////////////////////////////////////////////////////////////////////////////
//
// This file is part of RTIMULib
//
// Copyright (c) 2014-2015, richards-tech, LLC
//
// Permission is hereby granted, free of charge, to any person obtaining a copy of
// this software and associated documentation files (the "Software"), to deal in
// the Software without restriction, including without limitation the rights to use,
// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
// Software, and to permit persons to whom the Software is furnished to do so,
// subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
// The MPU-9250 and SPI driver code is based on code generously supplied by
// staslock@gmail.com (www.clickdrive.io)
#ifndef _RTIMUDEFS_H
#define _RTIMUDEFS_H
// IMU type codes
//
// For compatibility, only add new codes at the end to avoid renumbering
#define RTIMU_TYPE_AUTODISCOVER 0 // audodiscover the IMU
#define RTIMU_TYPE_NULL 1 // if no physical hardware
#define RTIMU_TYPE_MPU9150 2 // InvenSense MPU9150
#define RTIMU_TYPE_GD20HM303D 3 // STM L3GD20H/LSM303D (Pololu Altimu)
#define RTIMU_TYPE_GD20M303DLHC 4 // STM L3GD20/LSM303DHLC (old Adafruit IMU)
#define RTIMU_TYPE_LSM9DS0 5 // STM LSM9DS0 (eg Sparkfun IMU)
#define RTIMU_TYPE_LSM9DS1 6 // STM LSM9DS1
#define RTIMU_TYPE_MPU9250 7 // InvenSense MPU9250
#define RTIMU_TYPE_GD20HM303DLHC 8 // STM L3GD20H/LSM303DHLC (new Adafruit IMU)
#define RTIMU_TYPE_BMX055 9 // Bosch BMX055
#define RTIMU_TYPE_BNO055 10 // Bosch BNO055
//----------------------------------------------------------
//
// MPU-9150
// MPU9150 I2C Slave Addresses
#define MPU9150_ADDRESS0 0x68
#define MPU9150_ADDRESS1 0x69
#define MPU9150_ID 0x68
// thes magnetometers are on aux bus
#define AK8975_ADDRESS 0x0c
#define HMC5883_ADDRESS 0x1e
// Register map
#define MPU9150_YG_OFFS_TC 0x01
#define MPU9150_SMPRT_DIV 0x19
#define MPU9150_LPF_CONFIG 0x1a
#define MPU9150_GYRO_CONFIG 0x1b
#define MPU9150_ACCEL_CONFIG 0x1c
#define MPU9150_FIFO_EN 0x23
#define MPU9150_I2C_MST_CTRL 0x24
#define MPU9150_I2C_SLV0_ADDR 0x25
#define MPU9150_I2C_SLV0_REG 0x26
#define MPU9150_I2C_SLV0_CTRL 0x27
#define MPU9150_I2C_SLV1_ADDR 0x28
#define MPU9150_I2C_SLV1_REG 0x29
#define MPU9150_I2C_SLV1_CTRL 0x2a
#define MPU9150_I2C_SLV4_CTRL 0x34
#define MPU9150_INT_PIN_CFG 0x37
#define MPU9150_INT_ENABLE 0x38
#define MPU9150_INT_STATUS 0x3a
#define MPU9150_ACCEL_XOUT_H 0x3b
#define MPU9150_GYRO_XOUT_H 0x43
#define MPU9150_EXT_SENS_DATA_00 0x49
#define MPU9150_I2C_SLV1_DO 0x64
#define MPU9150_I2C_MST_DELAY_CTRL 0x67
#define MPU9150_USER_CTRL 0x6a
#define MPU9150_PWR_MGMT_1 0x6b
#define MPU9150_PWR_MGMT_2 0x6c
#define MPU9150_FIFO_COUNT_H 0x72
#define MPU9150_FIFO_R_W 0x74
#define MPU9150_WHO_AM_I 0x75
// sample rate defines (applies to gyros and accels, not mags)
#define MPU9150_SAMPLERATE_MIN 5 // 5 samples per second is the lowest
#define MPU9150_SAMPLERATE_MAX 1000 // 1000 samples per second is the absolute maximum
// compass rate defines
#define MPU9150_COMPASSRATE_MIN 1 // 1 samples per second is the lowest
#define MPU9150_COMPASSRATE_MAX 100 // 100 samples per second is maximum
// LPF options (gyros and accels)
#define MPU9150_LPF_256 0 // gyro: 256Hz, accel: 260Hz
#define MPU9150_LPF_188 1 // gyro: 188Hz, accel: 184Hz
#define MPU9150_LPF_98 2 // gyro: 98Hz, accel: 98Hz
#define MPU9150_LPF_42 3 // gyro: 42Hz, accel: 44Hz
#define MPU9150_LPF_20 4 // gyro: 20Hz, accel: 21Hz
#define MPU9150_LPF_10 5 // gyro: 10Hz, accel: 10Hz
#define MPU9150_LPF_5 6 // gyro: 5Hz, accel: 5Hz
// Gyro FSR options
#define MPU9150_GYROFSR_250 0 // +/- 250 degrees per second
#define MPU9150_GYROFSR_500 8 // +/- 500 degrees per second
#define MPU9150_GYROFSR_1000 0x10 // +/- 1000 degrees per second
#define MPU9150_GYROFSR_2000 0x18 // +/- 2000 degrees per second
// Accel FSR options
#define MPU9150_ACCELFSR_2 0 // +/- 2g
#define MPU9150_ACCELFSR_4 8 // +/- 4g
#define MPU9150_ACCELFSR_8 0x10 // +/- 8g
#define MPU9150_ACCELFSR_16 0x18 // +/- 16g
// AK8975 compass registers
#define AK8975_DEVICEID 0x0 // the device ID
#define AK8975_ST1 0x02 // status 1
#define AK8975_CNTL 0x0a // control reg
#define AK8975_ASAX 0x10 // start of the fuse ROM data
// HMC5883 compass registers
#define HMC5883_CONFIG_A 0x00 // configuration A
#define HMC5883_CONFIG_B 0x01 // configuration B
#define HMC5883_MODE 0x02 // mode
#define HMC5883_DATA_X_HI 0x03 // data x msb
#define HMC5883_STATUS 0x09 // status
#define HMC5883_ID 0x0a // id
//----------------------------------------------------------
//
// MPU-9250
// MPU9250 I2C Slave Addresses
#define MPU9250_ADDRESS0 0x68
#define MPU9250_ADDRESS1 0x69
#define MPU9250_ID 0x71
#define AK8963_ADDRESS 0x0c
// Register map
#define MPU9250_SMPRT_DIV 0x19
#define MPU9250_GYRO_LPF 0x1a
#define MPU9250_GYRO_CONFIG 0x1b
#define MPU9250_ACCEL_CONFIG 0x1c
#define MPU9250_ACCEL_LPF 0x1d
#define MPU9250_FIFO_EN 0x23
#define MPU9250_I2C_MST_CTRL 0x24
#define MPU9250_I2C_SLV0_ADDR 0x25
#define MPU9250_I2C_SLV0_REG 0x26
#define MPU9250_I2C_SLV0_CTRL 0x27
#define MPU9250_I2C_SLV1_ADDR 0x28
#define MPU9250_I2C_SLV1_REG 0x29
#define MPU9250_I2C_SLV1_CTRL 0x2a
#define MPU9250_I2C_SLV2_ADDR 0x2b
#define MPU9250_I2C_SLV2_REG 0x2c
#define MPU9250_I2C_SLV2_CTRL 0x2d
#define MPU9250_I2C_SLV4_CTRL 0x34
#define MPU9250_INT_PIN_CFG 0x37
#define MPU9250_INT_ENABLE 0x38
#define MPU9250_INT_STATUS 0x3a
#define MPU9250_ACCEL_XOUT_H 0x3b
#define MPU9250_GYRO_XOUT_H 0x43
#define MPU9250_EXT_SENS_DATA_00 0x49
#define MPU9250_I2C_SLV1_DO 0x64
#define MPU9250_I2C_MST_DELAY_CTRL 0x67
#define MPU9250_USER_CTRL 0x6a
#define MPU9250_PWR_MGMT_1 0x6b
#define MPU9250_PWR_MGMT_2 0x6c
#define MPU9250_FIFO_COUNT_H 0x72
#define MPU9250_FIFO_R_W 0x74
#define MPU9250_WHO_AM_I 0x75
// sample rate defines (applies to gyros and accels, not mags)
#define MPU9250_SAMPLERATE_MIN 5 // 5 samples per second is the lowest
#define MPU9250_SAMPLERATE_MAX 32000 // 32000 samples per second is the absolute maximum
// compass rate defines
#define MPU9250_COMPASSRATE_MIN 1 // 1 samples per second is the lowest
#define MPU9250_COMPASSRATE_MAX 100 // 100 samples per second is maximum
// Gyro LPF options
#define MPU9250_GYRO_LPF_8800 0x11 // 8800Hz, 0.64mS delay
#define MPU9250_GYRO_LPF_3600 0x10 // 3600Hz, 0.11mS delay
#define MPU9250_GYRO_LPF_250 0x00 // 250Hz, 0.97mS delay
#define MPU9250_GYRO_LPF_184 0x01 // 184Hz, 2.9mS delay
#define MPU9250_GYRO_LPF_92 0x02 // 92Hz, 3.9mS delay
#define MPU9250_GYRO_LPF_41 0x03 // 41Hz, 5.9mS delay
#define MPU9250_GYRO_LPF_20 0x04 // 20Hz, 9.9mS delay
#define MPU9250_GYRO_LPF_10 0x05 // 10Hz, 17.85mS delay
#define MPU9250_GYRO_LPF_5 0x06 // 5Hz, 33.48mS delay
// Gyro FSR options
#define MPU9250_GYROFSR_250 0 // +/- 250 degrees per second
#define MPU9250_GYROFSR_500 8 // +/- 500 degrees per second
#define MPU9250_GYROFSR_1000 0x10 // +/- 1000 degrees per second
#define MPU9250_GYROFSR_2000 0x18 // +/- 2000 degrees per second
// Accel FSR options
#define MPU9250_ACCELFSR_2 0 // +/- 2g
#define MPU9250_ACCELFSR_4 8 // +/- 4g
#define MPU9250_ACCELFSR_8 0x10 // +/- 8g
#define MPU9250_ACCELFSR_16 0x18 // +/- 16g
// Accel LPF options
#define MPU9250_ACCEL_LPF_1130 0x08 // 1130Hz, 0.75mS delay
#define MPU9250_ACCEL_LPF_460 0x00 // 460Hz, 1.94mS delay
#define MPU9250_ACCEL_LPF_184 0x01 // 184Hz, 5.80mS delay
#define MPU9250_ACCEL_LPF_92 0x02 // 92Hz, 7.80mS delay
#define MPU9250_ACCEL_LPF_41 0x03 // 41Hz, 11.80mS delay
#define MPU9250_ACCEL_LPF_20 0x04 // 20Hz, 19.80mS delay
#define MPU9250_ACCEL_LPF_10 0x05 // 10Hz, 35.70mS delay
#define MPU9250_ACCEL_LPF_5 0x06 // 5Hz, 66.96mS delay
// AK8963 compass registers
#define AK8963_DEVICEID 0x48 // the device ID
#define AK8963_ST1 0x02 // status 1
#define AK8963_CNTL 0x0a // control reg
#define AK8963_ASAX 0x10 // start of the fuse ROM data
//----------------------------------------------------------
//
// L3GD20
// I2C Slave Addresses
#define L3GD20_ADDRESS0 0x6a
#define L3GD20_ADDRESS1 0x6b
#define L3GD20_ID 0xd4
// L3GD20 Register map
#define L3GD20_WHO_AM_I 0x0f
#define L3GD20_CTRL1 0x20
#define L3GD20_CTRL2 0x21
#define L3GD20_CTRL3 0x22
#define L3GD20_CTRL4 0x23
#define L3GD20_CTRL5 0x24
#define L3GD20_OUT_TEMP 0x26
#define L3GD20_STATUS 0x27
#define L3GD20_OUT_X_L 0x28
#define L3GD20_OUT_X_H 0x29
#define L3GD20_OUT_Y_L 0x2a
#define L3GD20_OUT_Y_H 0x2b
#define L3GD20_OUT_Z_L 0x2c
#define L3GD20_OUT_Z_H 0x2d
#define L3GD20_FIFO_CTRL 0x2e
#define L3GD20_FIFO_SRC 0x2f
#define L3GD20_IG_CFG 0x30
#define L3GD20_IG_SRC 0x31
#define L3GD20_IG_THS_XH 0x32
#define L3GD20_IG_THS_XL 0x33
#define L3GD20_IG_THS_YH 0x34
#define L3GD20_IG_THS_YL 0x35
#define L3GD20_IG_THS_ZH 0x36
#define L3GD20_IG_THS_ZL 0x37
#define L3GD20_IG_DURATION 0x38
// Gyro sample rate defines
#define L3GD20_SAMPLERATE_95 0
#define L3GD20_SAMPLERATE_190 1
#define L3GD20_SAMPLERATE_380 2
#define L3GD20_SAMPLERATE_760 3
// Gyro banwidth defines
#define L3GD20_BANDWIDTH_0 0
#define L3GD20_BANDWIDTH_1 1
#define L3GD20_BANDWIDTH_2 2
#define L3GD20_BANDWIDTH_3 3
// Gyro FSR defines
#define L3GD20_FSR_250 0
#define L3GD20_FSR_500 1
#define L3GD20_FSR_2000 2
// Gyro high pass filter defines
#define L3GD20_HPF_0 0
#define L3GD20_HPF_1 1
#define L3GD20_HPF_2 2
#define L3GD20_HPF_3 3
#define L3GD20_HPF_4 4
#define L3GD20_HPF_5 5
#define L3GD20_HPF_6 6
#define L3GD20_HPF_7 7
#define L3GD20_HPF_8 8
#define L3GD20_HPF_9 9
//----------------------------------------------------------
//
// L3GD20H
// I2C Slave Addresses
#define L3GD20H_ADDRESS0 0x6a
#define L3GD20H_ADDRESS1 0x6b
#define L3GD20H_ID 0xd7
// L3GD20H Register map
#define L3GD20H_WHO_AM_I 0x0f
#define L3GD20H_CTRL1 0x20
#define L3GD20H_CTRL2 0x21
#define L3GD20H_CTRL3 0x22
#define L3GD20H_CTRL4 0x23
#define L3GD20H_CTRL5 0x24
#define L3GD20H_OUT_TEMP 0x26
#define L3GD20H_STATUS 0x27
#define L3GD20H_OUT_X_L 0x28
#define L3GD20H_OUT_X_H 0x29
#define L3GD20H_OUT_Y_L 0x2a
#define L3GD20H_OUT_Y_H 0x2b
#define L3GD20H_OUT_Z_L 0x2c
#define L3GD20H_OUT_Z_H 0x2d
#define L3GD20H_FIFO_CTRL 0x2e
#define L3GD20H_FIFO_SRC 0x2f
#define L3GD20H_IG_CFG 0x30
#define L3GD20H_IG_SRC 0x31
#define L3GD20H_IG_THS_XH 0x32
#define L3GD20H_IG_THS_XL 0x33
#define L3GD20H_IG_THS_YH 0x34
#define L3GD20H_IG_THS_YL 0x35
#define L3GD20H_IG_THS_ZH 0x36
#define L3GD20H_IG_THS_ZL 0x37
#define L3GD20H_IG_DURATION 0x38
#define L3GD20H_LOW_ODR 0x39
// Gyro sample rate defines
#define L3GD20H_SAMPLERATE_12_5 0
#define L3GD20H_SAMPLERATE_25 1
#define L3GD20H_SAMPLERATE_50 2
#define L3GD20H_SAMPLERATE_100 3
#define L3GD20H_SAMPLERATE_200 4
#define L3GD20H_SAMPLERATE_400 5
#define L3GD20H_SAMPLERATE_800 6
// Gyro banwidth defines
#define L3GD20H_BANDWIDTH_0 0
#define L3GD20H_BANDWIDTH_1 1
#define L3GD20H_BANDWIDTH_2 2
#define L3GD20H_BANDWIDTH_3 3
// Gyro FSR defines
#define L3GD20H_FSR_245 0
#define L3GD20H_FSR_500 1
#define L3GD20H_FSR_2000 2
// Gyro high pass filter defines
#define L3GD20H_HPF_0 0
#define L3GD20H_HPF_1 1
#define L3GD20H_HPF_2 2
#define L3GD20H_HPF_3 3
#define L3GD20H_HPF_4 4
#define L3GD20H_HPF_5 5
#define L3GD20H_HPF_6 6
#define L3GD20H_HPF_7 7
#define L3GD20H_HPF_8 8
#define L3GD20H_HPF_9 9
//----------------------------------------------------------
//
// LSM303D
#define LSM303D_ADDRESS0 0x1e
#define LSM303D_ADDRESS1 0x1d
#define LSM303D_ID 0x49
// LSM303D Register Map
#define LSM303D_TEMP_OUT_L 0x05
#define LSM303D_TEMP_OUT_H 0x06
#define LSM303D_STATUS_M 0x07
#define LSM303D_OUT_X_L_M 0x08
#define LSM303D_OUT_X_H_M 0x09
#define LSM303D_OUT_Y_L_M 0x0a
#define LSM303D_OUT_Y_H_M 0x0b
#define LSM303D_OUT_Z_L_M 0x0c
#define LSM303D_OUT_Z_H_M 0x0d
#define LSM303D_WHO_AM_I 0x0f
#define LSM303D_INT_CTRL_M 0x12
#define LSM303D_INT_SRC_M 0x13
#define LSM303D_INT_THS_L_M 0x14
#define LSM303D_INT_THS_H_M 0x15
#define LSM303D_OFFSET_X_L_M 0x16
#define LSM303D_OFFSET_X_H_M 0x17
#define LSM303D_OFFSET_Y_L_M 0x18
#define LSM303D_OFFSET_Y_H_M 0x19
#define LSM303D_OFFSET_Z_L_M 0x1a
#define LSM303D_OFFSET_Z_H_M 0x1b
#define LSM303D_REFERENCE_X 0x1c
#define LSM303D_REFERENCE_Y 0x1d
#define LSM303D_REFERENCE_Z 0x1e
#define LSM303D_CTRL0 0x1f
#define LSM303D_CTRL1 0x20
#define LSM303D_CTRL2 0x21
#define LSM303D_CTRL3 0x22
#define LSM303D_CTRL4 0x23
#define LSM303D_CTRL5 0x24
#define LSM303D_CTRL6 0x25
#define LSM303D_CTRL7 0x26
#define LSM303D_STATUS_A 0x27
#define LSM303D_OUT_X_L_A 0x28
#define LSM303D_OUT_X_H_A 0x29
#define LSM303D_OUT_Y_L_A 0x2a
#define LSM303D_OUT_Y_H_A 0x2b
#define LSM303D_OUT_Z_L_A 0x2c
#define LSM303D_OUT_Z_H_A 0x2d
#define LSM303D_FIFO_CTRL 0x2e
#define LSM303D_FIFO_SRC 0x2f
#define LSM303D_IG_CFG1 0x30
#define LSM303D_IG_SRC1 0x31
#define LSM303D_IG_THS1 0x32
#define LSM303D_IG_DUR1 0x33
#define LSM303D_IG_CFG2 0x34
#define LSM303D_IG_SRC2 0x35
#define LSM303D_IG_THS2 0x36
#define LSM303D_IG_DUR2 0x37
#define LSM303D_CLICK_CFG 0x38
#define LSM303D_CLICK_SRC 0x39
#define LSM303D_CLICK_THS 0x3a
#define LSM303D_TIME_LIMIT 0x3b
#define LSM303D_TIME_LATENCY 0x3c
#define LSM303D_TIME_WINDOW 0x3d
#define LSM303D_ACT_THIS 0x3e
#define LSM303D_ACT_DUR 0x3f
// Accel sample rate defines
#define LSM303D_ACCEL_SAMPLERATE_3_125 1
#define LSM303D_ACCEL_SAMPLERATE_6_25 2
#define LSM303D_ACCEL_SAMPLERATE_12_5 3
#define LSM303D_ACCEL_SAMPLERATE_25 4
#define LSM303D_ACCEL_SAMPLERATE_50 5
#define LSM303D_ACCEL_SAMPLERATE_100 6
#define LSM303D_ACCEL_SAMPLERATE_200 7
#define LSM303D_ACCEL_SAMPLERATE_400 8
#define LSM303D_ACCEL_SAMPLERATE_800 9
#define LSM303D_ACCEL_SAMPLERATE_1600 10
// Accel FSR
#define LSM303D_ACCEL_FSR_2 0
#define LSM303D_ACCEL_FSR_4 1
#define LSM303D_ACCEL_FSR_6 2
#define LSM303D_ACCEL_FSR_8 3
#define LSM303D_ACCEL_FSR_16 4
// Accel filter bandwidth
#define LSM303D_ACCEL_LPF_773 0
#define LSM303D_ACCEL_LPF_194 1
#define LSM303D_ACCEL_LPF_362 2
#define LSM303D_ACCEL_LPF_50 3
// Compass sample rate defines
#define LSM303D_COMPASS_SAMPLERATE_3_125 0
#define LSM303D_COMPASS_SAMPLERATE_6_25 1
#define LSM303D_COMPASS_SAMPLERATE_12_5 2
#define LSM303D_COMPASS_SAMPLERATE_25 3
#define LSM303D_COMPASS_SAMPLERATE_50 4
#define LSM303D_COMPASS_SAMPLERATE_100 5
// Compass FSR
#define LSM303D_COMPASS_FSR_2 0
#define LSM303D_COMPASS_FSR_4 1
#define LSM303D_COMPASS_FSR_8 2
#define LSM303D_COMPASS_FSR_12 3
//----------------------------------------------------------
//
// LSM303DLHC
#define LSM303DLHC_ACCEL_ADDRESS 0x19
#define LSM303DLHC_COMPASS_ADDRESS 0x1e
// LSM303DLHC Accel Register Map
#define LSM303DLHC_CTRL1_A 0x20
#define LSM303DLHC_CTRL2_A 0x21
#define LSM303DLHC_CTRL3_A 0x22
#define LSM303DLHC_CTRL4_A 0x23
#define LSM303DLHC_CTRL5_A 0x24
#define LSM303DLHC_CTRL6_A 0x25
#define LSM303DLHC_REF_A 0x26
#define LSM303DLHC_STATUS_A 0x27
#define LSM303DLHC_OUT_X_L_A 0x28
#define LSM303DLHC_OUT_X_H_A 0x29
#define LSM303DLHC_OUT_Y_L_A 0x2a
#define LSM303DLHC_OUT_Y_H_A 0x2b
#define LSM303DLHC_OUT_Z_L_A 0x2c
#define LSM303DLHC_OUT_Z_H_A 0x2d
#define LSM303DLHC_FIFO_CTRL_A 0x2e
#define LSM303DLHC_FIFO_SRC_A 0x2f
// LSM303DLHC Compass Register Map
#define LSM303DLHC_CRA_M 0x00
#define LSM303DLHC_CRB_M 0x01
#define LSM303DLHC_CRM_M 0x02
#define LSM303DLHC_OUT_X_H_M 0x03
#define LSM303DLHC_OUT_X_L_M 0x04
#define LSM303DLHC_OUT_Y_H_M 0x05
#define LSM303DLHC_OUT_Y_L_M 0x06
#define LSM303DLHC_OUT_Z_H_M 0x07
#define LSM303DLHC_OUT_Z_L_M 0x08
#define LSM303DLHC_STATUS_M 0x09
#define LSM303DLHC_TEMP_OUT_L_M 0x31
#define LSM303DLHC_TEMP_OUT_H_M 0x32
// Accel sample rate defines
#define LSM303DLHC_ACCEL_SAMPLERATE_1 1
#define LSM303DLHC_ACCEL_SAMPLERATE_10 2
#define LSM303DLHC_ACCEL_SAMPLERATE_25 3
#define LSM303DLHC_ACCEL_SAMPLERATE_50 4
#define LSM303DLHC_ACCEL_SAMPLERATE_100 5
#define LSM303DLHC_ACCEL_SAMPLERATE_200 6
#define LSM303DLHC_ACCEL_SAMPLERATE_400 7
// Accel FSR
#define LSM303DLHC_ACCEL_FSR_2 0
#define LSM303DLHC_ACCEL_FSR_4 1
#define LSM303DLHC_ACCEL_FSR_8 2
#define LSM303DLHC_ACCEL_FSR_16 3
// Compass sample rate defines
#define LSM303DLHC_COMPASS_SAMPLERATE_0_75 0
#define LSM303DLHC_COMPASS_SAMPLERATE_1_5 1
#define LSM303DLHC_COMPASS_SAMPLERATE_3 2
#define LSM303DLHC_COMPASS_SAMPLERATE_7_5 3
#define LSM303DLHC_COMPASS_SAMPLERATE_15 4
#define LSM303DLHC_COMPASS_SAMPLERATE_30 5
#define LSM303DLHC_COMPASS_SAMPLERATE_75 6
#define LSM303DLHC_COMPASS_SAMPLERATE_220 7
// Compass FSR
#define LSM303DLHC_COMPASS_FSR_1_3 1
#define LSM303DLHC_COMPASS_FSR_1_9 2
#define LSM303DLHC_COMPASS_FSR_2_5 3
#define LSM303DLHC_COMPASS_FSR_4 4
#define LSM303DLHC_COMPASS_FSR_4_7 5
#define LSM303DLHC_COMPASS_FSR_5_6 6
#define LSM303DLHC_COMPASS_FSR_8_1 7
//----------------------------------------------------------
//
// LSM9DS0
// I2C Slave Addresses
#define LSM9DS0_GYRO_ADDRESS0 0x6a
#define LSM9DS0_GYRO_ADDRESS1 0x6b
#define LSM9DS0_GYRO_ID 0xd4
#define LSM9DS0_ACCELMAG_ADDRESS0 0x1e
#define LSM9DS0_ACCELMAG_ADDRESS1 0x1d
#define LSM9DS0_ACCELMAG_ID 0x49
// LSM9DS0 Register map
#define LSM9DS0_GYRO_WHO_AM_I 0x0f
#define LSM9DS0_GYRO_CTRL1 0x20
#define LSM9DS0_GYRO_CTRL2 0x21
#define LSM9DS0_GYRO_CTRL3 0x22
#define LSM9DS0_GYRO_CTRL4 0x23
#define LSM9DS0_GYRO_CTRL5 0x24
#define LSM9DS0_GYRO_OUT_TEMP 0x26
#define LSM9DS0_GYRO_STATUS 0x27
#define LSM9DS0_GYRO_OUT_X_L 0x28
#define LSM9DS0_GYRO_OUT_X_H 0x29
#define LSM9DS0_GYRO_OUT_Y_L 0x2a
#define LSM9DS0_GYRO_OUT_Y_H 0x2b
#define LSM9DS0_GYRO_OUT_Z_L 0x2c
#define LSM9DS0_GYRO_OUT_Z_H 0x2d
#define LSM9DS0_GYRO_FIFO_CTRL 0x2e
#define LSM9DS0_GYRO_FIFO_SRC 0x2f
#define LSM9DS0_GYRO_IG_CFG 0x30
#define LSM9DS0_GYRO_IG_SRC 0x31
#define LSM9DS0_GYRO_IG_THS_XH 0x32
#define LSM9DS0_GYRO_IG_THS_XL 0x33
#define LSM9DS0_GYRO_IG_THS_YH 0x34
#define LSM9DS0_GYRO_IG_THS_YL 0x35
#define LSM9DS0_GYRO_IG_THS_ZH 0x36
#define LSM9DS0_GYRO_IG_THS_ZL 0x37
#define LSM9DS0_GYRO_IG_DURATION 0x38
// Gyro sample rate defines
#define LSM9DS0_GYRO_SAMPLERATE_95 0
#define LSM9DS0_GYRO_SAMPLERATE_190 1
#define LSM9DS0_GYRO_SAMPLERATE_380 2
#define LSM9DS0_GYRO_SAMPLERATE_760 3
// Gyro banwidth defines
#define LSM9DS0_GYRO_BANDWIDTH_0 0
#define LSM9DS0_GYRO_BANDWIDTH_1 1
#define LSM9DS0_GYRO_BANDWIDTH_2 2
#define LSM9DS0_GYRO_BANDWIDTH_3 3
// Gyro FSR defines
#define LSM9DS0_GYRO_FSR_250 0
#define LSM9DS0_GYRO_FSR_500 1
#define LSM9DS0_GYRO_FSR_2000 2
// Gyro high pass filter defines
#define LSM9DS0_GYRO_HPF_0 0
#define LSM9DS0_GYRO_HPF_1 1
#define LSM9DS0_GYRO_HPF_2 2
#define LSM9DS0_GYRO_HPF_3 3
#define LSM9DS0_GYRO_HPF_4 4
#define LSM9DS0_GYRO_HPF_5 5
#define LSM9DS0_GYRO_HPF_6 6
#define LSM9DS0_GYRO_HPF_7 7
#define LSM9DS0_GYRO_HPF_8 8
#define LSM9DS0_GYRO_HPF_9 9
// Accel/Mag Register Map
#define LSM9DS0_TEMP_OUT_L 0x05
#define LSM9DS0_TEMP_OUT_H 0x06
#define LSM9DS0_STATUS_M 0x07
#define LSM9DS0_OUT_X_L_M 0x08
#define LSM9DS0_OUT_X_H_M 0x09
#define LSM9DS0_OUT_Y_L_M 0x0a
#define LSM9DS0_OUT_Y_H_M 0x0b
#define LSM9DS0_OUT_Z_L_M 0x0c
#define LSM9DS0_OUT_Z_H_M 0x0d
#define LSM9DS0_WHO_AM_I 0x0f
#define LSM9DS0_INT_CTRL_M 0x12
#define LSM9DS0_INT_SRC_M 0x13
#define LSM9DS0_INT_THS_L_M 0x14
#define LSM9DS0_INT_THS_H_M 0x15
#define LSM9DS0_OFFSET_X_L_M 0x16
#define LSM9DS0_OFFSET_X_H_M 0x17
#define LSM9DS0_OFFSET_Y_L_M 0x18
#define LSM9DS0_OFFSET_Y_H_M 0x19
#define LSM9DS0_OFFSET_Z_L_M 0x1a
#define LSM9DS0_OFFSET_Z_H_M 0x1b
#define LSM9DS0_REFERENCE_X 0x1c
#define LSM9DS0_REFERENCE_Y 0x1d
#define LSM9DS0_REFERENCE_Z 0x1e
#define LSM9DS0_CTRL0 0x1f
#define LSM9DS0_CTRL1 0x20
#define LSM9DS0_CTRL2 0x21
#define LSM9DS0_CTRL3 0x22
#define LSM9DS0_CTRL4 0x23
#define LSM9DS0_CTRL5 0x24
#define LSM9DS0_CTRL6 0x25
#define LSM9DS0_CTRL7 0x26
#define LSM9DS0_STATUS_A 0x27
#define LSM9DS0_OUT_X_L_A 0x28
#define LSM9DS0_OUT_X_H_A 0x29
#define LSM9DS0_OUT_Y_L_A 0x2a
#define LSM9DS0_OUT_Y_H_A 0x2b
#define LSM9DS0_OUT_Z_L_A 0x2c
#define LSM9DS0_OUT_Z_H_A 0x2d
#define LSM9DS0_FIFO_CTRL 0x2e
#define LSM9DS0_FIFO_SRC 0x2f
#define LSM9DS0_IG_CFG1 0x30
#define LSM9DS0_IG_SRC1 0x31
#define LSM9DS0_IG_THS1 0x32
#define LSM9DS0_IG_DUR1 0x33
#define LSM9DS0_IG_CFG2 0x34
#define LSM9DS0_IG_SRC2 0x35
#define LSM9DS0_IG_THS2 0x36
#define LSM9DS0_IG_DUR2 0x37
#define LSM9DS0_CLICK_CFG 0x38
#define LSM9DS0_CLICK_SRC 0x39
#define LSM9DS0_CLICK_THS 0x3a
#define LSM9DS0_TIME_LIMIT 0x3b
#define LSM9DS0_TIME_LATENCY 0x3c
#define LSM9DS0_TIME_WINDOW 0x3d
#define LSM9DS0_ACT_THIS 0x3e
#define LSM9DS0_ACT_DUR 0x3f
// Accel sample rate defines
#define LSM9DS0_ACCEL_SAMPLERATE_3_125 1
#define LSM9DS0_ACCEL_SAMPLERATE_6_25 2
#define LSM9DS0_ACCEL_SAMPLERATE_12_5 3
#define LSM9DS0_ACCEL_SAMPLERATE_25 4
#define LSM9DS0_ACCEL_SAMPLERATE_50 5
#define LSM9DS0_ACCEL_SAMPLERATE_100 6
#define LSM9DS0_ACCEL_SAMPLERATE_200 7
#define LSM9DS0_ACCEL_SAMPLERATE_400 8
#define LSM9DS0_ACCEL_SAMPLERATE_800 9
#define LSM9DS0_ACCEL_SAMPLERATE_1600 10
// Accel FSR
#define LSM9DS0_ACCEL_FSR_2 0
#define LSM9DS0_ACCEL_FSR_4 1
#define LSM9DS0_ACCEL_FSR_6 2
#define LSM9DS0_ACCEL_FSR_8 3
#define LSM9DS0_ACCEL_FSR_16 4
// Accel filter bandwidth
#define LSM9DS0_ACCEL_LPF_773 0
#define LSM9DS0_ACCEL_LPF_194 1
#define LSM9DS0_ACCEL_LPF_362 2
#define LSM9DS0_ACCEL_LPF_50 3
// Compass sample rate defines
#define LSM9DS0_COMPASS_SAMPLERATE_3_125 0
#define LSM9DS0_COMPASS_SAMPLERATE_6_25 1
#define LSM9DS0_COMPASS_SAMPLERATE_12_5 2
#define LSM9DS0_COMPASS_SAMPLERATE_25 3
#define LSM9DS0_COMPASS_SAMPLERATE_50 4
#define LSM9DS0_COMPASS_SAMPLERATE_100 5
// Compass FSR
#define LSM9DS0_COMPASS_FSR_2 0
#define LSM9DS0_COMPASS_FSR_4 1
#define LSM9DS0_COMPASS_FSR_8 2
#define LSM9DS0_COMPASS_FSR_12 3
//----------------------------------------------------------
//
// LSM9DS1
// I2C Slave Addresses
#define LSM9DS1_ADDRESS0 0x6a
#define LSM9DS1_ADDRESS1 0x6b
#define LSM9DS1_ID 0x68
#define LSM9DS1_MAG_ADDRESS0 0x1c
#define LSM9DS1_MAG_ADDRESS1 0x1d
#define LSM9DS1_MAG_ADDRESS2 0x1e
#define LSM9DS1_MAG_ADDRESS3 0x1f
#define LSM9DS1_MAG_ID 0x3d
// LSM9DS1 Register map
#define LSM9DS1_ACT_THS 0x04
#define LSM9DS1_ACT_DUR 0x05
#define LSM9DS1_INT_GEN_CFG_XL 0x06
#define LSM9DS1_INT_GEN_THS_X_XL 0x07
#define LSM9DS1_INT_GEN_THS_Y_XL 0x08
#define LSM9DS1_INT_GEN_THS_Z_XL 0x09
#define LSM9DS1_INT_GEN_DUR_XL 0x0A
#define LSM9DS1_REFERENCE_G 0x0B
#define LSM9DS1_INT1_CTRL 0x0C
#define LSM9DS1_INT2_CTRL 0x0D
#define LSM9DS1_WHO_AM_I 0x0F
#define LSM9DS1_CTRL1 0x10
#define LSM9DS1_CTRL2 0x11
#define LSM9DS1_CTRL3 0x12
#define LSM9DS1_ORIENT_CFG_G 0x13
#define LSM9DS1_INT_GEN_SRC_G 0x14
#define LSM9DS1_OUT_TEMP_L 0x15
#define LSM9DS1_OUT_TEMP_H 0x16
#define LSM9DS1_STATUS 0x17
#define LSM9DS1_OUT_X_L_G 0x18
#define LSM9DS1_OUT_X_H_G 0x19
#define LSM9DS1_OUT_Y_L_G 0x1A
#define LSM9DS1_OUT_Y_H_G 0x1B
#define LSM9DS1_OUT_Z_L_G 0x1C
#define LSM9DS1_OUT_Z_H_G 0x1D
#define LSM9DS1_CTRL4 0x1E
#define LSM9DS1_CTRL5 0x1F
#define LSM9DS1_CTRL6 0x20
#define LSM9DS1_CTRL7 0x21
#define LSM9DS1_CTRL8 0x22
#define LSM9DS1_CTRL9 0x23
#define LSM9DS1_CTRL10 0x24
#define LSM9DS1_INT_GEN_SRC_XL 0x26
#define LSM9DS1_STATUS2 0x27
#define LSM9DS1_OUT_X_L_XL 0x28
#define LSM9DS1_OUT_X_H_XL 0x29
#define LSM9DS1_OUT_Y_L_XL 0x2A
#define LSM9DS1_OUT_Y_H_XL 0x2B
#define LSM9DS1_OUT_Z_L_XL 0x2C
#define LSM9DS1_OUT_Z_H_XL 0x2D
#define LSM9DS1_FIFO_CTRL 0x2E
#define LSM9DS1_FIFO_SRC 0x2F
#define LSM9DS1_INT_GEN_CFG_G 0x30
#define LSM9DS1_INT_GEN_THS_XH_G 0x31
#define LSM9DS1_INT_GEN_THS_XL_G 0x32
#define LSM9DS1_INT_GEN_THS_YH_G 0x33
#define LSM9DS1_INT_GEN_THS_YL_G 0x34
#define LSM9DS1_INT_GEN_THS_ZH_G 0x35
#define LSM9DS1_INT_GEN_THS_ZL_G 0x36
#define LSM9DS1_INT_GEN_DUR_G 0x37
// Gyro sample rate defines
#define LSM9DS1_GYRO_SAMPLERATE_14_9 0
#define LSM9DS1_GYRO_SAMPLERATE_59_5 1
#define LSM9DS1_GYRO_SAMPLERATE_119 2
#define LSM9DS1_GYRO_SAMPLERATE_238 3
#define LSM9DS1_GYRO_SAMPLERATE_476 4
#define LSM9DS1_GYRO_SAMPLERATE_952 5
// Gyro banwidth defines
#define LSM9DS1_GYRO_BANDWIDTH_0 0
#define LSM9DS1_GYRO_BANDWIDTH_1 1
#define LSM9DS1_GYRO_BANDWIDTH_2 2
#define LSM9DS1_GYRO_BANDWIDTH_3 3
// Gyro FSR defines
#define LSM9DS1_GYRO_FSR_250 0
#define LSM9DS1_GYRO_FSR_500 1
#define LSM9DS1_GYRO_FSR_2000 2
// Gyro high pass filter defines
#define LSM9DS1_GYRO_HPF_0 0
#define LSM9DS1_GYRO_HPF_1 1
#define LSM9DS1_GYRO_HPF_2 2
#define LSM9DS1_GYRO_HPF_3 3
#define LSM9DS1_GYRO_HPF_4 4
#define LSM9DS1_GYRO_HPF_5 5
#define LSM9DS1_GYRO_HPF_6 6
#define LSM9DS1_GYRO_HPF_7 7
#define LSM9DS1_GYRO_HPF_8 8
#define LSM9DS1_GYRO_HPF_9 9
// Mag Register Map
#define LSM9DS1_MAG_OFFSET_X_L 0x05
#define LSM9DS1_MAG_OFFSET_X_H 0x06
#define LSM9DS1_MAG_OFFSET_Y_L 0x07
#define LSM9DS1_MAG_OFFSET_Y_H 0x08
#define LSM9DS1_MAG_OFFSET_Z_L 0x09
#define LSM9DS1_MAG_OFFSET_Z_H 0x0A
#define LSM9DS1_MAG_WHO_AM_I 0x0F
#define LSM9DS1_MAG_CTRL1 0x20
#define LSM9DS1_MAG_CTRL2 0x21
#define LSM9DS1_MAG_CTRL3 0x22
#define LSM9DS1_MAG_CTRL4 0x23
#define LSM9DS1_MAG_CTRL5 0x24
#define LSM9DS1_MAG_STATUS 0x27
#define LSM9DS1_MAG_OUT_X_L 0x28
#define LSM9DS1_MAG_OUT_X_H 0x29
#define LSM9DS1_MAG_OUT_Y_L 0x2A
#define LSM9DS1_MAG_OUT_Y_H 0x2B
#define LSM9DS1_MAG_OUT_Z_L 0x2C
#define LSM9DS1_MAG_OUT_Z_H 0x2D
#define LSM9DS1_MAG_INT_CFG 0x30
#define LSM9DS1_MAG_INT_SRC 0x31
#define LSM9DS1_MAG_INT_THS_L 0x32
#define LSM9DS1_MAG_INT_THS_H 0x33
// Accel sample rate defines
#define LSM9DS1_ACCEL_SAMPLERATE_14_9 1
#define LSM9DS1_ACCEL_SAMPLERATE_59_5 2
#define LSM9DS1_ACCEL_SAMPLERATE_119 3
#define LSM9DS1_ACCEL_SAMPLERATE_238 4
#define LSM9DS1_ACCEL_SAMPLERATE_476 5
#define LSM9DS1_ACCEL_SAMPLERATE_952 6
// Accel FSR
#define LSM9DS1_ACCEL_FSR_2 0
#define LSM9DS1_ACCEL_FSR_16 1
#define LSM9DS1_ACCEL_FSR_4 2
#define LSM9DS1_ACCEL_FSR_8 3
// Accel filter bandwidth
#define LSM9DS1_ACCEL_LPF_408 0
#define LSM9DS1_ACCEL_LPF_211 1
#define LSM9DS1_ACCEL_LPF_105 2
#define LSM9DS1_ACCEL_LPF_50 3
// Compass sample rate defines
#define LSM9DS1_COMPASS_SAMPLERATE_0_625 0
#define LSM9DS1_COMPASS_SAMPLERATE_1_25 1
#define LSM9DS1_COMPASS_SAMPLERATE_2_5 2
#define LSM9DS1_COMPASS_SAMPLERATE_5 3
#define LSM9DS1_COMPASS_SAMPLERATE_10 4
#define LSM9DS1_COMPASS_SAMPLERATE_20 5
#define LSM9DS1_COMPASS_SAMPLERATE_40 6
#define LSM9DS1_COMPASS_SAMPLERATE_80 7
// Compass FSR
#define LSM9DS1_COMPASS_FSR_4 0
#define LSM9DS1_COMPASS_FSR_8 1
#define LSM9DS1_COMPASS_FSR_12 2
#define LSM9DS1_COMPASS_FSR_16 3
//----------------------------------------------------------
//
// BMX055
// I2C Slave Addresses
#define BMX055_GYRO_ADDRESS0 0x68
#define BMX055_GYRO_ADDRESS1 0x69
#define BMX055_GYRO_ID 0x0f
#define BMX055_ACCEL_ADDRESS0 0x18
#define BMX055_ACCEL_ADDRESS1 0x19
#define BMX055_ACCEL_ID 0xfa
#define BMX055_MAG_ADDRESS0 0x10
#define BMX055_MAG_ADDRESS1 0x11
#define BMX055_MAG_ADDRESS2 0x12
#define BMX055_MAG_ADDRESS3 0x13
#define BMX055_MAG_ID 0x32
// BMX055 Register map
#define BMX055_GYRO_WHO_AM_I 0x00
#define BMX055_GYRO_X_LSB 0x02
#define BMX055_GYRO_X_MSB 0x03
#define BMX055_GYRO_Y_LSB 0x04
#define BMX055_GYRO_Y_MSB 0x05
#define BMX055_GYRO_Z_LSB 0x06
#define BMX055_GYRO_Z_MSB 0x07
#define BMX055_GYRO_INT_STATUS_0 0x09
#define BMX055_GYRO_INT_STATUS_1 0x0a
#define BMX055_GYRO_INT_STATUS_2 0x0b
#define BMX055_GYRO_INT_STATUS_3 0x0c
#define BMX055_GYRO_FIFO_STATUS 0x0e
#define BMX055_GYRO_RANGE 0x0f
#define BMX055_GYRO_BW 0x10
#define BMX055_GYRO_LPM1 0x11
#define BMX055_GYRO_LPM2 0x12
#define BMX055_GYRO_RATE_HBW 0x13
#define BMX055_GYRO_SOFT_RESET 0x14
#define BMX055_GYRO_INT_EN_0 0x15
#define BMX055_GYRO_1A 0x1a
#define BMX055_GYRO_1B 0x1b
#define BMX055_GYRO_SOC 0x31
#define BMX055_GYRO_FOC 0x32
#define BMX055_GYRO_FIFO_CONFIG_0 0x3d
#define BMX055_GYRO_FIFO_CONFIG_1 0x3e
#define BMX055_GYRO_FIFO_DATA 0x3f
#define BMX055_ACCEL_WHO_AM_I 0x00
#define BMX055_ACCEL_X_LSB 0x02
#define BMX055_ACCEL_X_MSB 0x03
#define BMX055_ACCEL_Y_LSB 0x04
#define BMX055_ACCEL_Y_MSB 0x05
#define BMX055_ACCEL_Z_LSB 0x06
#define BMX055_ACCEL_Z_MSB 0x07
#define BMX055_ACCEL_TEMP 0x08
#define BMX055_ACCEL_INT_STATUS_0 0x09
#define BMX055_ACCEL_INT_STATUS_1 0x0a
#define BMX055_ACCEL_INT_STATUS_2 0x0b
#define BMX055_ACCEL_INT_STATUS_3 0x0c
#define BMX055_ACCEL_FIFO_STATUS 0x0e
#define BMX055_ACCEL_PMU_RANGE 0x0f
#define BMX055_ACCEL_PMU_BW 0x10
#define BMX055_ACCEL_PMU_LPW 0x11
#define BMX055_ACCEL_PMU_LOW_POWER 0x12
#define BMX055_ACCEL_HBW 0x13
#define BMX055_ACCEL_SOFT_RESET 0x14
#define BMX055_ACCEL_FIFO_CONFIG_0 0x30
#define BMX055_ACCEL_OFC_CTRL 0x36
#define BMX055_ACCEL_OFC_SETTING 0x37
#define BMX055_ACCEL_FIFO_CONFIG_1 0x3e
#define BMX055_ACCEL_FIFO_DATA 0x3f
#define BMX055_MAG_WHO_AM_I 0x40
#define BMX055_MAG_X_LSB 0x42
#define BMX055_MAG_X_MSB 0x43
#define BMX055_MAG_Y_LSB 0x44
#define BMX055_MAG_Y_MSB 0x45
#define BMX055_MAG_Z_LSB 0x46
#define BMX055_MAG_Z_MSB 0x47
#define BMX055_MAG_RHALL_LSB 0x48
#define BMX055_MAG_RHALL_MSB 0x49
#define BMX055_MAG_INT_STAT 0x4a
#define BMX055_MAG_POWER 0x4b
#define BMX055_MAG_MODE 0x4c
#define BMX055_MAG_INT_ENABLE 0x4d
#define BMX055_MAG_AXIS_ENABLE 0x4e
#define BMX055_MAG_REPXY 0x51
#define BMX055_MAG_REPZ 0x52
#define BMX055_MAG_DIG_X1 0x5D
#define BMX055_MAG_DIG_Y1 0x5E
#define BMX055_MAG_DIG_Z4_LSB 0x62
#define BMX055_MAG_DIG_Z4_MSB 0x63
#define BMX055_MAG_DIG_X2 0x64
#define BMX055_MAG_DIG_Y2 0x65
#define BMX055_MAG_DIG_Z2_LSB 0x68
#define BMX055_MAG_DIG_Z2_MSB 0x69
#define BMX055_MAG_DIG_Z1_LSB 0x6A
#define BMX055_MAG_DIG_Z1_MSB 0x6B
#define BMX055_MAG_DIG_XYZ1_LSB 0x6C
#define BMX055_MAG_DIG_XYZ1_MSB 0x6D
#define BMX055_MAG_DIG_Z3_LSB 0x6E
#define BMX055_MAG_DIG_Z3_MSB 0x6F
#define BMX055_MAG_DIG_XY2 0x70
#define BMX055_MAG_DIG_XY1 0x71
// Gyro sample rate defines
#define BMX055_GYRO_SAMPLERATE_100_32 0x07
#define BMX055_GYRO_SAMPLERATE_200_64 0x06
#define BMX055_GYRO_SAMPLERATE_100_12 0x05
#define BMX055_GYRO_SAMPLERATE_200_23 0x04
#define BMX055_GYRO_SAMPLERATE_400_47 0x03
#define BMX055_GYRO_SAMPLERATE_1000_116 0x02
#define BMX055_GYRO_SAMPLERATE_2000_230 0x01
#define BMX055_GYRO_SAMPLERATE_2000_523 0x00
// Gyro FSR defines
#define BMX055_GYRO_FSR_2000 0x00
#define BMX055_GYRO_FSR_1000 0x01
#define BMX055_GYRO_FSR_500 0x02
#define BMX055_GYRO_FSR_250 0x03
#define BMX055_GYRO_FSR_125 0x04
// Accel sample rate defines
#define BMX055_ACCEL_SAMPLERATE_15 0X00
#define BMX055_ACCEL_SAMPLERATE_31 0X01
#define BMX055_ACCEL_SAMPLERATE_62 0X02
#define BMX055_ACCEL_SAMPLERATE_125 0X03
#define BMX055_ACCEL_SAMPLERATE_250 0X04
#define BMX055_ACCEL_SAMPLERATE_500 0X05
#define BMX055_ACCEL_SAMPLERATE_1000 0X06
#define BMX055_ACCEL_SAMPLERATE_2000 0X07
// Accel FSR defines
#define BMX055_ACCEL_FSR_2 0x00
#define BMX055_ACCEL_FSR_4 0x01
#define BMX055_ACCEL_FSR_8 0x02
#define BMX055_ACCEL_FSR_16 0x03
// Mag preset defines
#define BMX055_MAG_LOW_POWER 0x00
#define BMX055_MAG_REGULAR 0x01
#define BMX055_MAG_ENHANCED 0x02
#define BMX055_MAG_HIGH_ACCURACY 0x03
//----------------------------------------------------------
//
// BNO055
// I2C Slave Addresses
#define BNO055_ADDRESS0 0x28
#define BNO055_ADDRESS1 0x29
#define BNO055_ID 0xa0
// Register map
#define BNO055_WHO_AM_I 0x00
#define BNO055_PAGE_ID 0x07
#define BNO055_ACCEL_DATA 0x08
#define BNO055_MAG_DATA 0x0e
#define BNO055_GYRO_DATA 0x14
#define BNO055_FUSED_EULER 0x1a
#define BNO055_FUSED_QUAT 0x20
#define BNO055_UNIT_SEL 0x3b
#define BNO055_OPER_MODE 0x3d
#define BNO055_PWR_MODE 0x3e
#define BNO055_SYS_TRIGGER 0x3f
#define BNO055_AXIS_MAP_CONFIG 0x41
#define BNO055_AXIS_MAP_SIGN 0x42
// Operation modes
#define BNO055_OPER_MODE_CONFIG 0x00
#define BNO055_OPER_MODE_NDOF 0x0c
// Power modes
#define BNO055_PWR_MODE_NORMAL 0x00
#endif // _RTIMUDEFS_H