imu_regs.h

Go to the documentation of this file.

#ifndef IMU_REGS_H
#define IMU_REGS_H

/* Registers in ADXL345 (acc) - Register map */
/*      REGISTER_NAME           ADDRESS         TYPE    DESCRIPTION */
#define ACC_DEVID               0x00    //      R       Device ID
#define ACC_THRESH_TAP          0x1D    //      R/W     Tap Threshold
#define ACC_OFSX                0x1E    //      R/W     X-axis offset
#define ACC_OFSY                0x1F    //      R/W     Y-axis offset
#define ACC_OFSZ                0x20    //      R/W     Z-axis offset
#define ACC_DUR                 0x21    //      R/W     Tap duration
#define ACC_LATENT              0x22    //      R/W     Tap latency
#define ACC_WINDOW              0x23    //      R/W     Tap window
#define ACC_THRESH_ACT          0x24    //      R/W     Activity threshold
#define ACC_THRESH_INACT        0x25    //      R/W     Inactivity threshold
#define ACC_TIME_INACT          0x26    //      R/W     Inactivity time
#define ACC_ACT_INACT_CTL       0x27    //      R/W     Axis enable control for activity and inactivity detection
#define ACC_THRESH_FF           0x28    //      R/W     Free-fall threshold
#define ACC_TIME_FF             0x29    //      R/W     Free-fall time
#define ACC_TAP_AXES            0x2A    //      R/W     Axis control for tap/double tap
#define ACC_ACT_TAP_STATUS      0x2B    //      R       Source of tap/double tap
#define ACC_BW_RATE             0x2C    //      R/W     Data rate and power mode control
#define ACC_POWER_CTL           0x2D    //      R/W     Power-saving features control
#define ACC_INT_ENABLE          0x2E    //      R/W     Interrupt enable control
#define ACC_INT_MAP             0x2F    //      R/W     Interrupt mapping control
#define ACC_INT_SOURCE          0x30    //      R       Source of interrupts
#define ACC_DATA_FORMAT         0x31    //      R/W     Data format control
#define ACC_DATAX0              0x32    //      R       X-Axis Data 0
#define ACC_DATAX1              0x33    //      R       X-Axis Data 1
#define ACC_DATAY0              0x34    //      R       Y-Axis Data 0
#define ACC_DATAY1              0x35    //      R       Y-Axis Data 1
#define ACC_DATAZ0              0x36    //      R       Z-Axis Data 0
#define ACC_DATAZ1              0x37    //      R       Z-Axis Data 1
#define ACC_FIFO_CTL            0x38    //      R/W     FIFO control
#define ACC_FIFO_STATUS         0x39    //      R       FIFO status

#define ACC_DATA_FORMAT_FULLRES_FULLRANGE       0x0B    // value in DATA_FORMAT to full resolution and full range (16g)
#define ACC_POWER_CTL_MEAS_MODE                 0x08    // value in POWER_CTL to activate measurement mode 

/* Registers in ITG3200 (gyr) */
/*      REGISTER_NAME           ADDRESS         TYPE    DESCRIPTION */
#define GYR_WHO_AM_I            0x00    //      R/W     Who Am I: I2C address
#define GYR_SMPLRT_DIV          0x15    //      R/W     Sample rate divider
#define GYR_DLPF_FS             0x16    //      R/W     Parameters related to the sensor acquisition
#define GYR_INT_CFG             0x17    //      R/W     Interrupt configuration
#define GYR_INT_STATUS          0x1A    //      R       Status of the device interrupts
#define GYR_TEMP_OUT_H          0x1B    //      R       Data output Temperature MSB
#define GYR_TEMP_OUT_L          0x1C    //      R       Data output Temperature LSB
#define GYR_GYRO_XOUT_H         0x1D    //      R       Data output X MSB
#define GYR_GYRO_XOUT_L         0x1E    //      R       Data output X LSB
#define GYR_GYRO_YOUT_H         0x1F    //      R       Data output Y MSB
#define GYR_GYRO_YOUT_L         0x20    //      R       Data output Y LSB
#define GYR_GYRO_ZOUT_H         0x21    //      R       Data output Z MSB
#define GYR_GYRO_ZOUT_L         0x22    //      R       Data output Z LSB
#define GYR_PWR_MGM             0x3E    //      R/W     Power management


/* Registers in HMC5883 (mag) */
/*      REGISTER_NAME           ADDRESS         TYPE    DESCRIPTION */
#define MAG_CONFIG_A            0x00    //      R/W     Configuration register A
#define MAG_CONFIG_B            0x01    //      R/W     Configuration register B
#define MAG_MODE                0x02    //      R/W     Mode
#define MAG_DATAX1              0x03    //      R       Data output X MSB
#define MAG_DATAX0              0x04    //      R       Data output X LSB
#define MAG_DATAZ1              0x05    //      R       Data output Z MSB
#define MAG_DATAZ0              0x06    //      R       Data output Z LSB
#define MAG_DATAY1              0x07    //      R       Data output Y MSB
#define MAG_DATAY0              0x08    //      R       Data output Y LSB
#define MAG_STATUS              0x09    //      R       Status
#define MAG_ID_A                0x0A    //      R       Identification register A
#define MAG_ID_B                0x0B    //      R       Identification register B
#define MAG_ID_C                0x0C    //      R       Identification register C


#endif /* ifndef IMU_REGS_H */