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mpu9250.h
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mpu9250.h
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/**
mpu9250 Constants
Copyright (C) 2016, Bernd Porr, mail@berndporr.me.uk
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
**/
#ifndef _MPU9250
#define _MPU9250
#define MPU9250_DEFAULT_ADDRESS 0xD1
#define MPU9250_ALT_DEFAULT_ADDRESS 0xD2
#define MPU9250_SELF_TEST_X_GYRO 0x00
#define MPU9250_SELF_TEST_Y_GYRO 0x01
#define MPU9250_SELF_TEST_Z_GYRO 0x02
#define MPU9250_SELF_TEST_X_ACCEL 0x0D
#define MPU9250_SELF_TEST_Y_ACCEL 0x0E
#define MPU9250_SELF_TEST_Z_ACCEL 0x0F
#define MPU9250_XG_OFFSET_H 0x13
#define MPU9250_XG_OFFSET_L 0x14
#define MPU9250_YG_OFFSET_H 0x15
#define MPU9250_YG_OFFSET_L 0x16
#define MPU9250_ZG_OFFSET_H 0x17
#define MPU9250_ZG_OFFSET_L 0x18
#define MPU9250_SMPLRT_DIV 0x19
#define MPU9250_CONFIG 0x1A
#define MPU9250_GYRO_CONFIG 0x1B
#define MPU9250_ACCEL_CONFIG 0x1C
#define MPU9250_ACCEL_CONFIG2 0x1D
#define MPU9250_LP_ACCEL_ODR 0x1E
#define MPU9250_WOM_THR 0x1F
#define MPU9250_FIFO_EN 0x23
#define MPU9250_INT_STATUS 0x3A
#define MPU9250_ACCEL_XOUT_H 0x3B
#define MPU9250_ACCEL_XOUT_L 0x3C
#define MPU9250_ACCEL_YOUT_H 0x3D
#define MPU9250_ACCEL_YOUT_L 0x3E
#define MPU9250_ACCEL_ZOUT_H 0x3F
#define MPU9250_ACCEL_ZOUT_L 0x40
#define MPU9250_TEMP_OUT_H 0x41
#define MPU9250_TEMP_OUT_L 0x42
#define MPU9250_GYRO_XOUT_H 0x43
#define MPU9250_GYRO_XOUT_L 0x44
#define MPU9250_GYRO_YOUT_H 0x45
#define MPU9250_GYRO_YOUT_L 0x46
#define MPU9250_GYRO_ZOUT_H 0x47
#define MPU9250_GYRO_ZOUT_L 0x48
#define MPU9250_EXT_SENS_DATA_00 0x49
#define MPU9250_EXT_SENS_DATA_01 0x4A
#define MPU9250_EXT_SENS_DATA_02 0x4B
#define MPU9250_EXT_SENS_DATA_03 0x4C
#define MPU9250_EXT_SENS_DATA_04 0x4D
#define MPU9250_EXT_SENS_DATA_05 0x4E
#define MPU9250_EXT_SENS_DATA_06 0x4F
#define MPU9250_EXT_SENS_DATA_07 0x50
#define MPU9250_EXT_SENS_DATA_08 0x51
#define MPU9250_EXT_SENS_DATA_09 0x52
#define MPU9250_EXT_SENS_DATA_10 0x53
#define MPU9250_EXT_SENS_DATA_11 0x54
#define MPU9250_EXT_SENS_DATA_12 0x55
#define MPU9250_EXT_SENS_DATA_13 0x56
#define MPU9250_EXT_SENS_DATA_14 0x57
#define MPU9250_EXT_SENS_DATA_15 0x58
#define MPU9250_EXT_SENS_DATA_16 0x59
#define MPU9250_EXT_SENS_DATA_17 0x5A
#define MPU9250_EXT_SENS_DATA_18 0x5B
#define MPU9250_EXT_SENS_DATA_19 0x5C
#define MPU9250_EXT_SENS_DATA_20 0x5D
#define MPU9250_EXT_SENS_DATA_21 0x5E
#define MPU9250_EXT_SENS_DATA_22 0x5F
#define MPU9250_EXT_SENS_DATA_23 0x60
#define MPU9250_SIGNAL_PATH_RESET 0x68
#define MPU9250_MOT_DETECT_CTRL 0x69
#define MPU9250_USER_CTRL 0x6A
#define MPU9250_PWR_MGMT_1 0x6B
#define MPU9250_PWR_MGMT_2 0x6C
#define MPU9250_FIFO_COUNTH 0x72
#define MPU9250_FIFO_COUNTL 0x73
#define MPU9250_FIFO_R_W 0x74
#define MPU9250_WHO_AM_I 0x75
#define MPU9250_XA_OFFSET_H 0x77
#define MPU9250_XA_OFFSET_L 0x78
#define MPU9250_YA_OFFSET_H 0x7A
#define MPU9250_YA_OFFSET_L 0x7B
#define MPU9250_ZA_OFFSET_H 0x7D
#define MPU9250_ZA_OFFSET_L 0x7E
#define WHOAMI_RESET_VAL 0x71
#define POWER_MANAGMENT_1_RESET_VAL 0x01
#define DEFAULT_RESET_VALUE 0x00
#define WHOAMI_DEFAULT_VAL 0x68
#define MPU9250_FIFO_MODE_MASK 0x40
#define MPU9250_EXT_SYNC_SET_MASK 0x38
#define MPU9250_DLPF_CFG_MASK 0x07
#define MPU9250_XGYRO_CTEN_MASK 0x80
#define MPU9250_YGYRO_CTEN_MASK 0x40
#define MPU9250_ZGYRO_CTEN_MASK 0x20
#define MPU9250_GYRO_FS_SEL_MASK 0x18
#define MPU9250_FCHOICE_B_MASK 0x03
#define MPU9250_GYRO_FS_SEL_MASK 0x18
#define MPU9250_GYRO_FULL_SCALE_250DPS (0 << 3)
#define MPU9250_GYRO_FULL_SCALE_500DPS (1 << 3)
#define MPU9250_GYRO_FULL_SCALE_1000DPS (2 << 3)
#define MPU9250_GYRO_FULL_SCALE_2000DPS (3 << 3)
#define MPU9250_ACCEL_FS_SEL_MASK 0x18
#define MPU9250_FULL_SCALE_2G (0 << 3)
#define MPU9250_FULL_SCALE_4G (1 << 3)
#define MPU9250_FULL_SCALE_8G (2 << 3)
#define MPU9250_FULL_SCALE_16G (3 << 3)
#define MPU9250_AX_ST_EN_MASK 0x80
#define MPU9250_AY_ST_EN_MASK 0x40
#define MPUREG_I2C_MST_CTRL 0x24
#define MPUREG_I2C_SLV0_ADDR 0x25
#define MPUREG_I2C_SLV0_REG 0x26
#define MPUREG_I2C_SLV0_CTRL 0x27
#define MPUREG_I2C_SLV1_ADDR 0x28
#define MPUREG_I2C_SLV1_REG 0x29
#define MPUREG_I2C_SLV1_CTRL 0x2A
#define MPUREG_I2C_SLV2_ADDR 0x2B
#define MPUREG_I2C_SLV2_REG 0x2C
#define MPUREG_I2C_SLV2_CTRL 0x2D
#define MPUREG_I2C_SLV3_ADDR 0x2E
#define MPUREG_I2C_SLV3_REG 0x2F
#define MPUREG_I2C_SLV3_CTRL 0x30
#define MPUREG_I2C_SLV4_ADDR 0x31
#define MPUREG_I2C_SLV4_REG 0x32
#define MPUREG_I2C_SLV4_DO 0x33
#define MPUREG_I2C_SLV4_CTRL 0x34
#define MPUREG_I2C_SLV4_DI 0x35
#define MPUREG_I2C_MST_STATUS 0x36
#define MPUREG_EXT_SENS_DATA_00 0x49
#define MPUREG_EXT_SENS_DATA_01 0x4A
#define MPUREG_EXT_SENS_DATA_02 0x4B
#define MPUREG_EXT_SENS_DATA_03 0x4C
#define MPUREG_EXT_SENS_DATA_04 0x4D
#define MPUREG_EXT_SENS_DATA_05 0x4E
#define MPUREG_EXT_SENS_DATA_06 0x4F
#define MPUREG_EXT_SENS_DATA_07 0x50
#define MPUREG_EXT_SENS_DATA_08 0x51
#define MPUREG_EXT_SENS_DATA_09 0x52
#define MPUREG_EXT_SENS_DATA_10 0x53
#define MPUREG_EXT_SENS_DATA_11 0x54
#define MPUREG_EXT_SENS_DATA_12 0x55
#define MPUREG_EXT_SENS_DATA_13 0x56
#define MPUREG_EXT_SENS_DATA_14 0x57
#define MPUREG_EXT_SENS_DATA_15 0x58
#define MPUREG_EXT_SENS_DATA_16 0x59
#define MPUREG_EXT_SENS_DATA_17 0x5A
#define MPUREG_EXT_SENS_DATA_18 0x5B
#define MPUREG_EXT_SENS_DATA_19 0x5C
#define MPUREG_EXT_SENS_DATA_20 0x5D
#define MPUREG_EXT_SENS_DATA_21 0x5E
#define MPUREG_EXT_SENS_DATA_22 0x5F
#define MPUREG_EXT_SENS_DATA_23 0x60
#define MPUREG_I2C_SLV0_DO 0x63
#define MPUREG_I2C_SLV1_DO 0x64
#define MPUREG_I2C_SLV2_DO 0x65
#define MPUREG_I2C_SLV3_DO 0x66
#define MPUREG_I2C_MST_DELAY_CTRL 0x67
#define AK8963_I2C_ADDR 0x0c
#define AK8963_Device_ID 0x48
#define AK8963_ADDRESS 0x0C
#define WHO_AM_I_AK8963 0x00
#define INFO 0x01
#define AK8963_ST1 0x02
#define AK8963_XOUT_L 0x03
#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
#define AK8963_CNTL 0x0A
#define AK8963_WIA 0x00
#define AK8963_INFO 0x01
#define AK8963_ST1 0x02
#define AK8963_HXL 0x03
#define AK8963_HXH 0x04
#define AK8963_HYL 0x05
#define AK8963_HYH 0x06
#define AK8963_HZL 0x07
#define AK8963_HZH 0x08
#define AK8963_ST2 0x09
#define AK8963_CNTL1 0x0A
#define AK8963_CNTL2 0x0B
#define AK8963_ASTC 0x0C
#define AK8963_TS1 0x0D
#define AK8963_TS2 0x0E
#define AK8963_I2CDIS 0x0F
#define AK8963_ASAX 0x10
#define AK8963_ASAY 0x11
#define AK8963_ASAZ 0x12
#endif