1 /* 2 * Copyright (C) 2014 Invensense, Inc. 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 #ifndef INV_SENSOR_PARAMS_H 18 #define INV_SENSOR_PARAMS_H 19 20 /******************************************/ 21 /******************************************/ 22 //MPU9350 INV_COMPASS 23 #define COMPASS_MPU9350_RANGE (9830.f) 24 #define COMPASS_MPU9350_RESOLUTION (0.15f) 25 #define COMPASS_MPU9350_POWER (10.f) 26 #define COMPASS_MPU9350_MINDELAY (1000) 27 //MPU9250 INV_COMPASS 28 #define COMPASS_MPU9250_RANGE (9830.f) 29 #define COMPASS_MPU9250_RESOLUTION (0.15f) 30 #define COMPASS_MPU9250_POWER (10.f) 31 #define COMPASS_MPU9250_MINDELAY (10000) 32 //MPU9255 INV_COMPASS 33 #define COMPASS_MPU9255_RANGE (9830.f) 34 #define COMPASS_MPU9255_RESOLUTION (0.15f) 35 #define COMPASS_MPU9255_POWER (10.f) 36 #define COMPASS_MPU9255_MINDELAY (10000) 37 //MPU9150 INV_COMPASS 38 #define COMPASS_MPU9150_RANGE (9830.f) 39 #define COMPASS_MPU9150_RESOLUTION (0.285f) 40 #define COMPASS_MPU9150_POWER (10.f) 41 #define COMPASS_MPU9150_MINDELAY (10000) 42 //COMPASS_ID_AK8975 43 #define COMPASS_AKM8975_RANGE (9830.f) 44 #define COMPASS_AKM8975_RESOLUTION (0.285f) 45 #define COMPASS_AKM8975_POWER (10.f) 46 #define COMPASS_AKM8975_MINDELAY (10000) 47 //COMPASS_ID_AK8963C 48 #define COMPASS_AKM8963_RANGE (9830.f) 49 #define COMPASS_AKM8963_RESOLUTION (0.15f) 50 #define COMPASS_AKM8963_POWER (10.f) 51 #define COMPASS_AKM8963_MINDELAY (10000) 52 //COMPASS_ID_AK09911 53 #define COMPASS_AKM9911_RANGE (9830.f) 54 #define COMPASS_AKM9911_RESOLUTION (0.60f) 55 #define COMPASS_AKM9911_POWER (10.f) 56 #define COMPASS_AKM9911_MINDELAY (10000) 57 //COMPASS_ID_AK09912C 58 #define COMPASS_AKM9912_RANGE (9830.f) 59 #define COMPASS_AKM9912_RESOLUTION (0.15f) 60 #define COMPASS_AKM9912_POWER (10.f) 61 #define COMPASS_AKM9912_MINDELAY (10000) 62 //COMPASS_ID_AMI30X 63 #define COMPASS_AMI30X_RANGE (5461.f) 64 #define COMPASS_AMI30X_RESOLUTION (0.9f) 65 #define COMPASS_AMI30X_POWER (0.15f) 66 //COMPASS_ID_AMI306 67 #define COMPASS_AMI306_RANGE (5461.f) 68 #define COMPASS_AMI306_RESOLUTION (0.9f) 69 #define COMPASS_AMI306_POWER (0.15f) 70 #define COMPASS_AMI306_MINDELAY (10000) 71 //COMPASS_ID_YAS529 72 #define COMPASS_YAS529_RANGE (19660.f) 73 #define COMPASS_YAS529_RESOLUTION (0.012f) 74 #define COMPASS_YAS529_POWER (4.f) 75 //COMPASS_ID_YAS53x 76 #define COMPASS_YAS53x_RANGE (8001.f) 77 #define COMPASS_YAS53x_RESOLUTION (0.012f) 78 #define COMPASS_YAS53x_POWER (4.f) 79 #define COMPASS_YAS53x_MINDELAY (10000) 80 //COMPASS_ID_HMC5883 81 #define COMPASS_HMC5883_RANGE (10673.f) 82 #define COMPASS_HMC5883_RESOLUTION (10.f) 83 #define COMPASS_HMC5883_POWER (0.24f) 84 //COMPASS_ID_LSM303DLH 85 #define COMPASS_LSM303DLH_RANGE (10240.f) 86 #define COMPASS_LSM303DLH_RESOLUTION (1.f) 87 #define COMPASS_LSM303DLH_POWER (1.f) 88 //COMPASS_ID_LSM303DLM 89 #define COMPASS_LSM303DLM_RANGE (10240.f) 90 #define COMPASS_LSM303DLM_RESOLUTION (1.f) 91 #define COMPASS_LSM303DLM_POWER (1.f) 92 //COMPASS_ID_MMC314X 93 #define COMPASS_MMC314X_RANGE (400.f) 94 #define COMPASS_MMC314X_RESOLUTION (2.f) 95 #define COMPASS_MMC314X_POWER (0.55f) 96 //COMPASS_ID_HSCDTD002B 97 #define COMPASS_HSCDTD002B_RANGE (9830.f) 98 #define COMPASS_HSCDTD002B_RESOLUTION (1.f) 99 #define COMPASS_HSCDTD002B_POWER (1.f) 100 //COMPASS_ID_HSCDTD004A 101 #define COMPASS_HSCDTD004A_RANGE (9830.f) 102 #define COMPASS_HSCDTD004A_RESOLUTION (1.f) 103 #define COMPASS_HSCDTD004A_POWER (1.f) 104 /*******************************************/ 105 //ACCEL_ID_MPU6500 106 #define ACCEL_MPU6500_RANGE (2.f * GRAVITY_EARTH) 107 #define ACCEL_MPU6500_RESOLUTION (0.004f * GRAVITY_EARTH) 108 #define ACCEL_MPU6500_POWER (0.5f) 109 #define ACCEL_MPU6500_MINDELAY (5000) 110 //ACCEL_ID_MPU9350 111 #define ACCEL_MPU9350_RANGE (2.f * GRAVITY_EARTH) 112 #define ACCEL_MPU9350_RESOLUTION (0.004f * GRAVITY_EARTH) 113 #define ACCEL_MPU9350_POWER (0.5f) 114 #define ACCEL_MPU9350_MINDELAY (1000) 115 //ACCEL_ID_MPU9250 116 #define ACCEL_MPU9250_RANGE (2.f * GRAVITY_EARTH) 117 #define ACCEL_MPU9250_RESOLUTION (0.004f * GRAVITY_EARTH) 118 #define ACCEL_MPU9250_POWER (0.5f) 119 #define ACCEL_MPU9250_MINDELAY (5000) 120 //ACCEL_ID_MPU9255 121 #define ACCEL_MPU9255_RANGE (2.f * GRAVITY_EARTH) 122 #define ACCEL_MPU9255_RESOLUTION (0.004f * GRAVITY_EARTH) 123 #define ACCEL_MPU9255_POWER (0.5f) 124 #define ACCEL_MPU9255_MINDELAY (5000) 125 //ACCEL_ID_MPU9150 126 #define ACCEL_MPU9150_RANGE (2.f * GRAVITY_EARTH) 127 #define ACCEL_MPU9150_RESOLUTION (0.004f * GRAVITY_EARTH) 128 #define ACCEL_MPU9150_POWER (0.5f) 129 #define ACCEL_MPU9150_MINDELAY (1000) 130 //ACCEL_ID_LIS331 131 #define ACCEL_LIS331_RANGE (2.48f * GRAVITY_EARTH) 132 #define ACCEL_LIS331_RESOLUTION (0.001f * GRAVITY_EARTH) 133 #define ACCEL_LIS331_POWER (1.f) 134 //ACCEL_ID_LSM303DLX 135 #define ACCEL_LSM303DLX_RANGE (2.48f * GRAVITY_EARTH) 136 #define ACCEL_LSM303DLX_RESOLUTION (0.001f * GRAVITY_EARTH) 137 #define ACCEL_LSM303DLX_POWER (1.f) 138 //ACCEL_ID_LIS3DH 139 #define ACCEL_LIS3DH_RANGE (2.48f * GRAVITY_EARTH) 140 #define ACCEL_LIS3DH_RESOLUTION (0.001f * GRAVITY_EARTH) 141 #define ACCEL_LIS3DH_POWER (1.f) 142 //ACCEL_ID_KXSD9 143 #define ACCEL_KXSD9_RANGE (2.5006f * GRAVITY_EARTH) 144 #define ACCEL_KXSD9_RESOLUTION (0.001f * GRAVITY_EARTH) 145 #define ACCEL_KXSD9_POWER (1.f) 146 //ACCEL_ID_KXTF9 147 #define ACCEL_KXTF9_RANGE (1.f * GRAVITY_EARTH) 148 #define ACCEL_KXTF9_RESOLUTION (0.033f * GRAVITY_EARTH) 149 #define ACCEL_KXTF9_POWER (0.35f) 150 //ACCEL_ID_BMA150 151 #define ACCEL_BMA150_RANGE (2.f * GRAVITY_EARTH) 152 #define ACCEL_BMA150_RESOLUTION (0.004f * GRAVITY_EARTH) 153 #define ACCEL_BMA150_POWER (0.2f) 154 //ACCEL_ID_BMA222 155 #define ACCEL_BMA222_RANGE (2.f * GRAVITY_EARTH) 156 #define ACCEL_BMA222_RESOLUTION (0.001f * GRAVITY_EARTH) 157 #define ACCEL_BMA222_POWER (0.1f) 158 //ACCEL_ID_BMA250 159 #define ACCEL_BMA250_RANGE (2.f * GRAVITY_EARTH) 160 #define ACCEL_BMA250_RESOLUTION (0.00391f * GRAVITY_EARTH) 161 #define ACCEL_BMA250_POWER (0.139f) 162 #define ACCEL_BMA250_MINDELAY (1000) 163 //ACCEL_ID_ADXL34X 164 #define ACCEL_ADXL34X_RANGE (2.f * GRAVITY_EARTH) 165 #define ACCEL_ADXL34X_RESOLUTION (0.001f * GRAVITY_EARTH) 166 #define ACCEL_ADXL34X_POWER (1.f) 167 //ACCEL_ID_MMA8450 168 #define ACCEL_MMA8450_RANGE (2.f * GRAVITY_EARTH) 169 #define ACCEL_MMA8450_RESOLUTION (0.001f * GRAVITY_EARTH) 170 #define ACCEL_MMA8450_POWER (1.0f) 171 //ACCEL_ID_MMA845X 172 #define ACCEL_MMA845X_RANGE (2.f * GRAVITY_EARTH) 173 #define ACCEL_MMA845X_RESOLUTION (0.001f * GRAVITY_EARTH) 174 #define ACCEL_MMA845X_POWER (1.f) 175 //ACCEL_ID_MPU6050 176 #define ACCEL_MPU6050_RANGE (2.f * GRAVITY_EARTH) 177 #define ACCEL_MPU6050_RESOLUTION (0.004f * GRAVITY_EARTH) 178 #define ACCEL_MPU6050_POWER (5.5f) 179 #define ACCEL_MPU6050_MINDELAY (1000) 180 /******************************************/ 181 //GYRO MPU3050 182 #define RAD_P_DEG (3.14159f / 180.f) 183 #define GYRO_MPU3050_RANGE (2000.f * RAD_P_DEG) 184 #define GYRO_MPU3050_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 185 #define GYRO_MPU3050_POWER (6.1f) 186 #define GYRO_MPU3050_MINDELAY (1000) 187 //GYRO MPU6050 188 #define GYRO_MPU6050_RANGE (2000.f * RAD_P_DEG) 189 #define GYRO_MPU6050_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 190 #define GYRO_MPU6050_POWER (5.5f) 191 #define GYRO_MPU6050_MINDELAY (1000) 192 //GYRO MPU9150 193 #define GYRO_MPU9150_RANGE (2000.f * RAD_P_DEG) 194 #define GYRO_MPU9150_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 195 #define GYRO_MPU9150_POWER (5.5f) 196 #define GYRO_MPU9150_MINDELAY (1000) 197 //GYRO MPU9350 198 #define GYRO_MPU9350_RANGE (2000.f * RAD_P_DEG) 199 #define GYRO_MPU9350_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 200 #define GYRO_MPU9350_POWER (5.5f) 201 #define GYRO_MPU9350_MINDELAY (1000) 202 //GYRO MPU9250 203 #define GYRO_MPU9250_RANGE (2000.f * RAD_P_DEG) 204 #define GYRO_MPU9250_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 205 #define GYRO_MPU9250_POWER (5.5f) 206 #define GYRO_MPU9250_MINDELAY (5000) 207 //GYRO MPU9255 208 #define GYRO_MPU9255_RANGE (2000.f * RAD_P_DEG) 209 #define GYRO_MPU9255_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 210 #define GYRO_MPU9255_POWER (5.5f) 211 #define GYRO_MPU9255_MINDELAY (5000) 212 //GYRO MPU6500 213 #define GYRO_MPU6500_RANGE (2000.f * RAD_P_DEG) 214 #define GYRO_MPU6500_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 215 #define GYRO_MPU6500_POWER (5.5f) 216 #define GYRO_MPU6500_MINDELAY (5000) 217 //GYRO ITG3500 218 #define GYRO_ITG3500_RANGE (2000.f * RAD_P_DEG) 219 #define GYRO_ITG3500_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 220 #define GYRO_ITG3500_POWER (5.5f) 221 #define GYRO_ITG3500_MINDELAY (1000) 222 /******************************************/ 223 //PRESSURE BMP280 224 #define PRESSURE_BMP280_RANGE (1100.f) // hpa 225 #define PRESSURE_BMP280_RESOLUTION (0.009995f)// in psi 226 #define PRESSURE_BMP280_POWER (0.004f) // 0.004mA 227 #define PRESSURE_BMP280_MINDELAY (33333) // 30Hz unit in ns 228 #endif /* INV_SENSOR_PARAMS_H */ 229 230