| enum | RegAddr {
DMP_MAX_RATE = 200,
DMP_MIN_RATE = 4,
IMU_POLL_TIMEOUT = 300,
MAX_FIFO_BUFFER = 128,
SELF_TEST_X_GYRO = 0x00,
SELF_TEST_Y_GYRO = 0x01,
SELF_TEST_Z_GYRO = 0x02,
X_FINE_GAIN = 0x03,
Y_FINE_GAIN = 0x04,
Z_FINE_GAIN = 0x05,
SELF_TEST_X_ACCEL = 0x0D,
SELF_TEST_Y_ACCEL = 0x0E,
SELF_TEST_Z_ACCEL = 0x0F,
SELF_TEST_A = 0x10,
XG_OFFSET_H = 0x13,
XG_OFFSET_L = 0x14,
YG_OFFSET_H = 0x15,
YG_OFFSET_L = 0x16,
ZG_OFFSET_H = 0x17,
ZG_OFFSET_L = 0x18,
SMPLRT_DIV = 0x19,
CONFIG = 0x1A,
GYRO_CONFIG = 0x1B,
ACCEL_CONFIG = 0x1C,
ACCEL_CONFIG2 = 0x1D,
LP_ACCEL_ODR = 0x1E,
WOM_THR = 0x1F,
MOT_DUR = 0x20,
ZMOT_THR = 0x21,
ZRMOT_DUR = 0x22,
FIFO_EN = 0x23,
I2C_MST_CTRL = 0x24,
I2C_SLV0_ADDR = 0x25,
I2C_SLV0_REG = 0x26,
I2C_SLV0_CTRL = 0x27,
I2C_SLV1_ADDR = 0x28,
I2C_SLV1_REG = 0x29,
I2C_SLV1_CTRL = 0x2A,
I2C_SLV2_ADDR = 0x2B,
I2C_SLV2_REG = 0x2C,
I2C_SLV2_CTRL = 0x2D,
I2C_SLV3_ADDR = 0x2E,
I2C_SLV3_REG = 0x2F,
I2C_SLV3_CTRL = 0x30,
I2C_SLV4_ADDR = 0x31,
I2C_SLV4_REG = 0x32,
I2C_SLV4_DO = 0x33,
I2C_SLV4_CTRL = 0x34,
I2C_SLV4_DI = 0x35,
I2C_MST_STATUS = 0x36,
INT_PIN_CFG = 0x37,
INT_ENABLE = 0x38,
DMP_INT_STATUS = 0x39,
INT_STATUS = 0x3A,
ACCEL_XOUT_H = 0x3B,
ACCEL_XOUT_L = 0x3C,
ACCEL_YOUT_H = 0x3D,
ACCEL_YOUT_L = 0x3E,
ACCEL_ZOUT_H = 0x3F,
ACCEL_ZOUT_L = 0x40,
TEMP_OUT_H = 0x41,
TEMP_OUT_L = 0x42,
GYRO_XOUT_H = 0x43,
GYRO_XOUT_L = 0x44,
GYRO_YOUT_H = 0x45,
GYRO_YOUT_L = 0x46,
GYRO_ZOUT_H = 0x47,
GYRO_ZOUT_L = 0x48,
EXT_SENS_DATA_00 = 0x49,
EXT_SENS_DATA_01 = 0x4A,
EXT_SENS_DATA_02 = 0x4B,
EXT_SENS_DATA_03 = 0x4C,
EXT_SENS_DATA_04 = 0x4D,
EXT_SENS_DATA_05 = 0x4E,
EXT_SENS_DATA_06 = 0x4F,
EXT_SENS_DATA_07 = 0x50,
EXT_SENS_DATA_08 = 0x51,
EXT_SENS_DATA_09 = 0x52,
EXT_SENS_DATA_10 = 0x53,
EXT_SENS_DATA_11 = 0x54,
EXT_SENS_DATA_12 = 0x55,
EXT_SENS_DATA_13 = 0x56,
EXT_SENS_DATA_14 = 0x57,
EXT_SENS_DATA_15 = 0x58,
EXT_SENS_DATA_16 = 0x59,
EXT_SENS_DATA_17 = 0x5A,
EXT_SENS_DATA_18 = 0x5B,
EXT_SENS_DATA_19 = 0x5C,
EXT_SENS_DATA_20 = 0x5D,
EXT_SENS_DATA_21 = 0x5E,
EXT_SENS_DATA_22 = 0x5F,
EXT_SENS_DATA_23 = 0x60,
MOT_DETECT_STATUS = 0x61,
I2C_SLV0_DO = 0x63,
I2C_SLV1_DO = 0x64,
I2C_SLV2_DO = 0x65,
I2C_SLV3_DO = 0x66,
I2C_MST_DELAY_CTRL = 0x67,
SIGNAL_PATH_RESET = 0x68,
MOT_DETECT_CTRL = 0x69,
USER_CTRL = 0x6A,
PWR_MGMT_1 = 0x6B,
PWR_MGMT_2 = 0x6C,
DMP_BANK = 0x6D,
DMP_RW_PNT = 0x6E,
DMP_REG = 0x6F,
DMP_REG_1 = 0x70,
DMP_REG_2 = 0x71,
FIFO_COUNTH = 0x72,
FIFO_COUNTL = 0x73,
FIFO_R_W = 0x74,
WHO_AM_I_MPU9250 = 0x75,
XA_OFFSET_H = 0x77,
XA_OFFSET_L = 0x78,
YA_OFFSET_H = 0x7A,
YA_OFFSET_L = 0x7B,
ZA_OFFSET_H = 0x7D,
ZA_OFFSET_L = 0x7E,
XGYRO_CTEN = 0x01<<7,
YGYRO_CTEN = 0x01<<6,
ZGYRO_CTEN = 0x01<<5,
GYRO_FSR_CFG_250 = 0x00<<3,
GYRO_FSR_CFG_500 = 0x01<<3,
GYRO_FSR_CFG_1000 = 0x02<<3,
GYRO_FSR_CFG_2000 = 0x03<<3,
FCHOICE_B_DLPF_EN = 0x00,
FCHOICE_B_DLPF_DISABLE = 0x01,
AX_ST_EN = 0x01<<7,
AY_ST_EN = 0x01<<6,
AZ_ST_EN = 0x01<<5,
ACCEL_FSR_CFG_2G = 0x00<<3,
ACCEL_FSR_CFG_4G = 0x01<<3,
ACCEL_FSR_CFG_8G = 0x02<<3,
ACCEL_FSR_CFG_16G = 0x03<<3,
ACCEL_FCHOICE_1KHZ = 0x00<<3,
ACCEL_FCHOICE_4KHZ = 0x01<<3,
ACTL_ACTIVE_LOW = 0x01<<7,
ACTL_ACTIVE_HIGH = 0x00,
INT_OPEN_DRAIN = 0x00,
INT_PUSH_PULL = 0x00<<6,
LATCH_INT_EN = 0x01<<5,
INT_ANYRD_CLEAR = 0x01<<4,
ACTL_FSYNC_ACTIVE_LOW = 0x01<<3,
ACTL_FSYNC_ACTIVE_HIGH = 0x00<<3,
FSYNC_INT_MODE_EN = 0x01<<2,
FSYNC_INT_MODE_DIS = 0x00<<2,
BYPASS_EN = 0x01<<1,
AK8963_ADDR = 0x0C,
WHO_AM_I_AK8963 = 0x00,
INFO = 0x01,
AK8963_ST1 = 0x02,
AK8963_XOUT_L = 0x03,
AK8963_XOUT_H = 0x04,
AK8963_YOUT_L = 0x05,
AK8963_YOUT_H = 0x06,
AK8963_ZOUT_L = 0x07,
AK8963_ZOUT_H = 0x08,
AK8963_ST2 = 0x09,
AK8963_CNTL = 0x0A,
AK8963_ASTC = 0x0C,
AK8963_I2CDIS = 0x0F,
AK8963_ASAX = 0x10,
AK8963_ASAY = 0x11,
AK8963_ASAZ = 0x12,
MAG_POWER_DN = 0x00,
MAG_SINGLE_MES = 0x01,
MAG_CONT_MES_1 = 0x02,
MAG_CONT_MES_2 = 0x06,
MAG_EXT_TRIG = 0x04,
MAG_SELF_TEST = 0x08,
MAG_FUSE_ROM = 0x0F,
MSCALE_16 = 0x01<<4,
MSCALE_14 = 0x00,
MAGNETOMETER_SATURATION = 0x01<<3,
MAG_DATA_READY = 0x01,
BIT_I2C_MST_VDDIO = 0x80,
BIT_FIFO_EN = 0x40,
BIT_DMP_EN = 0x80,
BIT_FIFO_RST = 0x04,
BIT_DMP_RST = 0x08,
BIT_FIFO_OVERFLOW = 0x10,
BIT_DATA_RDY_EN = 0x01,
BIT_DMP_INT_EN = 0x02,
BIT_MOT_INT_EN = 0x40,
BITS_FSR = 0x18,
BITS_LPF = 0x07,
BITS_HPF = 0x07,
BITS_CLK = 0x07,
BIT_FIFO_SIZE_1024 = 0x40,
BIT_FIFO_SIZE_2048 = 0x80,
BIT_FIFO_SIZE_4096 = 0xC0,
BIT_RESET = 0x80,
BIT_SLEEP = 0x40,
BIT_S0_DELAY_EN = 0x01,
BIT_S2_DELAY_EN = 0x04,
BITS_SLAVE_LENGTH = 0x0F,
BIT_SLAVE_BYTE_SW = 0x40,
BIT_SLAVE_GROUP = 0x10,
BIT_SLAVE_EN = 0x80,
BIT_I2C_READ = 0x80,
BITS_I2C_MASTER_DLY = 0x1F,
BIT_AUX_IF_EN = 0x20,
BIT_ACTL = 0x80,
BIT_LATCH_EN = 0x20,
BIT_ANY_RD_CLR = 0x10,
BIT_BYPASS_EN = 0x02,
BITS_WOM_EN = 0xC0,
BIT_LPA_CYCLE = 0x20,
DMP_FEATURE_SEND_RAW_ACCEL = 0x040,
DMP_FEATURE_SEND_RAW_GYRO = 0x080,
DMP_FEATURE_SEND_CAL_GYRO = 0x100,
DMP_FEATURE_SEND_ANY_GYRO
} |
1.8.14