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/*
* Copyright (C) 2015 Freie Universitรคt Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup drivers_mpu9150
* @{
*
* @file
* @brief Register and bit definitions for the MPU-9150 9-Axis Motion Sensor
*
* @author Fabian Nack <nack@inf.fu-berlin.de>
*/
#ifndef MPU9150_REGS_H_
#define MPU9150_REGS_H_
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name MPU-9150 register definitions
* @{
*/
#define MPU9150_YG_OFFS_TC_REG (0x01)
#define MPU9150_RATE_DIV_REG (0x19)
#define MPU9150_LPF_REG (0x1A)
#define MPU9150_GYRO_CFG_REG (0x1B)
#define MPU9150_ACCEL_CFG_REG (0x1C)
#define MPU9150_FIFO_EN_REG (0x23)
#define MPU9150_I2C_MST_REG (0x24)
#define MPU9150_SLAVE0_ADDR_REG (0x25)
#define MPU9150_SLAVE0_REG_REG (0x26)
#define MPU9150_SLAVE0_CTRL_REG (0x27)
#define MPU9150_SLAVE1_ADDR_REG (0x28)
#define MPU9150_SLAVE1_REG_REG (0x29)
#define MPU9150_SLAVE1_CTRL_REG (0x2A)
#define MPU9150_SLAVE4_CTRL_REG (0x34)
#define MPU9150_INT_PIN_CFG_REG (0x37)
#define MPU9150_INT_ENABLE_REG (0x38)
#define MPU9150_DMP_INT_STATUS (0x39)
#define MPU9150_INT_STATUS (0x3A)
#define MPU9150_ACCEL_START_REG (0x3B)
#define MPU9150_TEMP_START_REG (0x41)
#define MPU9150_GYRO_START_REG (0x43)
#define MPU9150_EXT_SENS_DATA_START_REG (0x49)
#define MPU9150_COMPASS_DATA_START_REG (0x4A)
#define MPU9150_SLAVE0_DATA_OUT_REG (0x63)
#define MPU9150_SLAVE1_DATA_OUT_REG (0x64)
#define MPU9150_SLAVE2_DATA_OUT_REG (0x65)
#define MPU9150_SLAVE3_DATA_OUT_REG (0x66)
#define MPU9150_I2C_DELAY_CTRL_REG (0x67)
#define MPU9150_USER_CTRL_REG (0x6A)
#define MPU9150_PWR_MGMT_1_REG (0x6B)
#define MPU9150_PWR_MGMT_2_REG (0x6C)
#define MPU9150_FIFO_COUNT_START_REG (0x72)
#define MPU9150_FIFO_RW_REG (0x74)
#define MPU9150_WHO_AM_I_REG (0x75)
/** @} */
/**
* @name Compass register definitions
* @{
*/
#define COMPASS_WHOAMI_REG (0x00)
#define COMPASS_ST1_REG (0x02)
#define COMPASS_DATA_START_REG (0x03)
#define COMPASS_ST2_REG (0x09)
#define COMPASS_CNTL_REG (0x0A)
#define COMPASS_ASTC_REG (0x0C)
#define COMPASS_ASAX_REG (0x10)
#define COMPASS_ASAY_REG (0x11)
#define COMPASS_ASAZ_REG (0x12)
/** @} */
/**
* @name MPU9150 bitfield definitions
* @{
*/
#define BIT_SLV0_DELAY_EN (0x01)
#define BIT_SLV1_DELAY_EN (0x02)
#define BIT_I2C_BYPASS_EN (0x02)
#define BIT_I2C_MST_EN (0x20)
#define BIT_PWR_MGMT1_SLEEP (0x40)
#define BIT_WAIT_FOR_ES (0x40)
#define BIT_I2C_MST_VDDIO (0x80)
#define BIT_SLAVE_RW (0x80)
#define BIT_SLAVE_EN (0x80)
#define BIT_DMP_EN (0x80)
/** @} */
#ifdef __cplusplus
}
#endif
#endif /* MPU9150_REGS_H_ */
/** @} */
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