164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran/* 264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran* Copyright (C) 2012 Invensense, Inc. 364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran* 464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran* Licensed under the Apache License, Version 2.0 (the "License"); 564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran* you may not use this file except in compliance with the License. 664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran* You may obtain a copy of the License at 764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran* 864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran* http://www.apache.org/licenses/LICENSE-2.0 964ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran* 1064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran* Unless required by applicable law or agreed to in writing, software 1164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran* distributed under the License is distributed on an "AS IS" BASIS, 1264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 1364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran* See the License for the specific language governing permissions and 1464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran* limitations under the License. 1564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran*/ 1664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran 1764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#ifndef INV_SENSOR_PARAMS_H 1864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define INV_SENSOR_PARAMS_H 1964ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran 2064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran/* Physical parameters of the sensors supported by Invensense MPL */ 2133ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define SENSORS_ROTATION_VECTOR_HANDLE (ID_RV) 2233ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define SENSORS_LINEAR_ACCEL_HANDLE (ID_LA) 2333ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define SENSORS_GRAVITY_HANDLE (ID_GR) 2433ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define SENSORS_GYROSCOPE_HANDLE (ID_GY) 2533ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define SENSORS_RAW_GYROSCOPE_HANDLE (ID_RG) 2633ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define SENSORS_ACCELERATION_HANDLE (ID_A) 2733ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define SENSORS_MAGNETIC_FIELD_HANDLE (ID_M) 2833ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define SENSORS_ORIENTATION_HANDLE (ID_O) 2933ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define SENSORS_SCREEN_ORIENTATION_HANDLE (ID_SO) 3064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran 3164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran/******************************************/ 3233ce91b37062fa63af192f5643de93f3beebe854JP Abgrall//MPU9250 INV_COMPASS 3333ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define COMPASS_MPU9250_RANGE (9830.f) 3433ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define COMPASS_MPU9250_RESOLUTION (0.15f) 3533ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define COMPASS_MPU9250_POWER (10.f) 3633ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define COMPASS_MPU9250_MINDELAY (10000) 3764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//MPU9150 INV_COMPASS 3864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_MPU9150_RANGE (9830.f) 3964ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_MPU9150_RESOLUTION (0.285f) 4064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_MPU9150_POWER (10.f) 4164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_MPU9150_MINDELAY (10000) 4233ce91b37062fa63af192f5643de93f3beebe854JP Abgrall//COMPASS_ID_AK8975 4364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_AKM8975_RANGE (9830.f) 4464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_AKM8975_RESOLUTION (0.285f) 4564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_AKM8975_POWER (10.f) 4664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_AKM8975_MINDELAY (10000) 4733ce91b37062fa63af192f5643de93f3beebe854JP Abgrall//COMPASS_ID_AK8963C 4833ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define COMPASS_AKM8963_RANGE (9830.f) 4933ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define COMPASS_AKM8963_RESOLUTION (0.15f) 5033ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define COMPASS_AKM8963_POWER (10.f) 5133ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define COMPASS_AKM8963_MINDELAY (10000) 5264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//COMPASS_ID_AMI30X 5364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_AMI30X_RANGE (5461.f) 5464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_AMI30X_RESOLUTION (0.9f) 5564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_AMI30X_POWER (0.15f) 5664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//COMPASS_ID_AMI306 5764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_AMI306_RANGE (5461.f) 5864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_AMI306_RESOLUTION (0.9f) 5964ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_AMI306_POWER (0.15f) 6064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_AMI306_MINDELAY (10000) 6164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//COMPASS_ID_YAS529 6264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_YAS529_RANGE (19660.f) 6364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_YAS529_RESOLUTION (0.012f) 6464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_YAS529_POWER (4.f) 658504ee554e5ca7014b3160b1cbeb4506e231338bJP Abgrall//COMPASS_ID_YAS53x 668504ee554e5ca7014b3160b1cbeb4506e231338bJP Abgrall#define COMPASS_YAS53x_RANGE (8001.f) 678504ee554e5ca7014b3160b1cbeb4506e231338bJP Abgrall#define COMPASS_YAS53x_RESOLUTION (0.012f) 688504ee554e5ca7014b3160b1cbeb4506e231338bJP Abgrall#define COMPASS_YAS53x_POWER (4.f) 698504ee554e5ca7014b3160b1cbeb4506e231338bJP Abgrall#define COMPASS_YAS53x_MINDELAY (10000) 7064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//COMPASS_ID_HMC5883 7164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_HMC5883_RANGE (10673.f) 7264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_HMC5883_RESOLUTION (10.f) 7364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_HMC5883_POWER (0.24f) 7464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//COMPASS_ID_LSM303DLH 7564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_LSM303DLH_RANGE (10240.f) 7664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_LSM303DLH_RESOLUTION (1.f) 7764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_LSM303DLH_POWER (1.f) 7864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//COMPASS_ID_LSM303DLM 7964ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_LSM303DLM_RANGE (10240.f) 8064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_LSM303DLM_RESOLUTION (1.f) 8164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_LSM303DLM_POWER (1.f) 8264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//COMPASS_ID_MMC314X 8364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_MMC314X_RANGE (400.f) 8464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_MMC314X_RESOLUTION (2.f) 8564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_MMC314X_POWER (0.55f) 8664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//COMPASS_ID_HSCDTD002B 8764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_HSCDTD002B_RANGE (9830.f) 8864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_HSCDTD002B_RESOLUTION (1.f) 8964ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_HSCDTD002B_POWER (1.f) 9064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//COMPASS_ID_HSCDTD004A 9164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_HSCDTD004A_RANGE (9830.f) 9264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_HSCDTD004A_RESOLUTION (1.f) 9364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define COMPASS_HSCDTD004A_POWER (1.f) 9464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran/*******************************************/ 9533ce91b37062fa63af192f5643de93f3beebe854JP Abgrall//ACCEL_ID_MPU6500 9633ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define ACCEL_MPU6500_RANGE (2.f * GRAVITY_EARTH) 9733ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define ACCEL_MPU6500_RESOLUTION (0.004f * GRAVITY_EARTH) 9833ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define ACCEL_MPU6500_POWER (0.f) 9933ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define ACCEL_MPU6500_MINDELAY (1000) 10033ce91b37062fa63af192f5643de93f3beebe854JP Abgrall//ACCEL_ID_MPU9250 10133ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define ACCEL_MPU9250_RANGE (2.f * GRAVITY_EARTH) 10233ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define ACCEL_MPU9250_RESOLUTION (0.004f * GRAVITY_EARTH) 10333ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define ACCEL_MPU9250_POWER (0.f) 10433ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define ACCEL_MPU9250_MINDELAY (1000) 10564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//ACCEL_ID_MPU9150 10664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_MPU9150_RANGE (2.f * GRAVITY_EARTH) 10764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_MPU9150_RESOLUTION (0.004f * GRAVITY_EARTH) 10864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_MPU9150_POWER (0.f) 10964ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_MPU9150_MINDELAY (1000) 11064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//ACCEL_ID_LIS331 11164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_LIS331_RANGE (2.48f * GRAVITY_EARTH) 11264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_LIS331_RESOLUTION (0.001f * GRAVITY_EARTH) 11364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_LIS331_POWER (1.f) 11464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//ACCEL_ID_LSM303DLX 11564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_LSM303DLX_RANGE (2.48f * GRAVITY_EARTH) 11664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_LSM303DLX_RESOLUTION (0.001f * GRAVITY_EARTH) 11764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_LSM303DLX_POWER (1.f) 11864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//ACCEL_ID_LIS3DH 11964ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_LIS3DH_RANGE (2.48f * GRAVITY_EARTH) 12064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_LIS3DH_RESOLUTION (0.001f * GRAVITY_EARTH) 12164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_LIS3DH_POWER (1.f) 12264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//ACCEL_ID_KXSD9 12364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_KXSD9_RANGE (2.5006f * GRAVITY_EARTH) 12464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_KXSD9_RESOLUTION (0.001f * GRAVITY_EARTH) 12564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_KXSD9_POWER (1.f) 12664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//ACCEL_ID_KXTF9 12764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_KXTF9_RANGE (1.f * GRAVITY_EARTH) 12864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_KXTF9_RESOLUTION (0.033f * GRAVITY_EARTH) 12964ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_KXTF9_POWER (0.35f) 13064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//ACCEL_ID_BMA150 13164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_BMA150_RANGE (2.f * GRAVITY_EARTH) 13264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_BMA150_RESOLUTION (0.004f * GRAVITY_EARTH) 13364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_BMA150_POWER (0.2f) 13464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//ACCEL_ID_BMA222 13564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_BMA222_RANGE (2.f * GRAVITY_EARTH) 13664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_BMA222_RESOLUTION (0.001f * GRAVITY_EARTH) 13764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_BMA222_POWER (0.1f) 13864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//ACCEL_ID_BMA250 13964ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_BMA250_RANGE (2.f * GRAVITY_EARTH) 14064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_BMA250_RESOLUTION (0.00391f * GRAVITY_EARTH) 14164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_BMA250_POWER (0.139f) 14264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_BMA250_MINDELAY (1000) 14364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//ACCEL_ID_ADXL34X 14464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_ADXL34X_RANGE (2.f * GRAVITY_EARTH) 14564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_ADXL34X_RESOLUTION (0.001f * GRAVITY_EARTH) 14664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_ADXL34X_POWER (1.f) 14764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//ACCEL_ID_MMA8450 14864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_MMA8450_RANGE (2.f * GRAVITY_EARTH) 14964ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_MMA8450_RESOLUTION (0.001f * GRAVITY_EARTH) 15064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_MMA8450_POWER (1.0f) 15164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//ACCEL_ID_MMA845X 15264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_MMA845X_RANGE (2.f * GRAVITY_EARTH) 15364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_MMA845X_RESOLUTION (0.001f * GRAVITY_EARTH) 15464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_MMA845X_POWER (1.f) 15564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//ACCEL_ID_MPU6050 15664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_MPU6050_RANGE (2.f * GRAVITY_EARTH) 15764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_MPU6050_RESOLUTION (0.004f * GRAVITY_EARTH) 15864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define ACCEL_MPU6050_POWER (0.f) 159b4065fdea50997dc485ab9a4b16266650c156b36Mark Salyzyn#define ACCEL_MPU6050_MINDELAY (5000) 16064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran/******************************************/ 16164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//GYRO MPU3050 16264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define RAD_P_DEG (3.14159f / 180.f) 16364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define GYRO_MPU3050_RANGE (2000.f * RAD_P_DEG) 16433ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define GYRO_MPU3050_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 16564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define GYRO_MPU3050_POWER (6.1f) 16664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define GYRO_MPU3050_MINDELAY (1000) 16764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//GYRO MPU6050 16864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define GYRO_MPU6050_RANGE (2000.f * RAD_P_DEG) 16933ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define GYRO_MPU6050_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 17064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define GYRO_MPU6050_POWER (5.5f) 171b4065fdea50997dc485ab9a4b16266650c156b36Mark Salyzyn#define GYRO_MPU6050_MINDELAY (5000) 17264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//GYRO MPU9150 17364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define GYRO_MPU9150_RANGE (2000.f * RAD_P_DEG) 17433ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define GYRO_MPU9150_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 17564ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define GYRO_MPU9150_POWER (5.5f) 17664ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define GYRO_MPU9150_MINDELAY (1000) 17733ce91b37062fa63af192f5643de93f3beebe854JP Abgrall//GYRO MPU9250 17833ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define GYRO_MPU9250_RANGE (2000.f * RAD_P_DEG) 17933ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define GYRO_MPU9250_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 18033ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define GYRO_MPU9250_POWER (5.5f) 18133ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define GYRO_MPU9250_MINDELAY (1000) 18233ce91b37062fa63af192f5643de93f3beebe854JP Abgrall//GYRO MPU6500 18333ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define GYRO_MPU6500_RANGE (2000.f * RAD_P_DEG) 18433ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define GYRO_MPU6500_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 18533ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define GYRO_MPU6500_POWER (5.5f) 18633ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define GYRO_MPU6500_MINDELAY (1000) 18764ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran//GYRO ITG3500 18864ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define GYRO_ITG3500_RANGE (2000.f * RAD_P_DEG) 18933ce91b37062fa63af192f5643de93f3beebe854JP Abgrall#define GYRO_ITG3500_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 19064ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define GYRO_ITG3500_POWER (5.5f) 19164ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#define GYRO_ITG3500_MINDELAY (1000) 19264ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran 19364ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran#endif /* INV_SENSOR_PARAMS_H */ 19464ca18f95225d0a86f7ccfd1d21c23971b9f77aeRamanan Rajeswaran 195