Update RTIMUDefs.h

horo2016 · Nov 19, 2022 · 900d02e · 900d02e
1 parent c33aad5
commit 900d02e
Showing 1 changed file with 4 additions and 7 deletions.
diff --git a/RTIMULib/IMUDrivers/RTIMUDefs.h b/RTIMULib/IMUDrivers/RTIMUDefs.h
@@ -44,7 +44,7 @@
 #define RTIMU_TYPE_BMX055                   9                   // Bosch BMX055
 #define RTIMU_TYPE_BNO055                   10                  // Bosch BNO055
 #define RTIMU_TYPE_HMC5883LADXL345          11                  // HMC5883L with ADXL345 and L3G4200D
-#define RTIMU_TYPE_GY85                     12                 // GY85 HMC5833 with ADXL345 and ITG3205
+#define RTIMU_TYPE_GY85                     12                 // GY85 HMC5833 with ADXL345 and ITG3200/ITG3205,0X68对应ITG3205, 0X53对应ADXL345,0X1e对应HMC5883L
 
 //----------------------------------------------------------
 //
@@ -59,8 +59,6 @@
 //  thes magnetometers are on aux bus
 
 #define AK8975_ADDRESS              0x0c
-#define HMC5883_ADDRESS             0x1e
-
 //  Register map
 
 #define MPU9150_YG_OFFS_TC          0x01
@@ -135,13 +133,12 @@
 #define AK8975_ASAX                 0x10                    // start of the fuse ROM data
 
 //  HMC5883 compass registers
-
+#define HMC5883_ADDRESS            0x1e
 #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
 
 //----------------------------------------------------------
 //
@@ -153,8 +150,8 @@
 // ITG3205
 
 #define ITG3205_ADDRESS            0x68
-#define ITG3205_WHO_AM_I           0x00
-#define ITG3205_ID                 0x68
+#define ITG3205_WHO_AM_I           0x01 //读取第2个值
+#define ITG3205_ID                 0xfe
 
 //----------------------------------------------------------
 //