mirror of
https://github.com/tinygo-org/drivers.git
synced 2026-08-11 10:23:44 +00:00
fchiesadoc
132 lines
3.3 KiB
Go
132 lines
3.3 KiB
Go
package mpu9150
|
||
|
||
// Constants/addresses used for I2C.
|
||
|
||
// The I2C address which this device listens to.
|
||
const Address = 0x68
|
||
|
||
// Registers. Names, addresses and comments copied from the datasheet.
|
||
const (
|
||
// Self test registers
|
||
SELF_TEST_X = 0x0D
|
||
SELF_TEST_Y = 0x0E
|
||
SELF_TEST_Z = 0x0F
|
||
SELF_TEST_A = 0x10
|
||
|
||
SMPLRT_DIV = 0x19 // Sample rate divider
|
||
CONFIG = 0x1A // Configuration
|
||
GYRO_CONFIG = 0x1B // Gyroscope configuration
|
||
ACCEL_CONFIG = 0x1C // Accelerometer configuration
|
||
FIFO_EN = 0x23 // FIFO enable
|
||
|
||
// I2C pass-through configuration
|
||
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
|
||
|
||
// Interrupt configuration
|
||
INT_PIN_CFG = 0x37 // Interrupt pin/bypass enable configuration
|
||
INT_ENABLE = 0x38 // Interrupt enable
|
||
INT_STATUS = 0x3A // Interrupt status
|
||
|
||
// Accelerometer measurements
|
||
ACCEL_XOUT_H = 0x3B
|
||
ACCEL_XOUT_L = 0x3C
|
||
ACCEL_YOUT_H = 0x3D
|
||
ACCEL_YOUT_L = 0x3E
|
||
ACCEL_ZOUT_H = 0x3F
|
||
ACCEL_ZOUT_L = 0x40
|
||
|
||
// Temperature measurement
|
||
TEMP_OUT_H = 0x41
|
||
TEMP_OUT_L = 0x42
|
||
|
||
// Gyroscope measurements
|
||
GYRO_XOUT_H = 0x43
|
||
GYRO_XOUT_L = 0x44
|
||
GYRO_YOUT_H = 0x45
|
||
GYRO_YOUT_L = 0x46
|
||
GYRO_ZOUT_H = 0x47
|
||
GYRO_ZOUT_L = 0x48
|
||
|
||
// External sensor data
|
||
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
|
||
|
||
// I2C peripheral data out
|
||
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
|
||
|
||
USER_CTRL = 0x6A // User control
|
||
PWR_MGMT_1 = 0x6B // Power Management 1
|
||
PWR_MGMT_2 = 0x6C // Power Management 2
|
||
FIFO_COUNTH = 0x72 // FIFO count registers (high bits)
|
||
FIFO_COUNTL = 0x73 // FIFO count registers (low bits)
|
||
FIFO_R_W = 0x74 // FIFO read/write
|
||
WHO_AM_I = 0x75 // Who am I
|
||
|
||
// Clock settings (4.28 Register 107 – Power Management 1)
|
||
CLOCK_INTERNAL = 0x00
|
||
CLOCK_PLL_XGYRO = 0x01
|
||
CLOCK_PLL_YGYRO = 0x02
|
||
CLOCK_PLL_ZGYRO = 0x03
|
||
CLOCK_PLL_EXTERNAL_32_768_KZ = 0x04
|
||
CLOCK_PLL_EXTERNAL_19_2_MHZ = 0x05
|
||
CLOCK_RESERVED = 0x06
|
||
CLOCK_STOP = 0x07
|
||
|
||
// Gyroscope settings (4.4 Register 27 – Gyroscope Configuration)
|
||
FS_RANGE_250 = 0x00
|
||
FS_RANGE_500 = 0x01
|
||
FS_RANGE_1000 = 0x02
|
||
FS_RANGE_2000 = 0x03
|
||
|
||
// Accelerometer settings (4.5 Register 28 – Accelerometer Configuration)
|
||
AFS_RANGE_2G = 0x00
|
||
AFS_RANGE_4G = 0x01
|
||
AFS_RANGE_8G = 0x02
|
||
AFS_RANGE_16G = 0x03
|
||
)
|