104 lines
5.2 KiB
C
104 lines
5.2 KiB
C
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////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib-Arduino
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//
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// Copyright (c) 2014-2015, richards-tech
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of
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// this software and associated documentation files (the "Software"), to deal in
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// the Software without restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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// Software, and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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#ifndef _RTIMULIBDEFS_H
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#define _RTIMULIBDEFS_H
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#include "RTMath.h"
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#include "RTPressureDefs.h"
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// IMU enable defs - only one should be enabled, the rest commented out
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//#define MPU9150_68 // MPU9150 at address 0x68
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//#define MPU9250_68 // MPU9250 at address 0x68
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#define GD20M303DLHC_6b // GD20 + M303DLHC at address 0x6b
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//#define MPU9150_68 // MPU9150 at address 0x68
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//#define MPU9150_69 // MPU9150 at address 0x69
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//#define MPU9250_68 // MPU9250 at address 0x68
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//#define MPU9250_69 // MPU9250 at address 0x69
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//#define LSM9DS0_6a // LSM9DS0 at address 0x6a
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//#define LSM9DS0_6b // LSM9DS0 at address 0x6b
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//#define GD20HM303D_6a // GD20H + M303D at address 0x6a
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//#define GD20HM303D_6b // GD20H + M303D at address 0x6b
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//#define GD20HM303DLHC_6a // GD20H + M303DLHC at address 0x6a
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//#define GD20HM303DLHC_6b // GD20H + M303DLHC at address 0x6b
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//#define GD20M303DLHC_6a // GD20 + M303DLHC at address 0x6a
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//#define GD20M303DLHC_6b // GD20 + M303DLHC at address 0x6b
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//#define BNO055_28 // BNO055 at address 0x28
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//#define BNO055_29 // BNO055 at address 0x29
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// IMU type codes
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#define RTIMU_TYPE_MPU9150 1 // InvenSense MPU9150
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#define RTIMU_TYPE_LSM9DS0 2 // STM LSM9DS0 (eg Sparkfun IMU)
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#define RTIMU_TYPE_GD20HM303D 3 // STM L3GD20H/LSM303D (Pololu Altimu)
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#define RTIMU_TYPE_GD20M303DLHC 4 // STM L3GD20/LSM303DHLC (old Adafruit IMU)
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#define RTIMU_TYPE_MPU9250 5 // InvenSense MPU9250
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#define RTIMU_TYPE_GD20HM303DLHC 6 // STM L3GD20H/LSM303DHLC (new Adafruit IMU)
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#define RTIMU_TYPE_BNO055 7 // BNO055
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// Pressure enable defs - only one should be enabled, the rest commented out
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//#define BMP180 // BMP180
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//#define LPS25H_5c // LPS25H at standard address
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//#define LPS25H_5d // LPS25H at option address
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//#define MS5611_76 // MS5611 at standard address
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//#define MS5611_77 // MS5611 at option address
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// IMU Axis rotation defs
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//
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// These allow the IMU to be virtually repositioned if it is in a non-standard configuration
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// Standard configuration is X pointing at north, Y pointing east and Z pointing down
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// with the IMU horizontal. There are 24 different possible orientations as defined
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// below. Setting the axis rotation code to non-zero values performs the repositioning.
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//
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// Uncomment the one required
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#define RTIMU_XNORTH_YEAST 0 // this is the default identity matrix
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//#define RTIMU_XEAST_YSOUTH 1
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//#define RTIMU_XSOUTH_YWEST 2
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//#define RTIMU_XWEST_YNORTH 3
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//#define RTIMU_XNORTH_YWEST 4
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//#define RTIMU_XEAST_YNORTH 5
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//#define RTIMU_XSOUTH_YEAST 6
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//#define RTIMU_XWEST_YSOUTH 7
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//#define RTIMU_XUP_YNORTH 8
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//#define RTIMU_XUP_YEAST 9
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//#define RTIMU_XUP_YSOUTH 10
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//#define RTIMU_XUP_YWEST 11
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//#define RTIMU_XDOWN_YNORTH 12
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//#define RTIMU_XDOWN_YEAST 13
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//#define RTIMU_XDOWN_YSOUTH 14
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//#define RTIMU_XDOWN_YWEST 15
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//#define RTIMU_XNORTH_YUP 16
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//#define RTIMU_XEAST_YUP 17
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//#define RTIMU_XSOUTH_YUP 18
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//#define RTIMU_XWEST_YUP 19
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//#define RTIMU_XNORTH_YDOWN 20
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//#define RTIMU_XEAST_YDOWN 21
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//#define RTIMU_XSOUTH_YDOWN 22
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//#define RTIMU_XWEST_YDOWN 23
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#endif // _RTIMULIBDEFS_H
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