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add imu
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jeki committed Jan 19, 2021
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2 changes: 1 addition & 1 deletion .vscode/arduino.json
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{
"board": "esp8266:esp8266:d1_mini_pro",
"configuration": "xtal=80,vt=flash,exception=legacy,ssl=all,eesz=16M14M,ip=lm2f,dbg=Disabled,lvl=None____,wipe=none,baud=921600",
"configuration": "xtal=160,vt=flash,exception=legacy,ssl=all,eesz=16M14M,ip=lm2f,dbg=Disabled,lvl=None____,wipe=none,baud=921600",
"port": "COM140",
"sketch": "wemos-gps.ino"
}
219 changes: 219 additions & 0 deletions MPU9250_RegisterMap.h
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/******************************************************************************
MPU9250_RegisterMap.h - MPU-9250 Digital Motion Processor Arduino Library
Jim Lindblom @ SparkFun Electronics
original creation date: November 23, 2016
https://github.com/sparkfun/SparkFun_MPU9250_DMP_Arduino_Library
This library implements motion processing functions of Invensense's MPU-9250.
It is based on their Emedded MotionDriver 6.12 library.
https://www.invensense.com/developers/software-downloads/
Development environment specifics:
Arduino IDE 1.6.12
SparkFun 9DoF Razor IMU M0
Supported Platforms:
- ATSAMD21 (Arduino Zero, SparkFun SAMD21 Breakouts)
******************************************************************************/
#ifndef _MPU9250_REGISTER_MAP_H_
#define _MPU9250_REGISTER_MAP_H_

enum mpu9250_register {
MPU9250_SELF_TEST_X_GYRO = 0x00,
MPU9250_SELF_TEST_Y_GYRO = 0x01,
MPU9250_SELF_TEST_Z_GYRO = 0x02,
MPU9250_SELF_TEST_X_ACCEL = 0x0D,
MPU9250_SELF_TEST_Y_ACCEL = 0x0E,
MPU9250_SELF_TEST_Z_ACCEL = 0x0F,
MPU9250_XG_OFFSET_H = 0x13,
MPU9250_XG_OFFSET_L = 0x14,
MPU9250_YG_OFFSET_H = 0x15,
MPU9250_YG_OFFSET_L = 0x16,
MPU9250_ZG_OFFSET_H = 0x17,
MPU9250_ZG_OFFSET_L = 0x18,
MPU9250_SMPLRT_DIV = 0x19,
MPU9250_CONFIG = 0x1A,
MPU9250_GYRO_CONFIG = 0x1B,
MPU9250_ACCEL_CONFIG = 0x1C,
MPU9250_ACCEL_CONFIG_2 = 0x1D,
MPU9250_LP_ACCEL_ODR = 0x1E,
MPU9250_WOM_THR = 0x1F,
MPU9250_FIFO_EN = 0x23,
MPU9250_I2C_MST_CTRL = 0x24,
MPU9250_I2C_SLV0_ADDR = 0x25,
MPU9250_I2C_SLV0_REG = 0x26,
MPU9250_I2C_SLV0_CTRL = 0x27,
MPU9250_I2C_SLV1_ADDR = 0x28,
MPU9250_I2C_SLV1_REG = 0x29,
MPU9250_I2C_SLV1_CTRL = 0x2A,
MPU9250_I2C_SLV2_ADDR = 0x2B,
MPU9250_I2C_SLV2_REG = 0x2C,
MPU9250_I2C_SLV2_CTRL = 0x2D,
MPU9250_I2C_SLV3_ADDR = 0x2E,
MPU9250_I2C_SLV3_REG = 0x2F,
MPU9250_I2C_SLV3_CTRL = 0x30,
MPU9250_I2C_SLV4_ADDR = 0x31,
MPU9250_I2C_SLV4_REG = 0x32,
MPU9250_I2C_SLV4_DO = 0x33,
MPU9250_I2C_SLV4_CTRL = 0x34,
MPU9250_I2C_SLV4_DI = 0x35,
MPU9250_I2C_MST_STATUS = 0x36,
MPU9250_INT_PIN_CFG = 0x37,
MPU9250_INT_ENABLE = 0x38,
MPU9250_INT_STATUS = 0x3A,
MPU9250_ACCEL_XOUT_H = 0x3B,
MPU9250_ACCEL_XOUT_L = 0x3C,
MPU9250_ACCEL_YOUT_H = 0x3D,
MPU9250_ACCEL_YOUT_L = 0x3E,
MPU9250_ACCEL_ZOUT_H = 0x3F,
MPU9250_ACCEL_ZOUT_L = 0x40,
MPU9250_TEMP_OUT_H = 0x41,
MPU9250_TEMP_OUT_L = 0x42,
MPU9250_GYRO_XOUT_H = 0x43,
MPU9250_GYRO_XOUT_L = 0x44,
MPU9250_GYRO_YOUT_H = 0x45,
MPU9250_GYRO_YOUT_L = 0x46,
MPU9250_GYRO_ZOUT_H = 0x47,
MPU9250_GYRO_ZOUT_L = 0x48,
MPU9250_EXT_SENS_DATA_00 = 0x49,
MPU9250_EXT_SENS_DATA_01 = 0x4A,
MPU9250_EXT_SENS_DATA_02 = 0x4B,
MPU9250_EXT_SENS_DATA_03 = 0x4C,
MPU9250_EXT_SENS_DATA_04 = 0x4D,
MPU9250_EXT_SENS_DATA_05 = 0x4E,
MPU9250_EXT_SENS_DATA_06 = 0x4F,
MPU9250_EXT_SENS_DATA_07 = 0x50,
MPU9250_EXT_SENS_DATA_08 = 0x51,
MPU9250_EXT_SENS_DATA_09 = 0x52,
MPU9250_EXT_SENS_DATA_10 = 0x53,
MPU9250_EXT_SENS_DATA_11 = 0x54,
MPU9250_EXT_SENS_DATA_12 = 0x55,
MPU9250_EXT_SENS_DATA_13 = 0x56,
MPU9250_EXT_SENS_DATA_14 = 0x57,
MPU9250_EXT_SENS_DATA_15 = 0x58,
MPU9250_EXT_SENS_DATA_16 = 0x59,
MPU9250_EXT_SENS_DATA_17 = 0x5A,
MPU9250_EXT_SENS_DATA_18 = 0x5B,
MPU9250_EXT_SENS_DATA_19 = 0x5C,
MPU9250_EXT_SENS_DATA_20 = 0x5D,
MPU9250_EXT_SENS_DATA_21 = 0x5E,
MPU9250_EXT_SENS_DATA_22 = 0x5F,
MPU9250_EXT_SENS_DATA_23 = 0x60,
MPU9250_I2C_SLV0_DO = 0x63,
MPU9250_I2C_SLV1_DO = 0x64,
MPU9250_I2C_SLV2_DO = 0x65,
MPU9250_I2C_SLV3_DO = 0x66,
MPU9250_I2C_MST_DELAY_CTRL =0x67,
MPU9250_SIGNAL_PATH_RESET = 0x68,
MPU9250_MOT_DETECT_CTRL = 0x69,
MPU9250_USER_CTRL = 0x6A,
MPU9250_PWR_MGMT_1 = 0x6B,
MPU9250_PWR_MGMT_2 = 0x6C,
MPU9250_FIFO_COUNTH = 0x72,
MPU9250_FIFO_COUNTL = 0x73,
MPU9250_FIFO_R_W = 0x74,
MPU9250_WHO_AM_I = 0x75,
MPU9250_XA_OFFSET_H = 0x77,
MPU9250_XA_OFFSET_L = 0x78,
MPU9250_YA_OFFSET_H = 0x7A,
MPU9250_YA_OFFSET_L = 0x7B,
MPU9250_ZA_OFFSET_H = 0x7D,
MPU9250_ZA_OFFSET_L = 0x7E
};

enum interrupt_status_bits {
INT_STATUS_RAW_DATA_RDY_INT = 0,
INT_STATUS_FSYNC_INT = 3,
INT_STATUS_FIFO_OVERFLOW_INT = 4,
INT_STATUS_WOM_INT = 6,
};

enum gyro_config_bits {
GYRO_CONFIG_FCHOICE_B = 0,
GYRO_CONFIG_GYRO_FS_SEL = 3,
GYRO_CONFIG_ZGYRO_CTEN = 5,
GYRO_CONFIG_YGYRO_CTEN = 6,
GYRO_CONFIG_XGYRO_CTEN = 7,
};
#define MPU9250_GYRO_FS_SEL_MASK 0x3
#define MPU9250_GYRO_FCHOICE_MASK 0x3

enum accel_config_bit {
ACCEL_CONFIG_ACCEL_FS_SEL = 3,
ACCEL_CONFIG_AZ_ST_EN = 5,
ACCEL_CONFIG_AY_ST_EN = 6,
ACCEL_CONFIG_AX_ST_EN = 7,
};
#define MPU9250_ACCEL_FS_SEL_MASK 0x3

enum accel_config_2_bits {
ACCEL_CONFIG_2_A_DLPFCFG = 0,
ACCEL_CONFIG_2_ACCEL_FCHOICE_B = 3,
};

enum pwr_mgmt_1_bits {
PWR_MGMT_1_CLKSEL = 0,
PWR_MGMT_1_PD_PTAT = 3,
PWR_MGMT_1_GYRO_STANDBY = 4,
PWR_MGMT_1_CYCLE = 5,
PWR_MGMT_1_SLEEP = 6,
PWR_MGMT_1_H_RESET = 7
};

enum pwr_mgmt_2_bits {
PWR_MGMT_2_DISABLE_ZG = 0,
PWR_MGMT_2_DISABLE_YG = 1,
PWR_MGMT_2_DISABLE_XG = 2,
PWR_MGMT_2_DISABLE_ZA = 3,
PWR_MGMT_2_DISABLE_YA = 4,
PWR_MGMT_2_DISABLE_XA = 5,
};

enum int_enable_bits {
INT_ENABLE_RAW_RDY_EN = 0,
INT_ENABLE_FSYNC_INT_EN = 3,
INT_ENABLE_FIFO_OVERFLOW_EN = 4,
INT_ENABLE_WOM_EN = 6,
};

enum int_pin_cfg_bits {
INT_PIN_CFG_BYPASS_EN = 1,
INT_PIN_CFG_FSYNC_INT_MODE_EN = 2,
INT_PIN_CFG_ACTL_FSYNC = 3,
INT_PIN_CFG_INT_ANYRD_2CLEAR = 4,
INT_PIN_CFG_LATCH_INT_EN = 5,
INT_PIN_CFG_OPEN = 6,
INT_PIN_CFG_ACTL = 7,
};
#define INT_PIN_CFG_INT_MASK 0xF0

#define MPU9250_WHO_AM_I_RESULT 0x71

enum ak8963_register {
AK8963_WIA = 0x0,
AK8963_INFO = 0x1,
AK8963_ST1 = 0x2,
AK8963_HXL = 0x3,
AK8963_HXH = 0x4,
AK8963_HYL = 0x5,
AK8963_HYH = 0x6,
AK8963_HZL = 0x7,
AK8963_HZH = 0x8,
AK8963_ST2 = 0x9,
AK8963_CNTL = 0xA,
AK8963_RSV = 0xB,
AK8963_ASTC = 0xC,
AK8963_TS1 = 0xD,
AK8963_TS2 = 0xE,
AK8963_I2CDIS = 0xF,
AK8963_ASAX = 0x10,
AK8963_ASAY = 0x11,
AK8963_ASAZ = 0x12,
};
#define MAG_CTRL_OP_MODE_MASK 0xF

#define AK8963_ST1_DRDY_BIT 0

#define AK8963_WHO_AM_I_RESULT 0x48

#endif // _MPU9250_REGISTER_MAP_H_
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