Macros
firmware_registers.h File Reference

Copied directly from the UM6_config.h file, available online here: http://sourceforge.net/p/um6firmware/code/34/tree/trunk/UM6%20Firmware/UM6_config.h#l14. More...

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Macros

#define COMMAND_COUNT   10
 
#define COMMAND_START_ADDRESS   170
 
#define CONFIG_ARRAY_SIZE   59
 
#define CONFIG_REG_START_ADDRESS   0
 
#define DATA_ARRAY_SIZE   48
 
#define DATA_REG_START_ADDRESS   85
 
#define UM6_ACCEL_BIAS_XY   (CONFIG_REG_START_ADDRESS + 13)
 
#define UM6_ACCEL_BIAS_Z   (CONFIG_REG_START_ADDRESS + 14)
 
#define UM6_ACCEL_CAL_00   (CONFIG_REG_START_ADDRESS + 17)
 
#define UM6_ACCEL_CAL_01   (CONFIG_REG_START_ADDRESS + 18)
 
#define UM6_ACCEL_CAL_02   (CONFIG_REG_START_ADDRESS + 19)
 
#define UM6_ACCEL_CAL_10   (CONFIG_REG_START_ADDRESS + 20)
 
#define UM6_ACCEL_CAL_11   (CONFIG_REG_START_ADDRESS + 21)
 
#define UM6_ACCEL_CAL_12   (CONFIG_REG_START_ADDRESS + 22)
 
#define UM6_ACCEL_CAL_20   (CONFIG_REG_START_ADDRESS + 23)
 
#define UM6_ACCEL_CAL_21   (CONFIG_REG_START_ADDRESS + 24)
 
#define UM6_ACCEL_CAL_22   (CONFIG_REG_START_ADDRESS + 25)
 
#define UM6_ACCEL_INIT_FAILED   (1 << 30)
 
#define UM6_ACCEL_PROC_XY   (DATA_REG_START_ADDRESS + 9)
 
#define UM6_ACCEL_PROC_Z   (DATA_REG_START_ADDRESS + 10)
 
#define UM6_ACCEL_RAW_XY   (DATA_REG_START_ADDRESS + 3)
 
#define UM6_ACCEL_RAW_Z   (DATA_REG_START_ADDRESS + 4)
 
#define UM6_ACCEL_REF_X   (CONFIG_REG_START_ADDRESS + 5)
 
#define UM6_ACCEL_REF_Y   (CONFIG_REG_START_ADDRESS + 6)
 
#define UM6_ACCEL_REF_Z   (CONFIG_REG_START_ADDRESS + 7)
 
#define UM6_ACCEL_ST_FAILED_X   (1 << 25)
 
#define UM6_ACCEL_ST_FAILED_Y   (1 << 24)
 
#define UM6_ACCEL_ST_FAILED_Z   (1 << 23)
 
#define UM6_ACCEL_UNRESPONSIVE   (1 << 14)
 
#define UM6_ACCEL_UPDATE_ENABLED   (1 << 30)
 
#define UM6_ACCELS_PROC_ENABLED   (1 << 25)
 
#define UM6_ACCELS_RAW_ENABLED   (1 << 28)
 
#define UM6_BAD_CHECKSUM   253
 
#define UM6_BAUD_RATE_MASK   (0x07)
 
#define UM6_BAUD_START_BIT   8
 
#define UM6_BROADCAST_ENABLED   (1 << 30)
 
#define UM6_COMMUNICATION   CONFIG_REG_START_ADDRESS
 
#define UM6_COV_ENABLED   (1 << 21)
 
#define UM6_EKF_ACCEL_VARIANCE   (CONFIG_REG_START_ADDRESS + 9)
 
#define UM6_EKF_DIVERGENT   (1 << 16)
 
#define UM6_EKF_MAG_VARIANCE   (CONFIG_REG_START_ADDRESS + 8)
 
#define UM6_EKF_PROCESS_VARIANCE   (CONFIG_REG_START_ADDRESS + 10)
 
#define UM6_ERROR_COV_00   (DATA_REG_START_ADDRESS + 17)
 
#define UM6_ERROR_COV_01   (DATA_REG_START_ADDRESS + 18)
 
#define UM6_ERROR_COV_02   (DATA_REG_START_ADDRESS + 19)
 
#define UM6_ERROR_COV_03   (DATA_REG_START_ADDRESS + 20)
 
#define UM6_ERROR_COV_10   (DATA_REG_START_ADDRESS + 21)
 
#define UM6_ERROR_COV_11   (DATA_REG_START_ADDRESS + 22)
 
#define UM6_ERROR_COV_12   (DATA_REG_START_ADDRESS + 23)
 
#define UM6_ERROR_COV_13   (DATA_REG_START_ADDRESS + 24)
 
#define UM6_ERROR_COV_20   (DATA_REG_START_ADDRESS + 25)
 
#define UM6_ERROR_COV_21   (DATA_REG_START_ADDRESS + 26)
 
#define UM6_ERROR_COV_22   (DATA_REG_START_ADDRESS + 27)
 
#define UM6_ERROR_COV_23   (DATA_REG_START_ADDRESS + 28)
 
#define UM6_ERROR_COV_30   (DATA_REG_START_ADDRESS + 29)
 
#define UM6_ERROR_COV_31   (DATA_REG_START_ADDRESS + 30)
 
#define UM6_ERROR_COV_32   (DATA_REG_START_ADDRESS + 31)
 
#define UM6_ERROR_COV_33   (DATA_REG_START_ADDRESS + 32)
 
#define UM6_EULER_ENABLED   (1 << 22)
 
#define UM6_EULER_PHI_THETA   (DATA_REG_START_ADDRESS + 13)
 
#define UM6_EULER_PSI   (DATA_REG_START_ADDRESS + 14)
 
#define UM6_FIRMWARE_REVISION   (('U' << 24) | ('M' << 16) | ('2' << 8) | 'B')
 
#define UM6_FLASH_COMMIT   (COMMAND_START_ADDRESS + 1)
 
#define UM6_FLASH_WRITE_FAILED   (1 << 12)
 
#define UM6_GET_DATA   (COMMAND_START_ADDRESS + 4)
 
#define UM6_GET_FW_VERSION   COMMAND_START_ADDRESS
 
#define UM6_GPS_ALTITUDE   (DATA_REG_START_ADDRESS + 36)
 
#define UM6_GPS_BAUD_RATE_MASK   (0x07)
 
#define UM6_GPS_BAUD_START_BIT   11
 
#define UM6_GPS_COURSE_SPEED   (DATA_REG_START_ADDRESS + 40)
 
#define UM6_GPS_COURSE_SPEED_ENABLED   (1 << 17)
 
#define UM6_GPS_HDOP_MASK   0x03FF
 
#define UM6_GPS_HDOP_START_BIT   16
 
#define UM6_GPS_HOME_ALTITUDE   (CONFIG_REG_START_ADDRESS + 58)
 
#define UM6_GPS_HOME_LAT   (CONFIG_REG_START_ADDRESS + 56)
 
#define UM6_GPS_HOME_LONG   (CONFIG_REG_START_ADDRESS + 57)
 
#define UM6_GPS_LATITUDE   (DATA_REG_START_ADDRESS + 35)
 
#define UM6_GPS_LONGITUDE   (DATA_REG_START_ADDRESS + 34)
 
#define UM6_GPS_MODE_MASK   0x03
 
#define UM6_GPS_MODE_START_BIT   30
 
#define UM6_GPS_POSITION_E   (DATA_REG_START_ADDRESS + 38)
 
#define UM6_GPS_POSITION_ENABLED   (1 << 19)
 
#define UM6_GPS_POSITION_H   (DATA_REG_START_ADDRESS + 39)
 
#define UM6_GPS_POSITION_N   (DATA_REG_START_ADDRESS + 37)
 
#define UM6_GPS_REL_POSITION_ENABLED   (1 << 18)
 
#define UM6_GPS_SAT_11_12   (DATA_REG_START_ADDRESS + 47)
 
#define UM6_GPS_SAT_1_2   (DATA_REG_START_ADDRESS + 42)
 
#define UM6_GPS_SAT_3_4   (DATA_REG_START_ADDRESS + 43)
 
#define UM6_GPS_SAT_5_6   (DATA_REG_START_ADDRESS + 44)
 
#define UM6_GPS_SAT_7_8   (DATA_REG_START_ADDRESS + 45)
 
#define UM6_GPS_SAT_9_10   (DATA_REG_START_ADDRESS + 46)
 
#define UM6_GPS_SAT_COUNT_MASK   0x0F
 
#define UM6_GPS_SAT_COUNT_START_BIT   26
 
#define UM6_GPS_SAT_DATA_ENABLED   (1 << 15)
 
#define UM6_GPS_SAT_SUMMARY   (DATA_REG_START_ADDRESS + 41)
 
#define UM6_GPS_SAT_SUMMARY_ENABLED   (1 << 16)
 
#define UM6_GPS_VDOP_MASK   0x03FF
 
#define UM6_GPS_VDOP_START_BIT   6
 
#define UM6_GYRO_BIAS_XY   (CONFIG_REG_START_ADDRESS + 11)
 
#define UM6_GYRO_BIAS_Z   (CONFIG_REG_START_ADDRESS + 12)
 
#define UM6_GYRO_CAL_00   (CONFIG_REG_START_ADDRESS + 26)
 
#define UM6_GYRO_CAL_01   (CONFIG_REG_START_ADDRESS + 27)
 
#define UM6_GYRO_CAL_02   (CONFIG_REG_START_ADDRESS + 28)
 
#define UM6_GYRO_CAL_10   (CONFIG_REG_START_ADDRESS + 29)
 
#define UM6_GYRO_CAL_11   (CONFIG_REG_START_ADDRESS + 30)
 
#define UM6_GYRO_CAL_12   (CONFIG_REG_START_ADDRESS + 31)
 
#define UM6_GYRO_CAL_20   (CONFIG_REG_START_ADDRESS + 32)
 
#define UM6_GYRO_CAL_21   (CONFIG_REG_START_ADDRESS + 33)
 
#define UM6_GYRO_CAL_22   (CONFIG_REG_START_ADDRESS + 34)
 
#define UM6_GYRO_INIT_FAILED   (1 << 29)
 
#define UM6_GYRO_PROC_XY   (DATA_REG_START_ADDRESS + 7)
 
#define UM6_GYRO_PROC_Z   (DATA_REG_START_ADDRESS + 8)
 
#define UM6_GYRO_RAW_XY   (DATA_REG_START_ADDRESS + 1)
 
#define UM6_GYRO_RAW_Z   (DATA_REG_START_ADDRESS + 2)
 
#define UM6_GYRO_ST_FAILED_X   (1 << 28)
 
#define UM6_GYRO_ST_FAILED_Y   (1 << 27)
 
#define UM6_GYRO_ST_FAILED_Z   (1 << 26)
 
#define UM6_GYRO_STARTUP_CAL   (1 << 29)
 
#define UM6_GYRO_UNRESPONSIVE   (1 << 15)
 
#define UM6_GYROS_PROC_ENABLED   (1 << 26)
 
#define UM6_GYROS_RAW_ENABLED   (1 << 29)
 
#define UM6_GYROX_BIAS_0   (CONFIG_REG_START_ADDRESS + 44)
 
#define UM6_GYROX_BIAS_1   (CONFIG_REG_START_ADDRESS + 45)
 
#define UM6_GYROX_BIAS_2   (CONFIG_REG_START_ADDRESS + 46)
 
#define UM6_GYROX_BIAS_3   (CONFIG_REG_START_ADDRESS + 47)
 
#define UM6_GYROY_BIAS_0   (CONFIG_REG_START_ADDRESS + 48)
 
#define UM6_GYROY_BIAS_1   (CONFIG_REG_START_ADDRESS + 49)
 
#define UM6_GYROY_BIAS_2   (CONFIG_REG_START_ADDRESS + 50)
 
#define UM6_GYROY_BIAS_3   (CONFIG_REG_START_ADDRESS + 51)
 
#define UM6_GYROZ_BIAS_0   (CONFIG_REG_START_ADDRESS + 52)
 
#define UM6_GYROZ_BIAS_1   (CONFIG_REG_START_ADDRESS + 53)
 
#define UM6_GYROZ_BIAS_2   (CONFIG_REG_START_ADDRESS + 54)
 
#define UM6_GYROZ_BIAS_3   (CONFIG_REG_START_ADDRESS + 55)
 
#define UM6_I2C_ACCEL_BUS_ERROR   (1 << 18)
 
#define UM6_I2C_GYRO_BUS_ERROR   (1 << 19)
 
#define UM6_I2C_MAG_BUS_ERROR   (1 << 17)
 
#define UM6_INVALID_BATCH_SIZE   255
 
#define UM6_MAG_BIAS_XY   (CONFIG_REG_START_ADDRESS + 15)
 
#define UM6_MAG_BIAS_Z   (CONFIG_REG_START_ADDRESS + 16)
 
#define UM6_MAG_CAL_00   (CONFIG_REG_START_ADDRESS + 35)
 
#define UM6_MAG_CAL_01   (CONFIG_REG_START_ADDRESS + 36)
 
#define UM6_MAG_CAL_02   (CONFIG_REG_START_ADDRESS + 37)
 
#define UM6_MAG_CAL_10   (CONFIG_REG_START_ADDRESS + 38)
 
#define UM6_MAG_CAL_11   (CONFIG_REG_START_ADDRESS + 39)
 
#define UM6_MAG_CAL_12   (CONFIG_REG_START_ADDRESS + 40)
 
#define UM6_MAG_CAL_20   (CONFIG_REG_START_ADDRESS + 41)
 
#define UM6_MAG_CAL_21   (CONFIG_REG_START_ADDRESS + 42)
 
#define UM6_MAG_CAL_22   (CONFIG_REG_START_ADDRESS + 43)
 
#define UM6_MAG_INIT_FAILED   (1 << 31)
 
#define UM6_MAG_PROC_ENABLED   (1 << 24)
 
#define UM6_MAG_PROC_XY   (DATA_REG_START_ADDRESS + 11)
 
#define UM6_MAG_PROC_Z   (DATA_REG_START_ADDRESS + 12)
 
#define UM6_MAG_RAW_ENABLED   (1 << 27)
 
#define UM6_MAG_RAW_XY   (DATA_REG_START_ADDRESS + 5)
 
#define UM6_MAG_RAW_Z   (DATA_REG_START_ADDRESS + 6)
 
#define UM6_MAG_REF_X   (CONFIG_REG_START_ADDRESS + 2)
 
#define UM6_MAG_REF_Y   (CONFIG_REG_START_ADDRESS + 3)
 
#define UM6_MAG_REF_Z   (CONFIG_REG_START_ADDRESS + 4)
 
#define UM6_MAG_ST_FAILED_X   (1 << 22)
 
#define UM6_MAG_ST_FAILED_Y   (1 << 21)
 
#define UM6_MAG_ST_FAILED_Z   (1 << 20)
 
#define UM6_MAG_UNRESPONSIVE   (1 << 13)
 
#define UM6_MAG_UPDATE_ENABLED   (1 << 31)
 
#define UM6_MISC_CONFIG   (CONFIG_REG_START_ADDRESS + 1)
 
#define UM6_QUAT_AB   (DATA_REG_START_ADDRESS + 15)
 
#define UM6_QUAT_CD   (DATA_REG_START_ADDRESS + 16)
 
#define UM6_QUAT_ENABLED   (1 << 23)
 
#define UM6_QUAT_ESTIMATE_ENABLED   (1 << 28)
 
#define UM6_RESET_EKF   (COMMAND_START_ADDRESS + 3)
 
#define UM6_RESET_TO_FACTORY   (COMMAND_START_ADDRESS + 7)
 
#define UM6_SAVE_FACTORY   (COMMAND_START_ADDRESS + 8)
 
#define UM6_SELF_TEST_COMPLETE   (1 << 0)
 
#define UM6_SERIAL_RATE_MASK   (0x000FF)
 
#define UM6_SET_ACCEL_REF   (COMMAND_START_ADDRESS + 5)
 
#define UM6_SET_HOME_POSITION   (COMMAND_START_ADDRESS + 9)
 
#define UM6_SET_MAG_REF   (COMMAND_START_ADDRESS + 6)
 
#define UM6_STATUS   DATA_REG_START_ADDRESS
 
#define UM6_TEMPERATURE   (DATA_REG_START_ADDRESS + 33)
 
#define UM6_TEMPERATURE_ENABLED   (1 << 20)
 
#define UM6_UNKNOWN_ADDRESS   254
 
#define UM6_USE_CONFIG_ADDRESS   0
 
#define UM6_USE_FACTORY_ADDRESS   1
 
#define UM6_ZERO_GYROS   (COMMAND_START_ADDRESS + 2)
 

Detailed Description

Copied directly from the UM6_config.h file, available online here: http://sourceforge.net/p/um6firmware/code/34/tree/trunk/UM6%20Firmware/UM6_config.h#l14.

Author
CH Robotics

Definition in file firmware_registers.h.

Macro Definition Documentation

#define COMMAND_COUNT   10

Definition at line 24 of file firmware_registers.h.

#define COMMAND_START_ADDRESS   170

Definition at line 29 of file firmware_registers.h.

#define CONFIG_ARRAY_SIZE   59

Definition at line 22 of file firmware_registers.h.

#define CONFIG_REG_START_ADDRESS   0

Definition at line 27 of file firmware_registers.h.

#define DATA_ARRAY_SIZE   48

Definition at line 23 of file firmware_registers.h.

#define DATA_REG_START_ADDRESS   85

Definition at line 28 of file firmware_registers.h.

#define UM6_ACCEL_BIAS_XY   (CONFIG_REG_START_ADDRESS + 13)

Definition at line 50 of file firmware_registers.h.

#define UM6_ACCEL_BIAS_Z   (CONFIG_REG_START_ADDRESS + 14)

Definition at line 51 of file firmware_registers.h.

#define UM6_ACCEL_CAL_00   (CONFIG_REG_START_ADDRESS + 17)

Definition at line 54 of file firmware_registers.h.

#define UM6_ACCEL_CAL_01   (CONFIG_REG_START_ADDRESS + 18)

Definition at line 55 of file firmware_registers.h.

#define UM6_ACCEL_CAL_02   (CONFIG_REG_START_ADDRESS + 19)

Definition at line 56 of file firmware_registers.h.

#define UM6_ACCEL_CAL_10   (CONFIG_REG_START_ADDRESS + 20)

Definition at line 57 of file firmware_registers.h.

#define UM6_ACCEL_CAL_11   (CONFIG_REG_START_ADDRESS + 21)

Definition at line 58 of file firmware_registers.h.

#define UM6_ACCEL_CAL_12   (CONFIG_REG_START_ADDRESS + 22)

Definition at line 59 of file firmware_registers.h.

#define UM6_ACCEL_CAL_20   (CONFIG_REG_START_ADDRESS + 23)

Definition at line 60 of file firmware_registers.h.

#define UM6_ACCEL_CAL_21   (CONFIG_REG_START_ADDRESS + 24)

Definition at line 61 of file firmware_registers.h.

#define UM6_ACCEL_CAL_22   (CONFIG_REG_START_ADDRESS + 25)

Definition at line 62 of file firmware_registers.h.

#define UM6_ACCEL_INIT_FAILED   (1 << 30)

Definition at line 227 of file firmware_registers.h.

#define UM6_ACCEL_PROC_XY   (DATA_REG_START_ADDRESS + 9)

Definition at line 110 of file firmware_registers.h.

#define UM6_ACCEL_PROC_Z   (DATA_REG_START_ADDRESS + 10)

Definition at line 111 of file firmware_registers.h.

#define UM6_ACCEL_RAW_XY   (DATA_REG_START_ADDRESS + 3)

Definition at line 104 of file firmware_registers.h.

#define UM6_ACCEL_RAW_Z   (DATA_REG_START_ADDRESS + 4)

Definition at line 105 of file firmware_registers.h.

#define UM6_ACCEL_REF_X   (CONFIG_REG_START_ADDRESS + 5)

Definition at line 42 of file firmware_registers.h.

#define UM6_ACCEL_REF_Y   (CONFIG_REG_START_ADDRESS + 6)

Definition at line 43 of file firmware_registers.h.

#define UM6_ACCEL_REF_Z   (CONFIG_REG_START_ADDRESS + 7)

Definition at line 44 of file firmware_registers.h.

#define UM6_ACCEL_ST_FAILED_X   (1 << 25)

Definition at line 232 of file firmware_registers.h.

#define UM6_ACCEL_ST_FAILED_Y   (1 << 24)

Definition at line 233 of file firmware_registers.h.

#define UM6_ACCEL_ST_FAILED_Z   (1 << 23)

Definition at line 234 of file firmware_registers.h.

#define UM6_ACCEL_UNRESPONSIVE   (1 << 14)

Definition at line 243 of file firmware_registers.h.

#define UM6_ACCEL_UPDATE_ENABLED   (1 << 30)

Definition at line 221 of file firmware_registers.h.

#define UM6_ACCELS_PROC_ENABLED   (1 << 25)

Definition at line 199 of file firmware_registers.h.

#define UM6_ACCELS_RAW_ENABLED   (1 << 28)

Definition at line 196 of file firmware_registers.h.

#define UM6_BAD_CHECKSUM   253

Definition at line 188 of file firmware_registers.h.

#define UM6_BAUD_RATE_MASK   (0x07)

Definition at line 214 of file firmware_registers.h.

#define UM6_BAUD_START_BIT   8

Definition at line 215 of file firmware_registers.h.

#define UM6_BROADCAST_ENABLED   (1 << 30)

Definition at line 194 of file firmware_registers.h.

#define UM6_COMMUNICATION   CONFIG_REG_START_ADDRESS

Definition at line 37 of file firmware_registers.h.

#define UM6_COV_ENABLED   (1 << 21)

Definition at line 203 of file firmware_registers.h.

#define UM6_EKF_ACCEL_VARIANCE   (CONFIG_REG_START_ADDRESS + 9)

Definition at line 46 of file firmware_registers.h.

#define UM6_EKF_DIVERGENT   (1 << 16)

Definition at line 241 of file firmware_registers.h.

#define UM6_EKF_MAG_VARIANCE   (CONFIG_REG_START_ADDRESS + 8)

Definition at line 45 of file firmware_registers.h.

#define UM6_EKF_PROCESS_VARIANCE   (CONFIG_REG_START_ADDRESS + 10)

Definition at line 47 of file firmware_registers.h.

#define UM6_ERROR_COV_00   (DATA_REG_START_ADDRESS + 17)

Definition at line 118 of file firmware_registers.h.

#define UM6_ERROR_COV_01   (DATA_REG_START_ADDRESS + 18)

Definition at line 119 of file firmware_registers.h.

#define UM6_ERROR_COV_02   (DATA_REG_START_ADDRESS + 19)

Definition at line 120 of file firmware_registers.h.

#define UM6_ERROR_COV_03   (DATA_REG_START_ADDRESS + 20)

Definition at line 121 of file firmware_registers.h.

#define UM6_ERROR_COV_10   (DATA_REG_START_ADDRESS + 21)

Definition at line 122 of file firmware_registers.h.

#define UM6_ERROR_COV_11   (DATA_REG_START_ADDRESS + 22)

Definition at line 123 of file firmware_registers.h.

#define UM6_ERROR_COV_12   (DATA_REG_START_ADDRESS + 23)

Definition at line 124 of file firmware_registers.h.

#define UM6_ERROR_COV_13   (DATA_REG_START_ADDRESS + 24)

Definition at line 125 of file firmware_registers.h.

#define UM6_ERROR_COV_20   (DATA_REG_START_ADDRESS + 25)

Definition at line 126 of file firmware_registers.h.

#define UM6_ERROR_COV_21   (DATA_REG_START_ADDRESS + 26)

Definition at line 127 of file firmware_registers.h.

#define UM6_ERROR_COV_22   (DATA_REG_START_ADDRESS + 27)

Definition at line 128 of file firmware_registers.h.

#define UM6_ERROR_COV_23   (DATA_REG_START_ADDRESS + 28)

Definition at line 129 of file firmware_registers.h.

#define UM6_ERROR_COV_30   (DATA_REG_START_ADDRESS + 29)

Definition at line 130 of file firmware_registers.h.

#define UM6_ERROR_COV_31   (DATA_REG_START_ADDRESS + 30)

Definition at line 131 of file firmware_registers.h.

#define UM6_ERROR_COV_32   (DATA_REG_START_ADDRESS + 31)

Definition at line 132 of file firmware_registers.h.

#define UM6_ERROR_COV_33   (DATA_REG_START_ADDRESS + 32)

Definition at line 133 of file firmware_registers.h.

#define UM6_EULER_ENABLED   (1 << 22)

Definition at line 202 of file firmware_registers.h.

#define UM6_EULER_PHI_THETA   (DATA_REG_START_ADDRESS + 13)

Definition at line 114 of file firmware_registers.h.

#define UM6_EULER_PSI   (DATA_REG_START_ADDRESS + 14)

Definition at line 115 of file firmware_registers.h.

#define UM6_FIRMWARE_REVISION   (('U' << 24) | ('M' << 16) | ('2' << 8) | 'B')

Definition at line 11 of file firmware_registers.h.

#define UM6_FLASH_COMMIT   (COMMAND_START_ADDRESS + 1)

Definition at line 173 of file firmware_registers.h.

#define UM6_FLASH_WRITE_FAILED   (1 << 12)

Definition at line 245 of file firmware_registers.h.

#define UM6_GET_DATA   (COMMAND_START_ADDRESS + 4)

Definition at line 176 of file firmware_registers.h.

#define UM6_GET_FW_VERSION   COMMAND_START_ADDRESS

Definition at line 172 of file firmware_registers.h.

#define UM6_GPS_ALTITUDE   (DATA_REG_START_ADDRESS + 36)

Definition at line 137 of file firmware_registers.h.

#define UM6_GPS_BAUD_RATE_MASK   (0x07)

Definition at line 211 of file firmware_registers.h.

#define UM6_GPS_BAUD_START_BIT   11

Definition at line 212 of file firmware_registers.h.

#define UM6_GPS_COURSE_SPEED   (DATA_REG_START_ADDRESS + 40)

Definition at line 141 of file firmware_registers.h.

#define UM6_GPS_COURSE_SPEED_ENABLED   (1 << 17)

Definition at line 207 of file firmware_registers.h.

#define UM6_GPS_HDOP_MASK   0x03FF

Definition at line 158 of file firmware_registers.h.

#define UM6_GPS_HDOP_START_BIT   16

Definition at line 157 of file firmware_registers.h.

#define UM6_GPS_HOME_ALTITUDE   (CONFIG_REG_START_ADDRESS + 58)

Definition at line 96 of file firmware_registers.h.

#define UM6_GPS_HOME_LAT   (CONFIG_REG_START_ADDRESS + 56)

Definition at line 94 of file firmware_registers.h.

#define UM6_GPS_HOME_LONG   (CONFIG_REG_START_ADDRESS + 57)

Definition at line 95 of file firmware_registers.h.

#define UM6_GPS_LATITUDE   (DATA_REG_START_ADDRESS + 35)

Definition at line 136 of file firmware_registers.h.

#define UM6_GPS_LONGITUDE   (DATA_REG_START_ADDRESS + 34)

Definition at line 135 of file firmware_registers.h.

#define UM6_GPS_MODE_MASK   0x03

Definition at line 152 of file firmware_registers.h.

#define UM6_GPS_MODE_START_BIT   30

Definition at line 151 of file firmware_registers.h.

#define UM6_GPS_POSITION_E   (DATA_REG_START_ADDRESS + 38)

Definition at line 139 of file firmware_registers.h.

#define UM6_GPS_POSITION_ENABLED   (1 << 19)

Definition at line 205 of file firmware_registers.h.

#define UM6_GPS_POSITION_H   (DATA_REG_START_ADDRESS + 39)

Definition at line 140 of file firmware_registers.h.

#define UM6_GPS_POSITION_N   (DATA_REG_START_ADDRESS + 37)

Definition at line 138 of file firmware_registers.h.

#define UM6_GPS_REL_POSITION_ENABLED   (1 << 18)

Definition at line 206 of file firmware_registers.h.

#define UM6_GPS_SAT_11_12   (DATA_REG_START_ADDRESS + 47)

Definition at line 148 of file firmware_registers.h.

#define UM6_GPS_SAT_1_2   (DATA_REG_START_ADDRESS + 42)

Definition at line 143 of file firmware_registers.h.

#define UM6_GPS_SAT_3_4   (DATA_REG_START_ADDRESS + 43)

Definition at line 144 of file firmware_registers.h.

#define UM6_GPS_SAT_5_6   (DATA_REG_START_ADDRESS + 44)

Definition at line 145 of file firmware_registers.h.

#define UM6_GPS_SAT_7_8   (DATA_REG_START_ADDRESS + 45)

Definition at line 146 of file firmware_registers.h.

#define UM6_GPS_SAT_9_10   (DATA_REG_START_ADDRESS + 46)

Definition at line 147 of file firmware_registers.h.

#define UM6_GPS_SAT_COUNT_MASK   0x0F

Definition at line 155 of file firmware_registers.h.

#define UM6_GPS_SAT_COUNT_START_BIT   26

Definition at line 154 of file firmware_registers.h.

#define UM6_GPS_SAT_DATA_ENABLED   (1 << 15)

Definition at line 209 of file firmware_registers.h.

#define UM6_GPS_SAT_SUMMARY   (DATA_REG_START_ADDRESS + 41)

Definition at line 142 of file firmware_registers.h.

#define UM6_GPS_SAT_SUMMARY_ENABLED   (1 << 16)

Definition at line 208 of file firmware_registers.h.

#define UM6_GPS_VDOP_MASK   0x03FF

Definition at line 161 of file firmware_registers.h.

#define UM6_GPS_VDOP_START_BIT   6

Definition at line 160 of file firmware_registers.h.

#define UM6_GYRO_BIAS_XY   (CONFIG_REG_START_ADDRESS + 11)

Definition at line 48 of file firmware_registers.h.

#define UM6_GYRO_BIAS_Z   (CONFIG_REG_START_ADDRESS + 12)

Definition at line 49 of file firmware_registers.h.

#define UM6_GYRO_CAL_00   (CONFIG_REG_START_ADDRESS + 26)

Definition at line 63 of file firmware_registers.h.

#define UM6_GYRO_CAL_01   (CONFIG_REG_START_ADDRESS + 27)

Definition at line 64 of file firmware_registers.h.

#define UM6_GYRO_CAL_02   (CONFIG_REG_START_ADDRESS + 28)

Definition at line 65 of file firmware_registers.h.

#define UM6_GYRO_CAL_10   (CONFIG_REG_START_ADDRESS + 29)

Definition at line 66 of file firmware_registers.h.

#define UM6_GYRO_CAL_11   (CONFIG_REG_START_ADDRESS + 30)

Definition at line 67 of file firmware_registers.h.

#define UM6_GYRO_CAL_12   (CONFIG_REG_START_ADDRESS + 31)

Definition at line 68 of file firmware_registers.h.

#define UM6_GYRO_CAL_20   (CONFIG_REG_START_ADDRESS + 32)

Definition at line 69 of file firmware_registers.h.

#define UM6_GYRO_CAL_21   (CONFIG_REG_START_ADDRESS + 33)

Definition at line 70 of file firmware_registers.h.

#define UM6_GYRO_CAL_22   (CONFIG_REG_START_ADDRESS + 34)

Definition at line 71 of file firmware_registers.h.

#define UM6_GYRO_INIT_FAILED   (1 << 29)

Definition at line 228 of file firmware_registers.h.

#define UM6_GYRO_PROC_XY   (DATA_REG_START_ADDRESS + 7)

Definition at line 108 of file firmware_registers.h.

#define UM6_GYRO_PROC_Z   (DATA_REG_START_ADDRESS + 8)

Definition at line 109 of file firmware_registers.h.

#define UM6_GYRO_RAW_XY   (DATA_REG_START_ADDRESS + 1)

Definition at line 102 of file firmware_registers.h.

#define UM6_GYRO_RAW_Z   (DATA_REG_START_ADDRESS + 2)

Definition at line 103 of file firmware_registers.h.

#define UM6_GYRO_ST_FAILED_X   (1 << 28)

Definition at line 229 of file firmware_registers.h.

#define UM6_GYRO_ST_FAILED_Y   (1 << 27)

Definition at line 230 of file firmware_registers.h.

#define UM6_GYRO_ST_FAILED_Z   (1 << 26)

Definition at line 231 of file firmware_registers.h.

#define UM6_GYRO_STARTUP_CAL   (1 << 29)

Definition at line 222 of file firmware_registers.h.

#define UM6_GYRO_UNRESPONSIVE   (1 << 15)

Definition at line 242 of file firmware_registers.h.

#define UM6_GYROS_PROC_ENABLED   (1 << 26)

Definition at line 198 of file firmware_registers.h.

#define UM6_GYROS_RAW_ENABLED   (1 << 29)

Definition at line 195 of file firmware_registers.h.

#define UM6_GYROX_BIAS_0   (CONFIG_REG_START_ADDRESS + 44)

Definition at line 82 of file firmware_registers.h.

#define UM6_GYROX_BIAS_1   (CONFIG_REG_START_ADDRESS + 45)

Definition at line 83 of file firmware_registers.h.

#define UM6_GYROX_BIAS_2   (CONFIG_REG_START_ADDRESS + 46)

Definition at line 84 of file firmware_registers.h.

#define UM6_GYROX_BIAS_3   (CONFIG_REG_START_ADDRESS + 47)

Definition at line 85 of file firmware_registers.h.

#define UM6_GYROY_BIAS_0   (CONFIG_REG_START_ADDRESS + 48)

Definition at line 86 of file firmware_registers.h.

#define UM6_GYROY_BIAS_1   (CONFIG_REG_START_ADDRESS + 49)

Definition at line 87 of file firmware_registers.h.

#define UM6_GYROY_BIAS_2   (CONFIG_REG_START_ADDRESS + 50)

Definition at line 88 of file firmware_registers.h.

#define UM6_GYROY_BIAS_3   (CONFIG_REG_START_ADDRESS + 51)

Definition at line 89 of file firmware_registers.h.

#define UM6_GYROZ_BIAS_0   (CONFIG_REG_START_ADDRESS + 52)

Definition at line 90 of file firmware_registers.h.

#define UM6_GYROZ_BIAS_1   (CONFIG_REG_START_ADDRESS + 53)

Definition at line 91 of file firmware_registers.h.

#define UM6_GYROZ_BIAS_2   (CONFIG_REG_START_ADDRESS + 54)

Definition at line 92 of file firmware_registers.h.

#define UM6_GYROZ_BIAS_3   (CONFIG_REG_START_ADDRESS + 55)

Definition at line 93 of file firmware_registers.h.

#define UM6_I2C_ACCEL_BUS_ERROR   (1 << 18)

Definition at line 239 of file firmware_registers.h.

#define UM6_I2C_GYRO_BUS_ERROR   (1 << 19)

Definition at line 238 of file firmware_registers.h.

#define UM6_I2C_MAG_BUS_ERROR   (1 << 17)

Definition at line 240 of file firmware_registers.h.

#define UM6_INVALID_BATCH_SIZE   255

Definition at line 190 of file firmware_registers.h.

#define UM6_MAG_BIAS_XY   (CONFIG_REG_START_ADDRESS + 15)

Definition at line 52 of file firmware_registers.h.

#define UM6_MAG_BIAS_Z   (CONFIG_REG_START_ADDRESS + 16)

Definition at line 53 of file firmware_registers.h.

#define UM6_MAG_CAL_00   (CONFIG_REG_START_ADDRESS + 35)

Definition at line 72 of file firmware_registers.h.

#define UM6_MAG_CAL_01   (CONFIG_REG_START_ADDRESS + 36)

Definition at line 73 of file firmware_registers.h.

#define UM6_MAG_CAL_02   (CONFIG_REG_START_ADDRESS + 37)

Definition at line 74 of file firmware_registers.h.

#define UM6_MAG_CAL_10   (CONFIG_REG_START_ADDRESS + 38)

Definition at line 75 of file firmware_registers.h.

#define UM6_MAG_CAL_11   (CONFIG_REG_START_ADDRESS + 39)

Definition at line 76 of file firmware_registers.h.

#define UM6_MAG_CAL_12   (CONFIG_REG_START_ADDRESS + 40)

Definition at line 77 of file firmware_registers.h.

#define UM6_MAG_CAL_20   (CONFIG_REG_START_ADDRESS + 41)

Definition at line 78 of file firmware_registers.h.

#define UM6_MAG_CAL_21   (CONFIG_REG_START_ADDRESS + 42)

Definition at line 79 of file firmware_registers.h.

#define UM6_MAG_CAL_22   (CONFIG_REG_START_ADDRESS + 43)

Definition at line 80 of file firmware_registers.h.

#define UM6_MAG_INIT_FAILED   (1 << 31)

Definition at line 226 of file firmware_registers.h.

#define UM6_MAG_PROC_ENABLED   (1 << 24)

Definition at line 200 of file firmware_registers.h.

#define UM6_MAG_PROC_XY   (DATA_REG_START_ADDRESS + 11)

Definition at line 112 of file firmware_registers.h.

#define UM6_MAG_PROC_Z   (DATA_REG_START_ADDRESS + 12)

Definition at line 113 of file firmware_registers.h.

#define UM6_MAG_RAW_ENABLED   (1 << 27)

Definition at line 197 of file firmware_registers.h.

#define UM6_MAG_RAW_XY   (DATA_REG_START_ADDRESS + 5)

Definition at line 106 of file firmware_registers.h.

#define UM6_MAG_RAW_Z   (DATA_REG_START_ADDRESS + 6)

Definition at line 107 of file firmware_registers.h.

#define UM6_MAG_REF_X   (CONFIG_REG_START_ADDRESS + 2)

Definition at line 39 of file firmware_registers.h.

#define UM6_MAG_REF_Y   (CONFIG_REG_START_ADDRESS + 3)

Definition at line 40 of file firmware_registers.h.

#define UM6_MAG_REF_Z   (CONFIG_REG_START_ADDRESS + 4)

Definition at line 41 of file firmware_registers.h.

#define UM6_MAG_ST_FAILED_X   (1 << 22)

Definition at line 235 of file firmware_registers.h.

#define UM6_MAG_ST_FAILED_Y   (1 << 21)

Definition at line 236 of file firmware_registers.h.

#define UM6_MAG_ST_FAILED_Z   (1 << 20)

Definition at line 237 of file firmware_registers.h.

#define UM6_MAG_UNRESPONSIVE   (1 << 13)

Definition at line 244 of file firmware_registers.h.

#define UM6_MAG_UPDATE_ENABLED   (1 << 31)

Definition at line 220 of file firmware_registers.h.

#define UM6_MISC_CONFIG   (CONFIG_REG_START_ADDRESS + 1)

Definition at line 38 of file firmware_registers.h.

#define UM6_QUAT_AB   (DATA_REG_START_ADDRESS + 15)

Definition at line 116 of file firmware_registers.h.

#define UM6_QUAT_CD   (DATA_REG_START_ADDRESS + 16)

Definition at line 117 of file firmware_registers.h.

#define UM6_QUAT_ENABLED   (1 << 23)

Definition at line 201 of file firmware_registers.h.

#define UM6_QUAT_ESTIMATE_ENABLED   (1 << 28)

Definition at line 223 of file firmware_registers.h.

#define UM6_RESET_EKF   (COMMAND_START_ADDRESS + 3)

Definition at line 175 of file firmware_registers.h.

#define UM6_RESET_TO_FACTORY   (COMMAND_START_ADDRESS + 7)

Definition at line 179 of file firmware_registers.h.

#define UM6_SAVE_FACTORY   (COMMAND_START_ADDRESS + 8)

Definition at line 181 of file firmware_registers.h.

#define UM6_SELF_TEST_COMPLETE   (1 << 0)

Definition at line 247 of file firmware_registers.h.

#define UM6_SERIAL_RATE_MASK   (0x000FF)

Definition at line 217 of file firmware_registers.h.

#define UM6_SET_ACCEL_REF   (COMMAND_START_ADDRESS + 5)

Definition at line 177 of file firmware_registers.h.

#define UM6_SET_HOME_POSITION   (COMMAND_START_ADDRESS + 9)

Definition at line 183 of file firmware_registers.h.

#define UM6_SET_MAG_REF   (COMMAND_START_ADDRESS + 6)

Definition at line 178 of file firmware_registers.h.

#define UM6_STATUS   DATA_REG_START_ADDRESS

Definition at line 101 of file firmware_registers.h.

#define UM6_TEMPERATURE   (DATA_REG_START_ADDRESS + 33)

Definition at line 134 of file firmware_registers.h.

#define UM6_TEMPERATURE_ENABLED   (1 << 20)

Definition at line 204 of file firmware_registers.h.

#define UM6_UNKNOWN_ADDRESS   254

Definition at line 189 of file firmware_registers.h.

#define UM6_USE_CONFIG_ADDRESS   0

Definition at line 185 of file firmware_registers.h.

#define UM6_USE_FACTORY_ADDRESS   1

Definition at line 186 of file firmware_registers.h.

#define UM6_ZERO_GYROS   (COMMAND_START_ADDRESS + 2)

Definition at line 174 of file firmware_registers.h.



um6
Author(s): Mike Purvis
autogenerated on Thu Sep 26 2019 03:18:02