#pragma once #ifndef MPU9250REGISTERMAP_H #define MPU9250REGISTERMAP_H //Magnetometer Registers // #define AK8963_ADDRESS 0x0C #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_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 #define SELF_TEST_X_GYRO 0x00 #define SELF_TEST_Y_GYRO 0x01 #define SELF_TEST_Z_GYRO 0x02 // #define X_FINE_GAIN 0x03 // [7:0] fine gain // #define Y_FINE_GAIN 0x04 // #define Z_FINE_GAIN 0x05 // #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer // #define XA_OFFSET_L_TC 0x07 // #define YA_OFFSET_H 0x08 // #define YA_OFFSET_L_TC 0x09 // #define ZA_OFFSET_H 0x0A // #define ZA_OFFSET_L_TC 0x0B #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 #endif // MPU9250REGISTERMAP_H