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mpu9250_regs.h File Reference

Register and address definitions for MPU-9250. More...

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Macros

#define MPU9250_ADDR   0xD0
 
#define MPU9250_ADDR_ALT   0xD2
 
#define MPU9250_MAG_ADDR   0x18
 
#define MPU9250_SPI_READ   0x80
 
#define MPU9250_REG_AUX_VDDIO   0x01
 
#define MPU9250_REG_USER_CTRL   0x6A
 
#define MPU9250_REG_PWR_MGMT_1   0x6B
 
#define MPU9250_REG_PWR_MGMT_2   0x6C
 
#define MPU9250_REG_FIFO_EN   0x23
 
#define MPU9250_REG_FIFO_COUNT_H   0x72
 
#define MPU9250_REG_FIFO_COUNT_L   0x73
 
#define MPU9250_REG_FIFO_R_W   0x74
 
#define MPU9250_REG_SMPLRT_DIV   0x19
 
#define MPU9250_REG_CONFIG   0x1A
 
#define MPU9250_REG_GYRO_CONFIG   0x1B
 
#define MPU9250_REG_ACCEL_CONFIG   0x1C
 
#define MPU9250_REG_ACCEL_CONFIG_2   0x1D
 
#define MPU9250_REG_I2C_MST_CTRL   0x24
 
#define MPU9250_REG_I2C_MST_STATUS   0x36
 
#define MPU9250_REG_I2C_MST_DELAY   0x67
 
#define MPU9250_REG_I2C_SLV0_ADDR   0X25
 
#define MPU9250_REG_I2C_SLV0_REG   0X26
 
#define MPU9250_REG_I2C_SLV0_CTRL   0X27
 
#define MPU9250_REG_I2C_SLV0_DO   0X63
 
#define MPU9250_REG_I2C_SLV1_ADDR   0X28
 
#define MPU9250_REG_I2C_SLV1_REG   0X29
 
#define MPU9250_REG_I2C_SLV1_CTRL   0X2A
 
#define MPU9250_REG_I2C_SLV1_DO   0X64
 
#define MPU9250_REG_I2C_SLV2_ADDR   0X2B
 
#define MPU9250_REG_I2C_SLV2_REG   0X2C
 
#define MPU9250_REG_I2C_SLV2_CTRL   0X2D
 
#define MPU9250_REG_I2C_SLV2_DO   0X65
 
#define MPU9250_REG_I2C_SLV3_ADDR   0X2E
 
#define MPU9250_REG_I2C_SLV3_REG   0X2F
 
#define MPU9250_REG_I2C_SLV3_CTRL   0X30
 
#define MPU9250_REG_I2C_SLV3_DO   0X66
 
#define MPU9250_REG_I2C_SLV4_ADDR   0X31
 
#define MPU9250_REG_I2C_SLV4_REG   0X32
 
#define MPU9250_REG_I2C_SLV4_DO   0X33
 
#define MPU9250_REG_I2C_SLV4_CTRL   0X34
 
#define MPU9250_REG_I2C_SLV4_DI   0X35
 
#define MPU9250_REG_INT_PIN_CFG   0x37
 
#define MPU9250_REG_INT_ENABLE   0x38
 
#define MPU9250_REG_INT_STATUS   0x3A
 
#define MPU9250_REG_ACCEL_XOUT_H   0x3B
 
#define MPU9250_REG_ACCEL_XOUT_L   0x3C
 
#define MPU9250_REG_ACCEL_YOUT_H   0x3D
 
#define MPU9250_REG_ACCEL_YOUT_L   0x3E
 
#define MPU9250_REG_ACCEL_ZOUT_H   0x3F
 
#define MPU9250_REG_ACCEL_ZOUT_L   0x40
 
#define MPU9250_REG_TEMP_OUT_H   0x41
 
#define MPU9250_REG_TEMP_OUT_L   0x42
 
#define MPU9250_REG_GYRO_XOUT_H   0x43
 
#define MPU9250_REG_GYRO_XOUT_L   0x44
 
#define MPU9250_REG_GYRO_YOUT_H   0x45
 
#define MPU9250_REG_GYRO_YOUT_L   0x46
 
#define MPU9250_REG_GYRO_ZOUT_H   0x47
 
#define MPU9250_REG_GYRO_ZOUT_L   0x48
 
#define MPU9250_EXT_SENS_DATA   0x49
 
#define MPU9250_EXT_SENS_DATA_SIZE   24
 
#define MPU9250_REG_WHO_AM_I   0x75
 
#define MPU9250_WHOAMI_REPLY   0x71
 
#define MPU9250_I2C_BYPASS_EN   1
 
#define MPU9250_SIG_COND_RESET   0
 
#define MPU9250_I2C_MST_RESET   1
 
#define MPU9250_FIFO_RESET   2
 
#define MPU9250_I2C_IF_DIS   4
 
#define MPU9250_I2C_MST_EN   5
 
#define MPU9250_FIFO_EN   6
 
#define MPU9250_I2C_SLV4_DONE   6
 

Enumerations

enum  Mpu9250DLPFGyro {
  MPU9250_DLPF_GYRO_250HZ = 0x0, MPU9250_DLPF_GYRO_184HZ = 0x1, MPU9250_DLPF_GYRO_92HZ = 0x2, MPU9250_DLPF_GYRO_41HZ = 0x3,
  MPU9250_DLPF_GYRO_20HZ = 0x4, MPU9250_DLPF_GYRO_10HZ = 0x5, MPU9250_DLPF_GYRO_05HZ = 0x6
}
 Digital Low Pass Filter Options. More...
 
enum  Mpu9250DLPFAccel {
  MPU9250_DLPF_ACCEL_460HZ = 0x0, MPU9250_DLPF_ACCEL_184HZ = 0x1, MPU9250_DLPF_ACCEL_92HZ = 0x2, MPU9250_DLPF_ACCEL_41HZ = 0x3,
  MPU9250_DLPF_ACCEL_20HZ = 0x4, MPU9250_DLPF_ACCEL_10HZ = 0x5, MPU9250_DLPF_ACCEL_05HZ = 0x6
}
 
enum  Mpu9250GyroRanges { MPU9250_GYRO_RANGE_250 = 0x00, MPU9250_GYRO_RANGE_500 = 0x01, MPU9250_GYRO_RANGE_1000 = 0x02, MPU9250_GYRO_RANGE_2000 = 0x03 }
 Selectable gyro range. More...
 
enum  Mpu9250AccelRanges { MPU9250_ACCEL_RANGE_2G = 0x00, MPU9250_ACCEL_RANGE_4G = 0x01, MPU9250_ACCEL_RANGE_8G = 0x02, MPU9250_ACCEL_RANGE_16G = 0x03 }
 Selectable accel range. More...
 
enum  Mpu9250MstClk {
  MPU9250_MST_CLK_500KHZ = 0x9, MPU9250_MST_CLK_471KHZ = 0xA, MPU9250_MST_CLK_444KHZ = 0xB, MPU9250_MST_CLK_421KHZ = 0xC,
  MPU9250_MST_CLK_400KHZ = 0xD, MPU9250_MST_CLK_381KHZ = 0xE, MPU9250_MST_CLK_364KHZ = 0xF, MPU9250_MST_CLK_348KHZ = 0x0,
  MPU9250_MST_CLK_333KHZ = 0x1, MPU9250_MST_CLK_320KHZ = 0x2, MPU9250_MST_CLK_308KHZ = 0x3, MPU9250_MST_CLK_296KHZ = 0x4,
  MPU9250_MST_CLK_286KHZ = 0x5, MPU9250_MST_CLK_276KHZ = 0x6, MPU9250_MST_CLK_267KHZ = 0x7, MPU9250_MST_CLK_258KHZ = 0x8
}
 I2C Master clock. More...
 

Detailed Description

Register and address definitions for MPU-9250.

Definition in file mpu9250_regs.h.

Macro Definition Documentation

#define MPU9250_ADDR   0xD0

Definition at line 32 of file mpu9250_regs.h.

#define MPU9250_ADDR_ALT   0xD2

Definition at line 33 of file mpu9250_regs.h.

#define MPU9250_EXT_SENS_DATA   0x49

Definition at line 116 of file mpu9250_regs.h.

#define MPU9250_EXT_SENS_DATA_SIZE   24

Definition at line 117 of file mpu9250_regs.h.

#define MPU9250_FIFO_EN   6

Definition at line 132 of file mpu9250_regs.h.

#define MPU9250_FIFO_RESET   2

Definition at line 129 of file mpu9250_regs.h.

Referenced by mpu9250_send_config().

#define MPU9250_I2C_BYPASS_EN   1

Definition at line 124 of file mpu9250_regs.h.

#define MPU9250_I2C_IF_DIS   4

Definition at line 130 of file mpu9250_regs.h.

Referenced by mpu9250_configure_i2c_slaves().

#define MPU9250_I2C_MST_EN   5

Definition at line 131 of file mpu9250_regs.h.

Referenced by mpu9250_configure_i2c_slaves().

#define MPU9250_I2C_MST_RESET   1

Definition at line 128 of file mpu9250_regs.h.

Referenced by mpu9250_send_config().

#define MPU9250_I2C_SLV4_DONE   6

Definition at line 135 of file mpu9250_regs.h.

Referenced by mpu_wait_slave4_ready_cb().

#define MPU9250_MAG_ADDR   0x18

Definition at line 35 of file mpu9250_regs.h.

Referenced by imu_mpu9250_configure_mag_slave(), and mpu9250_i2c_init().

#define MPU9250_REG_ACCEL_CONFIG   0x1C

Definition at line 55 of file mpu9250_regs.h.

Referenced by mpu9250_send_config().

#define MPU9250_REG_ACCEL_CONFIG_2   0x1D

Definition at line 56 of file mpu9250_regs.h.

Referenced by mpu9250_send_config().

#define MPU9250_REG_ACCEL_XOUT_H   0x3B

Definition at line 96 of file mpu9250_regs.h.

#define MPU9250_REG_ACCEL_XOUT_L   0x3C

Definition at line 97 of file mpu9250_regs.h.

#define MPU9250_REG_ACCEL_YOUT_H   0x3D

Definition at line 98 of file mpu9250_regs.h.

#define MPU9250_REG_ACCEL_YOUT_L   0x3E

Definition at line 99 of file mpu9250_regs.h.

#define MPU9250_REG_ACCEL_ZOUT_H   0x3F

Definition at line 100 of file mpu9250_regs.h.

#define MPU9250_REG_ACCEL_ZOUT_L   0x40

Definition at line 101 of file mpu9250_regs.h.

#define MPU9250_REG_AUX_VDDIO   0x01

Definition at line 40 of file mpu9250_regs.h.

#define MPU9250_REG_CONFIG   0x1A

Definition at line 53 of file mpu9250_regs.h.

Referenced by mpu9250_send_config().

#define MPU9250_REG_FIFO_COUNT_H   0x72

Definition at line 47 of file mpu9250_regs.h.

#define MPU9250_REG_FIFO_COUNT_L   0x73

Definition at line 48 of file mpu9250_regs.h.

#define MPU9250_REG_FIFO_EN   0x23

Definition at line 46 of file mpu9250_regs.h.

#define MPU9250_REG_FIFO_R_W   0x74

Definition at line 49 of file mpu9250_regs.h.

#define MPU9250_REG_GYRO_CONFIG   0x1B

Definition at line 54 of file mpu9250_regs.h.

Referenced by mpu9250_send_config().

#define MPU9250_REG_GYRO_XOUT_H   0x43

Definition at line 108 of file mpu9250_regs.h.

#define MPU9250_REG_GYRO_XOUT_L   0x44

Definition at line 109 of file mpu9250_regs.h.

#define MPU9250_REG_GYRO_YOUT_H   0x45

Definition at line 110 of file mpu9250_regs.h.

#define MPU9250_REG_GYRO_YOUT_L   0x46

Definition at line 111 of file mpu9250_regs.h.

#define MPU9250_REG_GYRO_ZOUT_H   0x47

Definition at line 112 of file mpu9250_regs.h.

#define MPU9250_REG_GYRO_ZOUT_L   0x48

Definition at line 113 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_MST_CTRL   0x24

Definition at line 60 of file mpu9250_regs.h.

Referenced by mpu9250_configure_i2c_slaves().

#define MPU9250_REG_I2C_MST_DELAY   0x67

Definition at line 62 of file mpu9250_regs.h.

Referenced by mpu9250_configure_i2c_slaves().

#define MPU9250_REG_I2C_MST_STATUS   0x36

Definition at line 61 of file mpu9250_regs.h.

Referenced by mpu_wait_slave4_ready().

#define MPU9250_REG_I2C_SLV0_ADDR   0X25

Definition at line 64 of file mpu9250_regs.h.

Referenced by imu_mpu9250_configure_mag_slave().

#define MPU9250_REG_I2C_SLV0_CTRL   0X27

Definition at line 66 of file mpu9250_regs.h.

Referenced by imu_mpu9250_configure_mag_slave().

#define MPU9250_REG_I2C_SLV0_DO   0X63

Definition at line 67 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV0_REG   0X26

Definition at line 65 of file mpu9250_regs.h.

Referenced by imu_mpu9250_configure_mag_slave().

#define MPU9250_REG_I2C_SLV1_ADDR   0X28

Definition at line 69 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV1_CTRL   0X2A

Definition at line 71 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV1_DO   0X64

Definition at line 72 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV1_REG   0X29

Definition at line 70 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV2_ADDR   0X2B

Definition at line 74 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV2_CTRL   0X2D

Definition at line 76 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV2_DO   0X65

Definition at line 77 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV2_REG   0X2C

Definition at line 75 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV3_ADDR   0X2E

Definition at line 79 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV3_CTRL   0X30

Definition at line 81 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV3_DO   0X66

Definition at line 82 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV3_REG   0X2F

Definition at line 80 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV4_ADDR   0X31

Definition at line 84 of file mpu9250_regs.h.

Referenced by imu_mpu9250_configure_mag_slave().

#define MPU9250_REG_I2C_SLV4_CTRL   0X34

Definition at line 87 of file mpu9250_regs.h.

Referenced by imu_mpu9250_configure_mag_slave(), and mpu9250_configure_i2c_slaves().

#define MPU9250_REG_I2C_SLV4_DI   0X35

Definition at line 88 of file mpu9250_regs.h.

#define MPU9250_REG_I2C_SLV4_DO   0X33

Definition at line 86 of file mpu9250_regs.h.

Referenced by imu_mpu9250_configure_mag_slave().

#define MPU9250_REG_I2C_SLV4_REG   0X32

Definition at line 85 of file mpu9250_regs.h.

Referenced by imu_mpu9250_configure_mag_slave().

#define MPU9250_REG_INT_ENABLE   0x38

Definition at line 92 of file mpu9250_regs.h.

Referenced by mpu9250_send_config().

#define MPU9250_REG_INT_PIN_CFG   0x37

Definition at line 91 of file mpu9250_regs.h.

Referenced by mpu9250_configure_i2c_slaves().

#define MPU9250_REG_INT_STATUS   0x3A

Definition at line 93 of file mpu9250_regs.h.

Referenced by mpu9250_i2c_read(), and mpu9250_spi_read().

#define MPU9250_REG_PWR_MGMT_1   0x6B

Definition at line 42 of file mpu9250_regs.h.

Referenced by mpu9250_send_config().

#define MPU9250_REG_PWR_MGMT_2   0x6C

Definition at line 43 of file mpu9250_regs.h.

#define MPU9250_REG_SMPLRT_DIV   0x19

Definition at line 52 of file mpu9250_regs.h.

Referenced by mpu9250_send_config().

#define MPU9250_REG_TEMP_OUT_H   0x41

Definition at line 104 of file mpu9250_regs.h.

#define MPU9250_REG_TEMP_OUT_L   0x42

Definition at line 105 of file mpu9250_regs.h.

#define MPU9250_REG_USER_CTRL   0x6A

Definition at line 41 of file mpu9250_regs.h.

Referenced by mpu9250_configure_i2c_slaves(), and mpu9250_send_config().

#define MPU9250_REG_WHO_AM_I   0x75

Definition at line 120 of file mpu9250_regs.h.

Referenced by mpu9250_spi_start_configure().

#define MPU9250_SIG_COND_RESET   0

Definition at line 127 of file mpu9250_regs.h.

Referenced by mpu9250_send_config().

#define MPU9250_SPI_READ   0x80
#define MPU9250_WHOAMI_REPLY   0x71

Definition at line 121 of file mpu9250_regs.h.

Referenced by mpu9250_spi_start_configure().

Enumeration Type Documentation

Selectable accel range.

Enumerator
MPU9250_ACCEL_RANGE_2G 
MPU9250_ACCEL_RANGE_4G 
MPU9250_ACCEL_RANGE_8G 
MPU9250_ACCEL_RANGE_16G 

Definition at line 172 of file mpu9250_regs.h.

Enumerator
MPU9250_DLPF_ACCEL_460HZ 
MPU9250_DLPF_ACCEL_184HZ 
MPU9250_DLPF_ACCEL_92HZ 
MPU9250_DLPF_ACCEL_41HZ 
MPU9250_DLPF_ACCEL_20HZ 
MPU9250_DLPF_ACCEL_10HZ 
MPU9250_DLPF_ACCEL_05HZ 

Definition at line 149 of file mpu9250_regs.h.

Digital Low Pass Filter Options.

Enumerator
MPU9250_DLPF_GYRO_250HZ 
MPU9250_DLPF_GYRO_184HZ 
MPU9250_DLPF_GYRO_92HZ 
MPU9250_DLPF_GYRO_41HZ 
MPU9250_DLPF_GYRO_20HZ 
MPU9250_DLPF_GYRO_10HZ 
MPU9250_DLPF_GYRO_05HZ 

Definition at line 139 of file mpu9250_regs.h.

Selectable gyro range.

Enumerator
MPU9250_GYRO_RANGE_250 
MPU9250_GYRO_RANGE_500 
MPU9250_GYRO_RANGE_1000 
MPU9250_GYRO_RANGE_2000 

Definition at line 162 of file mpu9250_regs.h.

I2C Master clock.

Enumerator
MPU9250_MST_CLK_500KHZ 
MPU9250_MST_CLK_471KHZ 
MPU9250_MST_CLK_444KHZ 
MPU9250_MST_CLK_421KHZ 
MPU9250_MST_CLK_400KHZ 
MPU9250_MST_CLK_381KHZ 
MPU9250_MST_CLK_364KHZ 
MPU9250_MST_CLK_348KHZ 
MPU9250_MST_CLK_333KHZ 
MPU9250_MST_CLK_320KHZ 
MPU9250_MST_CLK_308KHZ 
MPU9250_MST_CLK_296KHZ 
MPU9250_MST_CLK_286KHZ 
MPU9250_MST_CLK_276KHZ 
MPU9250_MST_CLK_267KHZ 
MPU9250_MST_CLK_258KHZ 

Definition at line 182 of file mpu9250_regs.h.