N3_sub/libraries/AP_InertialSensor/AP_InertialSensor_Invensense_registers.h

#pragma once

// common registers
#define MPUREG_XG_OFFS_TC                       0x00
#define MPUREG_YG_OFFS_TC                       0x01
#define MPUREG_ZG_OFFS_TC                       0x02
#define MPUREG_X_FINE_GAIN                      0x03
#define MPUREG_Y_FINE_GAIN                      0x04
#define MPUREG_Z_FINE_GAIN                      0x05
#define MPUREG_XA_OFFS_H                        0x06    // X axis accelerometer offset (high byte)
#define MPUREG_XA_OFFS_L                        0x07    // X axis accelerometer offset (low byte)
#define MPUREG_YA_OFFS_H                        0x08    // Y axis accelerometer offset (high byte)
#define MPUREG_YA_OFFS_L                        0x09    // Y axis accelerometer offset (low byte)
#define MPUREG_ZA_OFFS_H                        0x0A    // Z axis accelerometer offset (high byte)
#define MPUREG_ZA_OFFS_L                        0x0B    // Z axis accelerometer offset (low byte)
#define MPUREG_PRODUCT_ID                       0x0C    // Product ID Register
#define MPUREG_XG_OFFS_USRH                     0x13    // X axis gyro offset (high byte)
#define MPUREG_XG_OFFS_USRL                     0x14    // X axis gyro offset (low byte)
#define MPUREG_YG_OFFS_USRH                     0x15    // Y axis gyro offset (high byte)
#define MPUREG_YG_OFFS_USRL                     0x16    // Y axis gyro offset (low byte)
#define MPUREG_ZG_OFFS_USRH                     0x17    // Z axis gyro offset (high byte)
#define MPUREG_ZG_OFFS_USRL                     0x18    // Z axis gyro offset (low byte)
#define MPUREG_SMPLRT_DIV                       0x19    // sample rate.  Fsample= 1Khz/(<this value>+1) = 200Hz
#       define MPUREG_SMPLRT_1000HZ                 0x00
#       define MPUREG_SMPLRT_500HZ                  0x01
#       define MPUREG_SMPLRT_250HZ                  0x03
#       define MPUREG_SMPLRT_200HZ                  0x04
#       define MPUREG_SMPLRT_100HZ                  0x09
#       define MPUREG_SMPLRT_50HZ                   0x13
#define MPUREG_CONFIG                           0x1A
#       define MPUREG_CONFIG_EXT_SYNC_SHIFT            3
#       define MPUREG_CONFIG_EXT_SYNC_GX            0x02
#       define MPUREG_CONFIG_EXT_SYNC_GY            0x03
#       define MPUREG_CONFIG_EXT_SYNC_GZ            0x04
#       define MPUREG_CONFIG_EXT_SYNC_AX            0x05
#       define MPUREG_CONFIG_EXT_SYNC_AY            0x06
#       define MPUREG_CONFIG_EXT_SYNC_AZ            0x07
#       define MPUREG_CONFIG_FIFO_MODE_STOP         0x40
#define MPUREG_GYRO_CONFIG                      0x1B
// bit definitions for MPUREG_GYRO_CONFIG
#       define BITS_GYRO_FS_250DPS                  0x00
#       define BITS_GYRO_FS_500DPS                  0x08
#       define BITS_GYRO_FS_1000DPS                 0x10
#       define BITS_GYRO_FS_2000DPS                 0x18
#       define BITS_GYRO_FS_MASK                    0x18 // only bits 3 and 4 are used for gyro full scale so use this to mask off other bits
#       define BITS_GYRO_ZGYRO_SELFTEST             0x20
#       define BITS_GYRO_YGYRO_SELFTEST             0x40
#       define BITS_GYRO_XGYRO_SELFTEST             0x80
#define MPUREG_ACCEL_CONFIG                     0x1C
#define MPUREG_MOT_THR                          0x1F    // detection threshold for Motion interrupt generation.  Motion is detected when the absolute value of any of the accelerometer measurements exceeds this
#define MPUREG_MOT_DUR                          0x20    // duration counter threshold for Motion interrupt generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit of 1 LSB = 1 ms
#define MPUREG_ZRMOT_THR                        0x21    // detection threshold for Zero Motion interrupt generation.
#define MPUREG_ZRMOT_DUR                        0x22    // duration counter threshold for Zero Motion interrupt generation. The duration counter ticks at 16 Hz, therefore ZRMOT_DUR has a unit of 1 LSB = 64 ms.
#define MPUREG_FIFO_EN                          0x23
#       define BIT_TEMP_FIFO_EN                     0x80
#       define BIT_XG_FIFO_EN                       0x40
#       define BIT_YG_FIFO_EN                       0x20
#       define BIT_ZG_FIFO_EN                       0x10
#       define BIT_ACCEL_FIFO_EN                    0x08
#       define BIT_SLV2_FIFO_EN                     0x04
#       define BIT_SLV1_FIFO_EN                     0x02
#       define BIT_SLV0_FIFI_EN0                    0x01
#define MPUREG_I2C_MST_CTRL                     0x24
#       define BIT_I2C_MST_P_NSR                    0x10
#       define BIT_I2C_MST_CLK_400KHZ               0x0D
#define MPUREG_I2C_SLV0_ADDR                    0x25
#define MPUREG_I2C_SLV1_ADDR                    0x28
#define MPUREG_I2C_SLV2_ADDR                    0x2B
#define MPUREG_I2C_SLV3_ADDR                    0x2E
#define MPUREG_INT_PIN_CFG                      0x37
#       define BIT_BYPASS_EN                        0x02
#       define BIT_INT_RD_CLEAR                     0x10    // clear the interrupt when any read occurs
#       define BIT_LATCH_INT_EN                     0x20    // latch data ready pin
#define MPUREG_I2C_SLV4_CTRL                    0x34
#define MPUREG_INT_ENABLE                       0x38
// bit definitions for MPUREG_INT_ENABLE
#       define BIT_RAW_RDY_EN                       0x01
#       define BIT_DMP_INT_EN                       0x02    // enabling this bit (DMP_INT_EN) also enables RAW_RDY_EN it seems
#       define BIT_UNKNOWN_INT_EN                   0x04
#       define BIT_I2C_MST_INT_EN                   0x08
#       define BIT_FIFO_OFLOW_EN                    0x10
#       define BIT_ZMOT_EN                          0x20
#       define BIT_MOT_EN                           0x40
#       define BIT_FF_EN                            0x80
#define MPUREG_INT_STATUS                       0x3A
// bit definitions for MPUREG_INT_STATUS (same bit pattern as above because this register shows what interrupt actually fired)
#       define BIT_RAW_RDY_INT                      0x01
#       define BIT_DMP_INT                          0x02
#       define BIT_UNKNOWN_INT                      0x04
#       define BIT_I2C_MST_INT                      0x08
#       define BIT_FIFO_OFLOW_INT                   0x10
#       define BIT_ZMOT_INT                         0x20
#       define BIT_MOT_INT                          0x40
#       define BIT_FF_INT                           0x80
#define MPUREG_ACCEL_XOUT_H                     0x3B
#define MPUREG_ACCEL_XOUT_L                     0x3C
#define MPUREG_ACCEL_YOUT_H                     0x3D
#define MPUREG_ACCEL_YOUT_L                     0x3E
#define MPUREG_ACCEL_ZOUT_H                     0x3F
#define MPUREG_ACCEL_ZOUT_L                     0x40
#define MPUREG_TEMP_OUT_H                       0x41
#define MPUREG_TEMP_OUT_L                       0x42
#define MPUREG_GYRO_XOUT_H                      0x43
#define MPUREG_GYRO_XOUT_L                      0x44
#define MPUREG_GYRO_YOUT_H                      0x45
#define MPUREG_GYRO_YOUT_L                      0x46
#define MPUREG_GYRO_ZOUT_H                      0x47
#define MPUREG_GYRO_ZOUT_L                      0x48
#define MPUREG_EXT_SENS_DATA_00                 0x49
#define MPUREG_I2C_SLV0_DO                      0x63
#define MPUREG_I2C_MST_DELAY_CTRL               0x67
#       define BIT_I2C_SLV0_DLY_EN              0x01
#       define BIT_I2C_SLV1_DLY_EN              0x02
#       define BIT_I2C_SLV2_DLY_EN              0x04
#       define BIT_I2C_SLV3_DLY_EN              0x08
#define MPUREG_USER_CTRL                        0x6A
// bit definitions for MPUREG_USER_CTRL
#       define BIT_USER_CTRL_SIG_COND_RESET         0x01 // resets signal paths and results registers for all sensors (gyros, accel, temp)
#       define BIT_USER_CTRL_I2C_MST_RESET          0x02 // reset I2C Master (only applicable if I2C_MST_EN bit is set)
#       define BIT_USER_CTRL_FIFO_RESET             0x04 // Reset (i.e. clear) FIFO buffer
#       define BIT_USER_CTRL_DMP_RESET              0x08 // Reset DMP
#       define BIT_USER_CTRL_I2C_IF_DIS             0x10 // Disable primary I2C interface and enable hal.spi->interface
#       define BIT_USER_CTRL_I2C_MST_EN             0x20 // Enable MPU to act as the I2C Master to external slave sensors
#       define BIT_USER_CTRL_FIFO_EN                0x40 // Enable FIFO operations
#       define BIT_USER_CTRL_DMP_EN             0x80     // Enable DMP operations
#define MPUREG_PWR_MGMT_1                           0x6B
#       define BIT_PWR_MGMT_1_CLK_INTERNAL          0x00 // clock set to internal 8Mhz oscillator
#       define BIT_PWR_MGMT_1_CLK_XGYRO             0x01 // PLL with X axis gyroscope reference
#       define BIT_PWR_MGMT_1_CLK_YGYRO             0x02 // PLL with Y axis gyroscope reference
#       define BIT_PWR_MGMT_1_CLK_ZGYRO             0x03 // PLL with Z axis gyroscope reference
#       define BIT_PWR_MGMT_1_CLK_EXT32KHZ          0x04 // PLL with external 32.768kHz reference
#       define BIT_PWR_MGMT_1_CLK_EXT19MHZ          0x05 // PLL with external 19.2MHz reference
#       define BIT_PWR_MGMT_1_CLK_STOP              0x07 // Stops the clock and keeps the timing generator in reset
#       define BIT_PWR_MGMT_1_TEMP_DIS              0x08 // disable temperature sensor
#       define BIT_PWR_MGMT_1_CYCLE                 0x20 // put sensor into cycle mode.  cycles between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL
#       define BIT_PWR_MGMT_1_SLEEP                 0x40 // put sensor into low power sleep mode
#       define BIT_PWR_MGMT_1_DEVICE_RESET          0x80 // reset entire device
#define MPUREG_PWR_MGMT_2                       0x6C    // allows the user to configure the frequency of wake-ups in Accelerometer Only Low Power Mode
#define MPUREG_BANK_SEL                         0x6D    // DMP bank selection register (used to indirectly access DMP registers)
#define MPUREG_MEM_START_ADDR                   0x6E    // DMP memory start address (used to indirectly write to dmp memory)
#define MPUREG_MEM_R_W                              0x6F // DMP related register
#define MPUREG_DMP_CFG_1                            0x70 // DMP related register
#define MPUREG_DMP_CFG_2                            0x71 // DMP related register
#define MPUREG_FIFO_COUNTH                          0x72
#define MPUREG_FIFO_COUNTL                          0x73
#define MPUREG_FIFO_R_W                             0x74
#define MPUREG_WHOAMI                               0x75

// ICM20608 specific registers
#define ICMREG_ACCEL_CONFIG2          0x1D
#define ICM_ACC_DLPF_CFG_1046HZ_NOLPF 0x00
#define ICM_ACC_DLPF_CFG_218HZ        0x01
#define ICM_ACC_DLPF_CFG_99HZ         0x02
#define ICM_ACC_DLPF_CFG_44HZ         0x03
#define ICM_ACC_DLPF_CFG_21HZ         0x04
#define ICM_ACC_DLPF_CFG_10HZ         0x05
#define ICM_ACC_DLPF_CFG_5HZ          0x06
#define ICM_ACC_DLPF_CFG_420HZ        0x07
#define ICM_ACC_FCHOICE_B             0x08

/* this is an undocumented register which
   if set incorrectly results in getting a 2.7m/s/s offset
   on the Y axis of the accelerometer
*/
#define MPUREG_ICM_UNDOC1       0x11
#define MPUREG_ICM_UNDOC1_VALUE 0xc9

// WHOAMI values
#define MPU_WHOAMI_6000			0x68
#define MPU_WHOAMI_20608		0xaf
#define MPU_WHOAMI_20602		0x12
#define MPU_WHOAMI_20601		0xac
#define MPU_WHOAMI_6500			0x70
#define MPU_WHOAMI_MPU9250      0x71
#define MPU_WHOAMI_MPU9255      0x73
#define MPU_WHOAMI_ICM20789     0x03
#define MPU_WHOAMI_ICM20789_R1  0x02
#define MPU_WHOAMI_ICM20689     0x98

#define BIT_READ_FLAG                           0x80
#define BIT_I2C_SLVX_EN                         0x80

// Configuration bits MPU 3000 and MPU 6000 (not revised)?
#define BITS_DLPF_CFG_256HZ_NOLPF2              0x00
#define BITS_DLPF_CFG_188HZ                         0x01
#define BITS_DLPF_CFG_98HZ                          0x02
#define BITS_DLPF_CFG_42HZ                          0x03
#define BITS_DLPF_CFG_20HZ                          0x04
#define BITS_DLPF_CFG_10HZ                          0x05
#define BITS_DLPF_CFG_5HZ                           0x06
#define BITS_DLPF_CFG_2100HZ_NOLPF              0x07
#define BITS_DLPF_CFG_MASK                          0x07

// Product ID Description for MPU6000. Used to detect buggy chips
// high 4 bits  low 4 bits
// Product Name	Product Revision
#define MPU6000ES_REV_C4                        0x14    // 0001			0100
#define MPU6000ES_REV_C5                        0x15    // 0001			0101
#define MPU6000ES_REV_D6                        0x16    // 0001			0110
#define MPU6000ES_REV_D7                        0x17    // 0001			0111
#define MPU6000ES_REV_D8                        0x18    // 0001			1000
#define MPU6000_REV_C4                          0x54    // 0101			0100
#define MPU6000_REV_C5                          0x55    // 0101			0101
#define MPU6000_REV_D6                          0x56    // 0101			0110
#define MPU6000_REV_D7                          0x57    // 0101			0111
#define MPU6000_REV_D8                          0x58    // 0101			1000
#define MPU6000_REV_D9                          0x59    // 0101			1001