHO_AM_I_RESULT 0x48
mbedoguz 0:d1f0ae13f4a7 218
mbedoguz 0:d1f0ae13f4a7 219 #endif // _MPU9250_REGISTER_MAP_H_