Oscar Liao / Mbed 2 deprecated CHICAGO_balance_test_PID_copy

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Dependencies:   mbed

LSM9DS0_SH.h@1:15dd461fbc2a, 2018-12-21 (annotated)

Committer:
OscarLiao
Date:
Fri Dec 21 06:27:26 2018 +0000
Revision:
1:15dd461fbc2a
Parent:
0:94cf69f1f327 
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OscarLiao 0:94cf69f1f327 1 #ifndef LSM9DS0_SH_H
OscarLiao 0:94cf69f1f327 2 #define LSM9DS0_SH_H
OscarLiao 0:94cf69f1f327 3
OscarLiao 0:94cf69f1f327 4 #include "mbed.h"
OscarLiao 0:94cf69f1f327 5
OscarLiao 0:94cf69f1f327 6 // Personality of IMU //
OscarLiao 0:94cf69f1f327 7 #define Gpx 3.068e-4f //1.526e-2 * d2r = 2.663e-4f
OscarLiao 0:94cf69f1f327 8 #define Gpy 3.064e-4f //1.526e-2 * d2r = 2.663e-4f
OscarLiao 0:94cf69f1f327 9 #define Gpz 2.994e-4f //1.526e-2 * d2r = 2.663e-4f
OscarLiao 0:94cf69f1f327 10 //#define Gdx -0.0099f //initial nutraulize
OscarLiao 0:94cf69f1f327 11 //#define Gdy 0.0168f
OscarLiao 0:94cf69f1f327 12 //#define Gdz 0.0210f
OscarLiao 0:94cf69f1f327 13
OscarLiao 0:94cf69f1f327 14 #define Apx -1.239e-4f //one for G
OscarLiao 0:94cf69f1f327 15 #define Apy -1.234e-4f
OscarLiao 0:94cf69f1f327 16 #define Apz -1.236e-4f
OscarLiao 0:94cf69f1f327 17 //#define Adx -0.1460f
OscarLiao 0:94cf69f1f327 18 //#define Ady -0.0695f
OscarLiao 0:94cf69f1f327 19 //#define Adz -0.0228f
OscarLiao 0:94cf69f1f327 20
OscarLiao 0:94cf69f1f327 21 // LSM9DS0 Gyro Registers //
OscarLiao 0:94cf69f1f327 22 #define WHO_AM_I_G 0x0F //r //WHO_G
OscarLiao 0:94cf69f1f327 23 #define CTRL_REG1_G 0x20 //rw //GYRO Data-rate/LPF/Enable
OscarLiao 0:94cf69f1f327 24 #define CTRL_REG2_G 0x21 //rw
OscarLiao 0:94cf69f1f327 25 #define CTRL_REG3_G 0x22 //rw
OscarLiao 0:94cf69f1f327 26 #define CTRL_REG4_G 0x23 //rw //GYRO Scale
OscarLiao 0:94cf69f1f327 27 #define CTRL_REG5_G 0x24 //rw
OscarLiao 0:94cf69f1f327 28 #define REFERENCE_G 0x25 //rw
OscarLiao 0:94cf69f1f327 29 #define STATUS_REG_G 0x27 //r
OscarLiao 0:94cf69f1f327 30 #define OUT_X_L_G 0x28 //r //GYRO Data
OscarLiao 0:94cf69f1f327 31 #define OUT_X_H_G 0x29 //r //GYRO Data
OscarLiao 0:94cf69f1f327 32 #define OUT_Y_L_G 0x2A //r //GYRO Data
OscarLiao 0:94cf69f1f327 33 #define OUT_Y_H_G 0x2B //r //GYRO Data
OscarLiao 0:94cf69f1f327 34 #define OUT_Z_L_G 0x2C //r //GYRO Data
OscarLiao 0:94cf69f1f327 35 #define OUT_Z_H_G 0x2D //r //GYRO Data
OscarLiao 0:94cf69f1f327 36
OscarLiao 0:94cf69f1f327 37 // LSM9DS0 Accel/Magneto (XM) Registers //
OscarLiao 0:94cf69f1f327 38 #define OUT_TEMP_L_XM 0x05 //r //TEMP Data
OscarLiao 0:94cf69f1f327 39 #define OUT_TEMP_H_XM 0x06 //r //TEMP Data
OscarLiao 0:94cf69f1f327 40 #define STATUS_REG_M 0x07 //r
OscarLiao 0:94cf69f1f327 41 #define OUT_X_L_M 0x08 //r //MAG Data
OscarLiao 0:94cf69f1f327 42 #define OUT_X_H_M 0x09 //r //MAG Data
OscarLiao 0:94cf69f1f327 43 #define OUT_Y_L_M 0x0A //r //MAG Data
OscarLiao 0:94cf69f1f327 44 #define OUT_Y_H_M 0x0B //r //MAG Data
OscarLiao 0:94cf69f1f327 45 #define OUT_Z_L_M 0x0C //r //MAG Data
OscarLiao 0:94cf69f1f327 46 #define OUT_Z_H_M 0x0D //r //MAG Data
OscarLiao 0:94cf69f1f327 47 #define WHO_AM_I_XM 0x0F //r //WHO_XM
OscarLiao 0:94cf69f1f327 48 #define OFFSET_X_L_M 0x16 //rw //MAG Data_Offset
OscarLiao 0:94cf69f1f327 49 #define OFFSET_X_H_M 0x17 //rw //MAG Data_Offset
OscarLiao 0:94cf69f1f327 50 #define OFFSET_Y_L_M 0x18 //rw //MAG Data_Offset
OscarLiao 0:94cf69f1f327 51 #define OFFSET_Y_H_M 0x19 //rw //MAG Data_Offset
OscarLiao 0:94cf69f1f327 52 #define OFFSET_Z_L_M 0x1A //rw //MAG Data_Offset
OscarLiao 0:94cf69f1f327 53 #define OFFSET_Z_H_M 0x1B //rw //MAG Data_Offset
OscarLiao 0:94cf69f1f327 54 #define CTRL_REG0_XM 0x1F //rw
OscarLiao 0:94cf69f1f327 55 #define CTRL_REG1_XM 0x20 //rw //ACC Data-rate/Enable
OscarLiao 0:94cf69f1f327 56 #define CTRL_REG2_XM 0x21 //rw //ACC LPF/Scale
OscarLiao 0:94cf69f1f327 57 #define CTRL_REG3_XM 0x22 //rw
OscarLiao 0:94cf69f1f327 58 #define CTRL_REG4_XM 0x23 //rw
OscarLiao 0:94cf69f1f327 59 #define CTRL_REG5_XM 0x24 //rw //TEMP Enable, MAG Data-rate
OscarLiao 0:94cf69f1f327 60 #define CTRL_REG6_XM 0x25 //rw //MAG Scale
OscarLiao 0:94cf69f1f327 61 #define CTRL_REG7_XM 0x26 //rw
OscarLiao 0:94cf69f1f327 62 #define STATUS_REG_A 0x27 //r
OscarLiao 0:94cf69f1f327 63 #define OUT_X_L_A 0x28 //r //ACC Data
OscarLiao 0:94cf69f1f327 64 #define OUT_X_H_A 0x29 //r //ACC Data
OscarLiao 0:94cf69f1f327 65 #define OUT_Y_L_A 0x2A //r //ACC Data
OscarLiao 0:94cf69f1f327 66 #define OUT_Y_H_A 0x2B //r //ACC Data
OscarLiao 0:94cf69f1f327 67 #define OUT_Z_L_A 0x2C //r //ACC Data
OscarLiao 0:94cf69f1f327 68 #define OUT_Z_H_A 0x2D //r //ACC Data
OscarLiao 0:94cf69f1f327 69
OscarLiao 0:94cf69f1f327 70
OscarLiao 0:94cf69f1f327 71 #endif //LSM9DS0_SH_H