Boboter
Loading...
Searching...
No Matches
imu_registers.inc.h
Go to the documentation of this file.
1
7
8static constexpr uint8_t REG_PWR_MGMT_1 = 0x6B;
9static constexpr uint8_t REG_WHO_AM_I = 0x75;
10static constexpr uint8_t REG_BANK_SEL = 0x6D;
11static constexpr uint8_t REG_MEM_RW = 0x6E;
12static constexpr uint8_t REG_MEM_RW_DATA = 0x6F;
13static constexpr uint8_t REG_USER_CTRL = 0x6A;
14static constexpr uint8_t REG_FIFO_EN = 0x23;
15static constexpr uint8_t REG_FIFO_COUNT_H = 0x72;
16static constexpr uint8_t REG_FIFO_COUNT_L = 0x73;
17static constexpr uint8_t REG_FIFO_R_W = 0x74;
18static constexpr uint8_t REG_DMP_START_H = 0x70;
19static constexpr uint8_t REG_DMP_START_L = 0x71;
20static constexpr uint8_t REG_SMPLRT_DIV = 0x19;
21static constexpr uint8_t REG_CONFIG = 0x1A;
22
23static constexpr uint8_t CMD_DEVICE_RESET = 0x80;
24static constexpr uint8_t CMD_SET_CLK_TO_GYRO_X = 0x01;
25static constexpr uint8_t CMD_DMP_EN = 0x80;
26static constexpr uint8_t CMD_FIFO_EN = 0x40;
27static constexpr uint8_t CMD_FIFO_RESET = 0x04;
28
29static constexpr uint8_t REG_INT_ENABLE = 0x38;
30static constexpr uint8_t CMD_DMP_INT_EN = 0x02;
31static constexpr uint8_t CMD_USER_CTRL_DMP_FIFO_EN = 0xC0; // DMP_EN | FIFO_EN
32static constexpr uint8_t CMD_USER_CTRL_DMP_FIFO_RESET = 0xC4; // DMP_EN | FIFO_EN | FIFO_RESET
33static constexpr uint16_t DMP_START_ADDRESS = 0x0400;
34static constexpr float GYRO_SCALE_FACTOR = 16.4f; // LSB/°/s at ±2000 dps