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Dependencies: BNO055_fusion RF24_fork mbed
config.h
- Committer:
- mrcrsch
- Date:
- 2017-01-16
- Revision:
- 0:5283bf22044b
- Child:
- 1:03c9c0e3fc70
File content as of revision 0:5283bf22044b:
#ifndef CONFIG_H #define CONFIG_H #include "BNO055.h" //This header contains calibration data #define NodeID 2 #define NumOfTx 2 #define SendDelay 33 // Send Delay in ms #define calibration 0 // 0 -> normal 1-> mag cal 2->accel 3->gyro 4-> y,p,r 5-> refresh Rate //define MCU for bias and pinout #define F042 //#define L052 //#define F103 //Macro for pinout #ifdef F042 #define ledpin PA_10 #define nrf_CE PA_1 #define nrf_CSN PA_4 #define spi_SCK PA_5 #define spi_MOSI PA_7 #define spi_MISO PA_6 #define nrf_irq PA_1 //TODO #define i2c_sda PF_0 #define i2c_scl PF_1 #elif defined L052 #define ledpin PA_8 #define nrf_CE PB_4 #define nrf_CSN PB_3 #define spi_SCK PA_5 #define spi_MOSI PA_7 #define spi_MISO PA_6 #define nrf_irq PA_15 #define i2c_sda PB_7 #define i2c_scl PB_6 #elif defined F103 #define ledpin PA_10 #define nrf_CE PA_9 #define nrf_CSN PA_8 #define spi_SCK PB_13 #define spi_MOSI PB_15 #define spi_MISO PB_14 #define nrf_irq PA_12 #define i2c_sda PB_11 #define i2c_scl PB_10 #endif //Macro for Bias for MPU9250 #if NodeID == 0 //for calibration float magbias[3] = {0, 0, 0}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias float magscale[3] = {1, 1, 1}; float gyroBias[3] = {0,0,0}, accelBias[3] = {0,0,0}; #elif NodeID == 01 float magbias[3] = {230.06, 200.52, -272.84}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias float magscale[3] = {1.06, 1.013, 0.975}; float gyroBias[3] = {0.764127,-0.92574,0.693003}, accelBias[3] = {0.081106,0.00221,0.000569}; // Bias corrections for gyro and accelerometer #elif NodeID == 02 float magbias[3] = {139.309, 268.018, 45.38}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias float magscale[3] = {1.05367, 0.99, 0.963824}; float gyroBias[3] = {2.868652,-3.94802,-16.9032}, accelBias[3] = {0.004451,-0.05648,0.034475}; #elif NodeID == 03 float magbias[3] = {-39.37,159.975,-156.101}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias float magscale[3] = {1.01149, 1.0193, 0.970588}; float gyroBias[3] = {-1.767136968,-1.293883734,-0.089169659}, accelBias[3] = {-0.036429195, -0.062139254, -0.007011032}; #elif NodeID == 04 float magbias[3] = {204.2954, 82.6538, -33.0917}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias float magscale[3] = {1.0079681, 1.020161, 0.973077}; float gyroBias[3] = {0.069701,0.426213,2.010493}, accelBias[3] = {-0.03679,-0.00328,-0.08524}; #elif NodeID == 05 float magbias[3] = {-66.19355, 193.05185, 61.052193}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias float magscale[3] = {1.03841111, 0.989542111, 0.9742611}; float gyroBias[3] = {0.158259,1.049968,0.993654}, accelBias[3] = {-0.02721,0.03663,0.011271}; #elif NodeID == 06 float magbias[3] = {-51.4838, 145.285, -191.774}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias float magscale[3] = {1.049227, 0.99328, 0.971354}; float gyroBias[3] = {-1.08982,0.222767,-0.49911}, accelBias[3] = {-0.01986,0.007156,-0.02797}; #elif NodeID == 07 float magbias[3] = {218.049286, 107.05262, -110.171631}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias float magscale[3] = {1.042177, 0.966667, 1.030303}; float gyroBias[3] = {-2.127218,0.4099984,-0.700637}, accelBias[3] = {-0.0041746,-0.017296524,-0.070773}; #elif NodeID == 11 //racket float magbias[3] = {263.908875, 440.263977, -235.16362}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias float magscale[3] = {1.013227, 0.997396, 0.989664}; float gyroBias[3] = {-1.12645,0.154036,0.416789}, accelBias[3] = {-0.00275,0.030735,-0.13714}; #endif #endif