133 lines
9.4 KiB
C
133 lines
9.4 KiB
C
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#ifndef __SENSOR_MPU9250_DEFS_H__
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#define __SENSOR_MPU9250_DEFS_H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief chip information definition
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*/
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#define CHIP_NAME "MPU9250" /**< chip name */
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#define MANUFACTURER_NAME "TDK" /**< manufacturer name */
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#define SUPPLY_VOLTAGE_MIN 2.4f /**< chip min supply voltage */
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#define SUPPLY_VOLTAGE_MAX 3.6f /**< chip max supply voltage */
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#define MAX_CURRENT 3.7f /**< chip max current */
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#define TEMPERATURE_MIN -40.0f /**< chip min operating temperature */
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#define TEMPERATURE_MAX 85.0f /**< chip max operating temperature */
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#define DRIVER_VERSION 1000 /**< driver version */
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/**
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* @brief chip ak8963 iic address definition
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*/
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#define AK8963_IIC_ADDRESS 0x0C /**< ak8963 iic address */
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/**
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* @brief chip register definition
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*/
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#define MPU9250_REG_SELF_TEST_X_GYRO 0x00 /**< gyro self test x register */
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#define MPU9250_REG_SELF_TEST_Y_GYRO 0x01 /**< gyro self test y register */
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#define MPU9250_REG_SELF_TEST_Z_GYRO 0x02 /**< gyro self test z register */
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#define MPU9250_REG_SELF_TEST_X_ACCEL 0x0D /**< accel self test x register */
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#define MPU9250_REG_SELF_TEST_Y_ACCEL 0x0E /**< accel self test y register */
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#define MPU9250_REG_SELF_TEST_Z_ACCEL 0x0F /**< accel self test z register */
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#define MPU9250_REG_XG_OFFSET_H 0x13 /**< gyro offset x high register */
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#define MPU9250_REG_XG_OFFSET_L 0x14 /**< gyro offset x low register */
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#define MPU9250_REG_YG_OFFSET_H 0x15 /**< gyro offset y high register */
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#define MPU9250_REG_YG_OFFSET_L 0x16 /**< gyro offset y low register */
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#define MPU9250_REG_ZG_OFFSET_H 0x17 /**< gyro offset z high register */
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#define MPU9250_REG_ZG_OFFSET_L 0x18 /**< gyro offset z low register */
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#define MPU9250_REG_SMPRT_DIV 0x19 /**< smprt div register */
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#define MPU9250_REG_CONFIG 0x1A /**< configure register */
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#define MPU9250_REG_GYRO_CONFIG 0x1B /**< gyro configure register */
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#define MPU9250_REG_ACCEL_CONFIG 0x1C /**< accel configure register */
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#define MPU9250_REG_ACCEL_CONFIG2 0x1D /**< accel configure 2 register */
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#define MPU9250_REG_LP_ACCEL_ODR 0x1E /**< low power accel odr register */
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#define MPU9250_REG_WOM_THR 0x1F /**< wom threshold register */
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#define MPU9250_REG_MOTION_DURATION 0x20 /**< motion duration register */
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#define MPU9250_REG_FIFO_EN 0x23 /**< fifo enable register */
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#define MPU9250_REG_I2C_MST_CTRL 0x24 /**< i2c master ctrl register */
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#define MPU9250_REG_I2C_MST_STATUS 0x36 /**< i2c master status register */
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#define MPU9250_REG_I2C_MST_DELAY_CTRL 0x67 /**< i2c master delay ctrl register */
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#define MPU9250_REG_I2C_SLV0_ADDR 0x25 /**< iic slave0 address register */
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#define MPU9250_REG_I2C_SLV0_REG 0x26 /**< iic slave0 reg register */
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#define MPU9250_REG_I2C_SLV0_CTRL 0x27 /**< iic slave0 ctrl register */
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#define MPU9250_REG_I2C_SLV0_DO 0x63 /**< iic slave0 do register */
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#define MPU9250_REG_I2C_SLV1_ADDR 0x28 /**< iic slave1 address register */
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#define MPU9250_REG_I2C_SLV1_REG 0x29 /**< iic slave1 reg register */
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#define MPU9250_REG_I2C_SLV1_CTRL 0x2A /**< iic slave1 ctrl register */
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#define MPU9250_REG_I2C_SLV1_DO 0x64 /**< iic slave1 do register */
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#define MPU9250_REG_I2C_SLV2_ADDR 0x2B /**< iic slave2 address register */
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#define MPU9250_REG_I2C_SLV2_REG 0x2C /**< iic slave2 reg register */
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#define MPU9250_REG_I2C_SLV2_CTRL 0x2D /**< iic slave2 ctrl register */
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#define MPU9250_REG_I2C_SLV2_DO 0x65 /**< iic slave2 do register */
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#define MPU9250_REG_I2C_SLV3_ADDR 0x2E /**< iic slave3 address register */
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#define MPU9250_REG_I2C_SLV3_REG 0x2F /**< iic slave3 reg register */
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#define MPU9250_REG_I2C_SLV3_CTRL 0x30 /**< iic slave3 ctrl register */
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#define MPU9250_REG_I2C_SLV3_DO 0x66 /**< iic slave3 do register */
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#define MPU9250_REG_I2C_SLV4_ADDR 0x31 /**< iic slave4 address register */
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#define MPU9250_REG_I2C_SLV4_REG 0x32 /**< iic slave4 reg register */
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#define MPU9250_REG_I2C_SLV4_CTRL 0x34 /**< iic slave4 ctrl register */
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#define MPU9250_REG_I2C_SLV4_DO 0x33 /**< iic slave4 do register */
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#define MPU9250_REG_I2C_SLV4_DI 0x35 /**< iic slave4 di register */
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#define MPU9250_REG_EXT_SENS_DATA_00 0x49 /**< extern sensor data 00 register */
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#define MPU9250_REG_INT_PIN_CFG 0x37 /**< interrupt pin configure register */
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#define MPU9250_REG_INT_ENABLE 0x38 /**< interrupt enable register */
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#define MPU9250_REG_INT_STATUS 0x3A /**< interrupt status register */
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#define MPU9250_REG_ACCEL_XOUT_H 0x3B /**< accel xout high register */
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#define MPU9250_REG_ACCEL_XOUT_L 0x3C /**< accel xout low register */
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#define MPU9250_REG_ACCEL_YOUT_H 0x3D /**< accel yout high register */
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#define MPU9250_REG_ACCEL_YOUT_L 0x3E /**< accel yout low register */
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#define MPU9250_REG_ACCEL_ZOUT_H 0x3F /**< accel zout high register */
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#define MPU9250_REG_ACCEL_ZOUT_L 0x40 /**< accel zout low register */
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#define MPU9250_REG_TEMP_OUT_H 0x41 /**< temp high register */
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#define MPU9250_REG_TEMP_OUT_L 0x42 /**< temp low register */
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#define MPU9250_REG_GYRO_XOUT_H 0x43 /**< gyro xout high register */
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#define MPU9250_REG_GYRO_XOUT_L 0x44 /**< gyro xout low register */
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#define MPU9250_REG_GYRO_YOUT_H 0x45 /**< gyro yout high register */
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#define MPU9250_REG_GYRO_YOUT_L 0x46 /**< gyro yout low register */
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#define MPU9250_REG_GYRO_ZOUT_H 0x47 /**< gyro zout high register */
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#define MPU9250_REG_GYRO_ZOUT_L 0x48 /**< gyro zout low register */
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#define MPU9250_REG_SIGNAL_PATH_RESET 0x68 /**< signal path reset register */
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#define MPU9250_REG_MOT_DETECT_CTRL 0x69 /**< motion detect ctrl register */
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#define MPU9250_REG_USER_CTRL 0x6A /**< user ctrl register */
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#define MPU9250_REG_PWR_MGMT_1 0x6B /**< power management 1 register */
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#define MPU9250_REG_PWR_MGMT_2 0x6C /**< power management 2 register */
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#define MPU9250_REG_BANK_SEL 0x6D /**< bank sel register */
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#define MPU9250_REG_MEM 0x6F /**< memory register */
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#define MPU9250_REG_PROGRAM_START 0x70 /**< program start register */
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#define MPU9250_REG_FIFO_COUNTH 0x72 /**< fifo count high threshold register */
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#define MPU9250_REG_FIFO_COUNTL 0x73 /**< fifo count low threshold register */
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#define MPU9250_REG_R_W 0x74 /**< fifo read write data register */
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#define MPU9250_REG_WHO_AM_I 0x75 /**< who am I register */
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#define MPU9250_REG_XA_OFFSET_H 0x77 /**< accel offset x high register */
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#define MPU9250_REG_XA_OFFSET_L 0x78 /**< accel offset x low register */
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#define MPU9250_REG_YA_OFFSET_H 0x7A /**< accel offset y high register */
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#define MPU9250_REG_YA_OFFSET_L 0x7B /**< accel offset y low register */
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#define MPU9250_REG_ZA_OFFSET_H 0x7D /**< accel offset z high register */
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#define MPU9250_REG_ZA_OFFSET_L 0x7E /**< accel offset z low register */
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#define AK8963_REG_WIA 0x00 /**< device id register */
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#define AK8963_REG_INFO 0x01 /**< information register */
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#define AK8963_REG_ST1 0x02 /**< status 1 register */
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#define AK8963_REG_HXL 0x03 /**< x axis data high register */
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#define AK8963_REG_HXH 0x04 /**< x axis data low register */
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#define AK8963_REG_HYL 0x05 /**< y axis data high register */
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#define AK8963_REG_HYH 0x06 /**< y axis data low register */
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#define AK8963_REG_HZL 0x07 /**< z axis data high register */
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#define AK8963_REG_HZH 0x08 /**< z axis data low register */
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#define AK8963_REG_ST2 0x09 /**< status 2 register */
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#define AK8963_REG_CNTL1 0x0A /**< control 1 register */
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#define AK8963_REG_CNTL2 0x0B /**< control 2 register */
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#define AK8963_REG_ASTC 0x0C /**< self test register */
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#define AK8963_REG_TS1 0x0D /**< test 1 register */
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#define AK8963_REG_TS2 0x0E /**< test 2 register */
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#define AK8963_REG_I2CDIS 0x0F /**< iic disable register */
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#define AK8963_REG_ASAX 0x10 /**< x axis sensitivity adjustment value register */
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#define AK8963_REG_ASAY 0x11 /**< y axis sensitivity adjustment value register */
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#define AK8963_REG_ASAZ 0x12 /**< z axis sensitivity adjustment value register */
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#ifdef __cplusplus
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}
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#endif
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#endif
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