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 /*

  * This program is free software; you can redistribute it and/or modify

  * it under the terms of the GNU General Public License as published by

  * the Free Software Foundation; either version 3 of the License, or

  * (at your option) any later version.

  *

  * This program is distributed in the hope that it will be useful, but

  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY

  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License

  * for more details.

  *

  * You should have received a copy of the GNU General Public License along

  * with this program; if not, see <http://www.gnu.org/licenses/>

  */


 #ifndef PIOS_MPU_PRIV_H

 #define PIOS_MPU_PRIV_H


 #include "pios_mpu.h"


 /* MPU60X0 Addresses */

 #define PIOS_MPU_PRODUCT_ID           0x0C

 #define PIOS_MPU_SMPLRT_DIV_REG       0X19

 #define PIOS_MPU_DLPF_CFG_REG         0X1A

 #define PIOS_MPU_GYRO_CFG_REG         0X1B

 #define PIOS_MPU_ACCEL_CFG_REG        0X1C

 #define PIOS_MPU_ACCEL_CFG2_REG       0X1D

 #define PIOS_MPU_FIFO_EN_REG          0x23

 #define PIOS_MPU_SLV0_ADDR_REG        0x25

 #define PIOS_MPU_SLV0_REG_REG         0x26

 #define PIOS_MPU_SLV0_CTRL_REG        0x27

 #define PIOS_MPU_SLV1_ADDR_REG        0x28

 #define PIOS_MPU_SLV1_REG_REG         0x29

 #define PIOS_MPU_SLV1_DO_REG          0x64

 #define PIOS_MPU_SLV1_CTRL_REG        0x2A

 #define PIOS_MPU_SLV4_ADDR_REG        0x31

 #define PIOS_MPU_SLV4_REG_REG         0x32

 #define PIOS_MPU_SLV4_DO_REG          0x33

 #define PIOS_MPU_SLV4_CTRL_REG        0x34

 #define PIOS_MPU_SLV4_DI_REG          0x35

 #define PIOS_MPU_I2C_MST_STATUS_REG   0x36

 #define PIOS_MPU_INT_CFG_REG          0x37

 #define PIOS_MPU_INT_EN_REG           0x38

 #define PIOS_MPU_INT_STATUS_REG       0x3A

 #define PIOS_MPU_ACCEL_X_OUT_MSB      0x3B

 #define PIOS_MPU_ACCEL_X_OUT_LSB      0x3C

 #define PIOS_MPU_ACCEL_Y_OUT_MSB      0x3D

 #define PIOS_MPU_ACCEL_Y_OUT_LSB      0x3E

 #define PIOS_MPU_ACCEL_Z_OUT_MSB      0x3F

 #define PIOS_MPU_ACCEL_Z_OUT_LSB      0x40

 #define PIOS_MPU_TEMP_OUT_MSB         0x41

 #define PIOS_MPU_TEMP_OUT_LSB         0x42

 #define PIOS_MPU_GYRO_X_OUT_MSB       0x43

 #define PIOS_MPU_GYRO_X_OUT_LSB       0x44

 #define PIOS_MPU_GYRO_Y_OUT_MSB       0x45

 #define PIOS_MPU_GYRO_Y_OUT_LSB       0x46

 #define PIOS_MPU_GYRO_Z_OUT_MSB       0x47

 #define PIOS_MPU_GYRO_Z_OUT_LSB       0x48

 #define PIOS_MPU_I2C_MST_DELAY_CTRL   0x67

 #define PIOS_MPU_SIGNAL_PATH_RESET    0x68

 #define PIOS_MPU_USER_CTRL_REG        0x6A

 #define PIOS_MPU_PWR_MGMT_REG         0x6B

 #define PIOS_MPU_FIFO_CNT_MSB         0x72

 #define PIOS_MPU_FIFO_CNT_LSB         0x73

 #define PIOS_MPU_FIFO_REG             0x74

 #define PIOS_MPU_WHOAMI               0x75


 /* FIFO enable for storing different values */

 #define PIOS_MPU_FIFO_TEMP_OUT        0x80

 #define PIOS_MPU_FIFO_GYRO_X_OUT      0x40

 #define PIOS_MPU_FIFO_GYRO_Y_OUT      0x20

 #define PIOS_MPU_FIFO_GYRO_Z_OUT      0x10

 #define PIOS_MPU_ACCEL_OUT            0x08


 /* Interrupt Configuration */

 #define PIOS_MPU_INT_ACTL             0x80

 #define PIOS_MPU_INT_OPEN             0x40

 #define PIOS_MPU_INT_LATCH_EN         0x20

 #define PIOS_MPU_INT_CLR_ANYRD        0x10

 #define PIOS_MPU_INT_I2C_BYPASS_EN    0x02


 #define PIOS_MPU_INTEN_OVERFLOW       0x10

 #define PIOS_MPU_INTEN_DATA_RDY       0x01


 /* Interrupt status */

 #define PIOS_MPU_INT_STATUS_OVERFLOW  0x10

 #define PIOS_MPU_INT_STATUS_IMU_RDY   0X04

 #define PIOS_MPU_INT_STATUS_DATA_RDY  0X01


 /* User control functionality */

 #define PIOS_MPU_USERCTL_FIFO_EN      0X40

 #define PIOS_MPU_USERCTL_I2C_MST_EN   0X20

 #define PIOS_MPU_USERCTL_DIS_I2C      0X10

 #define PIOS_MPU_USERCTL_FIFO_RST     0X02

 #define PIOS_MPU_USERCTL_GYRO_RST     0X01


 /* Power management and clock selection */

 #define PIOS_MPU_PWRMGMT_IMU_RST      0X80

 #define PIOS_MPU_PWRMGMT_INTERN_CLK   0X00

 #define PIOS_MPU_PWRMGMT_PLL_X_CLK    0X01

 #define PIOS_MPU_PWRMGMT_PLL_Y_CLK    0X02

 #define PIOS_MPU_PWRMGMT_PLL_Z_CLK    0X03

 #define PIOS_MPU_PWRMGMT_STOP_CLK     0X07


 /* I2C master status register bits */

 #define PIOS_MPU_I2C_MST_SLV4_DONE    0x40

 #define PIOS_MPU_I2C_MST_LOST_ARB     0x20

 #define PIOS_MPU_I2C_MST_SLV4_NACK    0x10

 #define PIOS_MPU_I2C_MST_SLV0_NACK    0x01


 /* I2C SLV register bits */

 #define PIOS_MPU_I2CSLV_EN            0x80

 #define PIOS_MPU_I2CSLV_BYTE_SW       0x40

 #define PIOS_MPU_I2CSLV_REG_DIS       0x20

 #define PIOS_MPU_I2CSLV_GRP           0x10


 /* I2C MST Delay Control register btis */

 #define PIOS_MPU_I2CMSTDELAY_SLV0EN   0x01

 #define PIOS_MPU_I2CMSTDELAY_SLV1EN   0x02

 #define PIOS_MPU_I2CMSTDELAY_ESSHADOW 0x80


 /* AK89XX Registers */

 #define PIOS_MPU_AK89XX_ADDR                         0x0C

 #define PIOS_MPU_AK89XX_WHOAMI_REG                   0x00

 #define PIOS_MPU_AK89XX_WHOAMI_ID                    0x48

 #define PIOS_MPU_AK89XX_ST1_REG                      0x02

 #define PIOS_MPU_AK89XX_ST2_REG                      0x09

 #define PIOS_MPU_AK89XX_ST1_DRDY                     0x01

 #define PIOS_MPU_AK8963_ST2_BITM                     0x10

 #define PIOS_MPU_AK89XX_ST2_HOFL                     0x08

 #define PIOS_MPU_AK8975_ST2_DERR                     0x04

 #define PIOS_MPU_AK89XX_CNTL1_REG                    0x0A

 #define PIOS_MPU_AK8963_CNTL2_REG                    0x0B

 #define PIOS_MPU_AK8963_CNTL2_SRST                   0x01

 #define PIOS_MPU_AK8963_MODE_CONTINUOUS_FAST_16B     0x16

 #define PIOS_MPU_AK8975_MODE_SINGLE_12B              0x01


 #endif /* PIOS_MPU_PRIV_H */


pios_mpu.h