altos/drivers: Start adding defines to get mag data out of MPU9250

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/drivers/ao_mpu9250.h b/src/drivers/ao_mpu9250.h
index a124d79940d104698de716e69c0e66a05699da62..df1be7c727a95e18c29386324e990b193a9bb13e 100644 (file)
--- a/src/drivers/ao_mpu9250.h
+++ b/src/drivers/ao_mpu9250.h
@@ -102,21 +102,67 @@
 # define MPU9250_ACCEL_CONFIG_AFS_SEL_16G      3
 # define MPU9250_ACCEL_CONFIG_AFS_SEL_MASK     3
 
+#define MPU9250_MST_CTRL       0x24
+#define  MPU9250_MST_CTRL_MULT_MST_EN          7
+#define  MPU9250_MST_CTRL_WAIT_FOR_ES          6
+#define  MPU9250_MST_CTRL_SLV_3_FIFO_EN                5
+#define  MPU9250_MST_CTRL_I2C_MST_P_NSR                4
+#define  MPU9250_MST_CTRL_I2C_MST_CLK          0
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_348              0
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_333              1
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_320              2
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_308              3
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_296              4
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_286              5
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_276              6
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_267              7
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_258              8
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_500              9
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_471              10
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_444              11
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_421              12
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_400              13
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_381              14
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_364              15
+#define  MPU9250_MST_CTRL_I2C_MST_CLK_MASK             15
+
+#define MPU9250_I2C_SLV0_ADDR  0x25
+#define MPU9250_I2C_SLV0_REG   0x26
+#define MPU9250_I2C_SLV0_CTRL  0x27
+
+#define MPU9250_I2C_SLV1_ADDR  0x28
+#define MPU9250_I2C_SLV1_REG   0x29
+#define MPU9250_I2C_SLV1_CTRL  0x2a
+
+#define MPU9250_I2C_SLV2_ADDR  0x2b
+#define MPU9250_I2C_SLV2_REG   0x2c
+#define MPU9250_I2C_SLV2_CTRL  0x2d
+
+#define MPU9250_I2C_SLV3_ADDR  0x2e
+#define MPU9250_I2C_SLV3_REG   0x2f
+#define MPU9250_I2C_SLV3_CTRL  0x30
+
+#define MPU9250_I2C_SLV4_ADDR  0x31
+#define MPU9250_I2C_SLV4_REG   0x32
+#define MPU9250_I2C_SLV4_DO    0x33
+#define MPU9250_I2C_SLV4_CTRL  0x34
+#define MPU9250_I2C_SLV4_DI    0x35
+
+#define MPU9250_I2C_MST_STATUS 0x36
+
+#define MPU9250_INT_PIN_CFG    0x37
+
 #define MPU9250_INT_ENABLE     0x38
-#define  MPU9250_INT_ENABLE_FF_EN              7
-#define  MPU9250_INT_ENABLE_MOT_EN             6
-#define  MPU9250_INT_ENABLE_ZMOT_EN            5
+#define  MPU9250_INT_ENABLE_WOM_EN             6
 #define  MPU9250_INT_ENABLE_FIFO_OFLOW_EN      4
-#define  MPU9250_INT_ENABLE_I2C_MST_INT_EN     3
-#define  MPU9250_INT_ENABLE_DATA_RDY_EN                0
+#define  MPU9250_INT_ENABLE_FSYNC_INT_EN       3
+#define  MPU9250_INT_ENABLE_RAW_RDY_EN         0
 
 #define MPU9250_INT_STATUS     0x3a
-#define  MPU9250_INT_STATUS_FF_EN              7
-#define  MPU9250_INT_STATUS_MOT_EN             6
-#define  MPU9250_INT_STATUS_ZMOT_EN            5
-#define  MPU9250_INT_STATUS_FIFO_OFLOW_EN      4
-#define  MPU9250_INT_STATUS_I2C_MST_INT_EN     3
-#define  MPU9250_INT_STATUS_DATA_RDY_EN                0
+#define  MPU9250_INT_STATUS_WOM_INT            6
+#define  MPU9250_INT_STATUS_FIFO_OFLOW_INT     4
+#define  MPU9250_INT_STATUS_FSYNC_INT          3
+#define  MPU9250_INT_STATUS_RAW_RDY_INT                0
 
 #define MPU9250_ACCEL_XOUT_H           0x3b
 #define MPU9250_ACCEL_XOUT_L           0x3c
@@ -194,6 +240,9 @@ struct ao_mpu9250_sample {
        int16_t         gyro_x;
        int16_t         gyro_y;
        int16_t         gyro_z;
+       int16_t         mag_x;
+       int16_t         mag_y;
+       int16_t         mag_z;
 };
 
 extern struct ao_mpu9250_sample        ao_mpu9250_current;