LSM9DS0_SH.h

00001 #ifndef LSM9DS0_SH_H
00002 #define LSM9DS0_SH_H
00003 
00004 #include "mbed.h"
00005 
00006 // Personality of IMU //
00007 #define Gpx 3.068e-4f       //1.526e-2 * d2r = 2.663e-4f
00008 #define Gpy 3.064e-4f       //1.526e-2 * d2r = 2.663e-4f
00009 #define Gpz 2.994e-4f       //1.526e-2 * d2r = 2.663e-4f
00010 //#define Gdx -0.0099f      //initial nutraulize
00011 //#define Gdy 0.0168f
00012 //#define Gdz 0.0210f
00013 
00014 #define Apx -1.239e-4f      //one for G
00015 #define Apy -1.234e-4f
00016 #define Apz -1.236e-4f
00017 //#define Adx -0.1460f
00018 //#define Ady -0.0695f
00019 //#define Adz -0.0228f
00020 
00021 // LSM9DS0 Gyro Registers //
00022 #define WHO_AM_I_G          0x0F    //r     //WHO_G
00023 #define CTRL_REG1_G         0x20    //rw    //GYRO Data-rate/LPF/Enable
00024 #define CTRL_REG2_G         0x21    //rw
00025 #define CTRL_REG3_G         0x22    //rw
00026 #define CTRL_REG4_G         0x23    //rw    //GYRO Scale
00027 #define CTRL_REG5_G         0x24    //rw
00028 #define REFERENCE_G         0x25    //rw
00029 #define STATUS_REG_G        0x27    //r
00030 #define OUT_X_L_G           0x28    //r     //GYRO Data
00031 #define OUT_X_H_G           0x29    //r     //GYRO Data
00032 #define OUT_Y_L_G           0x2A    //r     //GYRO Data
00033 #define OUT_Y_H_G           0x2B    //r     //GYRO Data
00034 #define OUT_Z_L_G           0x2C    //r     //GYRO Data
00035 #define OUT_Z_H_G           0x2D    //r     //GYRO Data
00036 
00037 // LSM9DS0 Accel/Magneto (XM) Registers //
00038 #define OUT_TEMP_L_XM       0x05    //r     //TEMP Data
00039 #define OUT_TEMP_H_XM       0x06    //r     //TEMP Data
00040 #define STATUS_REG_M        0x07    //r
00041 #define OUT_X_L_M           0x08    //r     //MAG Data
00042 #define OUT_X_H_M           0x09    //r     //MAG Data
00043 #define OUT_Y_L_M           0x0A    //r     //MAG Data
00044 #define OUT_Y_H_M           0x0B    //r     //MAG Data
00045 #define OUT_Z_L_M           0x0C    //r     //MAG Data
00046 #define OUT_Z_H_M           0x0D    //r     //MAG Data
00047 #define WHO_AM_I_XM         0x0F    //r     //WHO_XM
00048 #define OFFSET_X_L_M        0x16    //rw    //MAG Data_Offset
00049 #define OFFSET_X_H_M        0x17    //rw    //MAG Data_Offset
00050 #define OFFSET_Y_L_M        0x18    //rw    //MAG Data_Offset
00051 #define OFFSET_Y_H_M        0x19    //rw    //MAG Data_Offset
00052 #define OFFSET_Z_L_M        0x1A    //rw    //MAG Data_Offset
00053 #define OFFSET_Z_H_M        0x1B    //rw    //MAG Data_Offset
00054 #define CTRL_REG0_XM        0x1F    //rw
00055 #define CTRL_REG1_XM        0x20    //rw    //ACC Data-rate/Enable
00056 #define CTRL_REG2_XM        0x21    //rw    //ACC LPF/Scale
00057 #define CTRL_REG3_XM        0x22    //rw
00058 #define CTRL_REG4_XM        0x23    //rw
00059 #define CTRL_REG5_XM        0x24    //rw    //TEMP Enable, MAG Data-rate
00060 #define CTRL_REG6_XM        0x25    //rw    //MAG Scale
00061 #define CTRL_REG7_XM        0x26    //rw
00062 #define STATUS_REG_A        0x27    //r
00063 #define OUT_X_L_A           0x28    //r     //ACC Data
00064 #define OUT_X_H_A           0x29    //r     //ACC Data
00065 #define OUT_Y_L_A           0x2A    //r     //ACC Data
00066 #define OUT_Y_H_A           0x2B    //r     //ACC Data
00067 #define OUT_Z_L_A           0x2C    //r     //ACC Data
00068 #define OUT_Z_H_A           0x2D    //r     //ACC Data
00069 
00070 
00071 #endif  //LSM9DS0_SH_H