Data Sheet

UM7 DATASHEET
Rev. 1.6 – Released 1/10/2016
4
Configuration Registers .............................................................................................................46
CREG_COM_SETTINGS – 0x00 (0) ..........................................................................................46
CREG_COM_RATES1 – 0x01 (1) ..............................................................................................48
CREG_COM_RATES2 – 0x02 (2) ..............................................................................................49
CREG_COM_RATES3 – 0x03 (3) ..............................................................................................50
CREG_COM_RATES4 – 0x04 (4) ..............................................................................................51
CREG_COM_RATES5 – 0x05 (5) ..............................................................................................51
CREG_COM_RATES6 – 0x06 (6) ..............................................................................................53
CREG_COM_RATES7 – 0x07 (7) ..............................................................................................54
CREG_MISC_SETTINGS – 0x08 (8) ..........................................................................................59
CREG_HOME_NORTH – 0x09 (9) ............................................................................................60
CREG_HOME_EAST – 0x0A (10) .............................................................................................60
CREG_HOME_UP – 0x0B (11) .................................................................................................60
CREG_GYRO_TRIM_X – 0x0C (12) ..........................................................................................61
CREG_GYRO_TRIM_Y – 0x0D (13) ..........................................................................................61
CREG_GYRO_TRIM_Z – 0x0E (14) ...........................................................................................61
CREG_MAG_CAL1_1 to CREG_MAG_CAL3_3 – 0x0F (15) to 0x17 (23) ...................................62
CREG_MAG_BIAS_X – 0x18 (24) ............................................................................................62
CREG_MAG_BIAS_Y – 0x19 (25) .............................................................................................62
CREG_MAG_BIAS_Z – 0x1A (26) ............................................................................................62
Data Registers ...........................................................................................................................64
DREG_HEALTH – 0x55 (85) .....................................................................................................64
DREG_GYRO_RAW_XY – 0x56 (86) .........................................................................................65
DREG_GYRO_RAW_Z – 0x57 (87) ...........................................................................................65
DREG_GYRO_RAW_TIME – 0x58 (88) ....................................................................................66
DREG_ACCEL_RAW_XY – 0x59 (89) ........................................................................................66
DREG_ACCEL_RAW_Z – 0x5A (90)..........................................................................................66
DREG_ACCEL_RAW_TIME – 0x5B (91) ...................................................................................66