registermap.py

'''
This script must use with mpu9250.py
'''
# MPU6500 Register Address
MPU6500_ADDRESS = 0x68
SELF_TEST_X_GYRO = 0x00
SELF_TEST_Y_GYRO = 0x01
SELF_TEST_Z_GYRO = 0x02
SELF_TEST_X_ACCEL = 0x0D
SELF_TEST_Y_ACCEL = 0x0E
SELF_TEST_Z_ACCEL = 0x0F
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_CONFIG_2 = 0x1D
LP_ACCEL_ODR = 0x1E
WOM_THR = 0x1F
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
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
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
FIFO_COUNTH = 0x72
FIFO_COUNTL = 0x73
FIFO_R_W = 0x74
WHO_AM_I = 0x75 # It is described in one byte and fixed value 0x70.
XA_OFFSET_H = 0x77
XA_OFFSET_L = 0x78
YA_OFFSET_H = 0x7A
YA_OFFSET_L = 0x7B
ZA_OFFSET_H = 0x7D
ZA_OFFSET_L = 0x7E

# AK8963 Register Map
AK8963_ADDRESS = 0x0C
WIA = 0x00 # It is described in one byte and fixed value 0x48.
INFO = 0x01
ST1 = 0x02
HXL = 0x03
HXH = 0x04
HYL = 0x05
HYH = 0x06
HZL = 0x07
HZH = 0x08
ST2 = 0x09
CNTL1 = 0x0A
CNTL2 = 0x0B
ASTC = 0x0C
TS1 = 0x0D
I2CDIS = 0x0F
ASAX = 0x10
ASAY = 0x11
ASAZ = 0x12

# MPU6500 Data Range Configuration
ACCEL_FULL_SCALE_2G = 0x00
ACCEL_FULL_SCALE_4G = 0x08
ACCEL_FULL_SCALE_8G = 0x10
ACCEL_FULL_SCALE_16G = 0x18
GYRO_FULL_SCALE_250DPS = 0x00
GYRO_FULL_SCALE_500DPS = 0x08
GYRO_FULL_SCALE_1000DPS = 0x10
GYRO_FULL_SCALE_2000DPS = 0x18

# MPU6500 Digital Low Pass Filter Level
MPU6500_DLPF_CFG_0 = 0x00
MPU6500_DLPF_CFG_1 = 0x01
MPU6500_DLPF_CFG_2 = 0x02
MPU6500_DLPF_CFG_3 = 0x03
MPU6500_DLPF_CFG_4 = 0x04
MPU6500_DLPF_CFG_5 = 0x05
MPU6500_DLPF_CFG_6 = 0x06
MPU6500_DLPF_CFG_7 = 0x07

# AK8963 Mode Configuration of CNTL1
AK8963_CNTL1_PDM = 0x10 # Power-down mode
AK8963_CNTL1_SMM = 0x11 # Single measurement mode
AK8963_CNTL1_CMM1 = 0x12 # Continuous measurement mode 1 8Hz
AK8963_CNTL1_CMM2 = 0x16 # Continuous measurement mode 2 100Hz
AK8963_CNTL1_ETMM = 0x14 # External trigger measurement mode
AK8963_CNTL1_STM = 0x18 # Self-test mode
AK8963_CNTL1_FROMAM = 0x1F # Fuse ROM access mode

# Scaling Factor of each data.
# It use to convert data to physical value.
GYRO_SCALING_FACTOR = 131
ACCEL_SCALING_FACTOR = 16384
MAG_SCALING_FACTOR = 0.6
TEMP_SCALING_FACTOR = 321