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/*
* Copyright © 2012 Keith Packard <keithp@keithp.com>
*
* 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.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
#ifndef _AO_MPU9250_H_
#define _AO_MPU9250_H_
#ifndef M_PI
#define M_PI 3.1415926535897832384626433
#endif
#define MPU9250_ADDR_WRITE 0xd0
#define MPU9250_ADDR_READ 0xd1
/* From Tridge */
#define MPUREG_XG_OFFS_TC 0x00
#define MPUREG_YG_OFFS_TC 0x01
#define MPUREG_ZG_OFFS_TC 0x02
#define MPUREG_X_FINE_GAIN 0x03
#define MPUREG_Y_FINE_GAIN 0x04
#define MPUREG_Z_FINE_GAIN 0x05
#define MPUREG_XA_OFFS_H 0x06 // X axis accelerometer offset (high byte)
#define MPUREG_XA_OFFS_L 0x07 // X axis accelerometer offset (low byte)
#define MPUREG_YA_OFFS_H 0x08 // Y axis accelerometer offset (high byte)
#define MPUREG_YA_OFFS_L 0x09 // Y axis accelerometer offset (low byte)
#define MPUREG_ZA_OFFS_H 0x0A // Z axis accelerometer offset (high byte)
#define MPUREG_ZA_OFFS_L 0x0B // Z axis accelerometer offset (low byte)
#define MPUREG_PRODUCT_ID 0x0C // Product ID Register
#define MPUREG_XG_OFFS_USRH 0x13 // X axis gyro offset (high byte)
#define MPUREG_XG_OFFS_USRL 0x14 // X axis gyro offset (low byte)
#define MPUREG_YG_OFFS_USRH 0x15 // Y axis gyro offset (high byte)
#define MPUREG_YG_OFFS_USRL 0x16 // Y axis gyro offset (low byte)
#define MPUREG_ZG_OFFS_USRH 0x17 // Z axis gyro offset (high byte)
#define MPUREG_ZG_OFFS_USRL 0x18 // Z axis gyro offset (low byte)
#define MPU9250_SMPRT_DIV 0x19
#define MPU9250_CONFIG 0x1a
#define MPU9250_CONFIG_FIFO_MODE 6
# define MPU9250_CONFIG_FIFO_MODE_REPLACE 0
# define MPU9250_CONFIG_FIFO_MODE_DROP 1
#define MPU9250_CONFIG_EXT_SYNC_SET 3
#define MPU9250_CONFIG_EXT_SYNC_SET_DISABLED 0
#define MPU9250_CONFIG_EXT_SYNC_SET_TEMP_OUT_L 1
#define MPU9250_CONFIG_EXT_SYNC_SET_GYRO_XOUT_L 2
#define MPU9250_CONFIG_EXT_SYNC_SET_GYRO_YOUT_L 3
#define MPU9250_CONFIG_EXT_SYNC_SET_GYRO_ZOUT_L 4
#define MPU9250_CONFIG_EXT_SYNC_SET_ACCEL_XOUT_L 5
#define MPU9250_CONFIG_EXT_SYNC_SET_ACCEL_YOUT_L 6
#define MPU9250_CONFIG_EXT_SYNC_SET_ACCEL_ZOUT_L 7
#define MPU9250_CONFIG_EXT_SYNC_SET_MASK 7
#define MPU9250_CONFIG_DLPF_CFG 0
#define MPU9250_CONFIG_DLPF_CFG_250 0
#define MPU9250_CONFIG_DLPF_CFG_184 1
#define MPU9250_CONFIG_DLPF_CFG_92 2
#define MPU9250_CONFIG_DLPF_CFG_41 3
#define MPU9250_CONFIG_DLPF_CFG_20 4
#define MPU9250_CONFIG_DLPF_CFG_10 5
#define MPU9250_CONFIG_DLPF_CFG_5 6
#define MPU9250_CONFIG_DLPF_CFG_MASK 7
#define MPU9250_GYRO_CONFIG 0x1b
# define MPU9250_GYRO_CONFIG_XG_ST 7
# define MPU9250_GYRO_CONFIG_YG_ST 6
# define MPU9250_GYRO_CONFIG_ZG_ST 5
# define MPU9250_GYRO_CONFIG_FS_SEL 3
# define MPU9250_GYRO_CONFIG_FS_SEL_250 0
# define MPU9250_GYRO_CONFIG_FS_SEL_500 1
# define MPU9250_GYRO_CONFIG_FS_SEL_1000 2
# define MPU9250_GYRO_CONFIG_FS_SEL_2000 3
# define MPU9250_GYRO_CONFIG_FS_SEL_MASK 3
# define MPU9250_GYRO_CONFIG_FCHOICE_B 0
# define MPU9250_GYRO_CONFIG_FCHOICE_B_8800 3
# define MPU9250_GYRO_CONFIG_FCHOICE_B_3600 2
# define MPU9250_GYRO_CONFIG_FCHOICE_B_LOW 0
#define MPU9250_ACCEL_CONFIG 0x1c
# define MPU9250_ACCEL_CONFIG_XA_ST 7
# define MPU9250_ACCEL_CONFIG_YA_ST 6
# define MPU9250_ACCEL_CONFIG_ZA_ST 5
# define MPU9250_ACCEL_CONFIG_AFS_SEL 3
# define MPU9250_ACCEL_CONFIG_AFS_SEL_2G 0
# define MPU9250_ACCEL_CONFIG_AFS_SEL_4G 1
# define MPU9250_ACCEL_CONFIG_AFS_SEL_8G 2
# define MPU9250_ACCEL_CONFIG_AFS_SEL_16G 3
# define MPU9250_ACCEL_CONFIG_AFS_SEL_MASK 3
#define MPU9250_MST_CTRL 0x24
#define MPU9250_MST_CTRL_MULT_MST_EN 7
#define MPU9250_MST_CTRL_WAIT_FOR_ES 6
#define MPU9250_MST_CTRL_SLV_3_FIFO_EN 5
#define MPU9250_MST_CTRL_I2C_MST_P_NSR 4
#define MPU9250_MST_CTRL_I2C_MST_CLK 0
#define MPU9250_MST_CTRL_I2C_MST_CLK_348 0
#define MPU9250_MST_CTRL_I2C_MST_CLK_333 1
#define MPU9250_MST_CTRL_I2C_MST_CLK_320 2
#define MPU9250_MST_CTRL_I2C_MST_CLK_308 3
#define MPU9250_MST_CTRL_I2C_MST_CLK_296 4
#define MPU9250_MST_CTRL_I2C_MST_CLK_286 5
#define MPU9250_MST_CTRL_I2C_MST_CLK_276 6
#define MPU9250_MST_CTRL_I2C_MST_CLK_267 7
#define MPU9250_MST_CTRL_I2C_MST_CLK_258 8
#define MPU9250_MST_CTRL_I2C_MST_CLK_500 9
#define MPU9250_MST_CTRL_I2C_MST_CLK_471 10
#define MPU9250_MST_CTRL_I2C_MST_CLK_444 11
#define MPU9250_MST_CTRL_I2C_MST_CLK_421 12
#define MPU9250_MST_CTRL_I2C_MST_CLK_400 13
#define MPU9250_MST_CTRL_I2C_MST_CLK_381 14
#define MPU9250_MST_CTRL_I2C_MST_CLK_364 15
#define MPU9250_MST_CTRL_I2C_MST_CLK_MASK 15
#define MPU9250_I2C_SLV0_ADDR 0x25
#define MPU9250_I2C_SLV0_REG 0x26
#define MPU9250_I2C_SLV0_CTRL 0x27
#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_EN 7
#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_BYTE_SW 6
#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_REG_DIS 5
#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_GRP 4
#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_LENG 0
#define MPU9250_I2C_SLV1_ADDR 0x28
#define MPU9250_I2C_SLV1_REG 0x29
#define MPU9250_I2C_SLV1_CTRL 0x2a
#define MPU9250_I2C_SLV2_ADDR 0x2b
#define MPU9250_I2C_SLV2_REG 0x2c
#define MPU9250_I2C_SLV2_CTRL 0x2d
#define MPU9250_I2C_SLV3_ADDR 0x2e
#define MPU9250_I2C_SLV3_REG 0x2f
#define MPU9250_I2C_SLV3_CTRL 0x30
#define MPU9250_I2C_SLV4_ADDR 0x31
#define MPU9250_I2C_SLV4_REG 0x32
#define MPU9250_I2C_SLV4_DO 0x33
#define MPU9250_I2C_SLV4_CTRL 0x34
#define MPU9250_I2C_SLV4_CTRL_I2C_SLV4_EN 7
#define MPU9250_I2C_SLV4_CTRL_SLV4_DONE_INT_EN 6
#define MPU9250_I2C_SLV4_CTRL_I2C_SLV4_REG_DIS 5
#define MPU9250_I2C_SLV4_CTRL_I2C_MST_DLY 0
#define MPU9250_I2C_SLV4_DI 0x35
#define MPU9250_I2C_MST_STATUS 0x36
#define MPU9250_INT_PIN_CFG 0x37
#define MPU9250_INT_ENABLE 0x38
#define MPU9250_INT_ENABLE_WOM_EN 6
#define MPU9250_INT_ENABLE_FIFO_OFLOW_EN 4
#define MPU9250_INT_ENABLE_FSYNC_INT_EN 3
#define MPU9250_INT_ENABLE_RAW_RDY_EN 0
#define MPU9250_INT_STATUS 0x3a
#define MPU9250_INT_STATUS_WOM_INT 6
#define MPU9250_INT_STATUS_FIFO_OFLOW_INT 4
#define MPU9250_INT_STATUS_FSYNC_INT 3
#define MPU9250_INT_STATUS_RAW_RDY_INT 0
#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_H 0x41
#define MPU9250_TEMP_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_I2C_MST_DELAY_CTRL 0x67
#define MPU9250_I2C_MST_DELAY_CTRL_DELAY_ES_SHADOW 7
#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV4_DLY_EN 4
#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV3_DLY_EN 3
#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV2_DLY_EN 2
#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV1_DLY_EN 1
#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV0_DLY_EN 0
#define MPU9250_SIGNAL_PATH_RESET 0x68
#define MPU9250_SIGNAL_PATH_RESET_GYRO_RESET 2
#define MPU9250_SIGNAL_PATH_RESET_ACCEL_RESET 1
#define MPU9250_SIGNAL_PATH_RESET_TEMP_RESET 0
#define MPU9250_USER_CTRL 0x6a
#define MPU9250_USER_CTRL_FIFO_EN 6
#define MPU9250_USER_CTRL_I2C_MST_EN 5
#define MPU9250_USER_CTRL_I2C_IF_DIS 4
#define MPU9250_USER_CTRL_FIFO_RESET 2
#define MPU9250_USER_CTRL_I2C_MST_RESET 1
#define MPU9250_USER_CTRL_SIG_COND_RESET 0
#define MPU9250_PWR_MGMT_1 0x6b
#define MPU9250_PWR_MGMT_1_DEVICE_RESET 7
#define MPU9250_PWR_MGMT_1_SLEEP 6
#define MPU9250_PWR_MGMT_1_CYCLE 5
#define MPU9250_PWR_MGMT_1_TEMP_DIS 3
#define MPU9250_PWR_MGMT_1_CLKSEL 0
#define MPU9250_PWR_MGMT_1_CLKSEL_INTERNAL 0
#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_X_AXIS 1
#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_Y_AXIS 2
#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_Z_AXIS 3
#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_32K 4
#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_19M 5
#define MPU9250_PWR_MGMT_1_CLKSEL_STOP 7
#define MPU9250_PWR_MGMT_1_CLKSEL_MASK 7
#define MPU9250_PWR_MGMT_2 0x6c
#define MPU9250_WHO_AM_I 0x75
#define MPU9250_I_AM_9250 0x71
/* AK8963 mag sensor on the I2C bus */
#define MPU9250_MAG_ADDR 0x0c
#define MPU9250_MAG_WIA 0x00
#define MPU9250_MAG_WIA_VALUE 0x48
#define MPU9250_MAG_INFO 0x01
#define MPU9250_MAG_ST1 0x02
#define MPU9250_MAG_ST1_DOR 1
#define MPU9250_MAG_ST1_DRDY 0
#define MPU9250_MAG_HXL 0x03
#define MPU9250_MAG_HXH 0x04
#define MPU9250_MAG_HYL 0x05
#define MPU9250_MAG_HYH 0x06
#define MPU9250_MAG_HZL 0x07
#define MPU9250_MAG_HZH 0x08
#define MPU9250_MAG_ST2 0x09
#define MPU9250_MAG_ST2_BITM 4
#define MPU9250_MAG_ST2_HOFL 3
#define MPU9250_MAG_CNTL1 0x0a
#define MPU9250_MAG_CNTL1_MODE 0
#define MPU9250_MAG_CNTL1_MODE_POWER_DOWN 0x0
#define MPU9250_MAG_CNTL1_MODE_SINGLE 0x1
#define MPU9250_MAG_CNTL1_MODE_CONT_1 0x2 /* 8Hz */
#define MPU9250_MAG_CNTL1_MODE_CONT_2 0x6 /* 100Hz */
#define MPU9250_MAG_CNTL1_MODE_EXTERNAL 0x4
#define MPU9250_MAG_CNTL1_MODE_SELF_TEST 0x8
#define MPU9250_MAG_CNTL1_MODE_FUSE_ACCESS 0xf
#define MPU9250_MAG_CNTL1_BIT 4
#define MPU9250_MAG_CNTL1_BIT_14 0
#define MPU9250_MAG_CNTL1_BIT_16 1
#define MPU9250_MAG_CNTL2 0x0b
#define MPU9250_MAG_CNTL2_SRST 0
#define MPU9250_MAG_ASTC 0x0c
#define MPU9250_MAG_ASTC_SELF 6
#define MPU9250_MAG_TS1 0x0d
#define MPU9250_MAG_TS2 0x0e
#define MPU9250_MAG_I2CDIS 0x0f
#define MPU9250_MAG_I2CDIS_VALUE 0x1d
#define MPU9250_MAG_ASAX 0x10
#define MPU9250_MAG_ASAY 0x11
#define MPU9250_MAG_ASAZ 0x12
/* Self test acceleration is approximately 0.5g */
#define MPU9250_ST_ACCEL(full_scale) (32767 / ((full_scale) * 2))
/* Self test gyro is approximately 50°/s */
#define MPU9250_ST_GYRO(full_scale) ((int16_t) (((int32_t) 32767 * (int32_t) 50) / (full_scale)))
#define MPU9250_GYRO_FULLSCALE ((float) 2000 * M_PI/180.0)
static inline float
ao_mpu9250_gyro(float sensor) {
return sensor * ((float) (MPU9250_GYRO_FULLSCALE / 32767.0));
}
#define MPU9250_ACCEL_FULLSCALE 16
static inline float
ao_mpu9250_accel(int16_t sensor) {
return (float) sensor * ((float) (MPU9250_ACCEL_FULLSCALE * GRAVITY / 32767.0));
}
struct ao_mpu9250_sample {
int16_t accel_x;
int16_t accel_y;
int16_t accel_z;
int16_t temp;
int16_t gyro_x;
int16_t gyro_y;
int16_t gyro_z;
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
};
extern struct ao_mpu9250_sample ao_mpu9250_current;
void
ao_mpu9250_init(void);
/* Product ID Description for MPU9250
* high 4 bits low 4 bits
* Product Name Product Revision
*/
#define MPU9250ES_REV_C4 0x14 /* 0001 0100 */
#define MPU9250ES_REV_C5 0x15 /* 0001 0101 */
#define MPU9250ES_REV_D6 0x16 /* 0001 0110 */
#define MPU9250ES_REV_D7 0x17 /* 0001 0111 */
#define MPU9250ES_REV_D8 0x18 /* 0001 1000 */
#define MPU9250_REV_C4 0x54 /* 0101 0100 */
#define MPU9250_REV_C5 0x55 /* 0101 0101 */
#define MPU9250_REV_D6 0x56 /* 0101 0110 */
#define MPU9250_REV_D7 0x57 /* 0101 0111 */
#define MPU9250_REV_D8 0x58 /* 0101 1000 */
#define MPU9250_REV_D9 0x59 /* 0101 1001 */
#endif /* _AO_MPU9250_H_ */
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