Stephane Swanepoel / Mbed 2 deprecated mbed_multiplex_matrix

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Dependencies:   Matrix MatrixMath PCA9547 PowerControl mbed

Fork of mbed_multiplex by Stephane Swanepoel

DefineMPU.h@0:80f939ca1f14, 2015-09-04 (annotated)

Committer:
yenzo
Date:
Fri Sep 04 21:37:38 2015 +0000
Revision:
0:80f939ca1f14
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
yenzo 0:80f939ca1f14 1 #ifndef DEFINEMPU_H
yenzo 0:80f939ca1f14 2 #define DEFINEMPU_H
yenzo 0:80f939ca1f14 3
yenzo 0:80f939ca1f14 4 #include <stdint.h>
yenzo 0:80f939ca1f14 5
yenzo 0:80f939ca1f14 6 #define MPU9250_ADDRESS 0x68<<1
yenzo 0:80f939ca1f14 7 #define AK8963_ADDRESS 0x0C<<1
yenzo 0:80f939ca1f14 8
yenzo 0:80f939ca1f14 9 #define WHO_AM_I_AK8963 0x00 // should return 0x48
yenzo 0:80f939ca1f14 10 #define INFO 0x01
yenzo 0:80f939ca1f14 11 #define AK8963_ST1 0x02 // data ready status bit 0
yenzo 0:80f939ca1f14 12 #define AK8963_XOUT_L 0x03 // data
yenzo 0:80f939ca1f14 13 #define AK8963_XOUT_H 0x04
yenzo 0:80f939ca1f14 14 #define AK8963_YOUT_L 0x05
yenzo 0:80f939ca1f14 15 #define AK8963_YOUT_H 0x06
yenzo 0:80f939ca1f14 16 #define AK8963_ZOUT_L 0x07
yenzo 0:80f939ca1f14 17 #define AK8963_ZOUT_H 0x08
yenzo 0:80f939ca1f14 18 #define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
yenzo 0:80f939ca1f14 19 #define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
yenzo 0:80f939ca1f14 20 #define AK8963_ASTC 0x0C // Self test control
yenzo 0:80f939ca1f14 21 #define AK8963_I2CDIS 0x0F // I2C disable
yenzo 0:80f939ca1f14 22 #define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
yenzo 0:80f939ca1f14 23 #define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
yenzo 0:80f939ca1f14 24 #define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
yenzo 0:80f939ca1f14 25
yenzo 0:80f939ca1f14 26 #define SELF_TEST_X_GYRO 0x00
yenzo 0:80f939ca1f14 27 #define SELF_TEST_Y_GYRO 0x01
yenzo 0:80f939ca1f14 28 #define SELF_TEST_Z_GYRO 0x02
yenzo 0:80f939ca1f14 29
yenzo 0:80f939ca1f14 30 #define SELF_TEST_X_ACCEL 0x0D
yenzo 0:80f939ca1f14 31 #define SELF_TEST_Y_ACCEL 0x0E
yenzo 0:80f939ca1f14 32 #define SELF_TEST_Z_ACCEL 0x0F
yenzo 0:80f939ca1f14 33
yenzo 0:80f939ca1f14 34 #define SELF_TEST_A 0x10
yenzo 0:80f939ca1f14 35
yenzo 0:80f939ca1f14 36 #define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
yenzo 0:80f939ca1f14 37 #define XG_OFFSET_L 0x14
yenzo 0:80f939ca1f14 38 #define YG_OFFSET_H 0x15
yenzo 0:80f939ca1f14 39 #define YG_OFFSET_L 0x16
yenzo 0:80f939ca1f14 40 #define ZG_OFFSET_H 0x17
yenzo 0:80f939ca1f14 41 #define ZG_OFFSET_L 0x18
yenzo 0:80f939ca1f14 42 #define SMPLRT_DIV 0x19
yenzo 0:80f939ca1f14 43 #define CONFIG 0x1A
yenzo 0:80f939ca1f14 44 #define GYRO_CONFIG 0x1B
yenzo 0:80f939ca1f14 45 #define ACCEL_CONFIG 0x1C
yenzo 0:80f939ca1f14 46 #define ACCEL_CONFIG2 0x1D
yenzo 0:80f939ca1f14 47 #define LP_ACCEL_ODR 0x1E
yenzo 0:80f939ca1f14 48 #define WOM_THR 0x1F
yenzo 0:80f939ca1f14 49
yenzo 0:80f939ca1f14 50 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
yenzo 0:80f939ca1f14 51 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
yenzo 0:80f939ca1f14 52 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
yenzo 0:80f939ca1f14 53
yenzo 0:80f939ca1f14 54 #define FIFO_EN 0x23
yenzo 0:80f939ca1f14 55 #define I2C_MST_CTRL 0x24
yenzo 0:80f939ca1f14 56 #define I2C_SLV0_ADDR 0x25
yenzo 0:80f939ca1f14 57 #define I2C_SLV0_REG 0x26
yenzo 0:80f939ca1f14 58 #define I2C_SLV0_CTRL 0x27
yenzo 0:80f939ca1f14 59 #define I2C_SLV1_ADDR 0x28
yenzo 0:80f939ca1f14 60 #define I2C_SLV1_REG 0x29
yenzo 0:80f939ca1f14 61 #define I2C_SLV1_CTRL 0x2A
yenzo 0:80f939ca1f14 62 #define I2C_SLV2_ADDR 0x2B
yenzo 0:80f939ca1f14 63 #define I2C_SLV2_REG 0x2C
yenzo 0:80f939ca1f14 64 #define I2C_SLV2_CTRL 0x2D
yenzo 0:80f939ca1f14 65 #define I2C_SLV3_ADDR 0x2E
yenzo 0:80f939ca1f14 66 #define I2C_SLV3_REG 0x2F
yenzo 0:80f939ca1f14 67 #define I2C_SLV3_CTRL 0x30
yenzo 0:80f939ca1f14 68 #define I2C_SLV4_ADDR 0x31
yenzo 0:80f939ca1f14 69 #define I2C_SLV4_REG 0x32
yenzo 0:80f939ca1f14 70 #define I2C_SLV4_DO 0x33
yenzo 0:80f939ca1f14 71 #define I2C_SLV4_CTRL 0x34
yenzo 0:80f939ca1f14 72 #define I2C_SLV4_DI 0x35
yenzo 0:80f939ca1f14 73 #define I2C_MST_STATUS 0x36
yenzo 0:80f939ca1f14 74 #define INT_PIN_CFG 0x37
yenzo 0:80f939ca1f14 75 #define INT_ENABLE 0x38
yenzo 0:80f939ca1f14 76 #define DMP_INT_STATUS 0x39 // Check DMP interrupt
yenzo 0:80f939ca1f14 77 #define INT_STATUS 0x3A
yenzo 0:80f939ca1f14 78 #define ACCEL_XOUT_H 0x3B
yenzo 0:80f939ca1f14 79 #define ACCEL_XOUT_L 0x3C
yenzo 0:80f939ca1f14 80 #define ACCEL_YOUT_H 0x3D
yenzo 0:80f939ca1f14 81 #define ACCEL_YOUT_L 0x3E
yenzo 0:80f939ca1f14 82 #define ACCEL_ZOUT_H 0x3F
yenzo 0:80f939ca1f14 83 #define ACCEL_ZOUT_L 0x40
yenzo 0:80f939ca1f14 84 #define TEMP_OUT_H 0x41
yenzo 0:80f939ca1f14 85 #define TEMP_OUT_L 0x42
yenzo 0:80f939ca1f14 86 #define GYRO_XOUT_H 0x43
yenzo 0:80f939ca1f14 87 #define GYRO_XOUT_L 0x44
yenzo 0:80f939ca1f14 88 #define GYRO_YOUT_H 0x45
yenzo 0:80f939ca1f14 89 #define GYRO_YOUT_L 0x46
yenzo 0:80f939ca1f14 90 #define GYRO_ZOUT_H 0x47
yenzo 0:80f939ca1f14 91 #define GYRO_ZOUT_L 0x48
yenzo 0:80f939ca1f14 92 #define EXT_SENS_DATA_00 0x49
yenzo 0:80f939ca1f14 93 #define EXT_SENS_DATA_01 0x4A
yenzo 0:80f939ca1f14 94 #define EXT_SENS_DATA_02 0x4B
yenzo 0:80f939ca1f14 95 #define EXT_SENS_DATA_03 0x4C
yenzo 0:80f939ca1f14 96 #define EXT_SENS_DATA_04 0x4D
yenzo 0:80f939ca1f14 97 #define EXT_SENS_DATA_05 0x4E
yenzo 0:80f939ca1f14 98 #define EXT_SENS_DATA_06 0x4F
yenzo 0:80f939ca1f14 99 #define EXT_SENS_DATA_07 0x50
yenzo 0:80f939ca1f14 100 #define EXT_SENS_DATA_08 0x51
yenzo 0:80f939ca1f14 101 #define EXT_SENS_DATA_09 0x52
yenzo 0:80f939ca1f14 102 #define EXT_SENS_DATA_10 0x53
yenzo 0:80f939ca1f14 103 #define EXT_SENS_DATA_11 0x54
yenzo 0:80f939ca1f14 104 #define EXT_SENS_DATA_12 0x55
yenzo 0:80f939ca1f14 105 #define EXT_SENS_DATA_13 0x56
yenzo 0:80f939ca1f14 106 #define EXT_SENS_DATA_14 0x57
yenzo 0:80f939ca1f14 107 #define EXT_SENS_DATA_15 0x58
yenzo 0:80f939ca1f14 108 #define EXT_SENS_DATA_16 0x59
yenzo 0:80f939ca1f14 109 #define EXT_SENS_DATA_17 0x5A
yenzo 0:80f939ca1f14 110 #define EXT_SENS_DATA_18 0x5B
yenzo 0:80f939ca1f14 111 #define EXT_SENS_DATA_19 0x5C
yenzo 0:80f939ca1f14 112 #define EXT_SENS_DATA_20 0x5D
yenzo 0:80f939ca1f14 113 #define EXT_SENS_DATA_21 0x5E
yenzo 0:80f939ca1f14 114 #define EXT_SENS_DATA_22 0x5F
yenzo 0:80f939ca1f14 115 #define EXT_SENS_DATA_23 0x60
yenzo 0:80f939ca1f14 116 #define MOT_DETECT_STATUS 0x61
yenzo 0:80f939ca1f14 117 #define I2C_SLV0_DO 0x63
yenzo 0:80f939ca1f14 118 #define I2C_SLV1_DO 0x64
yenzo 0:80f939ca1f14 119 #define I2C_SLV2_DO 0x65
yenzo 0:80f939ca1f14 120 #define I2C_SLV3_DO 0x66
yenzo 0:80f939ca1f14 121 #define I2C_MST_DELAY_CTRL 0x67
yenzo 0:80f939ca1f14 122 #define SIGNAL_PATH_RESET 0x68
yenzo 0:80f939ca1f14 123 #define MOT_DETECT_CTRL 0x69
yenzo 0:80f939ca1f14 124 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
yenzo 0:80f939ca1f14 125 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
yenzo 0:80f939ca1f14 126 #define PWR_MGMT_2 0x6C
yenzo 0:80f939ca1f14 127 #define DMP_BANK 0x6D // Activates a specific bank in the DMP
yenzo 0:80f939ca1f14 128 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
yenzo 0:80f939ca1f14 129 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
yenzo 0:80f939ca1f14 130 #define DMP_REG_1 0x70
yenzo 0:80f939ca1f14 131 #define DMP_REG_2 0x71
yenzo 0:80f939ca1f14 132 #define FIFO_COUNTH 0x72
yenzo 0:80f939ca1f14 133 #define FIFO_COUNTL 0x73
yenzo 0:80f939ca1f14 134 #define FIFO_R_W 0x74
yenzo 0:80f939ca1f14 135 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71
yenzo 0:80f939ca1f14 136 #define XA_OFFSET_H 0x77
yenzo 0:80f939ca1f14 137 #define XA_OFFSET_L 0x78
yenzo 0:80f939ca1f14 138 #define YA_OFFSET_H 0x7A
yenzo 0:80f939ca1f14 139 #define YA_OFFSET_L 0x7B
yenzo 0:80f939ca1f14 140 #define ZA_OFFSET_H 0x7D
yenzo 0:80f939ca1f14 141 #define ZA_OFFSET_L 0x7E
yenzo 0:80f939ca1f14 142
yenzo 0:80f939ca1f14 143 enum Ascale {
yenzo 0:80f939ca1f14 144 AFS_2G = 0,
yenzo 0:80f939ca1f14 145 AFS_4G,
yenzo 0:80f939ca1f14 146 AFS_8G,
yenzo 0:80f939ca1f14 147 AFS_16G
yenzo 0:80f939ca1f14 148 };
yenzo 0:80f939ca1f14 149
yenzo 0:80f939ca1f14 150 enum Gscale {
yenzo 0:80f939ca1f14 151 GFS_250DPS = 0,
yenzo 0:80f939ca1f14 152 GFS_500DPS,
yenzo 0:80f939ca1f14 153 GFS_1000DPS,
yenzo 0:80f939ca1f14 154 GFS_2000DPS
yenzo 0:80f939ca1f14 155 };
yenzo 0:80f939ca1f14 156
yenzo 0:80f939ca1f14 157 enum Mscale {
yenzo 0:80f939ca1f14 158 MFS_14BITS = 0, // 0.6 mG per LSB
yenzo 0:80f939ca1f14 159 MFS_16BITS // 0.15 mG per LSB
yenzo 0:80f939ca1f14 160 };
yenzo 0:80f939ca1f14 161
yenzo 0:80f939ca1f14 162 float PI = 3.14159265358979323846f;
yenzo 0:80f939ca1f14 163
yenzo 0:80f939ca1f14 164 uint8_t Ascale = AFS_2G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G
yenzo 0:80f939ca1f14 165 uint8_t Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
yenzo 0:80f939ca1f14 166 uint8_t Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
yenzo 0:80f939ca1f14 167 uint8_t Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR
yenzo 0:80f939ca1f14 168
yenzo 0:80f939ca1f14 169 #endif