1895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall/* 2895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * Copyright (C) 2011 Invensense, Inc. 3895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * 4895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * Licensed under the Apache License, Version 2.0 (the "License"); 5895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * you may not use this file except in compliance with the License. 6895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * You may obtain a copy of the License at 7895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * 8895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * http://www.apache.org/licenses/LICENSE-2.0 9895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * 10895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * Unless required by applicable law or agreed to in writing, software 11895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * distributed under the License is distributed on an "AS IS" BASIS, 12895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * See the License for the specific language governing permissions and 14895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * limitations under the License. 15895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall */ 16895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 17895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#ifndef INV_SENSOR_PARAMS_H 18895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define INV_SENSOR_PARAMS_H 19895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 20895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall/* Physical parameters of the sensors supported by Invensense MPL */ 21895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define SENSORS_ROTATION_VECTOR_HANDLE (ID_RV) 22895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define SENSORS_LINEAR_ACCEL_HANDLE (ID_LA) 23895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define SENSORS_GRAVITY_HANDLE (ID_GR) 24895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define SENSORS_GYROSCOPE_HANDLE (ID_GY) 25895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define SENSORS_ACCELERATION_HANDLE (ID_A) 26895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define SENSORS_MAGNETIC_FIELD_HANDLE (ID_M) 27895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define SENSORS_ORIENTATION_HANDLE (ID_O) 28895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall/******************************************/ 29895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//COMPASS_ID_AKM 30895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_AKM8975_RANGE (9830.0f) 31895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_AKM8975_RESOLUTION (0.285f) 32895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_AKM8975_POWER (10.0f) 33895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//COMPASS_ID_AMI30X 34895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_AMI30X_RANGE (5461.0f) 35895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_AMI30X_RESOLUTION (0.9f) 36895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_AMI30X_POWER (0.15f) 37895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//COMPASS_ID_AMI306 38895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_AMI306_RANGE (5461.0f) 39895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_AMI306_RESOLUTION (0.9f) 40895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_AMI306_POWER (0.15f) 41895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//COMPASS_ID_YAS529 42895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_YAS529_RANGE (19660.0f) 43895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_YAS529_RESOLUTION (0.012f) 44895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_YAS529_POWER (4.0f) 45895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//COMPASS_ID_YAS530 46895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_YAS530_RANGE (8001.0f) 47895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_YAS530_RESOLUTION (0.012f) 48895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_YAS530_POWER (4.0f) 49895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//COMPASS_ID_HMC5883 50895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_HMC5883_RANGE (10673.0f) 51895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_HMC5883_RESOLUTION (10.0f) 52895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_HMC5883_POWER (0.24f) 53895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//COMPASS_ID_LSM303DLH 54895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_LSM303DLH_RANGE (10240.0f) 55895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_LSM303DLH_RESOLUTION (1.0f) 56895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_LSM303DLH_POWER (1.0f) 57895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//COMPASS_ID_LSM303DLM 58895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_LSM303DLM_RANGE (10240.0f) 59895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_LSM303DLM_RESOLUTION (1.0f) 60895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_LSM303DLM_POWER (1.0f) 61895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//COMPASS_ID_MMC314X 62895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_MMC314X_RANGE (400.0f) 63895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_MMC314X_RESOLUTION (2.0f) 64895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_MMC314X_POWER (0.55f) 65895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//COMPASS_ID_HSCDTD002B 66895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_HSCDTD002B_RANGE (9830.0f) 67895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_HSCDTD002B_RESOLUTION (1.0f) 68895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_HSCDTD002B_POWER (1.0f) 69895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//COMPASS_ID_HSCDTD004A 70895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_HSCDTD004A_RANGE (9830.0f) 71895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_HSCDTD004A_RESOLUTION (1.0f) 72895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define COMPASS_HSCDTD004A_POWER (1.0f) 73895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall/*******************************************/ 74895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//ACCEL_ID_LIS331 75895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_LIS331_RANGE (2.480f*GRAVITY_EARTH) 76895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_LIS331_RESOLUTION (.001f*GRAVITY_EARTH) 77895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_LIS331_POWER (1.0f) 78895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//ACCEL_ID_LSM303DLX 79895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_LSM303DLX_RANGE (2.480f*GRAVITY_EARTH) 80895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_LSM303DLX_RESOLUTION (0.001f*GRAVITY_EARTH) 81895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_LSM303DLX_POWER (1.0f) 82895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//ACCEL_ID_LIS3DH 83895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_LIS3DH_RANGE (2.480f*GRAVITY_EARTH) 84895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_LIS3DH_RESOLUTION (0.001f*GRAVITY_EARTH) 85895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_LIS3DH_POWER (1.0f) 86895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//ACCEL_ID_KXSD9 87895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_KXSD9_RANGE (2.5006f*GRAVITY_EARTH) 88895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_KXSD9_RESOLUTION (0.001f*GRAVITY_EARTH) 89895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_KXSD9_POWER (1.0f) 90895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//ACCEL_ID_KXTF9 91895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_KXTF9_RANGE (1.0f*GRAVITY_EARTH) 92895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_KXTF9_RESOLUTION (0.033f*GRAVITY_EARTH) 93895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_KXTF9_POWER (0.35f) 94895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//ACCEL_ID_BMA150 95895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_BMA150_RANGE (2.0f*GRAVITY_EARTH) 96895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_BMA150_RESOLUTION (0.004f*GRAVITY_EARTH) 97895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_BMA150_POWER (0.2f) 98895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//ACCEL_ID_BMA222 99895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_BMA222_RANGE (2.0f*GRAVITY_EARTH) 100895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_BMA222_RESOLUTION (0.001f*GRAVITY_EARTH) 101895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_BMA222_POWER (0.1f) 102895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//ACCEL_ID_BMA250 103895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_BMA250_RANGE (2.0f*GRAVITY_EARTH) 104895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_BMA250_RESOLUTION (0.00391f*GRAVITY_EARTH) 105895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_BMA250_POWER (0.139f) 106895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//ACCEL_ID_ADXL34X 107895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_ADXL34X_RANGE (2.0f*GRAVITY_EARTH) 108895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_ADXL34X_RESOLUTION (0.001f*GRAVITY_EARTH) 109895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_ADXL34X_POWER (1.0f) 110895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//ACCEL_ID_MMA8450 111895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_MMA8450_RANGE (2.0f*GRAVITY_EARTH) 112895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_MMA8450_RESOLUTION (0.001f*GRAVITY_EARTH) 113895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_MMA8450_POWER (1.0f) 114895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//ACCEL_ID_MMA845X 115895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_MMA845X_RANGE (2.0f*GRAVITY_EARTH) 116895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_MMA845X_RESOLUTION (0.001f*GRAVITY_EARTH) 117895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_MMA845X_POWER (1.0f) 118895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//ACCEL_ID_MPU6050 119895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_MPU6050_RANGE (2.0f*GRAVITY_EARTH) 120895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_MPU6050_RESOLUTION (0.004f*GRAVITY_EARTH) 121895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define ACCEL_MPU6050_POWER (0.0f) 122895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall/******************************************/ 123895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//GYRO MPU3050 124895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define RAD_P_DEG (3.14159f/180.0f) 125895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define GYRO_MPU3050_RANGE (2000.0f*RAD_P_DEG) 126895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define GYRO_MPU3050_RESOLUTION (32.8f*RAD_P_DEG) 127895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define GYRO_MPU3050_POWER (6.1f) 128895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall//GYRO MPU6050 129895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define GYRO_MPU6050_RANGE (2000.0f*RAD_P_DEG) 130895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define GYRO_MPU6050_RESOLUTION (16.4f*RAD_P_DEG) 131895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define GYRO_MPU6050_POWER (5.5f) 132895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 133895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#endif 134895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 135