42 lines
1.4 KiB
C
42 lines
1.4 KiB
C
#include "mgos.h"
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#include "mgos_imu.h"
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#if BOARD == 1
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// LSM303D_L3GD20_COMBO -- sold as GY-89
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#define ACC_I2CADDR 0x1d
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#define ACC_TYPE ACC_LSM303D
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#define GYRO_I2CADDR 0x6b
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#define GYRO_TYPE GYRO_L3GD20
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#define GYRO_ORIENT { 0, -1, 0, 1, 0, 0, 0, 0, 1 }
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#define MAG_I2CADDR 0x1d
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#define MAG_TYPE MAG_LSM303D
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#define MAG_ORIENT { 1, 0, 0, 0, 1, 0, 0, 0, 1 }
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#elif BOARD == 2
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// ITG3205_ADXL345_HMC5883L_COMBO -- sold as HW-579
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#define ACC_I2CADDR 0x53
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#define ACC_TYPE ACC_ADXL345
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#define GYRO_I2CADDR 0x68
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#define GYRO_TYPE GYRO_ITG3205
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#define MAG_I2CADDR 0x1d
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#define MAG_TYPE MAG_HMC5883L
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#elif BOARD == 3
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// Sold as M5 Stack (ESP32 + MPU9250)
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#define ACC_I2CADDR 0x68
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#define ACC_TYPE ACC_MPU9250
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#define GYRO_I2CADDR 0x68
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#define GYRO_TYPE GYRO_MPU9250
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#define GYRO_ORIENT { 1, 0, 0, 0, 1, 0, 0, 0, 1 }
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#define MAG_I2CADDR 0x0c
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#define MAG_TYPE MAG_AK8963
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#define MAG_ORIENT { 0, 1, 0, 1, 0, 0, 0, 0, -1 }
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#elif BOARD == 3
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#define ACC_I2CADDR 0x68
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#define ACC_TYPE ACC_LSM9DS1
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#define GYRO_I2CADDR 0x68
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#define GYRO_TYPE GYRO_LSM9DS1
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#define GYRO_ORIENT { 1, 0, 0, 0, 1, 0, 0, 0, 1 }
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#define MAG_I2CADDR 0x0c
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#define MAG_TYPE MAG_LSM9DS1
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#define MAG_ORIENT { 1, 0, 0, 0, 1, 0, 0, 0, 1 }
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#endif
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