File content as of revision 12:f3816a0f498e:

#ifndef MPU9250REGISTERMAP_H
#define MPU9250REGISTERMAP_H
#include <cmath>
#include "mbed.h"
// MPU9250 with SPI interface library Ver. 0.98
// Made by HeeJae Park 
// 2019.05.27
//Magnetometer Registers ================================
#define AK8963_WHO_AM_I  0x00 // should return 0x48
#define AK8963_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_CNTL2      0x0B 
#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
//IMU Registers ==========================================
#define SELF_TEST_X_GYRO 0x00
#define SELF_TEST_Y_GYRO 0x01
#define SELF_TEST_Z_GYRO 0x02
#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 MPU_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
// ===================  Importat values
#define AK8963_I2C_ADDR  0x0C
#define AK8963_RESET     0x01// @ CNTL2
#define MPU9250_WHOAMI_DEFAULT_VALUE 0x71 // 고유번호
#define AK8963_WHOAMI_DEFAULT_VALUE 0x48
#define SPI_LS_CLOCK    15000000  // 1 MHz
#define SPI_HS_CLOCK    15000000 // 15 MHz
#define I2C_READ_FLAG    0x80 // for all I2C
#define SPI_READ         0x80 //SPI READ
#define I2C_MST_EN      0x20 // @ USER_CTRL
#define I2C_MST_CLK      0x0D // @I2C_MST_CTRL  400KHz 
#define I2C_SLV0_EN     0x80  //  @I2C_SLV0_CTRL   slave 0 enable
#define CLOCK_SEL_PLL    0x01 // @ PWR_MGMNT_1
#define PWR_RESET       0x80 //  @ PWR_MGMNT_1
#define SEN_ENABLE      0x00  // @ PWR_MGMNT_2
// some conversion
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#define DEG_TO_RAD    ( M_PI /180)
#define RAD_TO_DEG    (180/M_PI)
#define TWO_PI         (2*M_PI)  
// complementary filter



#endif // MPU9250REGISTERMAP_H