//////////////////////////////////////////////////////////////////////////// // // This file is part of RTIMULib // // Copyright (c) 2014-2015, richards-tech, LLC // // Permission is hereby granted, free of charge, to any person obtaining a copy of // this software and associated documentation files (the "Software"), to deal in // the Software without restriction, including without limitation the rights to use, // copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the // Software, and to permit persons to whom the Software is furnished to do so, // subject to the following conditions: // // The above copyright notice and this permission notice shall be included in all // copies or substantial portions of the Software. // // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, // INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A // PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT // HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION // OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. // The MPU-9250 and SPI driver code is based on code generously supplied by // staslock@gmail.com (www.clickdrive.io) #ifndef _RTIMUDEFS_H #define _RTIMUDEFS_H // IMU type codes // // For compatibility, only add new codes at the end to avoid renumbering #define RTIMU_TYPE_AUTODISCOVER 0 // audodiscover the IMU #define RTIMU_TYPE_NULL 1 // if no physical hardware #define RTIMU_TYPE_MPU9150 2 // InvenSense MPU9150 #define RTIMU_TYPE_GD20HM303D 3 // STM L3GD20H/LSM303D (Pololu Altimu) #define RTIMU_TYPE_GD20M303DLHC 4 // STM L3GD20/LSM303DHLC (old Adafruit IMU) #define RTIMU_TYPE_LSM9DS0 5 // STM LSM9DS0 (eg Sparkfun IMU) #define RTIMU_TYPE_LSM9DS1 6 // STM LSM9DS1 #define RTIMU_TYPE_MPU9250 7 // InvenSense MPU9250 #define RTIMU_TYPE_GD20HM303DLHC 8 // STM L3GD20H/LSM303DHLC (new Adafruit IMU) #define RTIMU_TYPE_BMX055 9 // Bosch BMX055 #define RTIMU_TYPE_BNO055 10 // Bosch BNO055 //---------------------------------------------------------- // // MPU-9150 // MPU9150 I2C Slave Addresses #define MPU9150_ADDRESS0 0x68 #define MPU9150_ADDRESS1 0x69 #define MPU9150_ID 0x68 // thes magnetometers are on aux bus #define AK8975_ADDRESS 0x0c #define HMC5883_ADDRESS 0x1e // Register map #define MPU9150_YG_OFFS_TC 0x01 #define MPU9150_SMPRT_DIV 0x19 #define MPU9150_LPF_CONFIG 0x1a #define MPU9150_GYRO_CONFIG 0x1b #define MPU9150_ACCEL_CONFIG 0x1c #define MPU9150_FIFO_EN 0x23 #define MPU9150_I2C_MST_CTRL 0x24 #define MPU9150_I2C_SLV0_ADDR 0x25 #define MPU9150_I2C_SLV0_REG 0x26 #define MPU9150_I2C_SLV0_CTRL 0x27 #define MPU9150_I2C_SLV1_ADDR 0x28 #define MPU9150_I2C_SLV1_REG 0x29 #define MPU9150_I2C_SLV1_CTRL 0x2a #define MPU9150_I2C_SLV4_CTRL 0x34 #define MPU9150_INT_PIN_CFG 0x37 #define MPU9150_INT_ENABLE 0x38 #define MPU9150_INT_STATUS 0x3a #define MPU9150_ACCEL_XOUT_H 0x3b #define MPU9150_GYRO_XOUT_H 0x43 #define MPU9150_EXT_SENS_DATA_00 0x49 #define MPU9150_I2C_SLV1_DO 0x64 #define MPU9150_I2C_MST_DELAY_CTRL 0x67 #define MPU9150_USER_CTRL 0x6a #define MPU9150_PWR_MGMT_1 0x6b #define MPU9150_PWR_MGMT_2 0x6c #define MPU9150_FIFO_COUNT_H 0x72 #define MPU9150_FIFO_R_W 0x74 #define MPU9150_WHO_AM_I 0x75 // sample rate defines (applies to gyros and accels, not mags) #define MPU9150_SAMPLERATE_MIN 5 // 5 samples per second is the lowest #define MPU9150_SAMPLERATE_MAX 1000 // 1000 samples per second is the absolute maximum // compass rate defines #define MPU9150_COMPASSRATE_MIN 1 // 1 samples per second is the lowest #define MPU9150_COMPASSRATE_MAX 100 // 100 samples per second is maximum // LPF options (gyros and accels) #define MPU9150_LPF_256 0 // gyro: 256Hz, accel: 260Hz #define MPU9150_LPF_188 1 // gyro: 188Hz, accel: 184Hz #define MPU9150_LPF_98 2 // gyro: 98Hz, accel: 98Hz #define MPU9150_LPF_42 3 // gyro: 42Hz, accel: 44Hz #define MPU9150_LPF_20 4 // gyro: 20Hz, accel: 21Hz #define MPU9150_LPF_10 5 // gyro: 10Hz, accel: 10Hz #define MPU9150_LPF_5 6 // gyro: 5Hz, accel: 5Hz // Gyro FSR options #define MPU9150_GYROFSR_250 0 // +/- 250 degrees per second #define MPU9150_GYROFSR_500 8 // +/- 500 degrees per second #define MPU9150_GYROFSR_1000 0x10 // +/- 1000 degrees per second #define MPU9150_GYROFSR_2000 0x18 // +/- 2000 degrees per second // Accel FSR options #define MPU9150_ACCELFSR_2 0 // +/- 2g #define MPU9150_ACCELFSR_4 8 // +/- 4g #define MPU9150_ACCELFSR_8 0x10 // +/- 8g #define MPU9150_ACCELFSR_16 0x18 // +/- 16g // AK8975 compass registers #define AK8975_DEVICEID 0x0 // the device ID #define AK8975_ST1 0x02 // status 1 #define AK8975_CNTL 0x0a // control reg #define AK8975_ASAX 0x10 // start of the fuse ROM data // HMC5883 compass registers #define HMC5883_CONFIG_A 0x00 // configuration A #define HMC5883_CONFIG_B 0x01 // configuration B #define HMC5883_MODE 0x02 // mode #define HMC5883_DATA_X_HI 0x03 // data x msb #define HMC5883_STATUS 0x09 // status #define HMC5883_ID 0x0a // id //---------------------------------------------------------- // // MPU-9250 // MPU9250 I2C Slave Addresses #define MPU9250_ADDRESS0 0x68 #define MPU9250_ADDRESS1 0x69 #define MPU9250_ID 0x71 #define AK8963_ADDRESS 0x0c // Register map #define MPU9250_SMPRT_DIV 0x19 #define MPU9250_GYRO_LPF 0x1a #define MPU9250_GYRO_CONFIG 0x1b #define MPU9250_ACCEL_CONFIG 0x1c #define MPU9250_ACCEL_LPF 0x1d #define MPU9250_FIFO_EN 0x23 #define MPU9250_I2C_MST_CTRL 0x24 #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_SLV4_CTRL 0x34 #define MPU9250_INT_PIN_CFG 0x37 #define MPU9250_INT_ENABLE 0x38 #define MPU9250_INT_STATUS 0x3a #define MPU9250_ACCEL_XOUT_H 0x3b #define MPU9250_GYRO_XOUT_H 0x43 #define MPU9250_EXT_SENS_DATA_00 0x49 #define MPU9250_I2C_SLV1_DO 0x64 #define MPU9250_I2C_MST_DELAY_CTRL 0x67 #define MPU9250_USER_CTRL 0x6a #define MPU9250_PWR_MGMT_1 0x6b #define MPU9250_PWR_MGMT_2 0x6c #define MPU9250_FIFO_COUNT_H 0x72 #define MPU9250_FIFO_R_W 0x74 #define MPU9250_WHO_AM_I 0x75 // sample rate defines (applies to gyros and accels, not mags) #define MPU9250_SAMPLERATE_MIN 5 // 5 samples per second is the lowest #define MPU9250_SAMPLERATE_MAX 32000 // 32000 samples per second is the absolute maximum // compass rate defines #define MPU9250_COMPASSRATE_MIN 1 // 1 samples per second is the lowest #define MPU9250_COMPASSRATE_MAX 100 // 100 samples per second is maximum // Gyro LPF options #define MPU9250_GYRO_LPF_8800 0x11 // 8800Hz, 0.64mS delay #define MPU9250_GYRO_LPF_3600 0x10 // 3600Hz, 0.11mS delay #define MPU9250_GYRO_LPF_250 0x00 // 250Hz, 0.97mS delay #define MPU9250_GYRO_LPF_184 0x01 // 184Hz, 2.9mS delay #define MPU9250_GYRO_LPF_92 0x02 // 92Hz, 3.9mS delay #define MPU9250_GYRO_LPF_41 0x03 // 41Hz, 5.9mS delay #define MPU9250_GYRO_LPF_20 0x04 // 20Hz, 9.9mS delay #define MPU9250_GYRO_LPF_10 0x05 // 10Hz, 17.85mS delay #define MPU9250_GYRO_LPF_5 0x06 // 5Hz, 33.48mS delay // Gyro FSR options #define MPU9250_GYROFSR_250 0 // +/- 250 degrees per second #define MPU9250_GYROFSR_500 8 // +/- 500 degrees per second #define MPU9250_GYROFSR_1000 0x10 // +/- 1000 degrees per second #define MPU9250_GYROFSR_2000 0x18 // +/- 2000 degrees per second // Accel FSR options #define MPU9250_ACCELFSR_2 0 // +/- 2g #define MPU9250_ACCELFSR_4 8 // +/- 4g #define MPU9250_ACCELFSR_8 0x10 // +/- 8g #define MPU9250_ACCELFSR_16 0x18 // +/- 16g // Accel LPF options #define MPU9250_ACCEL_LPF_1130 0x08 // 1130Hz, 0.75mS delay #define MPU9250_ACCEL_LPF_460 0x00 // 460Hz, 1.94mS delay #define MPU9250_ACCEL_LPF_184 0x01 // 184Hz, 5.80mS delay #define MPU9250_ACCEL_LPF_92 0x02 // 92Hz, 7.80mS delay #define MPU9250_ACCEL_LPF_41 0x03 // 41Hz, 11.80mS delay #define MPU9250_ACCEL_LPF_20 0x04 // 20Hz, 19.80mS delay #define MPU9250_ACCEL_LPF_10 0x05 // 10Hz, 35.70mS delay #define MPU9250_ACCEL_LPF_5 0x06 // 5Hz, 66.96mS delay // AK8963 compass registers #define AK8963_DEVICEID 0x48 // the device ID #define AK8963_ST1 0x02 // status 1 #define AK8963_CNTL 0x0a // control reg #define AK8963_ASAX 0x10 // start of the fuse ROM data //---------------------------------------------------------- // // L3GD20 // I2C Slave Addresses #define L3GD20_ADDRESS0 0x6a #define L3GD20_ADDRESS1 0x6b #define L3GD20_ID 0xd4 // L3GD20 Register map #define L3GD20_WHO_AM_I 0x0f #define L3GD20_CTRL1 0x20 #define L3GD20_CTRL2 0x21 #define L3GD20_CTRL3 0x22 #define L3GD20_CTRL4 0x23 #define L3GD20_CTRL5 0x24 #define L3GD20_OUT_TEMP 0x26 #define L3GD20_STATUS 0x27 #define L3GD20_OUT_X_L 0x28 #define L3GD20_OUT_X_H 0x29 #define L3GD20_OUT_Y_L 0x2a #define L3GD20_OUT_Y_H 0x2b #define L3GD20_OUT_Z_L 0x2c #define L3GD20_OUT_Z_H 0x2d #define L3GD20_FIFO_CTRL 0x2e #define L3GD20_FIFO_SRC 0x2f #define L3GD20_IG_CFG 0x30 #define L3GD20_IG_SRC 0x31 #define L3GD20_IG_THS_XH 0x32 #define L3GD20_IG_THS_XL 0x33 #define L3GD20_IG_THS_YH 0x34 #define L3GD20_IG_THS_YL 0x35 #define L3GD20_IG_THS_ZH 0x36 #define L3GD20_IG_THS_ZL 0x37 #define L3GD20_IG_DURATION 0x38 // Gyro sample rate defines #define L3GD20_SAMPLERATE_95 0 #define L3GD20_SAMPLERATE_190 1 #define L3GD20_SAMPLERATE_380 2 #define L3GD20_SAMPLERATE_760 3 // Gyro banwidth defines #define L3GD20_BANDWIDTH_0 0 #define L3GD20_BANDWIDTH_1 1 #define L3GD20_BANDWIDTH_2 2 #define L3GD20_BANDWIDTH_3 3 // Gyro FSR defines #define L3GD20_FSR_250 0 #define L3GD20_FSR_500 1 #define L3GD20_FSR_2000 2 // Gyro high pass filter defines #define L3GD20_HPF_0 0 #define L3GD20_HPF_1 1 #define L3GD20_HPF_2 2 #define L3GD20_HPF_3 3 #define L3GD20_HPF_4 4 #define L3GD20_HPF_5 5 #define L3GD20_HPF_6 6 #define L3GD20_HPF_7 7 #define L3GD20_HPF_8 8 #define L3GD20_HPF_9 9 //---------------------------------------------------------- // // L3GD20H // I2C Slave Addresses #define L3GD20H_ADDRESS0 0x6a #define L3GD20H_ADDRESS1 0x6b #define L3GD20H_ID 0xd7 // L3GD20H Register map #define L3GD20H_WHO_AM_I 0x0f #define L3GD20H_CTRL1 0x20 #define L3GD20H_CTRL2 0x21 #define L3GD20H_CTRL3 0x22 #define L3GD20H_CTRL4 0x23 #define L3GD20H_CTRL5 0x24 #define L3GD20H_OUT_TEMP 0x26 #define L3GD20H_STATUS 0x27 #define L3GD20H_OUT_X_L 0x28 #define L3GD20H_OUT_X_H 0x29 #define L3GD20H_OUT_Y_L 0x2a #define L3GD20H_OUT_Y_H 0x2b #define L3GD20H_OUT_Z_L 0x2c #define L3GD20H_OUT_Z_H 0x2d #define L3GD20H_FIFO_CTRL 0x2e #define L3GD20H_FIFO_SRC 0x2f #define L3GD20H_IG_CFG 0x30 #define L3GD20H_IG_SRC 0x31 #define L3GD20H_IG_THS_XH 0x32 #define L3GD20H_IG_THS_XL 0x33 #define L3GD20H_IG_THS_YH 0x34 #define L3GD20H_IG_THS_YL 0x35 #define L3GD20H_IG_THS_ZH 0x36 #define L3GD20H_IG_THS_ZL 0x37 #define L3GD20H_IG_DURATION 0x38 #define L3GD20H_LOW_ODR 0x39 // Gyro sample rate defines #define L3GD20H_SAMPLERATE_12_5 0 #define L3GD20H_SAMPLERATE_25 1 #define L3GD20H_SAMPLERATE_50 2 #define L3GD20H_SAMPLERATE_100 3 #define L3GD20H_SAMPLERATE_200 4 #define L3GD20H_SAMPLERATE_400 5 #define L3GD20H_SAMPLERATE_800 6 // Gyro banwidth defines #define L3GD20H_BANDWIDTH_0 0 #define L3GD20H_BANDWIDTH_1 1 #define L3GD20H_BANDWIDTH_2 2 #define L3GD20H_BANDWIDTH_3 3 // Gyro FSR defines #define L3GD20H_FSR_245 0 #define L3GD20H_FSR_500 1 #define L3GD20H_FSR_2000 2 // Gyro high pass filter defines #define L3GD20H_HPF_0 0 #define L3GD20H_HPF_1 1 #define L3GD20H_HPF_2 2 #define L3GD20H_HPF_3 3 #define L3GD20H_HPF_4 4 #define L3GD20H_HPF_5 5 #define L3GD20H_HPF_6 6 #define L3GD20H_HPF_7 7 #define L3GD20H_HPF_8 8 #define L3GD20H_HPF_9 9 //---------------------------------------------------------- // // LSM303D #define LSM303D_ADDRESS0 0x1e #define LSM303D_ADDRESS1 0x1d #define LSM303D_ID 0x49 // LSM303D Register Map #define LSM303D_TEMP_OUT_L 0x05 #define LSM303D_TEMP_OUT_H 0x06 #define LSM303D_STATUS_M 0x07 #define LSM303D_OUT_X_L_M 0x08 #define LSM303D_OUT_X_H_M 0x09 #define LSM303D_OUT_Y_L_M 0x0a #define LSM303D_OUT_Y_H_M 0x0b #define LSM303D_OUT_Z_L_M 0x0c #define LSM303D_OUT_Z_H_M 0x0d #define LSM303D_WHO_AM_I 0x0f #define LSM303D_INT_CTRL_M 0x12 #define LSM303D_INT_SRC_M 0x13 #define LSM303D_INT_THS_L_M 0x14 #define LSM303D_INT_THS_H_M 0x15 #define LSM303D_OFFSET_X_L_M 0x16 #define LSM303D_OFFSET_X_H_M 0x17 #define LSM303D_OFFSET_Y_L_M 0x18 #define LSM303D_OFFSET_Y_H_M 0x19 #define LSM303D_OFFSET_Z_L_M 0x1a #define LSM303D_OFFSET_Z_H_M 0x1b #define LSM303D_REFERENCE_X 0x1c #define LSM303D_REFERENCE_Y 0x1d #define LSM303D_REFERENCE_Z 0x1e #define LSM303D_CTRL0 0x1f #define LSM303D_CTRL1 0x20 #define LSM303D_CTRL2 0x21 #define LSM303D_CTRL3 0x22 #define LSM303D_CTRL4 0x23 #define LSM303D_CTRL5 0x24 #define LSM303D_CTRL6 0x25 #define LSM303D_CTRL7 0x26 #define LSM303D_STATUS_A 0x27 #define LSM303D_OUT_X_L_A 0x28 #define LSM303D_OUT_X_H_A 0x29 #define LSM303D_OUT_Y_L_A 0x2a #define LSM303D_OUT_Y_H_A 0x2b #define LSM303D_OUT_Z_L_A 0x2c #define LSM303D_OUT_Z_H_A 0x2d #define LSM303D_FIFO_CTRL 0x2e #define LSM303D_FIFO_SRC 0x2f #define LSM303D_IG_CFG1 0x30 #define LSM303D_IG_SRC1 0x31 #define LSM303D_IG_THS1 0x32 #define LSM303D_IG_DUR1 0x33 #define LSM303D_IG_CFG2 0x34 #define LSM303D_IG_SRC2 0x35 #define LSM303D_IG_THS2 0x36 #define LSM303D_IG_DUR2 0x37 #define LSM303D_CLICK_CFG 0x38 #define LSM303D_CLICK_SRC 0x39 #define LSM303D_CLICK_THS 0x3a #define LSM303D_TIME_LIMIT 0x3b #define LSM303D_TIME_LATENCY 0x3c #define LSM303D_TIME_WINDOW 0x3d #define LSM303D_ACT_THIS 0x3e #define LSM303D_ACT_DUR 0x3f // Accel sample rate defines #define LSM303D_ACCEL_SAMPLERATE_3_125 1 #define LSM303D_ACCEL_SAMPLERATE_6_25 2 #define LSM303D_ACCEL_SAMPLERATE_12_5 3 #define LSM303D_ACCEL_SAMPLERATE_25 4 #define LSM303D_ACCEL_SAMPLERATE_50 5 #define LSM303D_ACCEL_SAMPLERATE_100 6 #define LSM303D_ACCEL_SAMPLERATE_200 7 #define LSM303D_ACCEL_SAMPLERATE_400 8 #define LSM303D_ACCEL_SAMPLERATE_800 9 #define LSM303D_ACCEL_SAMPLERATE_1600 10 // Accel FSR #define LSM303D_ACCEL_FSR_2 0 #define LSM303D_ACCEL_FSR_4 1 #define LSM303D_ACCEL_FSR_6 2 #define LSM303D_ACCEL_FSR_8 3 #define LSM303D_ACCEL_FSR_16 4 // Accel filter bandwidth #define LSM303D_ACCEL_LPF_773 0 #define LSM303D_ACCEL_LPF_194 1 #define LSM303D_ACCEL_LPF_362 2 #define LSM303D_ACCEL_LPF_50 3 // Compass sample rate defines #define LSM303D_COMPASS_SAMPLERATE_3_125 0 #define LSM303D_COMPASS_SAMPLERATE_6_25 1 #define LSM303D_COMPASS_SAMPLERATE_12_5 2 #define LSM303D_COMPASS_SAMPLERATE_25 3 #define LSM303D_COMPASS_SAMPLERATE_50 4 #define LSM303D_COMPASS_SAMPLERATE_100 5 // Compass FSR #define LSM303D_COMPASS_FSR_2 0 #define LSM303D_COMPASS_FSR_4 1 #define LSM303D_COMPASS_FSR_8 2 #define LSM303D_COMPASS_FSR_12 3 //---------------------------------------------------------- // // LSM303DLHC #define LSM303DLHC_ACCEL_ADDRESS 0x19 #define LSM303DLHC_COMPASS_ADDRESS 0x1e // LSM303DLHC Accel Register Map #define LSM303DLHC_CTRL1_A 0x20 #define LSM303DLHC_CTRL2_A 0x21 #define LSM303DLHC_CTRL3_A 0x22 #define LSM303DLHC_CTRL4_A 0x23 #define LSM303DLHC_CTRL5_A 0x24 #define LSM303DLHC_CTRL6_A 0x25 #define LSM303DLHC_REF_A 0x26 #define LSM303DLHC_STATUS_A 0x27 #define LSM303DLHC_OUT_X_L_A 0x28 #define LSM303DLHC_OUT_X_H_A 0x29 #define LSM303DLHC_OUT_Y_L_A 0x2a #define LSM303DLHC_OUT_Y_H_A 0x2b #define LSM303DLHC_OUT_Z_L_A 0x2c #define LSM303DLHC_OUT_Z_H_A 0x2d #define LSM303DLHC_FIFO_CTRL_A 0x2e #define LSM303DLHC_FIFO_SRC_A 0x2f // LSM303DLHC Compass Register Map #define LSM303DLHC_CRA_M 0x00 #define LSM303DLHC_CRB_M 0x01 #define LSM303DLHC_CRM_M 0x02 #define LSM303DLHC_OUT_X_H_M 0x03 #define LSM303DLHC_OUT_X_L_M 0x04 #define LSM303DLHC_OUT_Y_H_M 0x05 #define LSM303DLHC_OUT_Y_L_M 0x06 #define LSM303DLHC_OUT_Z_H_M 0x07 #define LSM303DLHC_OUT_Z_L_M 0x08 #define LSM303DLHC_STATUS_M 0x09 #define LSM303DLHC_TEMP_OUT_L_M 0x31 #define LSM303DLHC_TEMP_OUT_H_M 0x32 // Accel sample rate defines #define LSM303DLHC_ACCEL_SAMPLERATE_1 1 #define LSM303DLHC_ACCEL_SAMPLERATE_10 2 #define LSM303DLHC_ACCEL_SAMPLERATE_25 3 #define LSM303DLHC_ACCEL_SAMPLERATE_50 4 #define LSM303DLHC_ACCEL_SAMPLERATE_100 5 #define LSM303DLHC_ACCEL_SAMPLERATE_200 6 #define LSM303DLHC_ACCEL_SAMPLERATE_400 7 // Accel FSR #define LSM303DLHC_ACCEL_FSR_2 0 #define LSM303DLHC_ACCEL_FSR_4 1 #define LSM303DLHC_ACCEL_FSR_8 2 #define LSM303DLHC_ACCEL_FSR_16 3 // Compass sample rate defines #define LSM303DLHC_COMPASS_SAMPLERATE_0_75 0 #define LSM303DLHC_COMPASS_SAMPLERATE_1_5 1 #define LSM303DLHC_COMPASS_SAMPLERATE_3 2 #define LSM303DLHC_COMPASS_SAMPLERATE_7_5 3 #define LSM303DLHC_COMPASS_SAMPLERATE_15 4 #define LSM303DLHC_COMPASS_SAMPLERATE_30 5 #define LSM303DLHC_COMPASS_SAMPLERATE_75 6 #define LSM303DLHC_COMPASS_SAMPLERATE_220 7 // Compass FSR #define LSM303DLHC_COMPASS_FSR_1_3 1 #define LSM303DLHC_COMPASS_FSR_1_9 2 #define LSM303DLHC_COMPASS_FSR_2_5 3 #define LSM303DLHC_COMPASS_FSR_4 4 #define LSM303DLHC_COMPASS_FSR_4_7 5 #define LSM303DLHC_COMPASS_FSR_5_6 6 #define LSM303DLHC_COMPASS_FSR_8_1 7 //---------------------------------------------------------- // // LSM9DS0 // I2C Slave Addresses #define LSM9DS0_GYRO_ADDRESS0 0x6a #define LSM9DS0_GYRO_ADDRESS1 0x6b #define LSM9DS0_GYRO_ID 0xd4 #define LSM9DS0_ACCELMAG_ADDRESS0 0x1e #define LSM9DS0_ACCELMAG_ADDRESS1 0x1d #define LSM9DS0_ACCELMAG_ID 0x49 // LSM9DS0 Register map #define LSM9DS0_GYRO_WHO_AM_I 0x0f #define LSM9DS0_GYRO_CTRL1 0x20 #define LSM9DS0_GYRO_CTRL2 0x21 #define LSM9DS0_GYRO_CTRL3 0x22 #define LSM9DS0_GYRO_CTRL4 0x23 #define LSM9DS0_GYRO_CTRL5 0x24 #define LSM9DS0_GYRO_OUT_TEMP 0x26 #define LSM9DS0_GYRO_STATUS 0x27 #define LSM9DS0_GYRO_OUT_X_L 0x28 #define LSM9DS0_GYRO_OUT_X_H 0x29 #define LSM9DS0_GYRO_OUT_Y_L 0x2a #define LSM9DS0_GYRO_OUT_Y_H 0x2b #define LSM9DS0_GYRO_OUT_Z_L 0x2c #define LSM9DS0_GYRO_OUT_Z_H 0x2d #define LSM9DS0_GYRO_FIFO_CTRL 0x2e #define LSM9DS0_GYRO_FIFO_SRC 0x2f #define LSM9DS0_GYRO_IG_CFG 0x30 #define LSM9DS0_GYRO_IG_SRC 0x31 #define LSM9DS0_GYRO_IG_THS_XH 0x32 #define LSM9DS0_GYRO_IG_THS_XL 0x33 #define LSM9DS0_GYRO_IG_THS_YH 0x34 #define LSM9DS0_GYRO_IG_THS_YL 0x35 #define LSM9DS0_GYRO_IG_THS_ZH 0x36 #define LSM9DS0_GYRO_IG_THS_ZL 0x37 #define LSM9DS0_GYRO_IG_DURATION 0x38 // Gyro sample rate defines #define LSM9DS0_GYRO_SAMPLERATE_95 0 #define LSM9DS0_GYRO_SAMPLERATE_190 1 #define LSM9DS0_GYRO_SAMPLERATE_380 2 #define LSM9DS0_GYRO_SAMPLERATE_760 3 // Gyro banwidth defines #define LSM9DS0_GYRO_BANDWIDTH_0 0 #define LSM9DS0_GYRO_BANDWIDTH_1 1 #define LSM9DS0_GYRO_BANDWIDTH_2 2 #define LSM9DS0_GYRO_BANDWIDTH_3 3 // Gyro FSR defines #define LSM9DS0_GYRO_FSR_250 0 #define LSM9DS0_GYRO_FSR_500 1 #define LSM9DS0_GYRO_FSR_2000 2 // Gyro high pass filter defines #define LSM9DS0_GYRO_HPF_0 0 #define LSM9DS0_GYRO_HPF_1 1 #define LSM9DS0_GYRO_HPF_2 2 #define LSM9DS0_GYRO_HPF_3 3 #define LSM9DS0_GYRO_HPF_4 4 #define LSM9DS0_GYRO_HPF_5 5 #define LSM9DS0_GYRO_HPF_6 6 #define LSM9DS0_GYRO_HPF_7 7 #define LSM9DS0_GYRO_HPF_8 8 #define LSM9DS0_GYRO_HPF_9 9 // Accel/Mag Register Map #define LSM9DS0_TEMP_OUT_L 0x05 #define LSM9DS0_TEMP_OUT_H 0x06 #define LSM9DS0_STATUS_M 0x07 #define LSM9DS0_OUT_X_L_M 0x08 #define LSM9DS0_OUT_X_H_M 0x09 #define LSM9DS0_OUT_Y_L_M 0x0a #define LSM9DS0_OUT_Y_H_M 0x0b #define LSM9DS0_OUT_Z_L_M 0x0c #define LSM9DS0_OUT_Z_H_M 0x0d #define LSM9DS0_WHO_AM_I 0x0f #define LSM9DS0_INT_CTRL_M 0x12 #define LSM9DS0_INT_SRC_M 0x13 #define LSM9DS0_INT_THS_L_M 0x14 #define LSM9DS0_INT_THS_H_M 0x15 #define LSM9DS0_OFFSET_X_L_M 0x16 #define LSM9DS0_OFFSET_X_H_M 0x17 #define LSM9DS0_OFFSET_Y_L_M 0x18 #define LSM9DS0_OFFSET_Y_H_M 0x19 #define LSM9DS0_OFFSET_Z_L_M 0x1a #define LSM9DS0_OFFSET_Z_H_M 0x1b #define LSM9DS0_REFERENCE_X 0x1c #define LSM9DS0_REFERENCE_Y 0x1d #define LSM9DS0_REFERENCE_Z 0x1e #define LSM9DS0_CTRL0 0x1f #define LSM9DS0_CTRL1 0x20 #define LSM9DS0_CTRL2 0x21 #define LSM9DS0_CTRL3 0x22 #define LSM9DS0_CTRL4 0x23 #define LSM9DS0_CTRL5 0x24 #define LSM9DS0_CTRL6 0x25 #define LSM9DS0_CTRL7 0x26 #define LSM9DS0_STATUS_A 0x27 #define LSM9DS0_OUT_X_L_A 0x28 #define LSM9DS0_OUT_X_H_A 0x29 #define LSM9DS0_OUT_Y_L_A 0x2a #define LSM9DS0_OUT_Y_H_A 0x2b #define LSM9DS0_OUT_Z_L_A 0x2c #define LSM9DS0_OUT_Z_H_A 0x2d #define LSM9DS0_FIFO_CTRL 0x2e #define LSM9DS0_FIFO_SRC 0x2f #define LSM9DS0_IG_CFG1 0x30 #define LSM9DS0_IG_SRC1 0x31 #define LSM9DS0_IG_THS1 0x32 #define LSM9DS0_IG_DUR1 0x33 #define LSM9DS0_IG_CFG2 0x34 #define LSM9DS0_IG_SRC2 0x35 #define LSM9DS0_IG_THS2 0x36 #define LSM9DS0_IG_DUR2 0x37 #define LSM9DS0_CLICK_CFG 0x38 #define LSM9DS0_CLICK_SRC 0x39 #define LSM9DS0_CLICK_THS 0x3a #define LSM9DS0_TIME_LIMIT 0x3b #define LSM9DS0_TIME_LATENCY 0x3c #define LSM9DS0_TIME_WINDOW 0x3d #define LSM9DS0_ACT_THIS 0x3e #define LSM9DS0_ACT_DUR 0x3f // Accel sample rate defines #define LSM9DS0_ACCEL_SAMPLERATE_3_125 1 #define LSM9DS0_ACCEL_SAMPLERATE_6_25 2 #define LSM9DS0_ACCEL_SAMPLERATE_12_5 3 #define LSM9DS0_ACCEL_SAMPLERATE_25 4 #define LSM9DS0_ACCEL_SAMPLERATE_50 5 #define LSM9DS0_ACCEL_SAMPLERATE_100 6 #define LSM9DS0_ACCEL_SAMPLERATE_200 7 #define LSM9DS0_ACCEL_SAMPLERATE_400 8 #define LSM9DS0_ACCEL_SAMPLERATE_800 9 #define LSM9DS0_ACCEL_SAMPLERATE_1600 10 // Accel FSR #define LSM9DS0_ACCEL_FSR_2 0 #define LSM9DS0_ACCEL_FSR_4 1 #define LSM9DS0_ACCEL_FSR_6 2 #define LSM9DS0_ACCEL_FSR_8 3 #define LSM9DS0_ACCEL_FSR_16 4 // Accel filter bandwidth #define LSM9DS0_ACCEL_LPF_773 0 #define LSM9DS0_ACCEL_LPF_194 1 #define LSM9DS0_ACCEL_LPF_362 2 #define LSM9DS0_ACCEL_LPF_50 3 // Compass sample rate defines #define LSM9DS0_COMPASS_SAMPLERATE_3_125 0 #define LSM9DS0_COMPASS_SAMPLERATE_6_25 1 #define LSM9DS0_COMPASS_SAMPLERATE_12_5 2 #define LSM9DS0_COMPASS_SAMPLERATE_25 3 #define LSM9DS0_COMPASS_SAMPLERATE_50 4 #define LSM9DS0_COMPASS_SAMPLERATE_100 5 // Compass FSR #define LSM9DS0_COMPASS_FSR_2 0 #define LSM9DS0_COMPASS_FSR_4 1 #define LSM9DS0_COMPASS_FSR_8 2 #define LSM9DS0_COMPASS_FSR_12 3 //---------------------------------------------------------- // // LSM9DS1 // I2C Slave Addresses #define LSM9DS1_ADDRESS0 0x6a #define LSM9DS1_ADDRESS1 0x6b #define LSM9DS1_ID 0x68 #define LSM9DS1_MAG_ADDRESS0 0x1c #define LSM9DS1_MAG_ADDRESS1 0x1d #define LSM9DS1_MAG_ADDRESS2 0x1e #define LSM9DS1_MAG_ADDRESS3 0x1f #define LSM9DS1_MAG_ID 0x3d // LSM9DS1 Register map #define LSM9DS1_ACT_THS 0x04 #define LSM9DS1_ACT_DUR 0x05 #define LSM9DS1_INT_GEN_CFG_XL 0x06 #define LSM9DS1_INT_GEN_THS_X_XL 0x07 #define LSM9DS1_INT_GEN_THS_Y_XL 0x08 #define LSM9DS1_INT_GEN_THS_Z_XL 0x09 #define LSM9DS1_INT_GEN_DUR_XL 0x0A #define LSM9DS1_REFERENCE_G 0x0B #define LSM9DS1_INT1_CTRL 0x0C #define LSM9DS1_INT2_CTRL 0x0D #define LSM9DS1_WHO_AM_I 0x0F #define LSM9DS1_CTRL1 0x10 #define LSM9DS1_CTRL2 0x11 #define LSM9DS1_CTRL3 0x12 #define LSM9DS1_ORIENT_CFG_G 0x13 #define LSM9DS1_INT_GEN_SRC_G 0x14 #define LSM9DS1_OUT_TEMP_L 0x15 #define LSM9DS1_OUT_TEMP_H 0x16 #define LSM9DS1_STATUS 0x17 #define LSM9DS1_OUT_X_L_G 0x18 #define LSM9DS1_OUT_X_H_G 0x19 #define LSM9DS1_OUT_Y_L_G 0x1A #define LSM9DS1_OUT_Y_H_G 0x1B #define LSM9DS1_OUT_Z_L_G 0x1C #define LSM9DS1_OUT_Z_H_G 0x1D #define LSM9DS1_CTRL4 0x1E #define LSM9DS1_CTRL5 0x1F #define LSM9DS1_CTRL6 0x20 #define LSM9DS1_CTRL7 0x21 #define LSM9DS1_CTRL8 0x22 #define LSM9DS1_CTRL9 0x23 #define LSM9DS1_CTRL10 0x24 #define LSM9DS1_INT_GEN_SRC_XL 0x26 #define LSM9DS1_STATUS2 0x27 #define LSM9DS1_OUT_X_L_XL 0x28 #define LSM9DS1_OUT_X_H_XL 0x29 #define LSM9DS1_OUT_Y_L_XL 0x2A #define LSM9DS1_OUT_Y_H_XL 0x2B #define LSM9DS1_OUT_Z_L_XL 0x2C #define LSM9DS1_OUT_Z_H_XL 0x2D #define LSM9DS1_FIFO_CTRL 0x2E #define LSM9DS1_FIFO_SRC 0x2F #define LSM9DS1_INT_GEN_CFG_G 0x30 #define LSM9DS1_INT_GEN_THS_XH_G 0x31 #define LSM9DS1_INT_GEN_THS_XL_G 0x32 #define LSM9DS1_INT_GEN_THS_YH_G 0x33 #define LSM9DS1_INT_GEN_THS_YL_G 0x34 #define LSM9DS1_INT_GEN_THS_ZH_G 0x35 #define LSM9DS1_INT_GEN_THS_ZL_G 0x36 #define LSM9DS1_INT_GEN_DUR_G 0x37 // Gyro sample rate defines #define LSM9DS1_GYRO_SAMPLERATE_14_9 0 #define LSM9DS1_GYRO_SAMPLERATE_59_5 1 #define LSM9DS1_GYRO_SAMPLERATE_119 2 #define LSM9DS1_GYRO_SAMPLERATE_238 3 #define LSM9DS1_GYRO_SAMPLERATE_476 4 #define LSM9DS1_GYRO_SAMPLERATE_952 5 // Gyro banwidth defines #define LSM9DS1_GYRO_BANDWIDTH_0 0 #define LSM9DS1_GYRO_BANDWIDTH_1 1 #define LSM9DS1_GYRO_BANDWIDTH_2 2 #define LSM9DS1_GYRO_BANDWIDTH_3 3 // Gyro FSR defines #define LSM9DS1_GYRO_FSR_250 0 #define LSM9DS1_GYRO_FSR_500 1 #define LSM9DS1_GYRO_FSR_2000 3 // Gyro high pass filter defines #define LSM9DS1_GYRO_HPF_0 0 #define LSM9DS1_GYRO_HPF_1 1 #define LSM9DS1_GYRO_HPF_2 2 #define LSM9DS1_GYRO_HPF_3 3 #define LSM9DS1_GYRO_HPF_4 4 #define LSM9DS1_GYRO_HPF_5 5 #define LSM9DS1_GYRO_HPF_6 6 #define LSM9DS1_GYRO_HPF_7 7 #define LSM9DS1_GYRO_HPF_8 8 #define LSM9DS1_GYRO_HPF_9 9 // Mag Register Map #define LSM9DS1_MAG_OFFSET_X_L 0x05 #define LSM9DS1_MAG_OFFSET_X_H 0x06 #define LSM9DS1_MAG_OFFSET_Y_L 0x07 #define LSM9DS1_MAG_OFFSET_Y_H 0x08 #define LSM9DS1_MAG_OFFSET_Z_L 0x09 #define LSM9DS1_MAG_OFFSET_Z_H 0x0A #define LSM9DS1_MAG_WHO_AM_I 0x0F #define LSM9DS1_MAG_CTRL1 0x20 #define LSM9DS1_MAG_CTRL2 0x21 #define LSM9DS1_MAG_CTRL3 0x22 #define LSM9DS1_MAG_CTRL4 0x23 #define LSM9DS1_MAG_CTRL5 0x24 #define LSM9DS1_MAG_STATUS 0x27 #define LSM9DS1_MAG_OUT_X_L 0x28 #define LSM9DS1_MAG_OUT_X_H 0x29 #define LSM9DS1_MAG_OUT_Y_L 0x2A #define LSM9DS1_MAG_OUT_Y_H 0x2B #define LSM9DS1_MAG_OUT_Z_L 0x2C #define LSM9DS1_MAG_OUT_Z_H 0x2D #define LSM9DS1_MAG_INT_CFG 0x30 #define LSM9DS1_MAG_INT_SRC 0x31 #define LSM9DS1_MAG_INT_THS_L 0x32 #define LSM9DS1_MAG_INT_THS_H 0x33 // Accel sample rate defines #define LSM9DS1_ACCEL_SAMPLERATE_14_9 1 #define LSM9DS1_ACCEL_SAMPLERATE_59_5 2 #define LSM9DS1_ACCEL_SAMPLERATE_119 3 #define LSM9DS1_ACCEL_SAMPLERATE_238 4 #define LSM9DS1_ACCEL_SAMPLERATE_476 5 #define LSM9DS1_ACCEL_SAMPLERATE_952 6 // Accel FSR #define LSM9DS1_ACCEL_FSR_2 0 #define LSM9DS1_ACCEL_FSR_16 1 #define LSM9DS1_ACCEL_FSR_4 2 #define LSM9DS1_ACCEL_FSR_8 3 // Accel filter bandwidth #define LSM9DS1_ACCEL_LPF_408 0 #define LSM9DS1_ACCEL_LPF_211 1 #define LSM9DS1_ACCEL_LPF_105 2 #define LSM9DS1_ACCEL_LPF_50 3 // Compass sample rate defines #define LSM9DS1_COMPASS_SAMPLERATE_0_625 0 #define LSM9DS1_COMPASS_SAMPLERATE_1_25 1 #define LSM9DS1_COMPASS_SAMPLERATE_2_5 2 #define LSM9DS1_COMPASS_SAMPLERATE_5 3 #define LSM9DS1_COMPASS_SAMPLERATE_10 4 #define LSM9DS1_COMPASS_SAMPLERATE_20 5 #define LSM9DS1_COMPASS_SAMPLERATE_40 6 #define LSM9DS1_COMPASS_SAMPLERATE_80 7 // Compass FSR #define LSM9DS1_COMPASS_FSR_4 0 #define LSM9DS1_COMPASS_FSR_8 1 #define LSM9DS1_COMPASS_FSR_12 2 #define LSM9DS1_COMPASS_FSR_16 3 //---------------------------------------------------------- // // BMX055 // I2C Slave Addresses #define BMX055_GYRO_ADDRESS0 0x68 #define BMX055_GYRO_ADDRESS1 0x69 #define BMX055_GYRO_ID 0x0f #define BMX055_ACCEL_ADDRESS0 0x18 #define BMX055_ACCEL_ADDRESS1 0x19 #define BMX055_ACCEL_ID 0xfa #define BMX055_MAG_ADDRESS0 0x10 #define BMX055_MAG_ADDRESS1 0x11 #define BMX055_MAG_ADDRESS2 0x12 #define BMX055_MAG_ADDRESS3 0x13 #define BMX055_MAG_ID 0x32 // BMX055 Register map #define BMX055_GYRO_WHO_AM_I 0x00 #define BMX055_GYRO_X_LSB 0x02 #define BMX055_GYRO_X_MSB 0x03 #define BMX055_GYRO_Y_LSB 0x04 #define BMX055_GYRO_Y_MSB 0x05 #define BMX055_GYRO_Z_LSB 0x06 #define BMX055_GYRO_Z_MSB 0x07 #define BMX055_GYRO_INT_STATUS_0 0x09 #define BMX055_GYRO_INT_STATUS_1 0x0a #define BMX055_GYRO_INT_STATUS_2 0x0b #define BMX055_GYRO_INT_STATUS_3 0x0c #define BMX055_GYRO_FIFO_STATUS 0x0e #define BMX055_GYRO_RANGE 0x0f #define BMX055_GYRO_BW 0x10 #define BMX055_GYRO_LPM1 0x11 #define BMX055_GYRO_LPM2 0x12 #define BMX055_GYRO_RATE_HBW 0x13 #define BMX055_GYRO_SOFT_RESET 0x14 #define BMX055_GYRO_INT_EN_0 0x15 #define BMX055_GYRO_1A 0x1a #define BMX055_GYRO_1B 0x1b #define BMX055_GYRO_SOC 0x31 #define BMX055_GYRO_FOC 0x32 #define BMX055_GYRO_FIFO_CONFIG_0 0x3d #define BMX055_GYRO_FIFO_CONFIG_1 0x3e #define BMX055_GYRO_FIFO_DATA 0x3f #define BMX055_ACCEL_WHO_AM_I 0x00 #define BMX055_ACCEL_X_LSB 0x02 #define BMX055_ACCEL_X_MSB 0x03 #define BMX055_ACCEL_Y_LSB 0x04 #define BMX055_ACCEL_Y_MSB 0x05 #define BMX055_ACCEL_Z_LSB 0x06 #define BMX055_ACCEL_Z_MSB 0x07 #define BMX055_ACCEL_TEMP 0x08 #define BMX055_ACCEL_INT_STATUS_0 0x09 #define BMX055_ACCEL_INT_STATUS_1 0x0a #define BMX055_ACCEL_INT_STATUS_2 0x0b #define BMX055_ACCEL_INT_STATUS_3 0x0c #define BMX055_ACCEL_FIFO_STATUS 0x0e #define BMX055_ACCEL_PMU_RANGE 0x0f #define BMX055_ACCEL_PMU_BW 0x10 #define BMX055_ACCEL_PMU_LPW 0x11 #define BMX055_ACCEL_PMU_LOW_POWER 0x12 #define BMX055_ACCEL_HBW 0x13 #define BMX055_ACCEL_SOFT_RESET 0x14 #define BMX055_ACCEL_FIFO_CONFIG_0 0x30 #define BMX055_ACCEL_OFC_CTRL 0x36 #define BMX055_ACCEL_OFC_SETTING 0x37 #define BMX055_ACCEL_FIFO_CONFIG_1 0x3e #define BMX055_ACCEL_FIFO_DATA 0x3f #define BMX055_MAG_WHO_AM_I 0x40 #define BMX055_MAG_X_LSB 0x42 #define BMX055_MAG_X_MSB 0x43 #define BMX055_MAG_Y_LSB 0x44 #define BMX055_MAG_Y_MSB 0x45 #define BMX055_MAG_Z_LSB 0x46 #define BMX055_MAG_Z_MSB 0x47 #define BMX055_MAG_RHALL_LSB 0x48 #define BMX055_MAG_RHALL_MSB 0x49 #define BMX055_MAG_INT_STAT 0x4a #define BMX055_MAG_POWER 0x4b #define BMX055_MAG_MODE 0x4c #define BMX055_MAG_INT_ENABLE 0x4d #define BMX055_MAG_AXIS_ENABLE 0x4e #define BMX055_MAG_REPXY 0x51 #define BMX055_MAG_REPZ 0x52 #define BMX055_MAG_DIG_X1 0x5D #define BMX055_MAG_DIG_Y1 0x5E #define BMX055_MAG_DIG_Z4_LSB 0x62 #define BMX055_MAG_DIG_Z4_MSB 0x63 #define BMX055_MAG_DIG_X2 0x64 #define BMX055_MAG_DIG_Y2 0x65 #define BMX055_MAG_DIG_Z2_LSB 0x68 #define BMX055_MAG_DIG_Z2_MSB 0x69 #define BMX055_MAG_DIG_Z1_LSB 0x6A #define BMX055_MAG_DIG_Z1_MSB 0x6B #define BMX055_MAG_DIG_XYZ1_LSB 0x6C #define BMX055_MAG_DIG_XYZ1_MSB 0x6D #define BMX055_MAG_DIG_Z3_LSB 0x6E #define BMX055_MAG_DIG_Z3_MSB 0x6F #define BMX055_MAG_DIG_XY2 0x70 #define BMX055_MAG_DIG_XY1 0x71 // Gyro sample rate defines #define BMX055_GYRO_SAMPLERATE_100_32 0x07 #define BMX055_GYRO_SAMPLERATE_200_64 0x06 #define BMX055_GYRO_SAMPLERATE_100_12 0x05 #define BMX055_GYRO_SAMPLERATE_200_23 0x04 #define BMX055_GYRO_SAMPLERATE_400_47 0x03 #define BMX055_GYRO_SAMPLERATE_1000_116 0x02 #define BMX055_GYRO_SAMPLERATE_2000_230 0x01 #define BMX055_GYRO_SAMPLERATE_2000_523 0x00 // Gyro FSR defines #define BMX055_GYRO_FSR_2000 0x00 #define BMX055_GYRO_FSR_1000 0x01 #define BMX055_GYRO_FSR_500 0x02 #define BMX055_GYRO_FSR_250 0x03 #define BMX055_GYRO_FSR_125 0x04 // Accel sample rate defines #define BMX055_ACCEL_SAMPLERATE_15 0X00 #define BMX055_ACCEL_SAMPLERATE_31 0X01 #define BMX055_ACCEL_SAMPLERATE_62 0X02 #define BMX055_ACCEL_SAMPLERATE_125 0X03 #define BMX055_ACCEL_SAMPLERATE_250 0X04 #define BMX055_ACCEL_SAMPLERATE_500 0X05 #define BMX055_ACCEL_SAMPLERATE_1000 0X06 #define BMX055_ACCEL_SAMPLERATE_2000 0X07 // Accel FSR defines #define BMX055_ACCEL_FSR_2 0x00 #define BMX055_ACCEL_FSR_4 0x01 #define BMX055_ACCEL_FSR_8 0x02 #define BMX055_ACCEL_FSR_16 0x03 // Mag preset defines #define BMX055_MAG_LOW_POWER 0x00 #define BMX055_MAG_REGULAR 0x01 #define BMX055_MAG_ENHANCED 0x02 #define BMX055_MAG_HIGH_ACCURACY 0x03 //---------------------------------------------------------- // // BNO055 // I2C Slave Addresses #define BNO055_ADDRESS0 0x28 #define BNO055_ADDRESS1 0x29 #define BNO055_ID 0xa0 // Register map #define BNO055_WHO_AM_I 0x00 #define BNO055_PAGE_ID 0x07 #define BNO055_ACCEL_DATA 0x08 #define BNO055_MAG_DATA 0x0e #define BNO055_GYRO_DATA 0x14 #define BNO055_FUSED_EULER 0x1a #define BNO055_FUSED_QUAT 0x20 #define BNO055_UNIT_SEL 0x3b #define BNO055_OPER_MODE 0x3d #define BNO055_PWR_MODE 0x3e #define BNO055_SYS_TRIGGER 0x3f #define BNO055_AXIS_MAP_CONFIG 0x41 #define BNO055_AXIS_MAP_SIGN 0x42 // Operation modes #define BNO055_OPER_MODE_CONFIG 0x00 #define BNO055_OPER_MODE_NDOF 0x0c // Power modes #define BNO055_PWR_MODE_NORMAL 0x00 #endif // _RTIMUDEFS_H