/* * Copyright (C) 2015 Freie Universität 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 */ #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_ */ /** @} */