IMU Library

Dependents:   Cube_Mini_Solution Cube_Mini_Solution

Committer:
Yihui Xiong
Date:
Fri Sep 12 09:28:14 2014 +0800
Revision:
2:8c562a8fed36
Parent:
1:1e0baaf91e96
update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garfieldsg 0:662207e34fba 1 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
garfieldsg 0:662207e34fba 2 //written by szymon gaertig (email: szymon@gaertig.com.pl)
garfieldsg 0:662207e34fba 3 //
garfieldsg 0:662207e34fba 4 //Changelog:
garfieldsg 0:662207e34fba 5 //2013-01-08 - first beta release
garfieldsg 0:662207e34fba 6
garfieldsg 0:662207e34fba 7 // I2Cdev library collection - MPU6050 I2C device class
garfieldsg 0:662207e34fba 8 // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
garfieldsg 0:662207e34fba 9 // 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
garfieldsg 0:662207e34fba 10 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
garfieldsg 0:662207e34fba 11 //
garfieldsg 0:662207e34fba 12 // Changelog:
garfieldsg 0:662207e34fba 13 // ... - ongoing debug release
garfieldsg 0:662207e34fba 14
garfieldsg 0:662207e34fba 15 // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
garfieldsg 0:662207e34fba 16 // DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
garfieldsg 0:662207e34fba 17 // YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
garfieldsg 0:662207e34fba 18
garfieldsg 0:662207e34fba 19 /* ============================================
garfieldsg 0:662207e34fba 20 I2Cdev device library code is placed under the MIT license
garfieldsg 0:662207e34fba 21 Copyright (c) 2012 Jeff Rowberg
garfieldsg 0:662207e34fba 22
garfieldsg 0:662207e34fba 23 Permission is hereby granted, free of charge, to any person obtaining a copy
garfieldsg 0:662207e34fba 24 of this software and associated documentation files (the "Software"), to deal
garfieldsg 0:662207e34fba 25 in the Software without restriction, including without limitation the rights
garfieldsg 0:662207e34fba 26 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
garfieldsg 0:662207e34fba 27 copies of the Software, and to permit persons to whom the Software is
garfieldsg 0:662207e34fba 28 furnished to do so, subject to the following conditions:
garfieldsg 0:662207e34fba 29
garfieldsg 0:662207e34fba 30 The above copyright notice and this permission notice shall be included in
garfieldsg 0:662207e34fba 31 all copies or substantial portions of the Software.
garfieldsg 0:662207e34fba 32
garfieldsg 0:662207e34fba 33 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
garfieldsg 0:662207e34fba 34 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
garfieldsg 0:662207e34fba 35 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
garfieldsg 0:662207e34fba 36 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
garfieldsg 0:662207e34fba 37 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
garfieldsg 0:662207e34fba 38 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
garfieldsg 0:662207e34fba 39 THE SOFTWARE.
garfieldsg 0:662207e34fba 40 ===============================================
garfieldsg 0:662207e34fba 41 */
garfieldsg 0:662207e34fba 42
garfieldsg 0:662207e34fba 43 #ifndef _MPU6050_H_
garfieldsg 0:662207e34fba 44 #define _MPU6050_H_
garfieldsg 0:662207e34fba 45
garfieldsg 0:662207e34fba 46 #include "I2Cdev.h"
garfieldsg 0:662207e34fba 47 #include "helper_3dmath.h"
garfieldsg 0:662207e34fba 48
garfieldsg 0:662207e34fba 49 #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
garfieldsg 0:662207e34fba 50 #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
Yihui Xiong 2:8c562a8fed36 51 #define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_HIGH
garfieldsg 0:662207e34fba 52
garfieldsg 0:662207e34fba 53 #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
garfieldsg 0:662207e34fba 54 #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
garfieldsg 0:662207e34fba 55 #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
garfieldsg 0:662207e34fba 56 #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
garfieldsg 0:662207e34fba 57 #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
garfieldsg 0:662207e34fba 58 #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
garfieldsg 0:662207e34fba 59 #define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
garfieldsg 0:662207e34fba 60 #define MPU6050_RA_XA_OFFS_L_TC 0x07
garfieldsg 0:662207e34fba 61 #define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
garfieldsg 0:662207e34fba 62 #define MPU6050_RA_YA_OFFS_L_TC 0x09
garfieldsg 0:662207e34fba 63 #define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
garfieldsg 0:662207e34fba 64 #define MPU6050_RA_ZA_OFFS_L_TC 0x0B
garfieldsg 0:662207e34fba 65 #define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
garfieldsg 0:662207e34fba 66 #define MPU6050_RA_XG_OFFS_USRL 0x14
garfieldsg 0:662207e34fba 67 #define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
garfieldsg 0:662207e34fba 68 #define MPU6050_RA_YG_OFFS_USRL 0x16
garfieldsg 0:662207e34fba 69 #define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
garfieldsg 0:662207e34fba 70 #define MPU6050_RA_ZG_OFFS_USRL 0x18
garfieldsg 0:662207e34fba 71 #define MPU6050_RA_SMPLRT_DIV 0x19
garfieldsg 0:662207e34fba 72 #define MPU6050_RA_CONFIG 0x1A
garfieldsg 0:662207e34fba 73 #define MPU6050_RA_GYRO_CONFIG 0x1B
garfieldsg 0:662207e34fba 74 #define MPU6050_RA_ACCEL_CONFIG 0x1C
garfieldsg 0:662207e34fba 75 #define MPU6050_RA_FF_THR 0x1D
garfieldsg 0:662207e34fba 76 #define MPU6050_RA_FF_DUR 0x1E
garfieldsg 0:662207e34fba 77 #define MPU6050_RA_MOT_THR 0x1F
garfieldsg 0:662207e34fba 78 #define MPU6050_RA_MOT_DUR 0x20
garfieldsg 0:662207e34fba 79 #define MPU6050_RA_ZRMOT_THR 0x21
garfieldsg 0:662207e34fba 80 #define MPU6050_RA_ZRMOT_DUR 0x22
garfieldsg 0:662207e34fba 81 #define MPU6050_RA_FIFO_EN 0x23
garfieldsg 0:662207e34fba 82 #define MPU6050_RA_I2C_MST_CTRL 0x24
garfieldsg 0:662207e34fba 83 #define MPU6050_RA_I2C_SLV0_ADDR 0x25
garfieldsg 0:662207e34fba 84 #define MPU6050_RA_I2C_SLV0_REG 0x26
garfieldsg 0:662207e34fba 85 #define MPU6050_RA_I2C_SLV0_CTRL 0x27
garfieldsg 0:662207e34fba 86 #define MPU6050_RA_I2C_SLV1_ADDR 0x28
garfieldsg 0:662207e34fba 87 #define MPU6050_RA_I2C_SLV1_REG 0x29
garfieldsg 0:662207e34fba 88 #define MPU6050_RA_I2C_SLV1_CTRL 0x2A
garfieldsg 0:662207e34fba 89 #define MPU6050_RA_I2C_SLV2_ADDR 0x2B
garfieldsg 0:662207e34fba 90 #define MPU6050_RA_I2C_SLV2_REG 0x2C
garfieldsg 0:662207e34fba 91 #define MPU6050_RA_I2C_SLV2_CTRL 0x2D
garfieldsg 0:662207e34fba 92 #define MPU6050_RA_I2C_SLV3_ADDR 0x2E
garfieldsg 0:662207e34fba 93 #define MPU6050_RA_I2C_SLV3_REG 0x2F
garfieldsg 0:662207e34fba 94 #define MPU6050_RA_I2C_SLV3_CTRL 0x30
garfieldsg 0:662207e34fba 95 #define MPU6050_RA_I2C_SLV4_ADDR 0x31
garfieldsg 0:662207e34fba 96 #define MPU6050_RA_I2C_SLV4_REG 0x32
garfieldsg 0:662207e34fba 97 #define MPU6050_RA_I2C_SLV4_DO 0x33
garfieldsg 0:662207e34fba 98 #define MPU6050_RA_I2C_SLV4_CTRL 0x34
garfieldsg 0:662207e34fba 99 #define MPU6050_RA_I2C_SLV4_DI 0x35
garfieldsg 0:662207e34fba 100 #define MPU6050_RA_I2C_MST_STATUS 0x36
garfieldsg 0:662207e34fba 101 #define MPU6050_RA_INT_PIN_CFG 0x37
garfieldsg 0:662207e34fba 102 #define MPU6050_RA_INT_ENABLE 0x38
garfieldsg 0:662207e34fba 103 #define MPU6050_RA_DMP_INT_STATUS 0x39
garfieldsg 0:662207e34fba 104 #define MPU6050_RA_INT_STATUS 0x3A
garfieldsg 0:662207e34fba 105 #define MPU6050_RA_ACCEL_XOUT_H 0x3B
garfieldsg 0:662207e34fba 106 #define MPU6050_RA_ACCEL_XOUT_L 0x3C
garfieldsg 0:662207e34fba 107 #define MPU6050_RA_ACCEL_YOUT_H 0x3D
garfieldsg 0:662207e34fba 108 #define MPU6050_RA_ACCEL_YOUT_L 0x3E
garfieldsg 0:662207e34fba 109 #define MPU6050_RA_ACCEL_ZOUT_H 0x3F
garfieldsg 0:662207e34fba 110 #define MPU6050_RA_ACCEL_ZOUT_L 0x40
garfieldsg 0:662207e34fba 111 #define MPU6050_RA_TEMP_OUT_H 0x41
garfieldsg 0:662207e34fba 112 #define MPU6050_RA_TEMP_OUT_L 0x42
garfieldsg 0:662207e34fba 113 #define MPU6050_RA_GYRO_XOUT_H 0x43
garfieldsg 0:662207e34fba 114 #define MPU6050_RA_GYRO_XOUT_L 0x44
garfieldsg 0:662207e34fba 115 #define MPU6050_RA_GYRO_YOUT_H 0x45
garfieldsg 0:662207e34fba 116 #define MPU6050_RA_GYRO_YOUT_L 0x46
garfieldsg 0:662207e34fba 117 #define MPU6050_RA_GYRO_ZOUT_H 0x47
garfieldsg 0:662207e34fba 118 #define MPU6050_RA_GYRO_ZOUT_L 0x48
garfieldsg 0:662207e34fba 119 #define MPU6050_RA_EXT_SENS_DATA_00 0x49
garfieldsg 0:662207e34fba 120 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A
garfieldsg 0:662207e34fba 121 #define MPU6050_RA_EXT_SENS_DATA_02 0x4B
garfieldsg 0:662207e34fba 122 #define MPU6050_RA_EXT_SENS_DATA_03 0x4C
garfieldsg 0:662207e34fba 123 #define MPU6050_RA_EXT_SENS_DATA_04 0x4D
garfieldsg 0:662207e34fba 124 #define MPU6050_RA_EXT_SENS_DATA_05 0x4E
garfieldsg 0:662207e34fba 125 #define MPU6050_RA_EXT_SENS_DATA_06 0x4F
garfieldsg 0:662207e34fba 126 #define MPU6050_RA_EXT_SENS_DATA_07 0x50
garfieldsg 0:662207e34fba 127 #define MPU6050_RA_EXT_SENS_DATA_08 0x51
garfieldsg 0:662207e34fba 128 #define MPU6050_RA_EXT_SENS_DATA_09 0x52
garfieldsg 0:662207e34fba 129 #define MPU6050_RA_EXT_SENS_DATA_10 0x53
garfieldsg 0:662207e34fba 130 #define MPU6050_RA_EXT_SENS_DATA_11 0x54
garfieldsg 0:662207e34fba 131 #define MPU6050_RA_EXT_SENS_DATA_12 0x55
garfieldsg 0:662207e34fba 132 #define MPU6050_RA_EXT_SENS_DATA_13 0x56
garfieldsg 0:662207e34fba 133 #define MPU6050_RA_EXT_SENS_DATA_14 0x57
garfieldsg 0:662207e34fba 134 #define MPU6050_RA_EXT_SENS_DATA_15 0x58
garfieldsg 0:662207e34fba 135 #define MPU6050_RA_EXT_SENS_DATA_16 0x59
garfieldsg 0:662207e34fba 136 #define MPU6050_RA_EXT_SENS_DATA_17 0x5A
garfieldsg 0:662207e34fba 137 #define MPU6050_RA_EXT_SENS_DATA_18 0x5B
garfieldsg 0:662207e34fba 138 #define MPU6050_RA_EXT_SENS_DATA_19 0x5C
garfieldsg 0:662207e34fba 139 #define MPU6050_RA_EXT_SENS_DATA_20 0x5D
garfieldsg 0:662207e34fba 140 #define MPU6050_RA_EXT_SENS_DATA_21 0x5E
garfieldsg 0:662207e34fba 141 #define MPU6050_RA_EXT_SENS_DATA_22 0x5F
garfieldsg 0:662207e34fba 142 #define MPU6050_RA_EXT_SENS_DATA_23 0x60
garfieldsg 0:662207e34fba 143 #define MPU6050_RA_MOT_DETECT_STATUS 0x61
garfieldsg 0:662207e34fba 144 #define MPU6050_RA_I2C_SLV0_DO 0x63
garfieldsg 0:662207e34fba 145 #define MPU6050_RA_I2C_SLV1_DO 0x64
garfieldsg 0:662207e34fba 146 #define MPU6050_RA_I2C_SLV2_DO 0x65
garfieldsg 0:662207e34fba 147 #define MPU6050_RA_I2C_SLV3_DO 0x66
garfieldsg 0:662207e34fba 148 #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
garfieldsg 0:662207e34fba 149 #define MPU6050_RA_SIGNAL_PATH_RESET 0x68
garfieldsg 0:662207e34fba 150 #define MPU6050_RA_MOT_DETECT_CTRL 0x69
garfieldsg 0:662207e34fba 151 #define MPU6050_RA_USER_CTRL 0x6A
garfieldsg 0:662207e34fba 152 #define MPU6050_RA_PWR_MGMT_1 0x6B
garfieldsg 0:662207e34fba 153 #define MPU6050_RA_PWR_MGMT_2 0x6C
garfieldsg 0:662207e34fba 154 #define MPU6050_RA_BANK_SEL 0x6D
garfieldsg 0:662207e34fba 155 #define MPU6050_RA_MEM_START_ADDR 0x6E
garfieldsg 0:662207e34fba 156 #define MPU6050_RA_MEM_R_W 0x6F
garfieldsg 0:662207e34fba 157 #define MPU6050_RA_DMP_CFG_1 0x70
garfieldsg 0:662207e34fba 158 #define MPU6050_RA_DMP_CFG_2 0x71
garfieldsg 0:662207e34fba 159 #define MPU6050_RA_FIFO_COUNTH 0x72
garfieldsg 0:662207e34fba 160 #define MPU6050_RA_FIFO_COUNTL 0x73
garfieldsg 0:662207e34fba 161 #define MPU6050_RA_FIFO_R_W 0x74
garfieldsg 0:662207e34fba 162 #define MPU6050_RA_WHO_AM_I 0x75
garfieldsg 0:662207e34fba 163
garfieldsg 0:662207e34fba 164 #define MPU6050_TC_PWR_MODE_BIT 7
garfieldsg 0:662207e34fba 165 #define MPU6050_TC_OFFSET_BIT 6
garfieldsg 0:662207e34fba 166 #define MPU6050_TC_OFFSET_LENGTH 6
garfieldsg 0:662207e34fba 167 #define MPU6050_TC_OTP_BNK_VLD_BIT 0
garfieldsg 0:662207e34fba 168
garfieldsg 0:662207e34fba 169 #define MPU6050_VDDIO_LEVEL_VLOGIC 0
garfieldsg 0:662207e34fba 170 #define MPU6050_VDDIO_LEVEL_VDD 1
garfieldsg 0:662207e34fba 171
garfieldsg 0:662207e34fba 172 #define MPU6050_CFG_EXT_SYNC_SET_BIT 5
garfieldsg 0:662207e34fba 173 #define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
garfieldsg 0:662207e34fba 174 #define MPU6050_CFG_DLPF_CFG_BIT 2
garfieldsg 0:662207e34fba 175 #define MPU6050_CFG_DLPF_CFG_LENGTH 3
garfieldsg 0:662207e34fba 176
garfieldsg 0:662207e34fba 177 #define MPU6050_EXT_SYNC_DISABLED 0x0
garfieldsg 0:662207e34fba 178 #define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
garfieldsg 0:662207e34fba 179 #define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
garfieldsg 0:662207e34fba 180 #define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
garfieldsg 0:662207e34fba 181 #define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
garfieldsg 0:662207e34fba 182 #define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
garfieldsg 0:662207e34fba 183 #define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
garfieldsg 0:662207e34fba 184 #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
garfieldsg 0:662207e34fba 185
garfieldsg 0:662207e34fba 186 #define MPU6050_DLPF_BW_256 0x00
garfieldsg 0:662207e34fba 187 #define MPU6050_DLPF_BW_188 0x01
garfieldsg 0:662207e34fba 188 #define MPU6050_DLPF_BW_98 0x02
garfieldsg 0:662207e34fba 189 #define MPU6050_DLPF_BW_42 0x03
garfieldsg 0:662207e34fba 190 #define MPU6050_DLPF_BW_20 0x04
garfieldsg 0:662207e34fba 191 #define MPU6050_DLPF_BW_10 0x05
garfieldsg 0:662207e34fba 192 #define MPU6050_DLPF_BW_5 0x06
garfieldsg 0:662207e34fba 193
garfieldsg 0:662207e34fba 194 #define MPU6050_GCONFIG_FS_SEL_BIT 4
garfieldsg 0:662207e34fba 195 #define MPU6050_GCONFIG_FS_SEL_LENGTH 2
garfieldsg 0:662207e34fba 196
garfieldsg 0:662207e34fba 197 #define MPU6050_GYRO_FS_250 0x00
garfieldsg 0:662207e34fba 198 #define MPU6050_GYRO_FS_500 0x01
garfieldsg 0:662207e34fba 199 #define MPU6050_GYRO_FS_1000 0x02
garfieldsg 0:662207e34fba 200 #define MPU6050_GYRO_FS_2000 0x03
garfieldsg 0:662207e34fba 201
garfieldsg 0:662207e34fba 202 #define MPU6050_ACONFIG_XA_ST_BIT 7
garfieldsg 0:662207e34fba 203 #define MPU6050_ACONFIG_YA_ST_BIT 6
garfieldsg 0:662207e34fba 204 #define MPU6050_ACONFIG_ZA_ST_BIT 5
garfieldsg 0:662207e34fba 205 #define MPU6050_ACONFIG_AFS_SEL_BIT 4
garfieldsg 0:662207e34fba 206 #define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
garfieldsg 0:662207e34fba 207 #define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
garfieldsg 0:662207e34fba 208 #define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
garfieldsg 0:662207e34fba 209
garfieldsg 0:662207e34fba 210 #define MPU6050_ACCEL_FS_2 0x00
garfieldsg 0:662207e34fba 211 #define MPU6050_ACCEL_FS_4 0x01
garfieldsg 0:662207e34fba 212 #define MPU6050_ACCEL_FS_8 0x02
garfieldsg 0:662207e34fba 213 #define MPU6050_ACCEL_FS_16 0x03
garfieldsg 0:662207e34fba 214
garfieldsg 0:662207e34fba 215 #define MPU6050_DHPF_RESET 0x00
garfieldsg 0:662207e34fba 216 #define MPU6050_DHPF_5 0x01
garfieldsg 0:662207e34fba 217 #define MPU6050_DHPF_2P5 0x02
garfieldsg 0:662207e34fba 218 #define MPU6050_DHPF_1P25 0x03
garfieldsg 0:662207e34fba 219 #define MPU6050_DHPF_0P63 0x04
garfieldsg 0:662207e34fba 220 #define MPU6050_DHPF_HOLD 0x07
garfieldsg 0:662207e34fba 221
garfieldsg 0:662207e34fba 222 #define MPU6050_TEMP_FIFO_EN_BIT 7
garfieldsg 0:662207e34fba 223 #define MPU6050_XG_FIFO_EN_BIT 6
garfieldsg 0:662207e34fba 224 #define MPU6050_YG_FIFO_EN_BIT 5
garfieldsg 0:662207e34fba 225 #define MPU6050_ZG_FIFO_EN_BIT 4
garfieldsg 0:662207e34fba 226 #define MPU6050_ACCEL_FIFO_EN_BIT 3
garfieldsg 0:662207e34fba 227 #define MPU6050_SLV2_FIFO_EN_BIT 2
garfieldsg 0:662207e34fba 228 #define MPU6050_SLV1_FIFO_EN_BIT 1
garfieldsg 0:662207e34fba 229 #define MPU6050_SLV0_FIFO_EN_BIT 0
garfieldsg 0:662207e34fba 230
garfieldsg 0:662207e34fba 231 #define MPU6050_MULT_MST_EN_BIT 7
garfieldsg 0:662207e34fba 232 #define MPU6050_WAIT_FOR_ES_BIT 6
garfieldsg 0:662207e34fba 233 #define MPU6050_SLV_3_FIFO_EN_BIT 5
garfieldsg 0:662207e34fba 234 #define MPU6050_I2C_MST_P_NSR_BIT 4
garfieldsg 0:662207e34fba 235 #define MPU6050_I2C_MST_CLK_BIT 3
garfieldsg 0:662207e34fba 236 #define MPU6050_I2C_MST_CLK_LENGTH 4
garfieldsg 0:662207e34fba 237
garfieldsg 0:662207e34fba 238 #define MPU6050_CLOCK_DIV_348 0x0
garfieldsg 0:662207e34fba 239 #define MPU6050_CLOCK_DIV_333 0x1
garfieldsg 0:662207e34fba 240 #define MPU6050_CLOCK_DIV_320 0x2
garfieldsg 0:662207e34fba 241 #define MPU6050_CLOCK_DIV_308 0x3
garfieldsg 0:662207e34fba 242 #define MPU6050_CLOCK_DIV_296 0x4
garfieldsg 0:662207e34fba 243 #define MPU6050_CLOCK_DIV_286 0x5
garfieldsg 0:662207e34fba 244 #define MPU6050_CLOCK_DIV_276 0x6
garfieldsg 0:662207e34fba 245 #define MPU6050_CLOCK_DIV_267 0x7
garfieldsg 0:662207e34fba 246 #define MPU6050_CLOCK_DIV_258 0x8
garfieldsg 0:662207e34fba 247 #define MPU6050_CLOCK_DIV_500 0x9
garfieldsg 0:662207e34fba 248 #define MPU6050_CLOCK_DIV_471 0xA
garfieldsg 0:662207e34fba 249 #define MPU6050_CLOCK_DIV_444 0xB
garfieldsg 0:662207e34fba 250 #define MPU6050_CLOCK_DIV_421 0xC
garfieldsg 0:662207e34fba 251 #define MPU6050_CLOCK_DIV_400 0xD
garfieldsg 0:662207e34fba 252 #define MPU6050_CLOCK_DIV_381 0xE
garfieldsg 0:662207e34fba 253 #define MPU6050_CLOCK_DIV_364 0xF
garfieldsg 0:662207e34fba 254
garfieldsg 0:662207e34fba 255 #define MPU6050_I2C_SLV_RW_BIT 7
garfieldsg 0:662207e34fba 256 #define MPU6050_I2C_SLV_ADDR_BIT 6
garfieldsg 0:662207e34fba 257 #define MPU6050_I2C_SLV_ADDR_LENGTH 7
garfieldsg 0:662207e34fba 258 #define MPU6050_I2C_SLV_EN_BIT 7
garfieldsg 0:662207e34fba 259 #define MPU6050_I2C_SLV_BYTE_SW_BIT 6
garfieldsg 0:662207e34fba 260 #define MPU6050_I2C_SLV_REG_DIS_BIT 5
garfieldsg 0:662207e34fba 261 #define MPU6050_I2C_SLV_GRP_BIT 4
garfieldsg 0:662207e34fba 262 #define MPU6050_I2C_SLV_LEN_BIT 3
garfieldsg 0:662207e34fba 263 #define MPU6050_I2C_SLV_LEN_LENGTH 4
garfieldsg 0:662207e34fba 264
garfieldsg 0:662207e34fba 265 #define MPU6050_I2C_SLV4_RW_BIT 7
garfieldsg 0:662207e34fba 266 #define MPU6050_I2C_SLV4_ADDR_BIT 6
garfieldsg 0:662207e34fba 267 #define MPU6050_I2C_SLV4_ADDR_LENGTH 7
garfieldsg 0:662207e34fba 268 #define MPU6050_I2C_SLV4_EN_BIT 7
garfieldsg 0:662207e34fba 269 #define MPU6050_I2C_SLV4_INT_EN_BIT 6
garfieldsg 0:662207e34fba 270 #define MPU6050_I2C_SLV4_REG_DIS_BIT 5
garfieldsg 0:662207e34fba 271 #define MPU6050_I2C_SLV4_MST_DLY_BIT 4
garfieldsg 0:662207e34fba 272 #define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
garfieldsg 0:662207e34fba 273
garfieldsg 0:662207e34fba 274 #define MPU6050_MST_PASS_THROUGH_BIT 7
garfieldsg 0:662207e34fba 275 #define MPU6050_MST_I2C_SLV4_DONE_BIT 6
garfieldsg 0:662207e34fba 276 #define MPU6050_MST_I2C_LOST_ARB_BIT 5
garfieldsg 0:662207e34fba 277 #define MPU6050_MST_I2C_SLV4_NACK_BIT 4
garfieldsg 0:662207e34fba 278 #define MPU6050_MST_I2C_SLV3_NACK_BIT 3
garfieldsg 0:662207e34fba 279 #define MPU6050_MST_I2C_SLV2_NACK_BIT 2
garfieldsg 0:662207e34fba 280 #define MPU6050_MST_I2C_SLV1_NACK_BIT 1
garfieldsg 0:662207e34fba 281 #define MPU6050_MST_I2C_SLV0_NACK_BIT 0
garfieldsg 0:662207e34fba 282
garfieldsg 0:662207e34fba 283 #define MPU6050_INTCFG_INT_LEVEL_BIT 7
garfieldsg 0:662207e34fba 284 #define MPU6050_INTCFG_INT_OPEN_BIT 6
garfieldsg 0:662207e34fba 285 #define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
garfieldsg 0:662207e34fba 286 #define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
garfieldsg 0:662207e34fba 287 #define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
garfieldsg 0:662207e34fba 288 #define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
garfieldsg 0:662207e34fba 289 #define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
garfieldsg 0:662207e34fba 290 #define MPU6050_INTCFG_CLKOUT_EN_BIT 0
garfieldsg 0:662207e34fba 291
garfieldsg 0:662207e34fba 292 #define MPU6050_INTMODE_ACTIVEHIGH 0x00
garfieldsg 0:662207e34fba 293 #define MPU6050_INTMODE_ACTIVELOW 0x01
garfieldsg 0:662207e34fba 294
garfieldsg 0:662207e34fba 295 #define MPU6050_INTDRV_PUSHPULL 0x00
garfieldsg 0:662207e34fba 296 #define MPU6050_INTDRV_OPENDRAIN 0x01
garfieldsg 0:662207e34fba 297
garfieldsg 0:662207e34fba 298 #define MPU6050_INTLATCH_50USPULSE 0x00
garfieldsg 0:662207e34fba 299 #define MPU6050_INTLATCH_WAITCLEAR 0x01
garfieldsg 0:662207e34fba 300
garfieldsg 0:662207e34fba 301 #define MPU6050_INTCLEAR_STATUSREAD 0x00
garfieldsg 0:662207e34fba 302 #define MPU6050_INTCLEAR_ANYREAD 0x01
garfieldsg 0:662207e34fba 303
garfieldsg 0:662207e34fba 304 #define MPU6050_INTERRUPT_FF_BIT 7
garfieldsg 0:662207e34fba 305 #define MPU6050_INTERRUPT_MOT_BIT 6
garfieldsg 0:662207e34fba 306 #define MPU6050_INTERRUPT_ZMOT_BIT 5
garfieldsg 0:662207e34fba 307 #define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
garfieldsg 0:662207e34fba 308 #define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
garfieldsg 0:662207e34fba 309 #define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
garfieldsg 0:662207e34fba 310 #define MPU6050_INTERRUPT_DMP_INT_BIT 1
garfieldsg 0:662207e34fba 311 #define MPU6050_INTERRUPT_DATA_RDY_BIT 0
garfieldsg 0:662207e34fba 312
garfieldsg 0:662207e34fba 313 // TODO: figure out what these actually do
garfieldsg 0:662207e34fba 314 // UMPL source code is not very obivous
garfieldsg 0:662207e34fba 315 #define MPU6050_DMPINT_5_BIT 5
garfieldsg 0:662207e34fba 316 #define MPU6050_DMPINT_4_BIT 4
garfieldsg 0:662207e34fba 317 #define MPU6050_DMPINT_3_BIT 3
garfieldsg 0:662207e34fba 318 #define MPU6050_DMPINT_2_BIT 2
garfieldsg 0:662207e34fba 319 #define MPU6050_DMPINT_1_BIT 1
garfieldsg 0:662207e34fba 320 #define MPU6050_DMPINT_0_BIT 0
garfieldsg 0:662207e34fba 321
garfieldsg 0:662207e34fba 322 #define MPU6050_MOTION_MOT_XNEG_BIT 7
garfieldsg 0:662207e34fba 323 #define MPU6050_MOTION_MOT_XPOS_BIT 6
garfieldsg 0:662207e34fba 324 #define MPU6050_MOTION_MOT_YNEG_BIT 5
garfieldsg 0:662207e34fba 325 #define MPU6050_MOTION_MOT_YPOS_BIT 4
garfieldsg 0:662207e34fba 326 #define MPU6050_MOTION_MOT_ZNEG_BIT 3
garfieldsg 0:662207e34fba 327 #define MPU6050_MOTION_MOT_ZPOS_BIT 2
garfieldsg 0:662207e34fba 328 #define MPU6050_MOTION_MOT_ZRMOT_BIT 0
garfieldsg 0:662207e34fba 329
garfieldsg 0:662207e34fba 330 #define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
garfieldsg 0:662207e34fba 331 #define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
garfieldsg 0:662207e34fba 332 #define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
garfieldsg 0:662207e34fba 333 #define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
garfieldsg 0:662207e34fba 334 #define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
garfieldsg 0:662207e34fba 335 #define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
garfieldsg 0:662207e34fba 336
garfieldsg 0:662207e34fba 337 #define MPU6050_PATHRESET_GYRO_RESET_BIT 2
garfieldsg 0:662207e34fba 338 #define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
garfieldsg 0:662207e34fba 339 #define MPU6050_PATHRESET_TEMP_RESET_BIT 0
garfieldsg 0:662207e34fba 340
garfieldsg 0:662207e34fba 341 #define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
garfieldsg 0:662207e34fba 342 #define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
garfieldsg 0:662207e34fba 343 #define MPU6050_DETECT_FF_COUNT_BIT 3
garfieldsg 0:662207e34fba 344 #define MPU6050_DETECT_FF_COUNT_LENGTH 2
garfieldsg 0:662207e34fba 345 #define MPU6050_DETECT_MOT_COUNT_BIT 1
garfieldsg 0:662207e34fba 346 #define MPU6050_DETECT_MOT_COUNT_LENGTH 2
garfieldsg 0:662207e34fba 347
garfieldsg 0:662207e34fba 348 #define MPU6050_DETECT_DECREMENT_RESET 0x0
garfieldsg 0:662207e34fba 349 #define MPU6050_DETECT_DECREMENT_1 0x1
garfieldsg 0:662207e34fba 350 #define MPU6050_DETECT_DECREMENT_2 0x2
garfieldsg 0:662207e34fba 351 #define MPU6050_DETECT_DECREMENT_4 0x3
garfieldsg 0:662207e34fba 352
garfieldsg 0:662207e34fba 353 #define MPU6050_USERCTRL_DMP_EN_BIT 7
garfieldsg 0:662207e34fba 354 #define MPU6050_USERCTRL_FIFO_EN_BIT 6
garfieldsg 0:662207e34fba 355 #define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
garfieldsg 0:662207e34fba 356 #define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
garfieldsg 0:662207e34fba 357 #define MPU6050_USERCTRL_DMP_RESET_BIT 3
garfieldsg 0:662207e34fba 358 #define MPU6050_USERCTRL_FIFO_RESET_BIT 2
garfieldsg 0:662207e34fba 359 #define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
garfieldsg 0:662207e34fba 360 #define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
garfieldsg 0:662207e34fba 361
garfieldsg 0:662207e34fba 362 #define MPU6050_PWR1_DEVICE_RESET_BIT 7
garfieldsg 0:662207e34fba 363 #define MPU6050_PWR1_SLEEP_BIT 6
garfieldsg 0:662207e34fba 364 #define MPU6050_PWR1_CYCLE_BIT 5
garfieldsg 0:662207e34fba 365 #define MPU6050_PWR1_TEMP_DIS_BIT 3
garfieldsg 0:662207e34fba 366 #define MPU6050_PWR1_CLKSEL_BIT 2
garfieldsg 0:662207e34fba 367 #define MPU6050_PWR1_CLKSEL_LENGTH 3
garfieldsg 0:662207e34fba 368
garfieldsg 0:662207e34fba 369 #define MPU6050_CLOCK_INTERNAL 0x00
garfieldsg 0:662207e34fba 370 #define MPU6050_CLOCK_PLL_XGYRO 0x01
garfieldsg 0:662207e34fba 371 #define MPU6050_CLOCK_PLL_YGYRO 0x02
garfieldsg 0:662207e34fba 372 #define MPU6050_CLOCK_PLL_ZGYRO 0x03
garfieldsg 0:662207e34fba 373 #define MPU6050_CLOCK_PLL_EXT32K 0x04
garfieldsg 0:662207e34fba 374 #define MPU6050_CLOCK_PLL_EXT19M 0x05
garfieldsg 0:662207e34fba 375 #define MPU6050_CLOCK_KEEP_RESET 0x07
garfieldsg 0:662207e34fba 376
garfieldsg 0:662207e34fba 377 #define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
garfieldsg 0:662207e34fba 378 #define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
garfieldsg 0:662207e34fba 379 #define MPU6050_PWR2_STBY_XA_BIT 5
garfieldsg 0:662207e34fba 380 #define MPU6050_PWR2_STBY_YA_BIT 4
garfieldsg 0:662207e34fba 381 #define MPU6050_PWR2_STBY_ZA_BIT 3
garfieldsg 0:662207e34fba 382 #define MPU6050_PWR2_STBY_XG_BIT 2
garfieldsg 0:662207e34fba 383 #define MPU6050_PWR2_STBY_YG_BIT 1
garfieldsg 0:662207e34fba 384 #define MPU6050_PWR2_STBY_ZG_BIT 0
garfieldsg 0:662207e34fba 385
garfieldsg 0:662207e34fba 386 #define MPU6050_WAKE_FREQ_1P25 0x0
garfieldsg 0:662207e34fba 387 #define MPU6050_WAKE_FREQ_2P5 0x1
garfieldsg 0:662207e34fba 388 #define MPU6050_WAKE_FREQ_5 0x2
garfieldsg 0:662207e34fba 389 #define MPU6050_WAKE_FREQ_10 0x3
garfieldsg 0:662207e34fba 390
garfieldsg 0:662207e34fba 391 #define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
garfieldsg 0:662207e34fba 392 #define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
garfieldsg 0:662207e34fba 393 #define MPU6050_BANKSEL_MEM_SEL_BIT 4
garfieldsg 0:662207e34fba 394 #define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
garfieldsg 0:662207e34fba 395
garfieldsg 0:662207e34fba 396 #define MPU6050_WHO_AM_I_BIT 6
garfieldsg 0:662207e34fba 397 #define MPU6050_WHO_AM_I_LENGTH 6
garfieldsg 0:662207e34fba 398
garfieldsg 0:662207e34fba 399 #define MPU6050_DMP_MEMORY_BANKS 8
garfieldsg 0:662207e34fba 400 #define MPU6050_DMP_MEMORY_BANK_SIZE 256
garfieldsg 0:662207e34fba 401 #define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
garfieldsg 0:662207e34fba 402
garfieldsg 0:662207e34fba 403 // note: DMP code memory blocks defined at end of header file
garfieldsg 0:662207e34fba 404
garfieldsg 0:662207e34fba 405 class MPU6050 {
garfieldsg 0:662207e34fba 406 private:
garfieldsg 0:662207e34fba 407 I2Cdev i2Cdev;
garfieldsg 0:662207e34fba 408 public:
Yihui Xiong 2:8c562a8fed36 409 MPU6050(I2C &i2c, uint8_t address = MPU6050_DEFAULT_ADDRESS);
garfieldsg 0:662207e34fba 410
garfieldsg 0:662207e34fba 411 void initialize();
garfieldsg 0:662207e34fba 412 bool testConnection();
garfieldsg 0:662207e34fba 413
garfieldsg 0:662207e34fba 414 // AUX_VDDIO register
garfieldsg 0:662207e34fba 415 uint8_t getAuxVDDIOLevel();
garfieldsg 0:662207e34fba 416 void setAuxVDDIOLevel(uint8_t level);
garfieldsg 0:662207e34fba 417
garfieldsg 0:662207e34fba 418 // SMPLRT_DIV register
garfieldsg 0:662207e34fba 419 uint8_t getRate();
garfieldsg 0:662207e34fba 420 void setRate(uint8_t rate);
garfieldsg 0:662207e34fba 421
garfieldsg 0:662207e34fba 422 // CONFIG register
garfieldsg 0:662207e34fba 423 uint8_t getExternalFrameSync();
garfieldsg 0:662207e34fba 424 void setExternalFrameSync(uint8_t sync);
garfieldsg 0:662207e34fba 425 uint8_t getDLPFMode();
garfieldsg 0:662207e34fba 426 void setDLPFMode(uint8_t bandwidth);
garfieldsg 0:662207e34fba 427
garfieldsg 0:662207e34fba 428 // GYRO_CONFIG register
garfieldsg 0:662207e34fba 429 uint8_t getFullScaleGyroRange();
garfieldsg 0:662207e34fba 430 void setFullScaleGyroRange(uint8_t range);
garfieldsg 0:662207e34fba 431
garfieldsg 0:662207e34fba 432 // ACCEL_CONFIG register
garfieldsg 0:662207e34fba 433 bool getAccelXSelfTest();
garfieldsg 0:662207e34fba 434 void setAccelXSelfTest(bool enabled);
garfieldsg 0:662207e34fba 435 bool getAccelYSelfTest();
garfieldsg 0:662207e34fba 436 void setAccelYSelfTest(bool enabled);
garfieldsg 0:662207e34fba 437 bool getAccelZSelfTest();
garfieldsg 0:662207e34fba 438 void setAccelZSelfTest(bool enabled);
garfieldsg 0:662207e34fba 439 uint8_t getFullScaleAccelRange();
garfieldsg 0:662207e34fba 440 void setFullScaleAccelRange(uint8_t range);
garfieldsg 0:662207e34fba 441 uint8_t getDHPFMode();
garfieldsg 0:662207e34fba 442 void setDHPFMode(uint8_t mode);
garfieldsg 0:662207e34fba 443
garfieldsg 0:662207e34fba 444 // FF_THR register
garfieldsg 0:662207e34fba 445 uint8_t getFreefallDetectionThreshold();
garfieldsg 0:662207e34fba 446 void setFreefallDetectionThreshold(uint8_t threshold);
garfieldsg 0:662207e34fba 447
garfieldsg 0:662207e34fba 448 // FF_DUR register
garfieldsg 0:662207e34fba 449 uint8_t getFreefallDetectionDuration();
garfieldsg 0:662207e34fba 450 void setFreefallDetectionDuration(uint8_t duration);
garfieldsg 0:662207e34fba 451
garfieldsg 0:662207e34fba 452 // MOT_THR register
garfieldsg 0:662207e34fba 453 uint8_t getMotionDetectionThreshold();
garfieldsg 0:662207e34fba 454 void setMotionDetectionThreshold(uint8_t threshold);
garfieldsg 0:662207e34fba 455
garfieldsg 0:662207e34fba 456 // MOT_DUR register
garfieldsg 0:662207e34fba 457 uint8_t getMotionDetectionDuration();
garfieldsg 0:662207e34fba 458 void setMotionDetectionDuration(uint8_t duration);
garfieldsg 0:662207e34fba 459
garfieldsg 0:662207e34fba 460 // ZRMOT_THR register
garfieldsg 0:662207e34fba 461 uint8_t getZeroMotionDetectionThreshold();
garfieldsg 0:662207e34fba 462 void setZeroMotionDetectionThreshold(uint8_t threshold);
garfieldsg 0:662207e34fba 463
garfieldsg 0:662207e34fba 464 // ZRMOT_DUR register
garfieldsg 0:662207e34fba 465 uint8_t getZeroMotionDetectionDuration();
garfieldsg 0:662207e34fba 466 void setZeroMotionDetectionDuration(uint8_t duration);
garfieldsg 0:662207e34fba 467
garfieldsg 0:662207e34fba 468 // FIFO_EN register
garfieldsg 0:662207e34fba 469 bool getTempFIFOEnabled();
garfieldsg 0:662207e34fba 470 void setTempFIFOEnabled(bool enabled);
garfieldsg 0:662207e34fba 471 bool getXGyroFIFOEnabled();
garfieldsg 0:662207e34fba 472 void setXGyroFIFOEnabled(bool enabled);
garfieldsg 0:662207e34fba 473 bool getYGyroFIFOEnabled();
garfieldsg 0:662207e34fba 474 void setYGyroFIFOEnabled(bool enabled);
garfieldsg 0:662207e34fba 475 bool getZGyroFIFOEnabled();
garfieldsg 0:662207e34fba 476 void setZGyroFIFOEnabled(bool enabled);
garfieldsg 0:662207e34fba 477 bool getAccelFIFOEnabled();
garfieldsg 0:662207e34fba 478 void setAccelFIFOEnabled(bool enabled);
garfieldsg 0:662207e34fba 479 bool getSlave2FIFOEnabled();
garfieldsg 0:662207e34fba 480 void setSlave2FIFOEnabled(bool enabled);
garfieldsg 0:662207e34fba 481 bool getSlave1FIFOEnabled();
garfieldsg 0:662207e34fba 482 void setSlave1FIFOEnabled(bool enabled);
garfieldsg 0:662207e34fba 483 bool getSlave0FIFOEnabled();
garfieldsg 0:662207e34fba 484 void setSlave0FIFOEnabled(bool enabled);
garfieldsg 0:662207e34fba 485
garfieldsg 0:662207e34fba 486 // I2C_MST_CTRL register
garfieldsg 0:662207e34fba 487 bool getMultiMasterEnabled();
garfieldsg 0:662207e34fba 488 void setMultiMasterEnabled(bool enabled);
garfieldsg 0:662207e34fba 489 bool getWaitForExternalSensorEnabled();
garfieldsg 0:662207e34fba 490 void setWaitForExternalSensorEnabled(bool enabled);
garfieldsg 0:662207e34fba 491 bool getSlave3FIFOEnabled();
garfieldsg 0:662207e34fba 492 void setSlave3FIFOEnabled(bool enabled);
garfieldsg 0:662207e34fba 493 bool getSlaveReadWriteTransitionEnabled();
garfieldsg 0:662207e34fba 494 void setSlaveReadWriteTransitionEnabled(bool enabled);
garfieldsg 0:662207e34fba 495 uint8_t getMasterClockSpeed();
garfieldsg 0:662207e34fba 496 void setMasterClockSpeed(uint8_t speed);
garfieldsg 0:662207e34fba 497
garfieldsg 0:662207e34fba 498 // I2C_SLV* registers (Slave 0-3)
garfieldsg 0:662207e34fba 499 uint8_t getSlaveAddress(uint8_t num);
garfieldsg 0:662207e34fba 500 void setSlaveAddress(uint8_t num, uint8_t address);
garfieldsg 0:662207e34fba 501 uint8_t getSlaveRegister(uint8_t num);
garfieldsg 0:662207e34fba 502 void setSlaveRegister(uint8_t num, uint8_t reg);
garfieldsg 0:662207e34fba 503 bool getSlaveEnabled(uint8_t num);
garfieldsg 0:662207e34fba 504 void setSlaveEnabled(uint8_t num, bool enabled);
garfieldsg 0:662207e34fba 505 bool getSlaveWordByteSwap(uint8_t num);
garfieldsg 0:662207e34fba 506 void setSlaveWordByteSwap(uint8_t num, bool enabled);
garfieldsg 0:662207e34fba 507 bool getSlaveWriteMode(uint8_t num);
garfieldsg 0:662207e34fba 508 void setSlaveWriteMode(uint8_t num, bool mode);
garfieldsg 0:662207e34fba 509 bool getSlaveWordGroupOffset(uint8_t num);
garfieldsg 0:662207e34fba 510 void setSlaveWordGroupOffset(uint8_t num, bool enabled);
garfieldsg 0:662207e34fba 511 uint8_t getSlaveDataLength(uint8_t num);
garfieldsg 0:662207e34fba 512 void setSlaveDataLength(uint8_t num, uint8_t length);
garfieldsg 0:662207e34fba 513
garfieldsg 0:662207e34fba 514 // I2C_SLV* registers (Slave 4)
garfieldsg 0:662207e34fba 515 uint8_t getSlave4Address();
garfieldsg 0:662207e34fba 516 void setSlave4Address(uint8_t address);
garfieldsg 0:662207e34fba 517 uint8_t getSlave4Register();
garfieldsg 0:662207e34fba 518 void setSlave4Register(uint8_t reg);
garfieldsg 0:662207e34fba 519 void setSlave4OutputByte(uint8_t data);
garfieldsg 0:662207e34fba 520 bool getSlave4Enabled();
garfieldsg 0:662207e34fba 521 void setSlave4Enabled(bool enabled);
garfieldsg 0:662207e34fba 522 bool getSlave4InterruptEnabled();
garfieldsg 0:662207e34fba 523 void setSlave4InterruptEnabled(bool enabled);
garfieldsg 0:662207e34fba 524 bool getSlave4WriteMode();
garfieldsg 0:662207e34fba 525 void setSlave4WriteMode(bool mode);
garfieldsg 0:662207e34fba 526 uint8_t getSlave4MasterDelay();
garfieldsg 0:662207e34fba 527 void setSlave4MasterDelay(uint8_t delay);
garfieldsg 0:662207e34fba 528 uint8_t getSlate4InputByte();
garfieldsg 0:662207e34fba 529
garfieldsg 0:662207e34fba 530 // I2C_MST_STATUS register
garfieldsg 0:662207e34fba 531 bool getPassthroughStatus();
garfieldsg 0:662207e34fba 532 bool getSlave4IsDone();
garfieldsg 0:662207e34fba 533 bool getLostArbitration();
garfieldsg 0:662207e34fba 534 bool getSlave4Nack();
garfieldsg 0:662207e34fba 535 bool getSlave3Nack();
garfieldsg 0:662207e34fba 536 bool getSlave2Nack();
garfieldsg 0:662207e34fba 537 bool getSlave1Nack();
garfieldsg 0:662207e34fba 538 bool getSlave0Nack();
garfieldsg 0:662207e34fba 539
garfieldsg 0:662207e34fba 540 // INT_PIN_CFG register
garfieldsg 0:662207e34fba 541 bool getInterruptMode();
garfieldsg 0:662207e34fba 542 void setInterruptMode(bool mode);
garfieldsg 0:662207e34fba 543 bool getInterruptDrive();
garfieldsg 0:662207e34fba 544 void setInterruptDrive(bool drive);
garfieldsg 0:662207e34fba 545 bool getInterruptLatch();
garfieldsg 0:662207e34fba 546 void setInterruptLatch(bool latch);
garfieldsg 0:662207e34fba 547 bool getInterruptLatchClear();
garfieldsg 0:662207e34fba 548 void setInterruptLatchClear(bool clear);
garfieldsg 0:662207e34fba 549 bool getFSyncInterruptLevel();
garfieldsg 0:662207e34fba 550 void setFSyncInterruptLevel(bool level);
garfieldsg 0:662207e34fba 551 bool getFSyncInterruptEnabled();
garfieldsg 0:662207e34fba 552 void setFSyncInterruptEnabled(bool enabled);
garfieldsg 0:662207e34fba 553 bool getI2CBypassEnabled();
garfieldsg 0:662207e34fba 554 void setI2CBypassEnabled(bool enabled);
garfieldsg 0:662207e34fba 555 bool getClockOutputEnabled();
garfieldsg 0:662207e34fba 556 void setClockOutputEnabled(bool enabled);
garfieldsg 0:662207e34fba 557
garfieldsg 0:662207e34fba 558 // INT_ENABLE register
garfieldsg 0:662207e34fba 559 uint8_t getIntEnabled();
garfieldsg 0:662207e34fba 560 void setIntEnabled(uint8_t enabled);
garfieldsg 0:662207e34fba 561 bool getIntFreefallEnabled();
garfieldsg 0:662207e34fba 562 void setIntFreefallEnabled(bool enabled);
garfieldsg 0:662207e34fba 563 bool getIntMotionEnabled();
garfieldsg 0:662207e34fba 564 void setIntMotionEnabled(bool enabled);
garfieldsg 0:662207e34fba 565 bool getIntZeroMotionEnabled();
garfieldsg 0:662207e34fba 566 void setIntZeroMotionEnabled(bool enabled);
garfieldsg 0:662207e34fba 567 bool getIntFIFOBufferOverflowEnabled();
garfieldsg 0:662207e34fba 568 void setIntFIFOBufferOverflowEnabled(bool enabled);
garfieldsg 0:662207e34fba 569 bool getIntI2CMasterEnabled();
garfieldsg 0:662207e34fba 570 void setIntI2CMasterEnabled(bool enabled);
garfieldsg 0:662207e34fba 571 bool getIntDataReadyEnabled();
garfieldsg 0:662207e34fba 572 void setIntDataReadyEnabled(bool enabled);
garfieldsg 0:662207e34fba 573
garfieldsg 0:662207e34fba 574 // INT_STATUS register
garfieldsg 0:662207e34fba 575 uint8_t getIntStatus();
garfieldsg 0:662207e34fba 576 bool getIntFreefallStatus();
garfieldsg 0:662207e34fba 577 bool getIntMotionStatus();
garfieldsg 0:662207e34fba 578 bool getIntZeroMotionStatus();
garfieldsg 0:662207e34fba 579 bool getIntFIFOBufferOverflowStatus();
garfieldsg 0:662207e34fba 580 bool getIntI2CMasterStatus();
garfieldsg 0:662207e34fba 581 bool getIntDataReadyStatus();
garfieldsg 0:662207e34fba 582
garfieldsg 0:662207e34fba 583 // ACCEL_*OUT_* registers
garfieldsg 0:662207e34fba 584 void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz);
garfieldsg 0:662207e34fba 585 void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
garfieldsg 0:662207e34fba 586 void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
garfieldsg 0:662207e34fba 587 int16_t getAccelerationX();
garfieldsg 0:662207e34fba 588 int16_t getAccelerationY();
garfieldsg 0:662207e34fba 589 int16_t getAccelerationZ();
garfieldsg 0:662207e34fba 590
garfieldsg 0:662207e34fba 591 // TEMP_OUT_* registers
garfieldsg 0:662207e34fba 592 int16_t getTemperature();
garfieldsg 0:662207e34fba 593
garfieldsg 0:662207e34fba 594 // GYRO_*OUT_* registers
garfieldsg 0:662207e34fba 595 void getRotation(int16_t* x, int16_t* y, int16_t* z);
garfieldsg 0:662207e34fba 596 int16_t getRotationX();
garfieldsg 0:662207e34fba 597 int16_t getRotationY();
garfieldsg 0:662207e34fba 598 int16_t getRotationZ();
garfieldsg 0:662207e34fba 599
garfieldsg 0:662207e34fba 600 // EXT_SENS_DATA_* registers
garfieldsg 0:662207e34fba 601 uint8_t getExternalSensorByte(int position);
garfieldsg 0:662207e34fba 602 uint16_t getExternalSensorWord(int position);
garfieldsg 0:662207e34fba 603 uint32_t getExternalSensorDWord(int position);
garfieldsg 0:662207e34fba 604
garfieldsg 0:662207e34fba 605 // MOT_DETECT_STATUS register
garfieldsg 0:662207e34fba 606 bool getXNegMotionDetected();
garfieldsg 0:662207e34fba 607 bool getXPosMotionDetected();
garfieldsg 0:662207e34fba 608 bool getYNegMotionDetected();
garfieldsg 0:662207e34fba 609 bool getYPosMotionDetected();
garfieldsg 0:662207e34fba 610 bool getZNegMotionDetected();
garfieldsg 0:662207e34fba 611 bool getZPosMotionDetected();
garfieldsg 0:662207e34fba 612 bool getZeroMotionDetected();
garfieldsg 0:662207e34fba 613
garfieldsg 0:662207e34fba 614 // I2C_SLV*_DO register
garfieldsg 0:662207e34fba 615 void setSlaveOutputByte(uint8_t num, uint8_t data);
garfieldsg 0:662207e34fba 616
garfieldsg 0:662207e34fba 617 // I2C_MST_DELAY_CTRL register
garfieldsg 0:662207e34fba 618 bool getExternalShadowDelayEnabled();
garfieldsg 0:662207e34fba 619 void setExternalShadowDelayEnabled(bool enabled);
garfieldsg 0:662207e34fba 620 bool getSlaveDelayEnabled(uint8_t num);
garfieldsg 0:662207e34fba 621 void setSlaveDelayEnabled(uint8_t num, bool enabled);
garfieldsg 0:662207e34fba 622
garfieldsg 0:662207e34fba 623 // SIGNAL_PATH_RESET register
garfieldsg 0:662207e34fba 624 void resetGyroscopePath();
garfieldsg 0:662207e34fba 625 void resetAccelerometerPath();
garfieldsg 0:662207e34fba 626 void resetTemperaturePath();
garfieldsg 0:662207e34fba 627
garfieldsg 0:662207e34fba 628 // MOT_DETECT_CTRL register
garfieldsg 0:662207e34fba 629 uint8_t getAccelerometerPowerOnDelay();
garfieldsg 0:662207e34fba 630 void setAccelerometerPowerOnDelay(uint8_t delay);
garfieldsg 0:662207e34fba 631 uint8_t getFreefallDetectionCounterDecrement();
garfieldsg 0:662207e34fba 632 void setFreefallDetectionCounterDecrement(uint8_t decrement);
garfieldsg 0:662207e34fba 633 uint8_t getMotionDetectionCounterDecrement();
garfieldsg 0:662207e34fba 634 void setMotionDetectionCounterDecrement(uint8_t decrement);
garfieldsg 0:662207e34fba 635
garfieldsg 0:662207e34fba 636 // USER_CTRL register
garfieldsg 0:662207e34fba 637 bool getFIFOEnabled();
garfieldsg 0:662207e34fba 638 void setFIFOEnabled(bool enabled);
garfieldsg 0:662207e34fba 639 bool getI2CMasterModeEnabled();
garfieldsg 0:662207e34fba 640 void setI2CMasterModeEnabled(bool enabled);
garfieldsg 0:662207e34fba 641 void switchSPIEnabled(bool enabled);
garfieldsg 0:662207e34fba 642 void resetFIFO();
garfieldsg 0:662207e34fba 643 void resetI2CMaster();
garfieldsg 0:662207e34fba 644 void resetSensors();
garfieldsg 0:662207e34fba 645
garfieldsg 0:662207e34fba 646 // PWR_MGMT_1 register
garfieldsg 0:662207e34fba 647 void reset();
garfieldsg 0:662207e34fba 648 bool getSleepEnabled();
garfieldsg 0:662207e34fba 649 void setSleepEnabled(bool enabled);
garfieldsg 0:662207e34fba 650 bool getWakeCycleEnabled();
garfieldsg 0:662207e34fba 651 void setWakeCycleEnabled(bool enabled);
garfieldsg 0:662207e34fba 652 bool getTempSensorEnabled();
garfieldsg 0:662207e34fba 653 void setTempSensorEnabled(bool enabled);
garfieldsg 0:662207e34fba 654 uint8_t getClockSource();
garfieldsg 0:662207e34fba 655 void setClockSource(uint8_t source);
garfieldsg 0:662207e34fba 656
garfieldsg 0:662207e34fba 657 // PWR_MGMT_2 register
garfieldsg 0:662207e34fba 658 uint8_t getWakeFrequency();
garfieldsg 0:662207e34fba 659 void setWakeFrequency(uint8_t frequency);
garfieldsg 0:662207e34fba 660 bool getStandbyXAccelEnabled();
garfieldsg 0:662207e34fba 661 void setStandbyXAccelEnabled(bool enabled);
garfieldsg 0:662207e34fba 662 bool getStandbyYAccelEnabled();
garfieldsg 0:662207e34fba 663 void setStandbyYAccelEnabled(bool enabled);
garfieldsg 0:662207e34fba 664 bool getStandbyZAccelEnabled();
garfieldsg 0:662207e34fba 665 void setStandbyZAccelEnabled(bool enabled);
garfieldsg 0:662207e34fba 666 bool getStandbyXGyroEnabled();
garfieldsg 0:662207e34fba 667 void setStandbyXGyroEnabled(bool enabled);
garfieldsg 0:662207e34fba 668 bool getStandbyYGyroEnabled();
garfieldsg 0:662207e34fba 669 void setStandbyYGyroEnabled(bool enabled);
garfieldsg 0:662207e34fba 670 bool getStandbyZGyroEnabled();
garfieldsg 0:662207e34fba 671 void setStandbyZGyroEnabled(bool enabled);
garfieldsg 0:662207e34fba 672
garfieldsg 0:662207e34fba 673 // FIFO_COUNT_* registers
garfieldsg 0:662207e34fba 674 uint16_t getFIFOCount();
garfieldsg 0:662207e34fba 675
garfieldsg 0:662207e34fba 676 // FIFO_R_W register
garfieldsg 0:662207e34fba 677 uint8_t getFIFOByte();
garfieldsg 0:662207e34fba 678 void setFIFOByte(uint8_t data);
garfieldsg 0:662207e34fba 679 void getFIFOBytes(uint8_t *data, uint8_t length);
garfieldsg 0:662207e34fba 680
garfieldsg 0:662207e34fba 681 // WHO_AM_I register
garfieldsg 0:662207e34fba 682 uint8_t getDeviceID();
garfieldsg 0:662207e34fba 683 void setDeviceID(uint8_t id);
garfieldsg 0:662207e34fba 684
garfieldsg 0:662207e34fba 685 // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
garfieldsg 0:662207e34fba 686
garfieldsg 0:662207e34fba 687 // XG_OFFS_TC register
garfieldsg 0:662207e34fba 688 uint8_t getOTPBankValid();
garfieldsg 0:662207e34fba 689 void setOTPBankValid(bool enabled);
garfieldsg 0:662207e34fba 690 int8_t getXGyroOffset();
garfieldsg 0:662207e34fba 691 void setXGyroOffset(int8_t offset);
garfieldsg 0:662207e34fba 692
garfieldsg 0:662207e34fba 693 // YG_OFFS_TC register
garfieldsg 0:662207e34fba 694 int8_t getYGyroOffset();
garfieldsg 0:662207e34fba 695 void setYGyroOffset(int8_t offset);
garfieldsg 0:662207e34fba 696
garfieldsg 0:662207e34fba 697 // ZG_OFFS_TC register
garfieldsg 0:662207e34fba 698 int8_t getZGyroOffset();
garfieldsg 0:662207e34fba 699 void setZGyroOffset(int8_t offset);
garfieldsg 0:662207e34fba 700
garfieldsg 0:662207e34fba 701 // X_FINE_GAIN register
garfieldsg 0:662207e34fba 702 int8_t getXFineGain();
garfieldsg 0:662207e34fba 703 void setXFineGain(int8_t gain);
garfieldsg 0:662207e34fba 704
garfieldsg 0:662207e34fba 705 // Y_FINE_GAIN register
garfieldsg 0:662207e34fba 706 int8_t getYFineGain();
garfieldsg 0:662207e34fba 707 void setYFineGain(int8_t gain);
garfieldsg 0:662207e34fba 708
garfieldsg 0:662207e34fba 709 // Z_FINE_GAIN register
garfieldsg 0:662207e34fba 710 int8_t getZFineGain();
garfieldsg 0:662207e34fba 711 void setZFineGain(int8_t gain);
garfieldsg 0:662207e34fba 712
garfieldsg 0:662207e34fba 713 // XA_OFFS_* registers
garfieldsg 0:662207e34fba 714 int16_t getXAccelOffset();
garfieldsg 0:662207e34fba 715 void setXAccelOffset(int16_t offset);
garfieldsg 0:662207e34fba 716
garfieldsg 0:662207e34fba 717 // YA_OFFS_* register
garfieldsg 0:662207e34fba 718 int16_t getYAccelOffset();
garfieldsg 0:662207e34fba 719 void setYAccelOffset(int16_t offset);
garfieldsg 0:662207e34fba 720
garfieldsg 0:662207e34fba 721 // ZA_OFFS_* register
garfieldsg 0:662207e34fba 722 int16_t getZAccelOffset();
garfieldsg 0:662207e34fba 723 void setZAccelOffset(int16_t offset);
garfieldsg 0:662207e34fba 724
garfieldsg 0:662207e34fba 725 // XG_OFFS_USR* registers
garfieldsg 0:662207e34fba 726 int16_t getXGyroOffsetUser();
garfieldsg 0:662207e34fba 727 void setXGyroOffsetUser(int16_t offset);
garfieldsg 0:662207e34fba 728
garfieldsg 0:662207e34fba 729 // YG_OFFS_USR* register
garfieldsg 0:662207e34fba 730 int16_t getYGyroOffsetUser();
garfieldsg 0:662207e34fba 731 void setYGyroOffsetUser(int16_t offset);
garfieldsg 0:662207e34fba 732
garfieldsg 0:662207e34fba 733 // ZG_OFFS_USR* register
garfieldsg 0:662207e34fba 734 int16_t getZGyroOffsetUser();
garfieldsg 0:662207e34fba 735 void setZGyroOffsetUser(int16_t offset);
garfieldsg 0:662207e34fba 736
garfieldsg 0:662207e34fba 737 // INT_ENABLE register (DMP functions)
garfieldsg 0:662207e34fba 738 bool getIntPLLReadyEnabled();
garfieldsg 0:662207e34fba 739 void setIntPLLReadyEnabled(bool enabled);
garfieldsg 0:662207e34fba 740 bool getIntDMPEnabled();
garfieldsg 0:662207e34fba 741 void setIntDMPEnabled(bool enabled);
garfieldsg 0:662207e34fba 742
garfieldsg 0:662207e34fba 743 // DMP_INT_STATUS
garfieldsg 0:662207e34fba 744 bool getDMPInt5Status();
garfieldsg 0:662207e34fba 745 bool getDMPInt4Status();
garfieldsg 0:662207e34fba 746 bool getDMPInt3Status();
garfieldsg 0:662207e34fba 747 bool getDMPInt2Status();
garfieldsg 0:662207e34fba 748 bool getDMPInt1Status();
garfieldsg 0:662207e34fba 749 bool getDMPInt0Status();
garfieldsg 0:662207e34fba 750
garfieldsg 0:662207e34fba 751 // INT_STATUS register (DMP functions)
garfieldsg 0:662207e34fba 752 bool getIntPLLReadyStatus();
garfieldsg 0:662207e34fba 753 bool getIntDMPStatus();
garfieldsg 0:662207e34fba 754
garfieldsg 0:662207e34fba 755 // USER_CTRL register (DMP functions)
garfieldsg 0:662207e34fba 756 bool getDMPEnabled();
garfieldsg 0:662207e34fba 757 void setDMPEnabled(bool enabled);
garfieldsg 0:662207e34fba 758 void resetDMP();
garfieldsg 0:662207e34fba 759
garfieldsg 0:662207e34fba 760 // BANK_SEL register
garfieldsg 0:662207e34fba 761 void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
garfieldsg 0:662207e34fba 762
garfieldsg 0:662207e34fba 763 // MEM_START_ADDR register
garfieldsg 0:662207e34fba 764 void setMemoryStartAddress(uint8_t address);
garfieldsg 0:662207e34fba 765
garfieldsg 0:662207e34fba 766 // MEM_R_W register
garfieldsg 0:662207e34fba 767 uint8_t readMemoryByte();
garfieldsg 0:662207e34fba 768 void writeMemoryByte(uint8_t data);
garfieldsg 0:662207e34fba 769 void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
garfieldsg 0:662207e34fba 770 bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
garfieldsg 0:662207e34fba 771 bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
garfieldsg 0:662207e34fba 772
garfieldsg 0:662207e34fba 773 bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false);
garfieldsg 0:662207e34fba 774 bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
garfieldsg 0:662207e34fba 775
garfieldsg 0:662207e34fba 776 // DMP_CFG_1 register
garfieldsg 0:662207e34fba 777 uint8_t getDMPConfig1();
garfieldsg 0:662207e34fba 778 void setDMPConfig1(uint8_t config);
garfieldsg 0:662207e34fba 779
garfieldsg 0:662207e34fba 780 // DMP_CFG_2 register
garfieldsg 0:662207e34fba 781 uint8_t getDMPConfig2();
garfieldsg 0:662207e34fba 782 void setDMPConfig2(uint8_t config);
garfieldsg 0:662207e34fba 783
garfieldsg 0:662207e34fba 784 // special methods for MotionApps 2.0 implementation
garfieldsg 0:662207e34fba 785 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
garfieldsg 0:662207e34fba 786 uint8_t *dmpPacketBuffer;
garfieldsg 0:662207e34fba 787 uint16_t dmpPacketSize;
garfieldsg 0:662207e34fba 788
garfieldsg 0:662207e34fba 789 uint8_t dmpInitialize();
garfieldsg 0:662207e34fba 790 bool dmpPacketAvailable();
garfieldsg 0:662207e34fba 791
garfieldsg 0:662207e34fba 792 uint8_t dmpSetFIFORate(uint8_t fifoRate);
garfieldsg 0:662207e34fba 793 uint8_t dmpGetFIFORate();
garfieldsg 0:662207e34fba 794 uint8_t dmpGetSampleStepSizeMS();
garfieldsg 0:662207e34fba 795 uint8_t dmpGetSampleFrequency();
garfieldsg 0:662207e34fba 796 int32_t dmpDecodeTemperature(int8_t tempReg);
garfieldsg 0:662207e34fba 797
garfieldsg 0:662207e34fba 798 // Register callbacks after a packet of FIFO data is processed
garfieldsg 0:662207e34fba 799 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
garfieldsg 0:662207e34fba 800 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
garfieldsg 0:662207e34fba 801 uint8_t dmpRunFIFORateProcesses();
garfieldsg 0:662207e34fba 802
garfieldsg 0:662207e34fba 803 // Setup FIFO for various output
garfieldsg 0:662207e34fba 804 uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 805 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 806 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 807 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 808 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 809 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 810 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 811 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 812 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 813 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 814 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 815 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 816
garfieldsg 0:662207e34fba 817 // Get Fixed Point data from FIFO
garfieldsg 0:662207e34fba 818 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 819 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 820 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 821 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 822 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 823 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 824 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 825 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 826 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 827 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 828 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 829 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 830 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 831 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 832 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 833 uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
garfieldsg 0:662207e34fba 834 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 835 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 836 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 837 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
garfieldsg 0:662207e34fba 838 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 839 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 840 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 841 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
garfieldsg 0:662207e34fba 842 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 843 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 844 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 845 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 846 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 847 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 848 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
garfieldsg 1:1e0baaf91e96 849 uint8_t dm pGetTemperature(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 850 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 851 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 852 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 853 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
garfieldsg 0:662207e34fba 854 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 855 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 856 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 857 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 858 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 859 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 860 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 861 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 862
garfieldsg 0:662207e34fba 863 uint8_t dmpGetEuler(float *data, Quaternion *q);
garfieldsg 0:662207e34fba 864 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
garfieldsg 0:662207e34fba 865
garfieldsg 0:662207e34fba 866 // Get Floating Point data from FIFO
garfieldsg 0:662207e34fba 867 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 868 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 869
garfieldsg 0:662207e34fba 870 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
garfieldsg 0:662207e34fba 871 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
garfieldsg 0:662207e34fba 872
garfieldsg 0:662207e34fba 873 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
garfieldsg 0:662207e34fba 874
garfieldsg 0:662207e34fba 875 uint8_t dmpInitFIFOParam();
garfieldsg 0:662207e34fba 876 uint8_t dmpCloseFIFO();
garfieldsg 0:662207e34fba 877 uint8_t dmpSetGyroDataSource(uint8_t source);
garfieldsg 0:662207e34fba 878 uint8_t dmpDecodeQuantizedAccel();
garfieldsg 0:662207e34fba 879 uint32_t dmpGetGyroSumOfSquare();
garfieldsg 0:662207e34fba 880 uint32_t dmpGetAccelSumOfSquare();
garfieldsg 0:662207e34fba 881 void dmpOverrideQuaternion(long *q);
garfieldsg 0:662207e34fba 882 uint16_t dmpGetFIFOPacketSize();
garfieldsg 0:662207e34fba 883 #endif
garfieldsg 0:662207e34fba 884
garfieldsg 0:662207e34fba 885 // special methods for MotionApps 4.1 implementation
garfieldsg 0:662207e34fba 886 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
garfieldsg 0:662207e34fba 887 uint8_t *dmpPacketBuffer;
garfieldsg 0:662207e34fba 888 uint16_t dmpPacketSize;
garfieldsg 0:662207e34fba 889
garfieldsg 0:662207e34fba 890 uint8_t dmpInitialize();
garfieldsg 0:662207e34fba 891 bool dmpPacketAvailable();
garfieldsg 0:662207e34fba 892
garfieldsg 0:662207e34fba 893 uint8_t dmpSetFIFORate(uint8_t fifoRate);
garfieldsg 0:662207e34fba 894 uint8_t dmpGetFIFORate();
garfieldsg 0:662207e34fba 895 uint8_t dmpGetSampleStepSizeMS();
garfieldsg 0:662207e34fba 896 uint8_t dmpGetSampleFrequency();
garfieldsg 0:662207e34fba 897 int32_t dmpDecodeTemperature(int8_t tempReg);
garfieldsg 0:662207e34fba 898
garfieldsg 0:662207e34fba 899 // Register callbacks after a packet of FIFO data is processed
garfieldsg 0:662207e34fba 900 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
garfieldsg 0:662207e34fba 901 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
garfieldsg 0:662207e34fba 902 uint8_t dmpRunFIFORateProcesses();
garfieldsg 0:662207e34fba 903
garfieldsg 0:662207e34fba 904 // Setup FIFO for various output
garfieldsg 0:662207e34fba 905 uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 906 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 907 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 908 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 909 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 910 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 911 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 912 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 913 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 914 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 915 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 916 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
garfieldsg 0:662207e34fba 917
garfieldsg 0:662207e34fba 918 // Get Fixed Point data from FIFO
garfieldsg 0:662207e34fba 919 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 920 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 921 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 922 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 923 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 924 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 925 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 926 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 927 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 928 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 929 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 930 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 931 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 932 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 933 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 934 uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 935 uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
garfieldsg 0:662207e34fba 936 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 937 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 938 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 939 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
garfieldsg 0:662207e34fba 940 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 941 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 942 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 943 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
garfieldsg 0:662207e34fba 944 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 945 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 946 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 947 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 948 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 949 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 950 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 951 uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 952 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 953 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 954 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 955 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
garfieldsg 0:662207e34fba 956 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 957 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 958 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 959 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 960 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 961 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 962 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 963 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 964
garfieldsg 0:662207e34fba 965 uint8_t dmpGetEuler(float *data, Quaternion *q);
garfieldsg 0:662207e34fba 966 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
garfieldsg 0:662207e34fba 967
garfieldsg 0:662207e34fba 968 // Get Floating Point data from FIFO
garfieldsg 0:662207e34fba 969 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 970 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
garfieldsg 0:662207e34fba 971
garfieldsg 0:662207e34fba 972 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
garfieldsg 0:662207e34fba 973 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
garfieldsg 0:662207e34fba 974
garfieldsg 0:662207e34fba 975 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
garfieldsg 0:662207e34fba 976
garfieldsg 0:662207e34fba 977 uint8_t dmpInitFIFOParam();
garfieldsg 0:662207e34fba 978 uint8_t dmpCloseFIFO();
garfieldsg 0:662207e34fba 979 uint8_t dmpSetGyroDataSource(uint8_t source);
garfieldsg 0:662207e34fba 980 uint8_t dmpDecodeQuantizedAccel();
garfieldsg 0:662207e34fba 981 uint32_t dmpGetGyroSumOfSquare();
garfieldsg 0:662207e34fba 982 uint32_t dmpGetAccelSumOfSquare();
garfieldsg 0:662207e34fba 983 void dmpOverrideQuaternion(long *q);
garfieldsg 0:662207e34fba 984 uint16_t dmpGetFIFOPacketSize();
garfieldsg 0:662207e34fba 985 #endif
garfieldsg 0:662207e34fba 986
garfieldsg 0:662207e34fba 987 private:
garfieldsg 0:662207e34fba 988 uint8_t devAddr;
garfieldsg 0:662207e34fba 989 uint8_t buffer[14];
garfieldsg 0:662207e34fba 990 };
garfieldsg 0:662207e34fba 991
Yihui Xiong 2:8c562a8fed36 992 #endif /* _MPU6050_H_ */