1 /* 2 * Copyright (C) 2012 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 /* Physical parameters of the sensors supported by Invensense MPL */ 21 #define SENSORS_ROTATION_VECTOR_HANDLE (ID_RV) 22 #define SENSORS_LINEAR_ACCEL_HANDLE (ID_LA) 23 #define SENSORS_GRAVITY_HANDLE (ID_GR) 24 #define SENSORS_GYROSCOPE_HANDLE (ID_GY) 25 #define SENSORS_RAW_GYROSCOPE_HANDLE (ID_RG) 26 #define SENSORS_ACCELERATION_HANDLE (ID_A) 27 #define SENSORS_MAGNETIC_FIELD_HANDLE (ID_M) 28 #define SENSORS_ORIENTATION_HANDLE (ID_O) 29 #define SENSORS_SCREEN_ORIENTATION_HANDLE (ID_SO) 30 31 /******************************************/ 32 //MPU9250 INV_COMPASS 33 #define COMPASS_MPU9250_RANGE (9830.f) 34 #define COMPASS_MPU9250_RESOLUTION (0.15f) 35 #define COMPASS_MPU9250_POWER (10.f) 36 #define COMPASS_MPU9250_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_AMI30X 53 #define COMPASS_AMI30X_RANGE (5461.f) 54 #define COMPASS_AMI30X_RESOLUTION (0.9f) 55 #define COMPASS_AMI30X_POWER (0.15f) 56 //COMPASS_ID_AMI306 57 #define COMPASS_AMI306_RANGE (5461.f) 58 #define COMPASS_AMI306_RESOLUTION (0.9f) 59 #define COMPASS_AMI306_POWER (0.15f) 60 #define COMPASS_AMI306_MINDELAY (10000) 61 //COMPASS_ID_YAS529 62 #define COMPASS_YAS529_RANGE (19660.f) 63 #define COMPASS_YAS529_RESOLUTION (0.012f) 64 #define COMPASS_YAS529_POWER (4.f) 65 //COMPASS_ID_YAS53x 66 #define COMPASS_YAS53x_RANGE (8001.f) 67 #define COMPASS_YAS53x_RESOLUTION (0.012f) 68 #define COMPASS_YAS53x_POWER (4.f) 69 #define COMPASS_YAS53x_MINDELAY (10000) 70 //COMPASS_ID_HMC5883 71 #define COMPASS_HMC5883_RANGE (10673.f) 72 #define COMPASS_HMC5883_RESOLUTION (10.f) 73 #define COMPASS_HMC5883_POWER (0.24f) 74 //COMPASS_ID_LSM303DLH 75 #define COMPASS_LSM303DLH_RANGE (10240.f) 76 #define COMPASS_LSM303DLH_RESOLUTION (1.f) 77 #define COMPASS_LSM303DLH_POWER (1.f) 78 //COMPASS_ID_LSM303DLM 79 #define COMPASS_LSM303DLM_RANGE (10240.f) 80 #define COMPASS_LSM303DLM_RESOLUTION (1.f) 81 #define COMPASS_LSM303DLM_POWER (1.f) 82 //COMPASS_ID_MMC314X 83 #define COMPASS_MMC314X_RANGE (400.f) 84 #define COMPASS_MMC314X_RESOLUTION (2.f) 85 #define COMPASS_MMC314X_POWER (0.55f) 86 //COMPASS_ID_HSCDTD002B 87 #define COMPASS_HSCDTD002B_RANGE (9830.f) 88 #define COMPASS_HSCDTD002B_RESOLUTION (1.f) 89 #define COMPASS_HSCDTD002B_POWER (1.f) 90 //COMPASS_ID_HSCDTD004A 91 #define COMPASS_HSCDTD004A_RANGE (9830.f) 92 #define COMPASS_HSCDTD004A_RESOLUTION (1.f) 93 #define COMPASS_HSCDTD004A_POWER (1.f) 94 /*******************************************/ 95 //ACCEL_ID_MPU6500 96 #define ACCEL_MPU6500_RANGE (2.f * GRAVITY_EARTH) 97 #define ACCEL_MPU6500_RESOLUTION (0.004f * GRAVITY_EARTH) 98 #define ACCEL_MPU6500_POWER (0.f) 99 #define ACCEL_MPU6500_MINDELAY (1000) 100 //ACCEL_ID_MPU9250 101 #define ACCEL_MPU9250_RANGE (2.f * GRAVITY_EARTH) 102 #define ACCEL_MPU9250_RESOLUTION (0.004f * GRAVITY_EARTH) 103 #define ACCEL_MPU9250_POWER (0.f) 104 #define ACCEL_MPU9250_MINDELAY (1000) 105 //ACCEL_ID_MPU9150 106 #define ACCEL_MPU9150_RANGE (2.f * GRAVITY_EARTH) 107 #define ACCEL_MPU9150_RESOLUTION (0.004f * GRAVITY_EARTH) 108 #define ACCEL_MPU9150_POWER (0.f) 109 #define ACCEL_MPU9150_MINDELAY (1000) 110 //ACCEL_ID_LIS331 111 #define ACCEL_LIS331_RANGE (2.48f * GRAVITY_EARTH) 112 #define ACCEL_LIS331_RESOLUTION (0.001f * GRAVITY_EARTH) 113 #define ACCEL_LIS331_POWER (1.f) 114 //ACCEL_ID_LSM303DLX 115 #define ACCEL_LSM303DLX_RANGE (2.48f * GRAVITY_EARTH) 116 #define ACCEL_LSM303DLX_RESOLUTION (0.001f * GRAVITY_EARTH) 117 #define ACCEL_LSM303DLX_POWER (1.f) 118 //ACCEL_ID_LIS3DH 119 #define ACCEL_LIS3DH_RANGE (2.48f * GRAVITY_EARTH) 120 #define ACCEL_LIS3DH_RESOLUTION (0.001f * GRAVITY_EARTH) 121 #define ACCEL_LIS3DH_POWER (1.f) 122 //ACCEL_ID_KXSD9 123 #define ACCEL_KXSD9_RANGE (2.5006f * GRAVITY_EARTH) 124 #define ACCEL_KXSD9_RESOLUTION (0.001f * GRAVITY_EARTH) 125 #define ACCEL_KXSD9_POWER (1.f) 126 //ACCEL_ID_KXTF9 127 #define ACCEL_KXTF9_RANGE (1.f * GRAVITY_EARTH) 128 #define ACCEL_KXTF9_RESOLUTION (0.033f * GRAVITY_EARTH) 129 #define ACCEL_KXTF9_POWER (0.35f) 130 //ACCEL_ID_BMA150 131 #define ACCEL_BMA150_RANGE (2.f * GRAVITY_EARTH) 132 #define ACCEL_BMA150_RESOLUTION (0.004f * GRAVITY_EARTH) 133 #define ACCEL_BMA150_POWER (0.2f) 134 //ACCEL_ID_BMA222 135 #define ACCEL_BMA222_RANGE (2.f * GRAVITY_EARTH) 136 #define ACCEL_BMA222_RESOLUTION (0.001f * GRAVITY_EARTH) 137 #define ACCEL_BMA222_POWER (0.1f) 138 //ACCEL_ID_BMA250 139 #define ACCEL_BMA250_RANGE (2.f * GRAVITY_EARTH) 140 #define ACCEL_BMA250_RESOLUTION (0.00391f * GRAVITY_EARTH) 141 #define ACCEL_BMA250_POWER (0.139f) 142 #define ACCEL_BMA250_MINDELAY (1000) 143 //ACCEL_ID_ADXL34X 144 #define ACCEL_ADXL34X_RANGE (2.f * GRAVITY_EARTH) 145 #define ACCEL_ADXL34X_RESOLUTION (0.001f * GRAVITY_EARTH) 146 #define ACCEL_ADXL34X_POWER (1.f) 147 //ACCEL_ID_MMA8450 148 #define ACCEL_MMA8450_RANGE (2.f * GRAVITY_EARTH) 149 #define ACCEL_MMA8450_RESOLUTION (0.001f * GRAVITY_EARTH) 150 #define ACCEL_MMA8450_POWER (1.0f) 151 //ACCEL_ID_MMA845X 152 #define ACCEL_MMA845X_RANGE (2.f * GRAVITY_EARTH) 153 #define ACCEL_MMA845X_RESOLUTION (0.001f * GRAVITY_EARTH) 154 #define ACCEL_MMA845X_POWER (1.f) 155 //ACCEL_ID_MPU6050 156 #define ACCEL_MPU6050_RANGE (2.f * GRAVITY_EARTH) 157 #define ACCEL_MPU6050_RESOLUTION (0.004f * GRAVITY_EARTH) 158 #define ACCEL_MPU6050_POWER (0.f) 159 #define ACCEL_MPU6050_MINDELAY (5000) 160 /******************************************/ 161 //GYRO MPU3050 162 #define RAD_P_DEG (3.14159f / 180.f) 163 #define GYRO_MPU3050_RANGE (2000.f * RAD_P_DEG) 164 #define GYRO_MPU3050_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 165 #define GYRO_MPU3050_POWER (6.1f) 166 #define GYRO_MPU3050_MINDELAY (1000) 167 //GYRO MPU6050 168 #define GYRO_MPU6050_RANGE (2000.f * RAD_P_DEG) 169 #define GYRO_MPU6050_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 170 #define GYRO_MPU6050_POWER (5.5f) 171 #define GYRO_MPU6050_MINDELAY (5000) 172 //GYRO MPU9150 173 #define GYRO_MPU9150_RANGE (2000.f * RAD_P_DEG) 174 #define GYRO_MPU9150_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 175 #define GYRO_MPU9150_POWER (5.5f) 176 #define GYRO_MPU9150_MINDELAY (1000) 177 //GYRO MPU9250 178 #define GYRO_MPU9250_RANGE (2000.f * RAD_P_DEG) 179 #define GYRO_MPU9250_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 180 #define GYRO_MPU9250_POWER (5.5f) 181 #define GYRO_MPU9250_MINDELAY (1000) 182 //GYRO MPU6500 183 #define GYRO_MPU6500_RANGE (2000.f * RAD_P_DEG) 184 #define GYRO_MPU6500_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 185 #define GYRO_MPU6500_POWER (5.5f) 186 #define GYRO_MPU6500_MINDELAY (1000) 187 //GYRO ITG3500 188 #define GYRO_ITG3500_RANGE (2000.f * RAD_P_DEG) 189 #define GYRO_ITG3500_RESOLUTION (2000.f / 32768.f * RAD_P_DEG) 190 #define GYRO_ITG3500_POWER (5.5f) 191 #define GYRO_ITG3500_MINDELAY (1000) 192 193 #endif /* INV_SENSOR_PARAMS_H */ 194 195