doxygen_docs/mpu__defs_8h_source.html

/*

See  MPU-9250 Register Map and Descriptions, Revision 4.0,

RM-MPU-9250A-00, Rev. 1.4, 9/9/2013 for registers not listed in

above document; the MPU9250 and MPU9150 are virtually

identical but the latter has a different register map

*/


#ifndef RC_MPU_DEFS

#define RC_MPU_DEFS


// internal DMP sample rate limits

#define DMP_MAX_RATE        200

#define DMP_MIN_RATE        4

#define IMU_POLL_TIMEOUT    300 // milliseconds


/******************************************************************

* register offsets

******************************************************************/

#define SELF_TEST_X_GYRO    0x00

#define SELF_TEST_Y_GYRO    0x01

#define SELF_TEST_Z_GYRO    0x02

#define X_FINE_GAIN     0x03

#define Y_FINE_GAIN     0x04

#define Z_FINE_GAIN     0x05

#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

#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 CONFIG          0x1A

#define GYRO_CONFIG     0x1B

#define ACCEL_CONFIG        0x1C

#define ACCEL_CONFIG_2      0x1D

#define LP_ACCEL_ODR        0x1E

#define WOM_THR         0x1F

#define MOT_DUR         0x20

#define ZMOT_THR        0x21

#define ZRMOT_DUR       0x22

#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

#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

#define PWR_MGMT_1      0x6B

#define PWR_MGMT_2      0x6C

#define DMP_BANK        0x6D

#define DMP_RW_PNT      0x6E

#define DMP_REG         0x6F

#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


/*******************************************************************

* CONFIG register bits

*******************************************************************/

#define FIFO_MODE_REPLACE_OLD   0

#define FIFO_MODE_KEEP_OLD  0x01<<6

#define EXT_SYNC_SET_DISABLE    0


/*******************************************************************

* GYRO_CONFIG register bits

*******************************************************************/

#define XGYRO_CTEN      0x01<<7

#define YGYRO_CTEN      0x01<<6

#define ZGYRO_CTEN      0x01<<5

#define GYRO_FSR_CFG_250    0x00<<3

#define GYRO_FSR_CFG_500    0x01<<3

#define GYRO_FSR_CFG_1000   0x02<<3

#define GYRO_FSR_CFG_2000   0x03<<3

#define FCHOICE_B_DLPF_EN   0x00

#define FCHOICE_B_DLPF_DISABLE  0x01


/*******************************************************************

* ACCEL_CONFIG register bits

*******************************************************************/

#define AX_ST_EN        0x01<<7

#define AY_ST_EN        0x01<<6

#define AZ_ST_EN        0x01<<5

#define ACCEL_FSR_CFG_2G    0x00<<3

#define ACCEL_FSR_CFG_4G    0x01<<3

#define ACCEL_FSR_CFG_8G    0x02<<3

#define ACCEL_FSR_CFG_16G   0x03<<3


/*******************************************************************

* ACCEL_CONFIG2 register bits

*******************************************************************/

#define ACCEL_FCHOICE_1KHZ  0x00<<3

#define ACCEL_FCHOICE_4KHZ  0x01<<3


/*******************************************************************

* INT_PIN_CFG

*******************************************************************/

#define ACTL_ACTIVE_LOW     0x01<<7

#define ACTL_ACTIVE_HIGH    0

#define INT_OPEN_DRAIN      0

#define INT_PUSH_PULL       0x00<<6

#define LATCH_INT_EN        0x01<<5

#define INT_ANYRD_CLEAR     0x01<<4

#define ACTL_FSYNC_ACTIVE_LOW   0x01<<3

#define ACTL_FSYNC_ACTIVE_HIGH  0x00<<3

#define FSYNC_INT_MODE_EN   0x01<<2

#define FSYNC_INT_MODE_DIS  0x00<<2

#define BYPASS_EN       0x01<<1


/*******************************************************************

*INT_ENABLE register settings

*******************************************************************/

#define WOM_EN          0x01<<6

#define WOM_DIS         0x00<<6

#define FIFO_OVERFLOW_EN    0x01<<4

#define FIFO_OVERFLOW_DIS   0x00<<4

#define FSYNC_INT_EN        0x01<<3

#define FSYNC_INT_DIS       0x00<<3

#define RAW_RDY_EN      0x01

#define RAW_RDY_DIS     0x00


/*******************************************************************

* FIFO_EN register settings

*******************************************************************/

#define FIFO_TEMP_EN        0x01<<7

#define FIFO_GYRO_X_EN      0x01<<6

#define FIFO_GYRO_Y_EN      0x01<<5

#define FIFO_GYRO_Z_EN      0x01<<4

#define FIFO_ACCEL_EN       0x01<<3

#define FIFO_SLV2_EN        0x01<<2

#define FIFO_SLV1_EN        0x01<<1

#define FIFO_SLV0_EN        0x01


/*******************************************************************

* PWR_MGMT_1 register settings

*******************************************************************/

#define H_RESET         0x01<<7

#define MPU_SLEEP       0x01<<6

#define MPU_CYCLE       0x01<<5


/*******************************************************************

* temperature reading constants

*******************************************************************/

#define ROOM_TEMP_OFFSET    0x00

#define TEMP_SENSITIVITY    333.87 // degC/LSB


/*******************************************************************

* USER_CTRL settings bits

*******************************************************************/

#define FIFO_EN_BIT     0x01<<6

#define I2C_MST_EN      0x01<<5

#define I2C_IF_DIS      0x01<<4

#define FIFO_RST        0x01<<2

#define I2C_MST_RST     0x01<<1

#define SIG_COND_RST        0x01


/******************************************************************

* Magnetometer Registers

******************************************************************/

#define AK8963_ADDR     0x0C

#define WHO_AM_I_AK8963     0x00 // should return 0x48

#define INFO            0x01

#define AK8963_ST1      0x02  // data ready status

#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

#define AK8963_CNTL     0x0A  // main mode control register

#define AK8963_ASTC     0x0C  // Self test control

#define AK8963_I2CDIS       0x0F  // I2C disable

#define AK8963_ASAX     0x10  // x-axis sensitivity adjustment value

#define AK8963_ASAY     0x11  // y-axis sensitivity adjustment value

#define AK8963_ASAZ     0x12  // z-axis sensitivity adjustment value


/******************************************************************

* Magnetometer AK8963_CNTL register Settings

******************************************************************/

#define MAG_POWER_DN        0x00    // power down magnetometer

#define MAG_SINGLE_MES      0x01    // powers down after 1 measurement

#define MAG_CONT_MES_1      0x02    // 8hz continuous self-sampling

#define MAG_CONT_MES_2      0x06    // 100hz continuous self-sampling

#define MAG_EXT_TRIG        0x04    // external trigger mode

#define MAG_SELF_TEST       0x08    // self test mode

#define MAG_FUSE_ROM        0x0F    // ROM read only mode

#define MSCALE_16       0x01<<4

#define MSCALE_14       0x00


/******************************************************************

* Magnetometer AK8963_ST2 register definitions

******************************************************************/

#define MAGNETOMETER_SATURATION 0x01<<3


/******************************************************************

* Magnetometer AK8963_ST1 register definitions

******************************************************************/

#define MAG_DATA_READY      0x01


/******************************************************************

* Magnetometer sensitivity in micro Teslas to LSB

******************************************************************/

#define MAG_RAW_TO_uT       (4912.0/32760.0)


#define BIT_I2C_MST_VDDIO   (0x80)

#define BIT_FIFO_EN     (0x40)

#define BIT_DMP_EN      (0x80)

#define BIT_FIFO_RST        (0x04)

#define BIT_DMP_RST     (0x08)

#define BIT_FIFO_OVERFLOW   (0x10)

#define BIT_DATA_RDY_EN     (0x01)

#define BIT_DMP_INT_EN      (0x02)

#define BIT_MOT_INT_EN      (0x40)

#define BITS_FSR        (0x18)

#define BITS_LPF        (0x07)

#define BITS_HPF        (0x07)

#define BITS_CLK        (0x07)

#define BIT_FIFO_SIZE_1024  (0x40)

#define BIT_FIFO_SIZE_2048  (0x80)

#define BIT_FIFO_SIZE_4096  (0xC0)

#define BIT_RESET       (0x80)

#define BIT_SLEEP       (0x40)

#define BIT_S0_DELAY_EN     (0x01)

#define BIT_S2_DELAY_EN     (0x04)

#define BITS_SLAVE_LENGTH   (0x0F)

#define BIT_SLAVE_BYTE_SW   (0x40)

#define BIT_SLAVE_GROUP     (0x10)

#define BIT_SLAVE_EN        (0x80)

#define BIT_I2C_READ        (0x80)

#define BITS_I2C_MASTER_DLY (0x1F)

#define BIT_AUX_IF_EN       (0x20)

#define BIT_ACTL        (0x80)

#define BIT_LATCH_EN        (0x20)

#define BIT_ANY_RD_CLR      (0x10)

#define BIT_BYPASS_EN       (0x02)

#define BITS_WOM_EN     (0xC0)

#define BIT_LPA_CYCLE       (0x20)

#define BIT_STBY_XA     (0x20)

#define BIT_STBY_YA     (0x10)

#define BIT_STBY_ZA     (0x08)

#define BIT_STBY_XG     (0x04)

#define BIT_STBY_YG     (0x02)

#define BIT_STBY_ZG     (0x01)

#define BIT_STBY_XYZA   (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA)

#define BIT_STBY_XYZG   (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)


//#define GYRO_SF       (46850825LL * 200 / DMP_SAMPLE_RATE)

#define GYRO_SF         (46850825LL)


#define DMP_FEATURE_TAP         (0x001)

#define DMP_FEATURE_ANDROID_ORIENT  (0x002)

#define DMP_FEATURE_LP_QUAT     (0x004)

#define DMP_FEATURE_PEDOMETER       (0x008)

#define DMP_FEATURE_6X_LP_QUAT      (0x010)

#define DMP_FEATURE_GYRO_CAL        (0x020)

#define DMP_FEATURE_SEND_RAW_ACCEL  (0x040)

#define DMP_FEATURE_SEND_RAW_GYRO   (0x080)

#define DMP_FEATURE_SEND_CAL_GYRO   (0x100)

#define DMP_FEATURE_SEND_ANY_GYRO   (DMP_FEATURE_SEND_RAW_GYRO | \

                    DMP_FEATURE_SEND_CAL_GYRO)


#define INT_SRC_TAP             (0x01)

#define INT_SRC_ANDROID_ORIENT  (0x08)


#define TAP_X               (0x01)

#define TAP_Y               (0x02)

#define TAP_Z               (0x04)

#define TAP_XYZ             (0x07)


#define TAP_X_UP            (0x01)

#define TAP_X_DOWN          (0x02)

#define TAP_Y_UP            (0x03)

#define TAP_Y_DOWN          (0x04)

#define TAP_Z_UP            (0x05)

#define TAP_Z_DOWN          (0x06)


#define ANDROID_ORIENT_PORTRAIT             (0x00)

#define ANDROID_ORIENT_LANDSCAPE            (0x01)

#define ANDROID_ORIENT_REVERSE_PORTRAIT     (0x02)

#define ANDROID_ORIENT_REVERSE_LANDSCAPE    (0x03)


#define INV_WXYZ_QUAT       (0x100)


#endif