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/*
* Copyright (C) 2011 Invensense, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef INV_SENSOR_PARAMS_H
#define INV_SENSOR_PARAMS_H
/* Physical parameters of the sensors supported by Invensense MPL */
#define SENSORS_ROTATION_VECTOR_HANDLE (ID_RV)
#define SENSORS_LINEAR_ACCEL_HANDLE (ID_LA)
#define SENSORS_GRAVITY_HANDLE (ID_GR)
#define SENSORS_GYROSCOPE_HANDLE (ID_GY)
#define SENSORS_ACCELERATION_HANDLE (ID_A)
#define SENSORS_MAGNETIC_FIELD_HANDLE (ID_M)
#define SENSORS_ORIENTATION_HANDLE (ID_O)
/******************************************/
//COMPASS_ID_YAS530
#define COMPASS_YAS530_RANGE (8001.0f)
#define COMPASS_YAS530_RESOLUTION (0.012f)
#define COMPASS_YAS530_POWER (4.0f)
/*******************************************/
//ACCEL_ID_BMA250
#define ACCEL_BMA250_RANGE (2.0f*GRAVITY_EARTH)
#define ACCEL_BMA250_RESOLUTION (0.00391f*GRAVITY_EARTH)
#define ACCEL_BMA250_POWER (0.139f)
/******************************************/
//GYRO MPU3050
#define RAD_P_DEG (3.14159f/180.0f)
#define GYRO_MPU3050_RANGE (2000.0f*RAD_P_DEG)
#define GYRO_MPU3050_RESOLUTION (32.8f*RAD_P_DEG)
#define GYRO_MPU3050_POWER (6.1f)
/******************************************/
//NINEAXIS
#define NINEAXIS_POWER (COMPASS_YAS530_POWER + \
ACCEL_BMA250_POWER + \
GYRO_MPU3050_POWER)
#define NINEAXIS_ORIENTATION_RANGE (360.0f)
#define NINEAXIS_ORIENTATION_RESOLUTION (0.00001f)
#define NINEAXIS_ORIENTATION_POWER (NINEAXIS_POWER)
#define NINEAXIS_ROTATION_VECTOR_RANGE (1.0f)
#define NINEAXIS_ROTATION_VECTOR_RESOLUTION (0.00001f)
#define NINEAXIS_ROTATION_VECTOR_POWER (NINEAXIS_POWER)
#define NINEAXIS_GRAVITY_RANGE (9.81f)
#define NINEAXIS_GRAVITY_RESOLUTION (0.00001f)
#define NINEAXIS_GRAVITY_POWER (NINEAXIS_POWER)
#define NINEAXIS_LINEAR_ACCEL_RANGE (ACCEL_BMA250_RANGE)
#define NINEAXIS_LINEAR_ACCEL_RESOLUTION (ACCEL_BMA250_RESOLUTION)
#define NINEAXIS_LINEAR_ACCEL_POWER (NINEAXIS_POWER)
#endif
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