Diff: MPU9250_RegisterMap.h

Revision:

0:d1f0ae13f4a7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250_RegisterMap.h	Mon Aug 07 13:50:23 2017 +0000
@@ -0,0 +1,219 @@
+/******************************************************************************
+MPU9250_RegisterMap.h - MPU-9250 Digital Motion Processor Arduino Library 
+Jim Lindblom @ SparkFun Electronics
+original creation date: November 23, 2016
+https://github.com/sparkfun/SparkFun_MPU9250_DMP_Arduino_Library
+
+This library implements motion processing functions of Invensense's MPU-9250.
+It is based on their Emedded MotionDriver 6.12 library.
+	https://www.invensense.com/developers/software-downloads/
+
+Development environment specifics:
+Arduino IDE 1.6.12
+SparkFun 9DoF Razor IMU M0
+
+Supported Platforms:
+- ATSAMD21 (Arduino Zero, SparkFun SAMD21 Breakouts)
+******************************************************************************/
+#ifndef _MPU9250_REGISTER_MAP_H_
+#define _MPU9250_REGISTER_MAP_H_
+
+enum mpu9250_register {
+	MPU9250_SELF_TEST_X_GYRO =  0x00,
+	MPU9250_SELF_TEST_Y_GYRO =  0x01,
+	MPU9250_SELF_TEST_Z_GYRO =  0x02,
+	MPU9250_SELF_TEST_X_ACCEL = 0x0D,
+	MPU9250_SELF_TEST_Y_ACCEL = 0x0E,
+	MPU9250_SELF_TEST_Z_ACCEL = 0x0F,
+	MPU9250_XG_OFFSET_H =       0x13,
+	MPU9250_XG_OFFSET_L =       0x14,
+	MPU9250_YG_OFFSET_H =       0x15,
+	MPU9250_YG_OFFSET_L =       0x16,
+	MPU9250_ZG_OFFSET_H =       0x17,
+	MPU9250_ZG_OFFSET_L =       0x18,
+	MPU9250_SMPLRT_DIV =        0x19,
+	MPU9250_CONFIG =            0x1A,
+	MPU9250_GYRO_CONFIG =       0x1B,
+	MPU9250_ACCEL_CONFIG =      0x1C,
+	MPU9250_ACCEL_CONFIG_2 =    0x1D,
+	MPU9250_LP_ACCEL_ODR =      0x1E,
+	MPU9250_WOM_THR =           0x1F,
+	MPU9250_FIFO_EN =           0x23,
+	MPU9250_I2C_MST_CTRL =      0x24,
+	MPU9250_I2C_SLV0_ADDR =     0x25,
+	MPU9250_I2C_SLV0_REG =      0x26,
+	MPU9250_I2C_SLV0_CTRL =     0x27,
+	MPU9250_I2C_SLV1_ADDR =     0x28,
+	MPU9250_I2C_SLV1_REG =      0x29,
+	MPU9250_I2C_SLV1_CTRL =     0x2A,
+	MPU9250_I2C_SLV2_ADDR =     0x2B,
+	MPU9250_I2C_SLV2_REG =      0x2C,
+	MPU9250_I2C_SLV2_CTRL =     0x2D,
+	MPU9250_I2C_SLV3_ADDR =     0x2E,
+	MPU9250_I2C_SLV3_REG =      0x2F,
+	MPU9250_I2C_SLV3_CTRL =     0x30,
+	MPU9250_I2C_SLV4_ADDR =     0x31,
+	MPU9250_I2C_SLV4_REG =      0x32,
+	MPU9250_I2C_SLV4_DO =       0x33,
+	MPU9250_I2C_SLV4_CTRL =     0x34,
+	MPU9250_I2C_SLV4_DI =       0x35,
+	MPU9250_I2C_MST_STATUS =    0x36,
+	MPU9250_INT_PIN_CFG =       0x37,
+	MPU9250_INT_ENABLE =        0x38,
+	MPU9250_INT_STATUS =        0x3A,
+	MPU9250_ACCEL_XOUT_H =      0x3B,
+	MPU9250_ACCEL_XOUT_L =      0x3C,
+	MPU9250_ACCEL_YOUT_H =      0x3D,
+	MPU9250_ACCEL_YOUT_L =      0x3E,
+	MPU9250_ACCEL_ZOUT_H =      0x3F,
+	MPU9250_ACCEL_ZOUT_L =      0x40,
+	MPU9250_TEMP_OUT_H =        0x41,
+	MPU9250_TEMP_OUT_L =        0x42,
+	MPU9250_GYRO_XOUT_H =       0x43,
+	MPU9250_GYRO_XOUT_L =       0x44,
+	MPU9250_GYRO_YOUT_H =       0x45,
+	MPU9250_GYRO_YOUT_L =       0x46,
+	MPU9250_GYRO_ZOUT_H =       0x47,
+	MPU9250_GYRO_ZOUT_L =       0x48,
+	MPU9250_EXT_SENS_DATA_00 =  0x49,
+	MPU9250_EXT_SENS_DATA_01 =  0x4A,
+	MPU9250_EXT_SENS_DATA_02 =  0x4B,
+	MPU9250_EXT_SENS_DATA_03 =  0x4C,
+	MPU9250_EXT_SENS_DATA_04 =  0x4D,
+	MPU9250_EXT_SENS_DATA_05 =  0x4E,
+	MPU9250_EXT_SENS_DATA_06 =  0x4F,
+	MPU9250_EXT_SENS_DATA_07 =  0x50,
+	MPU9250_EXT_SENS_DATA_08 =  0x51,
+	MPU9250_EXT_SENS_DATA_09 =  0x52,
+	MPU9250_EXT_SENS_DATA_10 =  0x53,
+	MPU9250_EXT_SENS_DATA_11 =  0x54,
+	MPU9250_EXT_SENS_DATA_12 =  0x55,
+	MPU9250_EXT_SENS_DATA_13 =  0x56,
+	MPU9250_EXT_SENS_DATA_14 =  0x57,
+	MPU9250_EXT_SENS_DATA_15 =  0x58,
+	MPU9250_EXT_SENS_DATA_16 =  0x59,
+	MPU9250_EXT_SENS_DATA_17 =  0x5A,
+	MPU9250_EXT_SENS_DATA_18 =  0x5B,
+	MPU9250_EXT_SENS_DATA_19 =  0x5C,
+	MPU9250_EXT_SENS_DATA_20 =  0x5D,
+	MPU9250_EXT_SENS_DATA_21 =  0x5E,
+	MPU9250_EXT_SENS_DATA_22 =  0x5F,
+	MPU9250_EXT_SENS_DATA_23 =  0x60,
+	MPU9250_I2C_SLV0_DO =       0x63,
+	MPU9250_I2C_SLV1_DO =       0x64,
+	MPU9250_I2C_SLV2_DO =       0x65,
+	MPU9250_I2C_SLV3_DO =       0x66,
+	MPU9250_I2C_MST_DELAY_CTRL =0x67,
+	MPU9250_SIGNAL_PATH_RESET = 0x68,
+	MPU9250_MOT_DETECT_CTRL =   0x69,
+	MPU9250_USER_CTRL =         0x6A,
+	MPU9250_PWR_MGMT_1 =        0x6B,
+	MPU9250_PWR_MGMT_2 =        0x6C,
+	MPU9250_FIFO_COUNTH =       0x72,
+	MPU9250_FIFO_COUNTL =       0x73,
+	MPU9250_FIFO_R_W =          0x74,
+	MPU9250_WHO_AM_I =          0x75,
+	MPU9250_XA_OFFSET_H =       0x77,
+	MPU9250_XA_OFFSET_L =       0x78,
+	MPU9250_YA_OFFSET_H =       0x7A,
+	MPU9250_YA_OFFSET_L =       0x7B,
+	MPU9250_ZA_OFFSET_H =       0x7D,
+	MPU9250_ZA_OFFSET_L =       0x7E
+};
+
+enum interrupt_status_bits {
+	INT_STATUS_RAW_DATA_RDY_INT = 0,
+	INT_STATUS_FSYNC_INT = 3,
+	INT_STATUS_FIFO_OVERFLOW_INT = 4,
+	INT_STATUS_WOM_INT = 6,
+};
+
+enum gyro_config_bits {
+	GYRO_CONFIG_FCHOICE_B = 0,
+	GYRO_CONFIG_GYRO_FS_SEL = 3,
+	GYRO_CONFIG_ZGYRO_CTEN = 5,
+	GYRO_CONFIG_YGYRO_CTEN = 6,
+	GYRO_CONFIG_XGYRO_CTEN = 7,
+};
+#define MPU9250_GYRO_FS_SEL_MASK 0x3
+#define MPU9250_GYRO_FCHOICE_MASK 0x3
+
+enum accel_config_bit {
+	ACCEL_CONFIG_ACCEL_FS_SEL = 3,
+	ACCEL_CONFIG_AZ_ST_EN = 5,
+	ACCEL_CONFIG_AY_ST_EN = 6,
+	ACCEL_CONFIG_AX_ST_EN = 7,
+};
+#define MPU9250_ACCEL_FS_SEL_MASK 0x3
+
+enum accel_config_2_bits {
+	ACCEL_CONFIG_2_A_DLPFCFG = 0,
+	ACCEL_CONFIG_2_ACCEL_FCHOICE_B = 3,
+};
+	
+enum pwr_mgmt_1_bits {
+	PWR_MGMT_1_CLKSEL = 0,
+	PWR_MGMT_1_PD_PTAT = 3,
+	PWR_MGMT_1_GYRO_STANDBY = 4,
+	PWR_MGMT_1_CYCLE = 5,
+	PWR_MGMT_1_SLEEP = 6,
+	PWR_MGMT_1_H_RESET = 7
+};
+
+enum pwr_mgmt_2_bits {
+	PWR_MGMT_2_DISABLE_ZG = 0,
+	PWR_MGMT_2_DISABLE_YG = 1,
+	PWR_MGMT_2_DISABLE_XG = 2,
+	PWR_MGMT_2_DISABLE_ZA = 3,
+	PWR_MGMT_2_DISABLE_YA = 4,
+	PWR_MGMT_2_DISABLE_XA = 5,
+};
+
+enum int_enable_bits {
+	INT_ENABLE_RAW_RDY_EN = 0,
+	INT_ENABLE_FSYNC_INT_EN = 3,
+	INT_ENABLE_FIFO_OVERFLOW_EN = 4,
+	INT_ENABLE_WOM_EN = 6,
+};
+
+enum int_pin_cfg_bits {
+	INT_PIN_CFG_BYPASS_EN = 1,
+	INT_PIN_CFG_FSYNC_INT_MODE_EN = 2,
+	INT_PIN_CFG_ACTL_FSYNC = 3,
+	INT_PIN_CFG_INT_ANYRD_2CLEAR = 4,
+	INT_PIN_CFG_LATCH_INT_EN = 5,
+	INT_PIN_CFG_OPEN = 6,
+	INT_PIN_CFG_ACTL = 7,
+};
+#define INT_PIN_CFG_INT_MASK 0xF0
+
+#define MPU9250_WHO_AM_I_RESULT 0x71
+
+enum ak8963_register {
+	AK8963_WIA = 0x0,
+	AK8963_INFO = 0x1,
+	AK8963_ST1 = 0x2,
+	AK8963_HXL = 0x3,
+	AK8963_HXH = 0x4,
+	AK8963_HYL = 0x5,
+	AK8963_HYH = 0x6,
+	AK8963_HZL = 0x7,
+	AK8963_HZH = 0x8,
+	AK8963_ST2 = 0x9,
+	AK8963_CNTL = 0xA,
+	AK8963_RSV = 0xB,
+	AK8963_ASTC = 0xC,
+	AK8963_TS1 = 0xD,
+	AK8963_TS2 = 0xE,
+	AK8963_I2CDIS = 0xF,
+	AK8963_ASAX = 0x10,
+	AK8963_ASAY = 0x11,
+	AK8963_ASAZ = 0x12,
+};
+#define MAG_CTRL_OP_MODE_MASK 0xF
+
+#define AK8963_ST1_DRDY_BIT 0
+
+#define AK8963_WHO_AM_I_RESULT 0x48
+
+#endif // _MPU9250_REGISTER_MAP_H_
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