Defines
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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Defines

#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.


Define Documentation

#define COMMAND_COUNT   10

Definition at line 24 of file firmware_registers.h.

#define COMMAND_START_ADDRESS   170

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#define CONFIG_ARRAY_SIZE   59

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#define CONFIG_REG_START_ADDRESS   0

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#define DATA_ARRAY_SIZE   48

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#define DATA_REG_START_ADDRESS   85

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#define UM6_ACCEL_INIT_FAILED   (1 << 30)

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#define UM6_ACCEL_ST_FAILED_X   (1 << 25)

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#define UM6_ACCEL_ST_FAILED_Y   (1 << 24)

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#define UM6_ACCEL_ST_FAILED_Z   (1 << 23)

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#define UM6_ACCEL_UNRESPONSIVE   (1 << 14)

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#define UM6_ACCEL_UPDATE_ENABLED   (1 << 30)

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#define UM6_ACCELS_PROC_ENABLED   (1 << 25)

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#define UM6_ACCELS_RAW_ENABLED   (1 << 28)

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#define UM6_BAD_CHECKSUM   253

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#define UM6_BAUD_RATE_MASK   (0x07)

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#define UM6_BAUD_START_BIT   8

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#define UM6_BROADCAST_ENABLED   (1 << 30)

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#define UM6_COV_ENABLED   (1 << 21)

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#define UM6_EKF_DIVERGENT   (1 << 16)

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#define UM6_EULER_ENABLED   (1 << 22)

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

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#define UM6_FLASH_WRITE_FAILED   (1 << 12)

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#define UM6_GET_DATA   (COMMAND_START_ADDRESS + 4)

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#define UM6_GPS_BAUD_RATE_MASK   (0x07)

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#define UM6_GPS_BAUD_START_BIT   11

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#define UM6_GPS_COURSE_SPEED_ENABLED   (1 << 17)

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#define UM6_GPS_HDOP_MASK   0x03FF

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#define UM6_GPS_HDOP_START_BIT   16

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#define UM6_GPS_MODE_MASK   0x03

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#define UM6_GPS_MODE_START_BIT   30

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#define UM6_GPS_POSITION_ENABLED   (1 << 19)

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#define UM6_GPS_REL_POSITION_ENABLED   (1 << 18)

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#define UM6_GPS_SAT_COUNT_MASK   0x0F

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#define UM6_GPS_SAT_COUNT_START_BIT   26

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#define UM6_GPS_SAT_DATA_ENABLED   (1 << 15)

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#define UM6_GPS_SAT_SUMMARY_ENABLED   (1 << 16)

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#define UM6_GPS_VDOP_MASK   0x03FF

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#define UM6_GPS_VDOP_START_BIT   6

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#define UM6_GYRO_INIT_FAILED   (1 << 29)

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#define UM6_GYRO_ST_FAILED_X   (1 << 28)

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#define UM6_GYRO_ST_FAILED_Y   (1 << 27)

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#define UM6_GYRO_ST_FAILED_Z   (1 << 26)

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#define UM6_GYRO_STARTUP_CAL   (1 << 29)

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#define UM6_GYRO_UNRESPONSIVE   (1 << 15)

Definition at line 242 of file firmware_registers.h.

#define UM6_GYROS_PROC_ENABLED   (1 << 26)

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#define UM6_GYROS_RAW_ENABLED   (1 << 29)

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#define UM6_I2C_ACCEL_BUS_ERROR   (1 << 18)

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#define UM6_I2C_GYRO_BUS_ERROR   (1 << 19)

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#define UM6_I2C_MAG_BUS_ERROR   (1 << 17)

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#define UM6_INVALID_BATCH_SIZE   255

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#define UM6_MAG_INIT_FAILED   (1 << 31)

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#define UM6_MAG_PROC_ENABLED   (1 << 24)

Definition at line 200 of file firmware_registers.h.

Definition at line 112 of file firmware_registers.h.

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.

Definition at line 106 of file firmware_registers.h.

Definition at line 107 of file firmware_registers.h.

Definition at line 39 of file firmware_registers.h.

Definition at line 40 of file firmware_registers.h.

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.

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.

Definition at line 175 of file firmware_registers.h.

Definition at line 179 of file firmware_registers.h.

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.

Definition at line 177 of file firmware_registers.h.

Definition at line 183 of file firmware_registers.h.

Definition at line 178 of file firmware_registers.h.

Definition at line 101 of file firmware_registers.h.

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.

Definition at line 174 of file firmware_registers.h.



um6
Author(s): Mike Purvis
autogenerated on Thu Jun 6 2019 19:02:20