Documentation
¶
Index ¶
Constants ¶
View Source
const ( MPU9250_DEFAULT_ADDRESS = 0xD1 MPU9250_ALT_DEFAULT_ADDRESS = 0xD2 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_CONFIG2 = 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 //reset values WHOAMI_RESET_VAL = 0x71 POWER_MANAGMENT_1_RESET_VAL = 0x01 DEFAULT_RESET_VALUE = 0x00 WHOAMI_DEFAULT_VAL = 0x68 //CONFIG register masks MPU9250_FIFO_MODE_MASK = 0x40 MPU9250_EXT_SYNC_SET_MASK = 0x38 MPU9250_DLPF_CFG_MASK = 0x07 //GYRO_CONFIG register masks MPU9250_XGYRO_CTEN_MASK = 0x80 MPU9250_YGYRO_CTEN_MASK = 0x40 MPU9250_ZGYRO_CTEN_MASK = 0x20 MPU9250_GYRO_FS_SEL_MASK = 0x18 MPU9250_FCHOICE_B_MASK = 0x03 MPU9250_GYRO_FULL_SCALE_250DPS = 0 MPU9250_GYRO_FULL_SCALE_500DPS = 1 MPU9250_GYRO_FULL_SCALE_1000DPS = 2 MPU9250_GYRO_FULL_SCALE_2000DPS = 3 //ACCEL_CONFIG register masks MPU9250_AX_ST_EN_MASK = 0x80 MPU9250_AY_ST_EN_MASK = 0x40 MPU9250_AZ_ST_EN_MASK = 0x20 MPU9250_ACCEL_FS_SEL_MASK = 0x18 MPU9250_FULL_SCALE_2G = 0 MPU9250_FULL_SCALE_4G = 1 MPU9250_FULL_SCALE_8G = 2 MPU9250_FULL_SCALE_16G = 3 //ACCEL_CONFIG_2 register masks MPU9250_ACCEL_FCHOICE_B_MASK = 0xC0 MPU9250_A_DLPF_CFG_MASK = 0x03 //LP_ACCEL_ODR register masks MPU9250_LPOSC_CLKSEL_MASK = 0x0F //FIFO_EN register masks MPU9250_TEMP_FIFO_EN_MASK = 0x80 MPU9250_GYRO_XOUT_MASK = 0x40 MPU9250_GYRO_YOUT_MASK = 0x20 MPU9250_GYRO_ZOUT_MASK = 0x10 MPU9250_ACCEL_MASK = 0x08 MPU9250_SLV2_MASK = 0x04 MPU9250_SLV1_MASK = 0x02 MPU9250_SLV0_MASK = 0x01 //I2C_MST_CTRL register masks MPU9250_MULT_MST_EN_MASK = 0x80 MPU9250_WAIT_FOR_ES_MASK = 0x40 MPU9250_SLV_3_FIFO_EN_MASK = 0x20 MPU9250_I2C_MST_P_NSR_MASK = 0x10 MPU9250_I2C_MST_CLK_MASK = 0x0F //I2C_SLV0_ADDR register masks MPU9250_I2C_SLV0_RNW_MASK = 0x80 MPU9250_I2C_ID_0_MASK = 0x7F //I2C_SLV0_CTRL register masks MPU9250_I2C_SLV0_EN_MASK = 0x80 MPU9250_I2C_SLV0_BYTE_SW_MASK = 0x40 MPU9250_I2C_SLV0_REG_DIS_MASK = 0x20 MPU9250_I2C_SLV0_GRP_MASK = 0x10 MPU9250_I2C_SLV0_LENG_MASK = 0x0F //I2C_SLV1_ADDR register masks MPU9250_I2C_SLV1_RNW_MASK = 0x80 MPU9250_I2C_ID_1_MASK = 0x7F //I2C_SLV1_CTRL register masks MPU9250_I2C_SLV1_EN_MASK = 0x80 MPU9250_I2C_SLV1_BYTE_SW_MASK = 0x40 MPU9250_I2C_SLV1_REG_DIS_MASK = 0x20 MPU9250_I2C_SLV1_GRP_MASK = 0x10 MPU9250_I2C_SLV1_LENG_MASK = 0x0F //I2C_SLV2_ADDR register masks MPU9250_I2C_SLV2_RNW_MASK = 0x80 MPU9250_I2C_ID_2_MASK = 0x7F //I2C_SLV2_CTRL register masks MPU9250_I2C_SLV2_EN_MASK = 0x80 MPU9250_I2C_SLV2_BYTE_SW_MASK = 0x40 MPU9250_I2C_SLV2_REG_DIS_MASK = 0x20 MPU9250_I2C_SLV2_GRP_MASK = 0x10 MPU9250_I2C_SLV2_LENG_MASK = 0x0F //I2C_SLV3_ADDR register masks MPU9250_I2C_SLV3_RNW_MASK = 0x80 MPU9250_I2C_ID_3_MASK = 0x7F //I2C_SLV3_CTRL register masks MPU9250_I2C_SLV3_EN_MASK = 0x80 MPU9250_I2C_SLV3_BYTE_SW_MASK = 0x40 MPU9250_I2C_SLV3_REG_DIS_MASK = 0x20 MPU9250_I2C_SLV3_GRP_MASK = 0x10 MPU9250_I2C_SLV3_LENG_MASK = 0x0F //I2C_SLV4_ADDR register masks MPU9250_I2C_SLV4_RNW_MASK = 0x80 MPU9250_I2C_ID_4_MASK = 0x7F //I2C_SLV4_CTRL register masks MPU9250_I2C_SLV4_EN_MASK = 0x80 MPU9250_SLV4_DONE_INT_EN_MASK = 0x40 MPU9250_I2C_SLV4_REG_DIS_MASK = 0x20 MPU9250_I2C_MST_DLY_MASK = 0x1F //I2C_MST_STATUS register masks MPU9250_PASS_THROUGH_MASK = 0x80 MPU9250_I2C_SLV4_DONE_MASK = 0x40 MPU9250_I2C_LOST_ARB_MASK = 0x20 MPU9250_I2C_SLV4_NACK_MASK = 0x10 MPU9250_I2C_SLV3_NACK_MASK = 0x08 MPU9250_I2C_SLV2_NACK_MASK = 0x04 MPU9250_I2C_SLV1_NACK_MASK = 0x02 MPU9250_I2C_SLV0_NACK_MASK = 0x01 //INT_PIN_CFG register masks MPU9250_ACTL_MASK = 0x80 MPU9250_OPEN_MASK = 0x40 MPU9250_LATCH_INT_EN_MASK = 0x20 MPU9250_INT_ANYRD_2CLEAR_MASK = 0x10 MPU9250_ACTL_FSYNC_MASK = 0x08 MPU9250_FSYNC_INT_MODE_EN_MASK = 0x04 MPU9250_BYPASS_EN_MASK = 0x02 //INT_ENABLE register masks MPU9250_WOM_EN_MASK = 0x40 MPU9250_FIFO_OFLOW_EN_MASK = 0x10 MPU9250_FSYNC_INT_EN_MASK = 0x08 MPU9250_RAW_RDY_EN_MASK = 0x01 //INT_STATUS register masks MPU9250_WOM_INT_MASK = 0x40 MPU9250_FIFO_OFLOW_INT_MASK = 0x10 MPU9250_FSYNC_INT_MASK = 0x08 MPU9250_RAW_DATA_RDY_INT_MASK = 0x01 //I2C_MST_DELAY_CTRL register masks MPU9250_DELAY_ES_SHADOW_MASK = 0x80 MPU9250_I2C_SLV4_DLY_EN_MASK = 0x10 MPU9250_I2C_SLV3_DLY_EN_MASK = 0x08 MPU9250_I2C_SLV2_DLY_EN_MASK = 0x04 MPU9250_I2C_SLV1_DLY_EN_MASK = 0x02 MPU9250_I2C_SLV0_DLY_EN_MASK = 0x01 //SIGNAL_PATH_RESET register masks MPU9250_GYRO_RST_MASK = 0x04 MPU9250_ACCEL_RST_MASK = 0x02 MPU9250_TEMP_RST_MASK = 0x01 //MOT_DETECT_CTRL register masks MPU9250_ACCEL_INTEL_EN_MASK = 0x80 MPU9250_ACCEL_INTEL_MODE_MASK = 0x40 //USER_CTRL register masks MPU9250_FIFO_EN_MASK = 0x40 MPU9250_I2C_MST_EN_MASK = 0x20 MPU9250_I2C_IF_DIS_MASK = 0x10 MPU9250_FIFO_RST_MASK = 0x04 MPU9250_I2C_MST_RST_MASK = 0x02 MPU9250_SIG_COND_RST_MASK = 0x01 //PWR_MGMT_1 register masks MPU9250_H_RESET_MASK = 0x80 MPU9250_SLEEP_MASK = 0x40 MPU9250_CYCLE_MASK = 0x20 MPU9250_GYRO_STANDBY_CYCLE_MASK = 0x10 MPU9250_PD_PTAT_MASK = 0x08 MPU9250_CLKSEL_MASK = 0x07 //PWR_MGMT_2 register masks MPU9250_DISABLE_XA_MASK = 0x20 MPU9250_DISABLE_YA_MASK = 0x10 MPU9250_DISABLE_ZA_MASK = 0x08 MPU9250_DISABLE_XG_MASK = 0x04 MPU9250_DISABLE_YG_MASK = 0x02 MPU9250_DISABLE_ZG_MASK = 0x01 MPU9250_DISABLE_XYZA_MASK = 0x38 MPU9250_DISABLE_XYZG_MASK = 0x07 //Magnetometer register maps MPU9250_MAG_ADDRESS = 0x0C MPU9250_MAG_WIA = 0x00 MPU9250_MAG_INFO = 0x01 MPU9250_MAG_ST1 = 0x02 MPU9250_MAG_XOUT_L = 0x03 MPU9250_MAG_XOUT_H = 0x04 MPU9250_MAG_YOUT_L = 0x05 MPU9250_MAG_YOUT_H = 0x06 MPU9250_MAG_ZOUT_L = 0x07 MPU9250_MAG_ZOUT_H = 0x08 MPU9250_MAG_ST2 = 0x09 MPU9250_MAG_CNTL = 0x0A MPU9250_MAG_RSV = 0x0B //reserved mystery meat MPU9250_MAG_ASTC = 0x0C MPU9250_MAG_TS1 = 0x0D MPU9250_MAG_TS2 = 0x0E MPU9250_MAG_I2CDIS = 0x0F MPU9250_MAG_ASAX = 0x10 MPU9250_MAG_ASAY = 0x11 MPU9250_MAG_ASAZ = 0x12 //Magnetometer register masks MPU9250_WIA_MASK = 0x48 )
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
This section is empty.
Source Files
Click to show internal directories.
Click to hide internal directories.