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core.con.mpu9250.spin
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{
--------------------------------------------
Filename: core.con.mpu9250.spin
Author: Jesse Burt
Description: MPU9250-specific constants
Copyright (c) 2022
Started Sep 2, 2019
Updated Sep 4, 2022
See end of file for terms of use.
--------------------------------------------
}
CON
I2C_MAX_FREQ = 400_000
SLAVE_ADDR = $68 << 1
SLAVE_ADDR_MAG = $0C << 1
XL_G = $71 << 8
MAG = $48 << 8
DEVID_RESP = $7148
' Startup time
TREGRW = 100_000 ' usec
' Accelerometer / Gyroscope registers
SELF_TEST_X_GYRO = XL_G | $00
SELF_TEST_Y_GYRO = XL_G | $01
SELF_TEST_Z_GYRO = XL_G | $02
SELF_TEST_X_ACCEL = XL_G | $0D
SELF_TEST_Y_ACCEL = XL_G | $0E
SELF_TEST_Z_ACCEL = XL_G | $0F
XG_OFFS_USR = XL_G | $13 '..$14 (LSB)
YG_OFFS_USR = XL_G | $15 '..$16 (LSB)
ZG_OFFS_USR = XL_G | $17 '..$18 (LSB
SMPLRT_DIV = XL_G | $19
CONFIG = XL_G | $1A
CONFIG_MASK = $7F
FIFO_MODE = 6
EXT_SYNC_SET = 3
DLPF_CFG = 0
EXT_SYNC_SET_BITS = %111
DLPF_CFG_BITS = %111
FIFO_MODE_MASK = (1 << FIFO_MODE) ^ CONFIG_MASK
EXT_SYNC_SET_MASK = (EXT_SYNC_SET_BITS << EXT_SYNC_SET) ^ CONFIG_MASK
DLPF_CFG_MASK = (DLPF_CFG_BITS << DLPF_CFG) ^ CONFIG_MASK
GYRO_CFG = XL_G | $1B
GYRO_CFG_MASK = $FB
XGYRO_CTEN = 7
YGYRO_CTEN = 6
ZGYRO_CTEN = 5
GYRO_FS_SEL = 3
FCH_B = 0
GYRO_FS_SEL_BITS = %11
FCH_B_BITS = %11
XGYRO_CTEN_MASK = (1 << XGYRO_CTEN) ^ GYRO_CFG_MASK
YGYRO_CTEN_MASK = (1 << YGYRO_CTEN) ^ GYRO_CFG_MASK
ZGYRO_CTEN_MASK = (1 << ZGYRO_CTEN) ^ GYRO_CFG_MASK
GYRO_FS_SEL_MASK = (GYRO_FS_SEL_BITS << GYRO_FS_SEL) ^ GYRO_CFG_MASK
FCH_B_MASK = FCH_B_BITS ^ GYRO_CFG_MASK
ACCEL_CFG = XL_G | $1C
ACCEL_CFG_MASK = $F8
AX_ST_EN = 7
AY_ST_EN = 6
AZ_ST_EN = 5
ACCEL_FS_SEL = 3
ACCEL_FS_SEL_BITS = %11
AX_ST_EN_MASK = (1 << AX_ST_EN) ^ ACCEL_CFG_MASK
AY_ST_EN_MASK = (1 << AY_ST_EN) ^ ACCEL_CFG_MASK
AZ_ST_EN_MASK = (1 << AZ_ST_EN) ^ ACCEL_CFG_MASK
ACCEL_FS_SEL_MASK = ACCEL_FS_SEL_BITS ^ ACCEL_CFG_MASK
ACCEL_CFG2 = XL_G | $1D
ACCEL_CFG2_MASK = $0F
ACCEL_FCH_B = 3
A_DLPFCFG = 0
A_DLPFCFG_BITS = %111
ACCEL_FCH_B_MASK = (1 << ACCEL_FCH_B) ^ ACCEL_CFG2_MASK
A_DLPFCFG_MASK = A_DLPFCFG_BITS ^ ACCEL_CFG2_MASK
LP_ACCEL_ODR = XL_G | $1E
WOM_THR = XL_G | $1F
FIFO_EN = XL_G | $23
I2C_MST_CTRL = XL_G | $24
I2C_SLV0_ADDR = XL_G | $25
I2C_SLV0_REG = XL_G | $26
I2C_SLV0_CTRL = XL_G | $27
I2C_SLV1_ADDR = XL_G | $28
I2C_SLV1_REG = XL_G | $29
I2C_SLV1_CTRL = XL_G | $2A
I2C_SLV2_ADDR = XL_G | $2B
I2C_SLV2_REG = XL_G | $2C
I2C_SLV2_CTRL = XL_G | $2D
I2C_SLV3_ADDR = XL_G | $2E
I2C_SLV3_REG = XL_G | $2F
I2C_SLV3_CTRL = XL_G | $30
I2C_SLV4_ADDR = XL_G | $31
I2C_SLV4_REG = XL_G | $32
I2C_SLV4_DO = XL_G | $33
I2C_SLV4_CTRL = XL_G | $34
I2C_SLV4_DI = XL_G | $35
I2C_MST_STATUS = XL_G | $36
INT_BYPASS_CFG = XL_G | $37
INT_BYPASS_CFG_MASK = $FE
ACTL = 7
OPEN = 6
LATCH_INT_EN = 5
INT_ANYRD_2CLR = 4
ACTL_FSYNC = 3
FSYNC_INTMODE_EN = 2
BYPASS_EN = 1
ACTL_MASK = (1 << ACTL) ^ INT_BYPASS_CFG_MASK
OPEN_MASK = (1 << OPEN) ^ INT_BYPASS_CFG_MASK
LATCH_INT_EN_MASK = (1 << LATCH_INT_EN) ^ INT_BYPASS_CFG_MASK
INT_ANYRD_2CLR_MASK = (1 << INT_ANYRD_2CLR) ^ INT_BYPASS_CFG_MASK
ACTL_FSYNC_MASK = (1 << ACTL_FSYNC) ^ INT_BYPASS_CFG_MASK
FSYNC_INTMODE_EN_MASK = (1 << FSYNC_INTMODE_EN) ^ INT_BYPASS_CFG_MASK
BYPASS_EN_MASK = (1 << BYPASS_EN) ^ INT_BYPASS_CFG_MASK
INT_ENABLE = XL_G | $38
INT_ENABLE_MASK = $59
WOM_EN = 6
FIFO_OVERFL_EN = 4
FSYNC_INT_EN = 3
RAW_RDY_EN = 0
WOM_EN_MASK = (1 << WOM_EN) ^ INT_ENABLE_MASK
FIFO_OVERFL_EN_MASK = (1 << FIFO_OVERFL_EN) ^ INT_ENABLE_MASK
FSYNC_INT_EN_MASK = (1 << FSYNC_INT_EN) ^ INT_ENABLE_MASK
RAW_RDY_EN_MASK = (1 << RAW_RDY_EN) ^ INT_ENABLE_MASK
INT_STATUS = XL_G | $3A
INT_STATUS_MASK = $59
WOM_INT = 6
FIFO_OVERFL_INT = 4
FSYNC_INT = 3
RAW_DATA_RDY_INT = 0
ACCEL_XOUT_H = XL_G | $3B
ACCEL_XOUT_L = XL_G | $3C
ACCEL_YOUT_H = XL_G | $3D
ACCEL_YOUT_L = XL_G | $3E
ACCEL_ZOUT_H = XL_G | $3F
ACCEL_ZOUT_L = XL_G | $40
TEMP_OUT_H = XL_G | $41
TEMP_OUT_L = XL_G | $42
GYRO_XOUT_H = XL_G | $43
GYRO_XOUT_L = XL_G | $44
GYRO_YOUT_H = XL_G | $45
GYRO_YOUT_L = XL_G | $46
GYRO_ZOUT_H = XL_G | $47
GYRO_ZOUT_L = XL_G | $48
EXT_SENS_DATA_00 = XL_G | $49
EXT_SENS_DATA_01 = XL_G | $4A
EXT_SENS_DATA_02 = XL_G | $4B
EXT_SENS_DATA_03 = XL_G | $4C
EXT_SENS_DATA_04 = XL_G | $4D
EXT_SENS_DATA_05 = XL_G | $4E
EXT_SENS_DATA_06 = XL_G | $4F
EXT_SENS_DATA_07 = XL_G | $50
EXT_SENS_DATA_08 = XL_G | $51
EXT_SENS_DATA_09 = XL_G | $52
EXT_SENS_DATA_10 = XL_G | $53
EXT_SENS_DATA_11 = XL_G | $54
EXT_SENS_DATA_12 = XL_G | $55
EXT_SENS_DATA_13 = XL_G | $56
EXT_SENS_DATA_14 = XL_G | $57
EXT_SENS_DATA_15 = XL_G | $58
EXT_SENS_DATA_16 = XL_G | $59
EXT_SENS_DATA_17 = XL_G | $5A
EXT_SENS_DATA_18 = XL_G | $5B
EXT_SENS_DATA_19 = XL_G | $5C
EXT_SENS_DATA_20 = XL_G | $5D
EXT_SENS_DATA_21 = XL_G | $5E
EXT_SENS_DATA_22 = XL_G | $5F
EXT_SENS_DATA_23 = XL_G | $60
I2C_SLV0_DO = XL_G | $63
I2C_SLV1_DO = XL_G | $64
I2C_SLV2_DO = XL_G | $65
I2C_SLV3_DO = XL_G | $66
I2C_MST_DELAY_CTRL = XL_G | $67
SIGNAL_PATH_RESET = XL_G | $68
MOT_DETECT_CTRL = XL_G | $69
USER_CTRL = XL_G | $6A
USER_CTRL_MASK = $77
FIFOEN = 6
I2C_MST_EN = 5
I2C_IF_DIS = 4
FIFO_RST = 2
I2C_MST_RST = 1
SIG_COND_RST = 0
FIFOEN_MASK = (1 << FIFOEN) ^ USER_CTRL_MASK
I2C_MST_EN_MASK = (1 << I2C_MST_EN) ^ USER_CTRL_MASK
I2C_IF_DIS_MASK = (1 << I2C_IF_DIS) ^ USER_CTRL_MASK
FIFO_RST_MASK = (1 << FIFO_RST) ^ USER_CTRL_MASK
I2C_MST_RST_MASK = (1 << I2C_MST_RST) ^ USER_CTRL_MASK
SIG_COND_RST_MASK = (1 << SIG_COND_RST) ^ USER_CTRL_MASK
PWR_MGMT_1 = XL_G | $6B
PWR_MGMT_1_MASK = $FF
H_RESET = 7
SLEEP = 6
CYCLE = 5
GYRO_STDBY = 4
PD_PTAT = 3
CLKSEL = 0
CLKSEL_BITS = %111
H_RESET_MASK = (1 << H_RESET) ^ PWR_MGMT_1_MASK
SLEEP_MASK = (1 << SLEEP) ^ PWR_MGMT_1_MASK
CYCLE_MASK = (1 << CYCLE) ^ PWR_MGMT_1_MASK
GYRO_STDBY_MASK = (1 << GYRO_STDBY) ^ PWR_MGMT_1_MASK
PD_PTAT_MASK = (1 << PD_PTAT) ^ PWR_MGMT_1_MASK
CLKSEL_MASK = CLKSEL_BITS ^ PWR_MGMT_1_MASK
XLG_SOFT_RST = 1 << H_RESET
PWR_MGMT_2 = XL_G | $6C
PWR_MGMT_2_MASK = $3F
DIS_XYZA = 3
DIS_XYZG = 0
DIS_XYZA_BITS = %111
DIS_XYZG_BITS = %111
DIS_XYZA_MASK = (DIS_XYZA_BITS << DIS_XYZA) ^ PWR_MGMT_2_MASK
DIS_XYZG_MASK = (DIS_XYZG_BITS << DIS_XYZG) ^ PWR_MGMT_2_MASK
DIS_INVERT = %111
FIFO_COUNTH = XL_G | $72
FIFO_COUNTL = XL_G | $73
FIFO_R_W = XL_G | $74
WHO_AM_I = XL_G | $75
WHO_AM_I_RESP = $71
XA_OFFS_H = XL_G | $77 ' ..$78 (LSB)
YA_OFFS_H = XL_G | $7A ' ..$7B (LSB)
ZA_OFFS_H = XL_G | $7D ' ..$7E (LSB)
' Magnetometer registers
WIA = MAG | $00
WIA_RESP = $48
INFO = MAG | $01
ST1 = MAG | $02
ST1_MASK = $03
DOR = 1
DRDY = 0
HXL = MAG | $03
HXH = MAG | $04
HYL = MAG | $05
HYH = MAG | $06
HZL = MAG | $07
HZH = MAG | $08
ST2 = MAG | $09
ST2_MASK = $18
BITM = 4
HOFL = 3
CNTL1 = MAG | $0A
CNTL1_MASK = $1F
BIT = 4
MODE = 0
MODE_BITS = %1111
BIT_MASK = (1 << BIT) ^ CNTL1_MASK
MODE_MASK = (MODE_BITS << MODE) ^ CNTL1_MASK
CNTL2 = MAG | $0B
CNTL2_MASK = $01
SRST = 0
SOFT_RST = 1 { << SRST }
' RESERVED - $0B
ASTC = MAG | $0C
ASTC_MASK = $40
SELF = 6
SELF_MASK = (1 << SELF) ^ ASTC_MASK
' TEST 1 - $0D
' TEST 2 - $0E
I2CDIS = MAG | $0F
ASAX = MAG | $10
ASAY = MAG | $11
ASAZ = MAG | $12
PUB null{}
' This is not a top-level object
DAT
{
Copyright 2022 Jesse Burt
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
associated documentation files (the "Software"), to deal in the Software without restriction,
including without limitation the rights to use, copy, modify, merge, publish, distribute,
sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or
substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT
OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
}