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- #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
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