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- #ifndef __bsp_mpu9250_H
- #define __bsp_mpu9250_H
- #include "main.h"
- /* ---- MPU9250 Reg In MPU9250 ---------------------------------------------- */
- #define MPU9250_I2C_ADDR ((uint8_t)0xD0)
- #define MPU9250_Device_ID ((uint8_t)0x71) // In MPU9250
- #define MPU9250_SELF_TEST_XG ((uint8_t)0x00)
- #define MPU9250_SELF_TEST_YG ((uint8_t)0x01)
- #define MPU9250_SELF_TEST_ZG ((uint8_t)0x02)
- #define MPU9250_SELF_TEST_XA ((uint8_t)0x0D)
- #define MPU9250_SELF_TEST_YA ((uint8_t)0x0E)
- #define MPU9250_SELF_TEST_ZA ((uint8_t)0x0F)
- #define MPU9250_XG_OFFSET_H ((uint8_t)0x13)
- #define MPU9250_XG_OFFSET_L ((uint8_t)0x14)
- #define MPU9250_YG_OFFSET_H ((uint8_t)0x15)
- #define MPU9250_YG_OFFSET_L ((uint8_t)0x16)
- #define MPU9250_ZG_OFFSET_H ((uint8_t)0x17)
- #define MPU9250_ZG_OFFSET_L ((uint8_t)0x18)
- #define MPU9250_SMPLRT_DIV ((uint8_t)0x19)
- #define MPU9250_CONFIG ((uint8_t)0x1A)
- #define MPU9250_GYRO_CONFIG ((uint8_t)0x1B)
- #define MPU9250_ACCEL_CONFIG ((uint8_t)0x1C)
- #define MPU9250_ACCEL_CONFIG_2 ((uint8_t)0x1D)
- #define MPU9250_LP_ACCEL_ODR ((uint8_t)0x1E)
- #define MPU9250_MOT_THR ((uint8_t)0x1F)
- #define MPU9250_FIFO_EN ((uint8_t)0x23)
- #define MPU9250_I2C_MST_CTRL ((uint8_t)0x24)
- #define MPU9250_I2C_SLV0_ADDR ((uint8_t)0x25)
- #define MPU9250_I2C_SLV0_REG ((uint8_t)0x26)
- #define MPU9250_I2C_SLV0_CTRL ((uint8_t)0x27)
- #define MPU9250_I2C_SLV1_ADDR ((uint8_t)0x28)
- #define MPU9250_I2C_SLV1_REG ((uint8_t)0x29)
- #define MPU9250_I2C_SLV1_CTRL ((uint8_t)0x2A)
- #define MPU9250_I2C_SLV2_ADDR ((uint8_t)0x2B)
- #define MPU9250_I2C_SLV2_REG ((uint8_t)0x2C)
- #define MPU9250_I2C_SLV2_CTRL ((uint8_t)0x2D)
- #define MPU9250_I2C_SLV3_ADDR ((uint8_t)0x2E)
- #define MPU9250_I2C_SLV3_REG ((uint8_t)0x2F)
- #define MPU9250_I2C_SLV3_CTRL ((uint8_t)0x30)
- #define MPU9250_I2C_SLV4_ADDR ((uint8_t)0x31)
- #define MPU9250_I2C_SLV4_REG ((uint8_t)0x32)
- #define MPU9250_I2C_SLV4_DO ((uint8_t)0x33)
- #define MPU9250_I2C_SLV4_CTRL ((uint8_t)0x34)
- #define MPU9250_I2C_SLV4_DI ((uint8_t)0x35)
- #define MPU9250_I2C_MST_STATUS ((uint8_t)0x36)
- #define MPU9250_INT_PIN_CFG ((uint8_t)0x37)
- #define MPU9250_INT_ENABLE ((uint8_t)0x38)
- #define MPU9250_INT_STATUS ((uint8_t)0x3A)
- #define MPU9250_ACCEL_XOUT_H ((uint8_t)0x3B)
- #define MPU9250_ACCEL_XOUT_L ((uint8_t)0x3C)
- #define MPU9250_ACCEL_YOUT_H ((uint8_t)0x3D)
- #define MPU9250_ACCEL_YOUT_L ((uint8_t)0x3E)
- #define MPU9250_ACCEL_ZOUT_H ((uint8_t)0x3F)
- #define MPU9250_ACCEL_ZOUT_L ((uint8_t)0x40)
- #define MPU9250_TEMP_OUT_H ((uint8_t)0x41)
- #define MPU9250_TEMP_OUT_L ((uint8_t)0x42)
- #define MPU9250_GYRO_XOUT_H ((uint8_t)0x43)
- #define MPU9250_GYRO_XOUT_L ((uint8_t)0x44)
- #define MPU9250_GYRO_YOUT_H ((uint8_t)0x45)
- #define MPU9250_GYRO_YOUT_L ((uint8_t)0x46)
- #define MPU9250_GYRO_ZOUT_H ((uint8_t)0x47)
- #define MPU9250_GYRO_ZOUT_L ((uint8_t)0x48)
- #define MPU9250_EXT_SENS_DATA_00 ((uint8_t)0x49)
- #define MPU9250_EXT_SENS_DATA_01 ((uint8_t)0x4A)
- #define MPU9250_EXT_SENS_DATA_02 ((uint8_t)0x4B)
- #define MPU9250_EXT_SENS_DATA_03 ((uint8_t)0x4C)
- #define MPU9250_EXT_SENS_DATA_04 ((uint8_t)0x4D)
- #define MPU9250_EXT_SENS_DATA_05 ((uint8_t)0x4E)
- #define MPU9250_EXT_SENS_DATA_06 ((uint8_t)0x4F)
- #define MPU9250_EXT_SENS_DATA_07 ((uint8_t)0x50)
- #define MPU9250_EXT_SENS_DATA_08 ((uint8_t)0x51)
- #define MPU9250_EXT_SENS_DATA_09 ((uint8_t)0x52)
- #define MPU9250_EXT_SENS_DATA_10 ((uint8_t)0x53)
- #define MPU9250_EXT_SENS_DATA_11 ((uint8_t)0x54)
- #define MPU9250_EXT_SENS_DATA_12 ((uint8_t)0x55)
- #define MPU9250_EXT_SENS_DATA_13 ((uint8_t)0x56)
- #define MPU9250_EXT_SENS_DATA_14 ((uint8_t)0x57)
- #define MPU9250_EXT_SENS_DATA_15 ((uint8_t)0x58)
- #define MPU9250_EXT_SENS_DATA_16 ((uint8_t)0x59)
- #define MPU9250_EXT_SENS_DATA_17 ((uint8_t)0x5A)
- #define MPU9250_EXT_SENS_DATA_18 ((uint8_t)0x5B)
- #define MPU9250_EXT_SENS_DATA_19 ((uint8_t)0x5C)
- #define MPU9250_EXT_SENS_DATA_20 ((uint8_t)0x5D)
- #define MPU9250_EXT_SENS_DATA_21 ((uint8_t)0x5E)
- #define MPU9250_EXT_SENS_DATA_22 ((uint8_t)0x5F)
- #define MPU9250_EXT_SENS_DATA_23 ((uint8_t)0x60)
- #define MPU9250_I2C_SLV0_DO ((uint8_t)0x63)
- #define MPU9250_I2C_SLV1_DO ((uint8_t)0x64)
- #define MPU9250_I2C_SLV2_DO ((uint8_t)0x65)
- #define MPU9250_I2C_SLV3_DO ((uint8_t)0x66)
- #define MPU9250_I2C_MST_DELAY_CTRL ((uint8_t)0x67)
- #define MPU9250_SIGNAL_PATH_RESET ((uint8_t)0x68)
- #define MPU9250_MOT_DETECT_CTRL ((uint8_t)0x69)
- #define MPU9250_USER_CTRL ((uint8_t)0x6A)
- #define MPU9250_PWR_MGMT_1 ((uint8_t)0x6B)
- #define MPU9250_PWR_MGMT_2 ((uint8_t)0x6C)
- #define MPU9250_FIFO_COUNTH ((uint8_t)0x72)
- #define MPU9250_FIFO_COUNTL ((uint8_t)0x73)
- #define MPU9250_FIFO_R_W ((uint8_t)0x74)
- #define MPU9250_WHO_AM_I ((uint8_t)0x75) // ID = 0x71 In MPU9250
- #define MPU9250_XA_OFFSET_H ((uint8_t)0x77)
- #define MPU9250_XA_OFFSET_L ((uint8_t)0x78)
- #define MPU9250_YA_OFFSET_H ((uint8_t)0x7A)
- #define MPU9250_YA_OFFSET_L ((uint8_t)0x7B)
- #define MPU9250_ZA_OFFSET_H ((uint8_t)0x7D)
- #define MPU9250_ZA_OFFSET_L ((uint8_t)0x7E)
- /* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */
- #define AK8963_I2C_ADDR ((uint8_t)0x18)
- #define AK8963_Device_ID ((uint8_t)0x48)
- // Read-only Reg
- #define AK8963_WIA ((uint8_t)0x00)
- #define AK8963_INFO ((uint8_t)0x01)
- #define AK8963_ST1 ((uint8_t)0x02)
- #define AK8963_HXL ((uint8_t)0x03)
- #define AK8963_HXH ((uint8_t)0x04)
- #define AK8963_HYL ((uint8_t)0x05)
- #define AK8963_HYH ((uint8_t)0x06)
- #define AK8963_HZL ((uint8_t)0x07)
- #define AK8963_HZH ((uint8_t)0x08)
- #define AK8963_ST2 ((uint8_t)0x09)
- // Write/Read Reg
- #define AK8963_CNTL1 ((uint8_t)0x0A)
- #define AK8963_CNTL2 ((uint8_t)0x0B)
- #define AK8963_ASTC ((uint8_t)0x0C)
- #define AK8963_TS1 ((uint8_t)0x0D)
- #define AK8963_TS2 ((uint8_t)0x0E)
- #define AK8963_I2CDIS ((uint8_t)0x0F)
- // Read-only Reg ( ROM )
- #define AK8963_ASAX ((uint8_t)0x10)
- #define AK8963_ASAY ((uint8_t)0x11)
- #define AK8963_ASAZ ((uint8_t)0x12)
- int MPU9250_init(void)
- int MPU9250_Read(int16_t* acc,int16_t* gyr,int16_t* mag,int16_t* temperature)
- #endif
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