Gurvan PRIEM / Mbed 2 deprecated RaptorControl

An incomplete quadcopter control programme.

Dependencies:   mbed

MPU6050/MPU6050.h@0:9cb9445a11f0, 2013-07-17 (annotated)

Committer:
Gurvan
Date:
Wed Jul 17 15:58:25 2013 +0000
Revision:
0:9cb9445a11f0
Pour Zobson, fi(r)st commit.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gurvan 0:9cb9445a11f0 1 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
Gurvan 0:9cb9445a11f0 2 //written by szymon gaertig (email: szymon@gaertig.com.pl)
Gurvan 0:9cb9445a11f0 3 //
Gurvan 0:9cb9445a11f0 4 //Changelog:
Gurvan 0:9cb9445a11f0 5 //2013-01-08 - first beta release
Gurvan 0:9cb9445a11f0 6
Gurvan 0:9cb9445a11f0 7 // I2Cdev library collection - MPU6050 I2C device class
Gurvan 0:9cb9445a11f0 8 // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
Gurvan 0:9cb9445a11f0 9 // 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
Gurvan 0:9cb9445a11f0 10 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
Gurvan 0:9cb9445a11f0 11 //
Gurvan 0:9cb9445a11f0 12 // Changelog:
Gurvan 0:9cb9445a11f0 13 // ... - ongoing debug release
Gurvan 0:9cb9445a11f0 14
Gurvan 0:9cb9445a11f0 15 // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
Gurvan 0:9cb9445a11f0 16 // DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
Gurvan 0:9cb9445a11f0 17 // YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
Gurvan 0:9cb9445a11f0 18
Gurvan 0:9cb9445a11f0 19 /* ============================================
Gurvan 0:9cb9445a11f0 20 I2Cdev device library code is placed under the MIT license
Gurvan 0:9cb9445a11f0 21 Copyright (c) 2012 Jeff Rowberg
Gurvan 0:9cb9445a11f0 22
Gurvan 0:9cb9445a11f0 23 Permission is hereby granted, free of charge, to any person obtaining a copy
Gurvan 0:9cb9445a11f0 24 of this software and associated documentation files (the "Software"), to deal
Gurvan 0:9cb9445a11f0 25 in the Software without restriction, including without limitation the rights
Gurvan 0:9cb9445a11f0 26 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Gurvan 0:9cb9445a11f0 27 copies of the Software, and to permit persons to whom the Software is
Gurvan 0:9cb9445a11f0 28 furnished to do so, subject to the following conditions:
Gurvan 0:9cb9445a11f0 29
Gurvan 0:9cb9445a11f0 30 The above copyright notice and this permission notice shall be included in
Gurvan 0:9cb9445a11f0 31 all copies or substantial portions of the Software.
Gurvan 0:9cb9445a11f0 32
Gurvan 0:9cb9445a11f0 33 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Gurvan 0:9cb9445a11f0 34 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Gurvan 0:9cb9445a11f0 35 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Gurvan 0:9cb9445a11f0 36 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Gurvan 0:9cb9445a11f0 37 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Gurvan 0:9cb9445a11f0 38 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Gurvan 0:9cb9445a11f0 39 THE SOFTWARE.
Gurvan 0:9cb9445a11f0 40 ===============================================
Gurvan 0:9cb9445a11f0 41 */
Gurvan 0:9cb9445a11f0 42
Gurvan 0:9cb9445a11f0 43 #ifndef _MPU6050_H_
Gurvan 0:9cb9445a11f0 44 #define _MPU6050_H_
Gurvan 0:9cb9445a11f0 45
Gurvan 0:9cb9445a11f0 46 #include "I2Cdev.h"
Gurvan 0:9cb9445a11f0 47 #include "helper_3dmath.h"
Gurvan 0:9cb9445a11f0 48
Gurvan 0:9cb9445a11f0 49 #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
Gurvan 0:9cb9445a11f0 50 #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
Gurvan 0:9cb9445a11f0 51 #define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
Gurvan 0:9cb9445a11f0 52
Gurvan 0:9cb9445a11f0 53 #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
Gurvan 0:9cb9445a11f0 54 #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
Gurvan 0:9cb9445a11f0 55 #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
Gurvan 0:9cb9445a11f0 56 #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
Gurvan 0:9cb9445a11f0 57 #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
Gurvan 0:9cb9445a11f0 58 #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
Gurvan 0:9cb9445a11f0 59 #define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
Gurvan 0:9cb9445a11f0 60 #define MPU6050_RA_XA_OFFS_L_TC 0x07
Gurvan 0:9cb9445a11f0 61 #define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
Gurvan 0:9cb9445a11f0 62 #define MPU6050_RA_YA_OFFS_L_TC 0x09
Gurvan 0:9cb9445a11f0 63 #define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
Gurvan 0:9cb9445a11f0 64 #define MPU6050_RA_ZA_OFFS_L_TC 0x0B
Gurvan 0:9cb9445a11f0 65 #define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
Gurvan 0:9cb9445a11f0 66 #define MPU6050_RA_XG_OFFS_USRL 0x14
Gurvan 0:9cb9445a11f0 67 #define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
Gurvan 0:9cb9445a11f0 68 #define MPU6050_RA_YG_OFFS_USRL 0x16
Gurvan 0:9cb9445a11f0 69 #define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
Gurvan 0:9cb9445a11f0 70 #define MPU6050_RA_ZG_OFFS_USRL 0x18
Gurvan 0:9cb9445a11f0 71 #define MPU6050_RA_SMPLRT_DIV 0x19
Gurvan 0:9cb9445a11f0 72 #define MPU6050_RA_CONFIG 0x1A
Gurvan 0:9cb9445a11f0 73 #define MPU6050_RA_GYRO_CONFIG 0x1B
Gurvan 0:9cb9445a11f0 74 #define MPU6050_RA_ACCEL_CONFIG 0x1C
Gurvan 0:9cb9445a11f0 75 #define MPU6050_RA_FF_THR 0x1D
Gurvan 0:9cb9445a11f0 76 #define MPU6050_RA_FF_DUR 0x1E
Gurvan 0:9cb9445a11f0 77 #define MPU6050_RA_MOT_THR 0x1F
Gurvan 0:9cb9445a11f0 78 #define MPU6050_RA_MOT_DUR 0x20
Gurvan 0:9cb9445a11f0 79 #define MPU6050_RA_ZRMOT_THR 0x21
Gurvan 0:9cb9445a11f0 80 #define MPU6050_RA_ZRMOT_DUR 0x22
Gurvan 0:9cb9445a11f0 81 #define MPU6050_RA_FIFO_EN 0x23
Gurvan 0:9cb9445a11f0 82 #define MPU6050_RA_I2C_MST_CTRL 0x24
Gurvan 0:9cb9445a11f0 83 #define MPU6050_RA_I2C_SLV0_ADDR 0x25
Gurvan 0:9cb9445a11f0 84 #define MPU6050_RA_I2C_SLV0_REG 0x26
Gurvan 0:9cb9445a11f0 85 #define MPU6050_RA_I2C_SLV0_CTRL 0x27
Gurvan 0:9cb9445a11f0 86 #define MPU6050_RA_I2C_SLV1_ADDR 0x28
Gurvan 0:9cb9445a11f0 87 #define MPU6050_RA_I2C_SLV1_REG 0x29
Gurvan 0:9cb9445a11f0 88 #define MPU6050_RA_I2C_SLV1_CTRL 0x2A
Gurvan 0:9cb9445a11f0 89 #define MPU6050_RA_I2C_SLV2_ADDR 0x2B
Gurvan 0:9cb9445a11f0 90 #define MPU6050_RA_I2C_SLV2_REG 0x2C
Gurvan 0:9cb9445a11f0 91 #define MPU6050_RA_I2C_SLV2_CTRL 0x2D
Gurvan 0:9cb9445a11f0 92 #define MPU6050_RA_I2C_SLV3_ADDR 0x2E
Gurvan 0:9cb9445a11f0 93 #define MPU6050_RA_I2C_SLV3_REG 0x2F
Gurvan 0:9cb9445a11f0 94 #define MPU6050_RA_I2C_SLV3_CTRL 0x30
Gurvan 0:9cb9445a11f0 95 #define MPU6050_RA_I2C_SLV4_ADDR 0x31
Gurvan 0:9cb9445a11f0 96 #define MPU6050_RA_I2C_SLV4_REG 0x32
Gurvan 0:9cb9445a11f0 97 #define MPU6050_RA_I2C_SLV4_DO 0x33
Gurvan 0:9cb9445a11f0 98 #define MPU6050_RA_I2C_SLV4_CTRL 0x34
Gurvan 0:9cb9445a11f0 99 #define MPU6050_RA_I2C_SLV4_DI 0x35
Gurvan 0:9cb9445a11f0 100 #define MPU6050_RA_I2C_MST_STATUS 0x36
Gurvan 0:9cb9445a11f0 101 #define MPU6050_RA_INT_PIN_CFG 0x37
Gurvan 0:9cb9445a11f0 102 #define MPU6050_RA_INT_ENABLE 0x38
Gurvan 0:9cb9445a11f0 103 #define MPU6050_RA_DMP_INT_STATUS 0x39
Gurvan 0:9cb9445a11f0 104 #define MPU6050_RA_INT_STATUS 0x3A
Gurvan 0:9cb9445a11f0 105 #define MPU6050_RA_ACCEL_XOUT_H 0x3B
Gurvan 0:9cb9445a11f0 106 #define MPU6050_RA_ACCEL_XOUT_L 0x3C
Gurvan 0:9cb9445a11f0 107 #define MPU6050_RA_ACCEL_YOUT_H 0x3D
Gurvan 0:9cb9445a11f0 108 #define MPU6050_RA_ACCEL_YOUT_L 0x3E
Gurvan 0:9cb9445a11f0 109 #define MPU6050_RA_ACCEL_ZOUT_H 0x3F
Gurvan 0:9cb9445a11f0 110 #define MPU6050_RA_ACCEL_ZOUT_L 0x40
Gurvan 0:9cb9445a11f0 111 #define MPU6050_RA_TEMP_OUT_H 0x41
Gurvan 0:9cb9445a11f0 112 #define MPU6050_RA_TEMP_OUT_L 0x42
Gurvan 0:9cb9445a11f0 113 #define MPU6050_RA_GYRO_XOUT_H 0x43
Gurvan 0:9cb9445a11f0 114 #define MPU6050_RA_GYRO_XOUT_L 0x44
Gurvan 0:9cb9445a11f0 115 #define MPU6050_RA_GYRO_YOUT_H 0x45
Gurvan 0:9cb9445a11f0 116 #define MPU6050_RA_GYRO_YOUT_L 0x46
Gurvan 0:9cb9445a11f0 117 #define MPU6050_RA_GYRO_ZOUT_H 0x47
Gurvan 0:9cb9445a11f0 118 #define MPU6050_RA_GYRO_ZOUT_L 0x48
Gurvan 0:9cb9445a11f0 119 #define MPU6050_RA_EXT_SENS_DATA_00 0x49
Gurvan 0:9cb9445a11f0 120 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A
Gurvan 0:9cb9445a11f0 121 #define MPU6050_RA_EXT_SENS_DATA_02 0x4B
Gurvan 0:9cb9445a11f0 122 #define MPU6050_RA_EXT_SENS_DATA_03 0x4C
Gurvan 0:9cb9445a11f0 123 #define MPU6050_RA_EXT_SENS_DATA_04 0x4D
Gurvan 0:9cb9445a11f0 124 #define MPU6050_RA_EXT_SENS_DATA_05 0x4E
Gurvan 0:9cb9445a11f0 125 #define MPU6050_RA_EXT_SENS_DATA_06 0x4F
Gurvan 0:9cb9445a11f0 126 #define MPU6050_RA_EXT_SENS_DATA_07 0x50
Gurvan 0:9cb9445a11f0 127 #define MPU6050_RA_EXT_SENS_DATA_08 0x51
Gurvan 0:9cb9445a11f0 128 #define MPU6050_RA_EXT_SENS_DATA_09 0x52
Gurvan 0:9cb9445a11f0 129 #define MPU6050_RA_EXT_SENS_DATA_10 0x53
Gurvan 0:9cb9445a11f0 130 #define MPU6050_RA_EXT_SENS_DATA_11 0x54
Gurvan 0:9cb9445a11f0 131 #define MPU6050_RA_EXT_SENS_DATA_12 0x55
Gurvan 0:9cb9445a11f0 132 #define MPU6050_RA_EXT_SENS_DATA_13 0x56
Gurvan 0:9cb9445a11f0 133 #define MPU6050_RA_EXT_SENS_DATA_14 0x57
Gurvan 0:9cb9445a11f0 134 #define MPU6050_RA_EXT_SENS_DATA_15 0x58
Gurvan 0:9cb9445a11f0 135 #define MPU6050_RA_EXT_SENS_DATA_16 0x59
Gurvan 0:9cb9445a11f0 136 #define MPU6050_RA_EXT_SENS_DATA_17 0x5A
Gurvan 0:9cb9445a11f0 137 #define MPU6050_RA_EXT_SENS_DATA_18 0x5B
Gurvan 0:9cb9445a11f0 138 #define MPU6050_RA_EXT_SENS_DATA_19 0x5C
Gurvan 0:9cb9445a11f0 139 #define MPU6050_RA_EXT_SENS_DATA_20 0x5D
Gurvan 0:9cb9445a11f0 140 #define MPU6050_RA_EXT_SENS_DATA_21 0x5E
Gurvan 0:9cb9445a11f0 141 #define MPU6050_RA_EXT_SENS_DATA_22 0x5F
Gurvan 0:9cb9445a11f0 142 #define MPU6050_RA_EXT_SENS_DATA_23 0x60
Gurvan 0:9cb9445a11f0 143 #define MPU6050_RA_MOT_DETECT_STATUS 0x61
Gurvan 0:9cb9445a11f0 144 #define MPU6050_RA_I2C_SLV0_DO 0x63
Gurvan 0:9cb9445a11f0 145 #define MPU6050_RA_I2C_SLV1_DO 0x64
Gurvan 0:9cb9445a11f0 146 #define MPU6050_RA_I2C_SLV2_DO 0x65
Gurvan 0:9cb9445a11f0 147 #define MPU6050_RA_I2C_SLV3_DO 0x66
Gurvan 0:9cb9445a11f0 148 #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
Gurvan 0:9cb9445a11f0 149 #define MPU6050_RA_SIGNAL_PATH_RESET 0x68
Gurvan 0:9cb9445a11f0 150 #define MPU6050_RA_MOT_DETECT_CTRL 0x69
Gurvan 0:9cb9445a11f0 151 #define MPU6050_RA_USER_CTRL 0x6A
Gurvan 0:9cb9445a11f0 152 #define MPU6050_RA_PWR_MGMT_1 0x6B
Gurvan 0:9cb9445a11f0 153 #define MPU6050_RA_PWR_MGMT_2 0x6C
Gurvan 0:9cb9445a11f0 154 #define MPU6050_RA_BANK_SEL 0x6D
Gurvan 0:9cb9445a11f0 155 #define MPU6050_RA_MEM_START_ADDR 0x6E
Gurvan 0:9cb9445a11f0 156 #define MPU6050_RA_MEM_R_W 0x6F
Gurvan 0:9cb9445a11f0 157 #define MPU6050_RA_DMP_CFG_1 0x70
Gurvan 0:9cb9445a11f0 158 #define MPU6050_RA_DMP_CFG_2 0x71
Gurvan 0:9cb9445a11f0 159 #define MPU6050_RA_FIFO_COUNTH 0x72
Gurvan 0:9cb9445a11f0 160 #define MPU6050_RA_FIFO_COUNTL 0x73
Gurvan 0:9cb9445a11f0 161 #define MPU6050_RA_FIFO_R_W 0x74
Gurvan 0:9cb9445a11f0 162 #define MPU6050_RA_WHO_AM_I 0x75
Gurvan 0:9cb9445a11f0 163
Gurvan 0:9cb9445a11f0 164 #define MPU6050_TC_PWR_MODE_BIT 7
Gurvan 0:9cb9445a11f0 165 #define MPU6050_TC_OFFSET_BIT 6
Gurvan 0:9cb9445a11f0 166 #define MPU6050_TC_OFFSET_LENGTH 6
Gurvan 0:9cb9445a11f0 167 #define MPU6050_TC_OTP_BNK_VLD_BIT 0
Gurvan 0:9cb9445a11f0 168
Gurvan 0:9cb9445a11f0 169 #define MPU6050_VDDIO_LEVEL_VLOGIC 0
Gurvan 0:9cb9445a11f0 170 #define MPU6050_VDDIO_LEVEL_VDD 1
Gurvan 0:9cb9445a11f0 171
Gurvan 0:9cb9445a11f0 172 #define MPU6050_CFG_EXT_SYNC_SET_BIT 5
Gurvan 0:9cb9445a11f0 173 #define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
Gurvan 0:9cb9445a11f0 174 #define MPU6050_CFG_DLPF_CFG_BIT 2
Gurvan 0:9cb9445a11f0 175 #define MPU6050_CFG_DLPF_CFG_LENGTH 3
Gurvan 0:9cb9445a11f0 176
Gurvan 0:9cb9445a11f0 177 #define MPU6050_EXT_SYNC_DISABLED 0x0
Gurvan 0:9cb9445a11f0 178 #define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
Gurvan 0:9cb9445a11f0 179 #define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
Gurvan 0:9cb9445a11f0 180 #define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
Gurvan 0:9cb9445a11f0 181 #define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
Gurvan 0:9cb9445a11f0 182 #define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
Gurvan 0:9cb9445a11f0 183 #define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
Gurvan 0:9cb9445a11f0 184 #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
Gurvan 0:9cb9445a11f0 185
Gurvan 0:9cb9445a11f0 186 #define MPU6050_DLPF_BW_256 0x00
Gurvan 0:9cb9445a11f0 187 #define MPU6050_DLPF_BW_188 0x01
Gurvan 0:9cb9445a11f0 188 #define MPU6050_DLPF_BW_98 0x02
Gurvan 0:9cb9445a11f0 189 #define MPU6050_DLPF_BW_42 0x03
Gurvan 0:9cb9445a11f0 190 #define MPU6050_DLPF_BW_20 0x04
Gurvan 0:9cb9445a11f0 191 #define MPU6050_DLPF_BW_10 0x05
Gurvan 0:9cb9445a11f0 192 #define MPU6050_DLPF_BW_5 0x06
Gurvan 0:9cb9445a11f0 193
Gurvan 0:9cb9445a11f0 194 #define MPU6050_GCONFIG_FS_SEL_BIT 4
Gurvan 0:9cb9445a11f0 195 #define MPU6050_GCONFIG_FS_SEL_LENGTH 2
Gurvan 0:9cb9445a11f0 196
Gurvan 0:9cb9445a11f0 197 #define MPU6050_GYRO_FS_250 0x00
Gurvan 0:9cb9445a11f0 198 #define MPU6050_GYRO_FS_500 0x01
Gurvan 0:9cb9445a11f0 199 #define MPU6050_GYRO_FS_1000 0x02
Gurvan 0:9cb9445a11f0 200 #define MPU6050_GYRO_FS_2000 0x03
Gurvan 0:9cb9445a11f0 201
Gurvan 0:9cb9445a11f0 202 #define MPU6050_ACONFIG_XA_ST_BIT 7
Gurvan 0:9cb9445a11f0 203 #define MPU6050_ACONFIG_YA_ST_BIT 6
Gurvan 0:9cb9445a11f0 204 #define MPU6050_ACONFIG_ZA_ST_BIT 5
Gurvan 0:9cb9445a11f0 205 #define MPU6050_ACONFIG_AFS_SEL_BIT 4
Gurvan 0:9cb9445a11f0 206 #define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
Gurvan 0:9cb9445a11f0 207 #define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
Gurvan 0:9cb9445a11f0 208 #define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
Gurvan 0:9cb9445a11f0 209
Gurvan 0:9cb9445a11f0 210 #define MPU6050_ACCEL_FS_2 0x00
Gurvan 0:9cb9445a11f0 211 #define MPU6050_ACCEL_FS_4 0x01
Gurvan 0:9cb9445a11f0 212 #define MPU6050_ACCEL_FS_8 0x02
Gurvan 0:9cb9445a11f0 213 #define MPU6050_ACCEL_FS_16 0x03
Gurvan 0:9cb9445a11f0 214
Gurvan 0:9cb9445a11f0 215 #define MPU6050_DHPF_RESET 0x00
Gurvan 0:9cb9445a11f0 216 #define MPU6050_DHPF_5 0x01
Gurvan 0:9cb9445a11f0 217 #define MPU6050_DHPF_2P5 0x02
Gurvan 0:9cb9445a11f0 218 #define MPU6050_DHPF_1P25 0x03
Gurvan 0:9cb9445a11f0 219 #define MPU6050_DHPF_0P63 0x04
Gurvan 0:9cb9445a11f0 220 #define MPU6050_DHPF_HOLD 0x07
Gurvan 0:9cb9445a11f0 221
Gurvan 0:9cb9445a11f0 222 #define MPU6050_TEMP_FIFO_EN_BIT 7
Gurvan 0:9cb9445a11f0 223 #define MPU6050_XG_FIFO_EN_BIT 6
Gurvan 0:9cb9445a11f0 224 #define MPU6050_YG_FIFO_EN_BIT 5
Gurvan 0:9cb9445a11f0 225 #define MPU6050_ZG_FIFO_EN_BIT 4
Gurvan 0:9cb9445a11f0 226 #define MPU6050_ACCEL_FIFO_EN_BIT 3
Gurvan 0:9cb9445a11f0 227 #define MPU6050_SLV2_FIFO_EN_BIT 2
Gurvan 0:9cb9445a11f0 228 #define MPU6050_SLV1_FIFO_EN_BIT 1
Gurvan 0:9cb9445a11f0 229 #define MPU6050_SLV0_FIFO_EN_BIT 0
Gurvan 0:9cb9445a11f0 230
Gurvan 0:9cb9445a11f0 231 #define MPU6050_MULT_MST_EN_BIT 7
Gurvan 0:9cb9445a11f0 232 #define MPU6050_WAIT_FOR_ES_BIT 6
Gurvan 0:9cb9445a11f0 233 #define MPU6050_SLV_3_FIFO_EN_BIT 5
Gurvan 0:9cb9445a11f0 234 #define MPU6050_I2C_MST_P_NSR_BIT 4
Gurvan 0:9cb9445a11f0 235 #define MPU6050_I2C_MST_CLK_BIT 3
Gurvan 0:9cb9445a11f0 236 #define MPU6050_I2C_MST_CLK_LENGTH 4
Gurvan 0:9cb9445a11f0 237
Gurvan 0:9cb9445a11f0 238 #define MPU6050_CLOCK_DIV_348 0x0
Gurvan 0:9cb9445a11f0 239 #define MPU6050_CLOCK_DIV_333 0x1
Gurvan 0:9cb9445a11f0 240 #define MPU6050_CLOCK_DIV_320 0x2
Gurvan 0:9cb9445a11f0 241 #define MPU6050_CLOCK_DIV_308 0x3
Gurvan 0:9cb9445a11f0 242 #define MPU6050_CLOCK_DIV_296 0x4
Gurvan 0:9cb9445a11f0 243 #define MPU6050_CLOCK_DIV_286 0x5
Gurvan 0:9cb9445a11f0 244 #define MPU6050_CLOCK_DIV_276 0x6
Gurvan 0:9cb9445a11f0 245 #define MPU6050_CLOCK_DIV_267 0x7
Gurvan 0:9cb9445a11f0 246 #define MPU6050_CLOCK_DIV_258 0x8
Gurvan 0:9cb9445a11f0 247 #define MPU6050_CLOCK_DIV_500 0x9
Gurvan 0:9cb9445a11f0 248 #define MPU6050_CLOCK_DIV_471 0xA
Gurvan 0:9cb9445a11f0 249 #define MPU6050_CLOCK_DIV_444 0xB
Gurvan 0:9cb9445a11f0 250 #define MPU6050_CLOCK_DIV_421 0xC
Gurvan 0:9cb9445a11f0 251 #define MPU6050_CLOCK_DIV_400 0xD
Gurvan 0:9cb9445a11f0 252 #define MPU6050_CLOCK_DIV_381 0xE
Gurvan 0:9cb9445a11f0 253 #define MPU6050_CLOCK_DIV_364 0xF
Gurvan 0:9cb9445a11f0 254
Gurvan 0:9cb9445a11f0 255 #define MPU6050_I2C_SLV_RW_BIT 7
Gurvan 0:9cb9445a11f0 256 #define MPU6050_I2C_SLV_ADDR_BIT 6
Gurvan 0:9cb9445a11f0 257 #define MPU6050_I2C_SLV_ADDR_LENGTH 7
Gurvan 0:9cb9445a11f0 258 #define MPU6050_I2C_SLV_EN_BIT 7
Gurvan 0:9cb9445a11f0 259 #define MPU6050_I2C_SLV_BYTE_SW_BIT 6
Gurvan 0:9cb9445a11f0 260 #define MPU6050_I2C_SLV_REG_DIS_BIT 5
Gurvan 0:9cb9445a11f0 261 #define MPU6050_I2C_SLV_GRP_BIT 4
Gurvan 0:9cb9445a11f0 262 #define MPU6050_I2C_SLV_LEN_BIT 3
Gurvan 0:9cb9445a11f0 263 #define MPU6050_I2C_SLV_LEN_LENGTH 4
Gurvan 0:9cb9445a11f0 264
Gurvan 0:9cb9445a11f0 265 #define MPU6050_I2C_SLV4_RW_BIT 7
Gurvan 0:9cb9445a11f0 266 #define MPU6050_I2C_SLV4_ADDR_BIT 6
Gurvan 0:9cb9445a11f0 267 #define MPU6050_I2C_SLV4_ADDR_LENGTH 7
Gurvan 0:9cb9445a11f0 268 #define MPU6050_I2C_SLV4_EN_BIT 7
Gurvan 0:9cb9445a11f0 269 #define MPU6050_I2C_SLV4_INT_EN_BIT 6
Gurvan 0:9cb9445a11f0 270 #define MPU6050_I2C_SLV4_REG_DIS_BIT 5
Gurvan 0:9cb9445a11f0 271 #define MPU6050_I2C_SLV4_MST_DLY_BIT 4
Gurvan 0:9cb9445a11f0 272 #define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
Gurvan 0:9cb9445a11f0 273
Gurvan 0:9cb9445a11f0 274 #define MPU6050_MST_PASS_THROUGH_BIT 7
Gurvan 0:9cb9445a11f0 275 #define MPU6050_MST_I2C_SLV4_DONE_BIT 6
Gurvan 0:9cb9445a11f0 276 #define MPU6050_MST_I2C_LOST_ARB_BIT 5
Gurvan 0:9cb9445a11f0 277 #define MPU6050_MST_I2C_SLV4_NACK_BIT 4
Gurvan 0:9cb9445a11f0 278 #define MPU6050_MST_I2C_SLV3_NACK_BIT 3
Gurvan 0:9cb9445a11f0 279 #define MPU6050_MST_I2C_SLV2_NACK_BIT 2
Gurvan 0:9cb9445a11f0 280 #define MPU6050_MST_I2C_SLV1_NACK_BIT 1
Gurvan 0:9cb9445a11f0 281 #define MPU6050_MST_I2C_SLV0_NACK_BIT 0
Gurvan 0:9cb9445a11f0 282
Gurvan 0:9cb9445a11f0 283 #define MPU6050_INTCFG_INT_LEVEL_BIT 7
Gurvan 0:9cb9445a11f0 284 #define MPU6050_INTCFG_INT_OPEN_BIT 6
Gurvan 0:9cb9445a11f0 285 #define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
Gurvan 0:9cb9445a11f0 286 #define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
Gurvan 0:9cb9445a11f0 287 #define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
Gurvan 0:9cb9445a11f0 288 #define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
Gurvan 0:9cb9445a11f0 289 #define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
Gurvan 0:9cb9445a11f0 290 #define MPU6050_INTCFG_CLKOUT_EN_BIT 0
Gurvan 0:9cb9445a11f0 291
Gurvan 0:9cb9445a11f0 292 #define MPU6050_INTMODE_ACTIVEHIGH 0x00
Gurvan 0:9cb9445a11f0 293 #define MPU6050_INTMODE_ACTIVELOW 0x01
Gurvan 0:9cb9445a11f0 294
Gurvan 0:9cb9445a11f0 295 #define MPU6050_INTDRV_PUSHPULL 0x00
Gurvan 0:9cb9445a11f0 296 #define MPU6050_INTDRV_OPENDRAIN 0x01
Gurvan 0:9cb9445a11f0 297
Gurvan 0:9cb9445a11f0 298 #define MPU6050_INTLATCH_50USPULSE 0x00
Gurvan 0:9cb9445a11f0 299 #define MPU6050_INTLATCH_WAITCLEAR 0x01
Gurvan 0:9cb9445a11f0 300
Gurvan 0:9cb9445a11f0 301 #define MPU6050_INTCLEAR_STATUSREAD 0x00
Gurvan 0:9cb9445a11f0 302 #define MPU6050_INTCLEAR_ANYREAD 0x01
Gurvan 0:9cb9445a11f0 303
Gurvan 0:9cb9445a11f0 304 #define MPU6050_INTERRUPT_FF_BIT 7
Gurvan 0:9cb9445a11f0 305 #define MPU6050_INTERRUPT_MOT_BIT 6
Gurvan 0:9cb9445a11f0 306 #define MPU6050_INTERRUPT_ZMOT_BIT 5
Gurvan 0:9cb9445a11f0 307 #define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
Gurvan 0:9cb9445a11f0 308 #define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
Gurvan 0:9cb9445a11f0 309 #define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
Gurvan 0:9cb9445a11f0 310 #define MPU6050_INTERRUPT_DMP_INT_BIT 1
Gurvan 0:9cb9445a11f0 311 #define MPU6050_INTERRUPT_DATA_RDY_BIT 0
Gurvan 0:9cb9445a11f0 312
Gurvan 0:9cb9445a11f0 313 // TODO: figure out what these actually do
Gurvan 0:9cb9445a11f0 314 // UMPL source code is not very obivous
Gurvan 0:9cb9445a11f0 315 #define MPU6050_DMPINT_5_BIT 5
Gurvan 0:9cb9445a11f0 316 #define MPU6050_DMPINT_4_BIT 4
Gurvan 0:9cb9445a11f0 317 #define MPU6050_DMPINT_3_BIT 3
Gurvan 0:9cb9445a11f0 318 #define MPU6050_DMPINT_2_BIT 2
Gurvan 0:9cb9445a11f0 319 #define MPU6050_DMPINT_1_BIT 1
Gurvan 0:9cb9445a11f0 320 #define MPU6050_DMPINT_0_BIT 0
Gurvan 0:9cb9445a11f0 321
Gurvan 0:9cb9445a11f0 322 #define MPU6050_MOTION_MOT_XNEG_BIT 7
Gurvan 0:9cb9445a11f0 323 #define MPU6050_MOTION_MOT_XPOS_BIT 6
Gurvan 0:9cb9445a11f0 324 #define MPU6050_MOTION_MOT_YNEG_BIT 5
Gurvan 0:9cb9445a11f0 325 #define MPU6050_MOTION_MOT_YPOS_BIT 4
Gurvan 0:9cb9445a11f0 326 #define MPU6050_MOTION_MOT_ZNEG_BIT 3
Gurvan 0:9cb9445a11f0 327 #define MPU6050_MOTION_MOT_ZPOS_BIT 2
Gurvan 0:9cb9445a11f0 328 #define MPU6050_MOTION_MOT_ZRMOT_BIT 0
Gurvan 0:9cb9445a11f0 329
Gurvan 0:9cb9445a11f0 330 #define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
Gurvan 0:9cb9445a11f0 331 #define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
Gurvan 0:9cb9445a11f0 332 #define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
Gurvan 0:9cb9445a11f0 333 #define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
Gurvan 0:9cb9445a11f0 334 #define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
Gurvan 0:9cb9445a11f0 335 #define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
Gurvan 0:9cb9445a11f0 336
Gurvan 0:9cb9445a11f0 337 #define MPU6050_PATHRESET_GYRO_RESET_BIT 2
Gurvan 0:9cb9445a11f0 338 #define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
Gurvan 0:9cb9445a11f0 339 #define MPU6050_PATHRESET_TEMP_RESET_BIT 0
Gurvan 0:9cb9445a11f0 340
Gurvan 0:9cb9445a11f0 341 #define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
Gurvan 0:9cb9445a11f0 342 #define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
Gurvan 0:9cb9445a11f0 343 #define MPU6050_DETECT_FF_COUNT_BIT 3
Gurvan 0:9cb9445a11f0 344 #define MPU6050_DETECT_FF_COUNT_LENGTH 2
Gurvan 0:9cb9445a11f0 345 #define MPU6050_DETECT_MOT_COUNT_BIT 1
Gurvan 0:9cb9445a11f0 346 #define MPU6050_DETECT_MOT_COUNT_LENGTH 2
Gurvan 0:9cb9445a11f0 347
Gurvan 0:9cb9445a11f0 348 #define MPU6050_DETECT_DECREMENT_RESET 0x0
Gurvan 0:9cb9445a11f0 349 #define MPU6050_DETECT_DECREMENT_1 0x1
Gurvan 0:9cb9445a11f0 350 #define MPU6050_DETECT_DECREMENT_2 0x2
Gurvan 0:9cb9445a11f0 351 #define MPU6050_DETECT_DECREMENT_4 0x3
Gurvan 0:9cb9445a11f0 352
Gurvan 0:9cb9445a11f0 353 #define MPU6050_USERCTRL_DMP_EN_BIT 7
Gurvan 0:9cb9445a11f0 354 #define MPU6050_USERCTRL_FIFO_EN_BIT 6
Gurvan 0:9cb9445a11f0 355 #define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
Gurvan 0:9cb9445a11f0 356 #define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
Gurvan 0:9cb9445a11f0 357 #define MPU6050_USERCTRL_DMP_RESET_BIT 3
Gurvan 0:9cb9445a11f0 358 #define MPU6050_USERCTRL_FIFO_RESET_BIT 2
Gurvan 0:9cb9445a11f0 359 #define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
Gurvan 0:9cb9445a11f0 360 #define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
Gurvan 0:9cb9445a11f0 361
Gurvan 0:9cb9445a11f0 362 #define MPU6050_PWR1_DEVICE_RESET_BIT 7
Gurvan 0:9cb9445a11f0 363 #define MPU6050_PWR1_SLEEP_BIT 6
Gurvan 0:9cb9445a11f0 364 #define MPU6050_PWR1_CYCLE_BIT 5
Gurvan 0:9cb9445a11f0 365 #define MPU6050_PWR1_TEMP_DIS_BIT 3
Gurvan 0:9cb9445a11f0 366 #define MPU6050_PWR1_CLKSEL_BIT 2
Gurvan 0:9cb9445a11f0 367 #define MPU6050_PWR1_CLKSEL_LENGTH 3
Gurvan 0:9cb9445a11f0 368
Gurvan 0:9cb9445a11f0 369 #define MPU6050_CLOCK_INTERNAL 0x00
Gurvan 0:9cb9445a11f0 370 #define MPU6050_CLOCK_PLL_XGYRO 0x01
Gurvan 0:9cb9445a11f0 371 #define MPU6050_CLOCK_PLL_YGYRO 0x02
Gurvan 0:9cb9445a11f0 372 #define MPU6050_CLOCK_PLL_ZGYRO 0x03
Gurvan 0:9cb9445a11f0 373 #define MPU6050_CLOCK_PLL_EXT32K 0x04
Gurvan 0:9cb9445a11f0 374 #define MPU6050_CLOCK_PLL_EXT19M 0x05
Gurvan 0:9cb9445a11f0 375 #define MPU6050_CLOCK_KEEP_RESET 0x07
Gurvan 0:9cb9445a11f0 376
Gurvan 0:9cb9445a11f0 377 #define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
Gurvan 0:9cb9445a11f0 378 #define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
Gurvan 0:9cb9445a11f0 379 #define MPU6050_PWR2_STBY_XA_BIT 5
Gurvan 0:9cb9445a11f0 380 #define MPU6050_PWR2_STBY_YA_BIT 4
Gurvan 0:9cb9445a11f0 381 #define MPU6050_PWR2_STBY_ZA_BIT 3
Gurvan 0:9cb9445a11f0 382 #define MPU6050_PWR2_STBY_XG_BIT 2
Gurvan 0:9cb9445a11f0 383 #define MPU6050_PWR2_STBY_YG_BIT 1
Gurvan 0:9cb9445a11f0 384 #define MPU6050_PWR2_STBY_ZG_BIT 0
Gurvan 0:9cb9445a11f0 385
Gurvan 0:9cb9445a11f0 386 #define MPU6050_WAKE_FREQ_1P25 0x0
Gurvan 0:9cb9445a11f0 387 #define MPU6050_WAKE_FREQ_2P5 0x1
Gurvan 0:9cb9445a11f0 388 #define MPU6050_WAKE_FREQ_5 0x2
Gurvan 0:9cb9445a11f0 389 #define MPU6050_WAKE_FREQ_10 0x3
Gurvan 0:9cb9445a11f0 390
Gurvan 0:9cb9445a11f0 391 #define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
Gurvan 0:9cb9445a11f0 392 #define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
Gurvan 0:9cb9445a11f0 393 #define MPU6050_BANKSEL_MEM_SEL_BIT 4
Gurvan 0:9cb9445a11f0 394 #define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
Gurvan 0:9cb9445a11f0 395
Gurvan 0:9cb9445a11f0 396 #define MPU6050_WHO_AM_I_BIT 6
Gurvan 0:9cb9445a11f0 397 #define MPU6050_WHO_AM_I_LENGTH 6
Gurvan 0:9cb9445a11f0 398
Gurvan 0:9cb9445a11f0 399 #define MPU6050_DMP_MEMORY_BANKS 8
Gurvan 0:9cb9445a11f0 400 #define MPU6050_DMP_MEMORY_BANK_SIZE 256
Gurvan 0:9cb9445a11f0 401 #define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
Gurvan 0:9cb9445a11f0 402
Gurvan 0:9cb9445a11f0 403 // note: DMP code memory blocks defined at end of header file
Gurvan 0:9cb9445a11f0 404
Gurvan 0:9cb9445a11f0 405 class MPU6050 {
Gurvan 0:9cb9445a11f0 406 private:
Gurvan 0:9cb9445a11f0 407 I2Cdev i2Cdev;
Gurvan 0:9cb9445a11f0 408 Serial debugSerial;
Gurvan 0:9cb9445a11f0 409 public:
Gurvan 0:9cb9445a11f0 410 MPU6050();
Gurvan 0:9cb9445a11f0 411 MPU6050(uint8_t address);
Gurvan 0:9cb9445a11f0 412
Gurvan 0:9cb9445a11f0 413 void initialize();
Gurvan 0:9cb9445a11f0 414 bool testConnection();
Gurvan 0:9cb9445a11f0 415
Gurvan 0:9cb9445a11f0 416 // AUX_VDDIO register
Gurvan 0:9cb9445a11f0 417 uint8_t getAuxVDDIOLevel();
Gurvan 0:9cb9445a11f0 418 void setAuxVDDIOLevel(uint8_t level);
Gurvan 0:9cb9445a11f0 419
Gurvan 0:9cb9445a11f0 420 // SMPLRT_DIV register
Gurvan 0:9cb9445a11f0 421 uint8_t getRate();
Gurvan 0:9cb9445a11f0 422 void setRate(uint8_t rate);
Gurvan 0:9cb9445a11f0 423
Gurvan 0:9cb9445a11f0 424
Gurvan 0:9cb9445a11f0 425 // CONFIG register
Gurvan 0:9cb9445a11f0 426 uint8_t getExternalFrameSync();
Gurvan 0:9cb9445a11f0 427 void setExternalFrameSync(uint8_t sync);
Gurvan 0:9cb9445a11f0 428 uint8_t getDLPFMode();
Gurvan 0:9cb9445a11f0 429 void setDLPFMode(uint8_t bandwidth);
Gurvan 0:9cb9445a11f0 430
Gurvan 0:9cb9445a11f0 431 // GYRO_CONFIG register
Gurvan 0:9cb9445a11f0 432 uint8_t getFullScaleGyroRange();
Gurvan 0:9cb9445a11f0 433 void setFullScaleGyroRange(uint8_t range);
Gurvan 0:9cb9445a11f0 434
Gurvan 0:9cb9445a11f0 435 // ACCEL_CONFIG register
Gurvan 0:9cb9445a11f0 436 bool getAccelXSelfTest();
Gurvan 0:9cb9445a11f0 437 void setAccelXSelfTest(bool enabled);
Gurvan 0:9cb9445a11f0 438 bool getAccelYSelfTest();
Gurvan 0:9cb9445a11f0 439 void setAccelYSelfTest(bool enabled);
Gurvan 0:9cb9445a11f0 440 bool getAccelZSelfTest();
Gurvan 0:9cb9445a11f0 441 void setAccelZSelfTest(bool enabled);
Gurvan 0:9cb9445a11f0 442 uint8_t getFullScaleAccelRange();
Gurvan 0:9cb9445a11f0 443 void setFullScaleAccelRange(uint8_t range);
Gurvan 0:9cb9445a11f0 444 uint8_t getDHPFMode();
Gurvan 0:9cb9445a11f0 445 void setDHPFMode(uint8_t mode);
Gurvan 0:9cb9445a11f0 446
Gurvan 0:9cb9445a11f0 447 // FF_THR register
Gurvan 0:9cb9445a11f0 448 uint8_t getFreefallDetectionThreshold();
Gurvan 0:9cb9445a11f0 449 void setFreefallDetectionThreshold(uint8_t threshold);
Gurvan 0:9cb9445a11f0 450
Gurvan 0:9cb9445a11f0 451 // FF_DUR register
Gurvan 0:9cb9445a11f0 452 uint8_t getFreefallDetectionDuration();
Gurvan 0:9cb9445a11f0 453 void setFreefallDetectionDuration(uint8_t duration);
Gurvan 0:9cb9445a11f0 454
Gurvan 0:9cb9445a11f0 455 // MOT_THR register
Gurvan 0:9cb9445a11f0 456 uint8_t getMotionDetectionThreshold();
Gurvan 0:9cb9445a11f0 457 void setMotionDetectionThreshold(uint8_t threshold);
Gurvan 0:9cb9445a11f0 458
Gurvan 0:9cb9445a11f0 459 // MOT_DUR register
Gurvan 0:9cb9445a11f0 460 uint8_t getMotionDetectionDuration();
Gurvan 0:9cb9445a11f0 461 void setMotionDetectionDuration(uint8_t duration);
Gurvan 0:9cb9445a11f0 462
Gurvan 0:9cb9445a11f0 463 // ZRMOT_THR register
Gurvan 0:9cb9445a11f0 464 uint8_t getZeroMotionDetectionThreshold();
Gurvan 0:9cb9445a11f0 465 void setZeroMotionDetectionThreshold(uint8_t threshold);
Gurvan 0:9cb9445a11f0 466
Gurvan 0:9cb9445a11f0 467 // ZRMOT_DUR register
Gurvan 0:9cb9445a11f0 468 uint8_t getZeroMotionDetectionDuration();
Gurvan 0:9cb9445a11f0 469 void setZeroMotionDetectionDuration(uint8_t duration);
Gurvan 0:9cb9445a11f0 470
Gurvan 0:9cb9445a11f0 471 // FIFO_EN register
Gurvan 0:9cb9445a11f0 472 bool getTempFIFOEnabled();
Gurvan 0:9cb9445a11f0 473 void setTempFIFOEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 474 bool getXGyroFIFOEnabled();
Gurvan 0:9cb9445a11f0 475 void setXGyroFIFOEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 476 bool getYGyroFIFOEnabled();
Gurvan 0:9cb9445a11f0 477 void setYGyroFIFOEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 478 bool getZGyroFIFOEnabled();
Gurvan 0:9cb9445a11f0 479 void setZGyroFIFOEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 480 bool getAccelFIFOEnabled();
Gurvan 0:9cb9445a11f0 481 void setAccelFIFOEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 482 bool getSlave2FIFOEnabled();
Gurvan 0:9cb9445a11f0 483 void setSlave2FIFOEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 484 bool getSlave1FIFOEnabled();
Gurvan 0:9cb9445a11f0 485 void setSlave1FIFOEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 486 bool getSlave0FIFOEnabled();
Gurvan 0:9cb9445a11f0 487 void setSlave0FIFOEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 488
Gurvan 0:9cb9445a11f0 489 // I2C_MST_CTRL register
Gurvan 0:9cb9445a11f0 490 bool getMultiMasterEnabled();
Gurvan 0:9cb9445a11f0 491 void setMultiMasterEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 492 bool getWaitForExternalSensorEnabled();
Gurvan 0:9cb9445a11f0 493 void setWaitForExternalSensorEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 494 bool getSlave3FIFOEnabled();
Gurvan 0:9cb9445a11f0 495 void setSlave3FIFOEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 496 bool getSlaveReadWriteTransitionEnabled();
Gurvan 0:9cb9445a11f0 497 void setSlaveReadWriteTransitionEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 498 uint8_t getMasterClockSpeed();
Gurvan 0:9cb9445a11f0 499 void setMasterClockSpeed(uint8_t speed);
Gurvan 0:9cb9445a11f0 500
Gurvan 0:9cb9445a11f0 501 // I2C_SLV* registers (Slave 0-3)
Gurvan 0:9cb9445a11f0 502 uint8_t getSlaveAddress(uint8_t num);
Gurvan 0:9cb9445a11f0 503 void setSlaveAddress(uint8_t num, uint8_t address);
Gurvan 0:9cb9445a11f0 504 uint8_t getSlaveRegister(uint8_t num);
Gurvan 0:9cb9445a11f0 505 void setSlaveRegister(uint8_t num, uint8_t reg);
Gurvan 0:9cb9445a11f0 506 bool getSlaveEnabled(uint8_t num);
Gurvan 0:9cb9445a11f0 507 void setSlaveEnabled(uint8_t num, bool enabled);
Gurvan 0:9cb9445a11f0 508 bool getSlaveWordByteSwap(uint8_t num);
Gurvan 0:9cb9445a11f0 509 void setSlaveWordByteSwap(uint8_t num, bool enabled);
Gurvan 0:9cb9445a11f0 510 bool getSlaveWriteMode(uint8_t num);
Gurvan 0:9cb9445a11f0 511 void setSlaveWriteMode(uint8_t num, bool mode);
Gurvan 0:9cb9445a11f0 512 bool getSlaveWordGroupOffset(uint8_t num);
Gurvan 0:9cb9445a11f0 513 void setSlaveWordGroupOffset(uint8_t num, bool enabled);
Gurvan 0:9cb9445a11f0 514 uint8_t getSlaveDataLength(uint8_t num);
Gurvan 0:9cb9445a11f0 515 void setSlaveDataLength(uint8_t num, uint8_t length);
Gurvan 0:9cb9445a11f0 516
Gurvan 0:9cb9445a11f0 517 // I2C_SLV* registers (Slave 4)
Gurvan 0:9cb9445a11f0 518 uint8_t getSlave4Address();
Gurvan 0:9cb9445a11f0 519 void setSlave4Address(uint8_t address);
Gurvan 0:9cb9445a11f0 520 uint8_t getSlave4Register();
Gurvan 0:9cb9445a11f0 521 void setSlave4Register(uint8_t reg);
Gurvan 0:9cb9445a11f0 522 void setSlave4OutputByte(uint8_t data);
Gurvan 0:9cb9445a11f0 523 bool getSlave4Enabled();
Gurvan 0:9cb9445a11f0 524 void setSlave4Enabled(bool enabled);
Gurvan 0:9cb9445a11f0 525 bool getSlave4InterruptEnabled();
Gurvan 0:9cb9445a11f0 526 void setSlave4InterruptEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 527 bool getSlave4WriteMode();
Gurvan 0:9cb9445a11f0 528 void setSlave4WriteMode(bool mode);
Gurvan 0:9cb9445a11f0 529 uint8_t getSlave4MasterDelay();
Gurvan 0:9cb9445a11f0 530 void setSlave4MasterDelay(uint8_t delay);
Gurvan 0:9cb9445a11f0 531 uint8_t getSlate4InputByte();
Gurvan 0:9cb9445a11f0 532
Gurvan 0:9cb9445a11f0 533 // I2C_MST_STATUS register
Gurvan 0:9cb9445a11f0 534 bool getPassthroughStatus();
Gurvan 0:9cb9445a11f0 535 bool getSlave4IsDone();
Gurvan 0:9cb9445a11f0 536 bool getLostArbitration();
Gurvan 0:9cb9445a11f0 537 bool getSlave4Nack();
Gurvan 0:9cb9445a11f0 538 bool getSlave3Nack();
Gurvan 0:9cb9445a11f0 539 bool getSlave2Nack();
Gurvan 0:9cb9445a11f0 540 bool getSlave1Nack();
Gurvan 0:9cb9445a11f0 541 bool getSlave0Nack();
Gurvan 0:9cb9445a11f0 542
Gurvan 0:9cb9445a11f0 543 // INT_PIN_CFG register
Gurvan 0:9cb9445a11f0 544 bool getInterruptMode();
Gurvan 0:9cb9445a11f0 545 void setInterruptMode(bool mode);
Gurvan 0:9cb9445a11f0 546 bool getInterruptDrive();
Gurvan 0:9cb9445a11f0 547 void setInterruptDrive(bool drive);
Gurvan 0:9cb9445a11f0 548 bool getInterruptLatch();
Gurvan 0:9cb9445a11f0 549 void setInterruptLatch(bool latch);
Gurvan 0:9cb9445a11f0 550 bool getInterruptLatchClear();
Gurvan 0:9cb9445a11f0 551 void setInterruptLatchClear(bool clear);
Gurvan 0:9cb9445a11f0 552 bool getFSyncInterruptLevel();
Gurvan 0:9cb9445a11f0 553 void setFSyncInterruptLevel(bool level);
Gurvan 0:9cb9445a11f0 554 bool getFSyncInterruptEnabled();
Gurvan 0:9cb9445a11f0 555 void setFSyncInterruptEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 556 bool getI2CBypassEnabled();
Gurvan 0:9cb9445a11f0 557 void setI2CBypassEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 558 bool getClockOutputEnabled();
Gurvan 0:9cb9445a11f0 559 void setClockOutputEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 560
Gurvan 0:9cb9445a11f0 561 // INT_ENABLE register
Gurvan 0:9cb9445a11f0 562 uint8_t getIntEnabled();
Gurvan 0:9cb9445a11f0 563 void setIntEnabled(uint8_t enabled);
Gurvan 0:9cb9445a11f0 564 bool getIntFreefallEnabled();
Gurvan 0:9cb9445a11f0 565 void setIntFreefallEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 566 bool getIntMotionEnabled();
Gurvan 0:9cb9445a11f0 567 void setIntMotionEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 568 bool getIntZeroMotionEnabled();
Gurvan 0:9cb9445a11f0 569 void setIntZeroMotionEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 570 bool getIntFIFOBufferOverflowEnabled();
Gurvan 0:9cb9445a11f0 571 void setIntFIFOBufferOverflowEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 572 bool getIntI2CMasterEnabled();
Gurvan 0:9cb9445a11f0 573 void setIntI2CMasterEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 574 bool getIntDataReadyEnabled();
Gurvan 0:9cb9445a11f0 575 void setIntDataReadyEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 576
Gurvan 0:9cb9445a11f0 577 // INT_STATUS register
Gurvan 0:9cb9445a11f0 578 uint8_t getIntStatus();
Gurvan 0:9cb9445a11f0 579 bool getIntFreefallStatus();
Gurvan 0:9cb9445a11f0 580 bool getIntMotionStatus();
Gurvan 0:9cb9445a11f0 581 bool getIntZeroMotionStatus();
Gurvan 0:9cb9445a11f0 582 bool getIntFIFOBufferOverflowStatus();
Gurvan 0:9cb9445a11f0 583 bool getIntI2CMasterStatus();
Gurvan 0:9cb9445a11f0 584 bool getIntDataReadyStatus();
Gurvan 0:9cb9445a11f0 585
Gurvan 0:9cb9445a11f0 586 // ACCEL_*OUT_* registers
Gurvan 0:9cb9445a11f0 587 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);
Gurvan 0:9cb9445a11f0 588 void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
Gurvan 0:9cb9445a11f0 589 void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
Gurvan 0:9cb9445a11f0 590 int16_t getAccelerationX();
Gurvan 0:9cb9445a11f0 591 int16_t getAccelerationY();
Gurvan 0:9cb9445a11f0 592 int16_t getAccelerationZ();
Gurvan 0:9cb9445a11f0 593
Gurvan 0:9cb9445a11f0 594 // TEMP_OUT_* registers
Gurvan 0:9cb9445a11f0 595 int16_t getTemperature();
Gurvan 0:9cb9445a11f0 596
Gurvan 0:9cb9445a11f0 597 // GYRO_*OUT_* registers
Gurvan 0:9cb9445a11f0 598 void getRotation(int16_t* x, int16_t* y, int16_t* z);
Gurvan 0:9cb9445a11f0 599 int16_t getRotationX();
Gurvan 0:9cb9445a11f0 600 int16_t getRotationY();
Gurvan 0:9cb9445a11f0 601 int16_t getRotationZ();
Gurvan 0:9cb9445a11f0 602
Gurvan 0:9cb9445a11f0 603 // EXT_SENS_DATA_* registers
Gurvan 0:9cb9445a11f0 604 uint8_t getExternalSensorByte(int position);
Gurvan 0:9cb9445a11f0 605 uint16_t getExternalSensorWord(int position);
Gurvan 0:9cb9445a11f0 606 uint32_t getExternalSensorDWord(int position);
Gurvan 0:9cb9445a11f0 607
Gurvan 0:9cb9445a11f0 608 // MOT_DETECT_STATUS register
Gurvan 0:9cb9445a11f0 609 bool getXNegMotionDetected();
Gurvan 0:9cb9445a11f0 610 bool getXPosMotionDetected();
Gurvan 0:9cb9445a11f0 611 bool getYNegMotionDetected();
Gurvan 0:9cb9445a11f0 612 bool getYPosMotionDetected();
Gurvan 0:9cb9445a11f0 613 bool getZNegMotionDetected();
Gurvan 0:9cb9445a11f0 614 bool getZPosMotionDetected();
Gurvan 0:9cb9445a11f0 615 bool getZeroMotionDetected();
Gurvan 0:9cb9445a11f0 616
Gurvan 0:9cb9445a11f0 617 // I2C_SLV*_DO register
Gurvan 0:9cb9445a11f0 618 void setSlaveOutputByte(uint8_t num, uint8_t data);
Gurvan 0:9cb9445a11f0 619
Gurvan 0:9cb9445a11f0 620 // I2C_MST_DELAY_CTRL register
Gurvan 0:9cb9445a11f0 621 bool getExternalShadowDelayEnabled();
Gurvan 0:9cb9445a11f0 622 void setExternalShadowDelayEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 623 bool getSlaveDelayEnabled(uint8_t num);
Gurvan 0:9cb9445a11f0 624 void setSlaveDelayEnabled(uint8_t num, bool enabled);
Gurvan 0:9cb9445a11f0 625
Gurvan 0:9cb9445a11f0 626 // SIGNAL_PATH_RESET register
Gurvan 0:9cb9445a11f0 627 void resetGyroscopePath();
Gurvan 0:9cb9445a11f0 628 void resetAccelerometerPath();
Gurvan 0:9cb9445a11f0 629 void resetTemperaturePath();
Gurvan 0:9cb9445a11f0 630
Gurvan 0:9cb9445a11f0 631 // MOT_DETECT_CTRL register
Gurvan 0:9cb9445a11f0 632 uint8_t getAccelerometerPowerOnDelay();
Gurvan 0:9cb9445a11f0 633 void setAccelerometerPowerOnDelay(uint8_t delay);
Gurvan 0:9cb9445a11f0 634 uint8_t getFreefallDetectionCounterDecrement();
Gurvan 0:9cb9445a11f0 635 void setFreefallDetectionCounterDecrement(uint8_t decrement);
Gurvan 0:9cb9445a11f0 636 uint8_t getMotionDetectionCounterDecrement();
Gurvan 0:9cb9445a11f0 637 void setMotionDetectionCounterDecrement(uint8_t decrement);
Gurvan 0:9cb9445a11f0 638
Gurvan 0:9cb9445a11f0 639 // USER_CTRL register
Gurvan 0:9cb9445a11f0 640 bool getFIFOEnabled();
Gurvan 0:9cb9445a11f0 641 void setFIFOEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 642 bool getI2CMasterModeEnabled();
Gurvan 0:9cb9445a11f0 643 void setI2CMasterModeEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 644 void switchSPIEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 645 void resetFIFO();
Gurvan 0:9cb9445a11f0 646 void resetI2CMaster();
Gurvan 0:9cb9445a11f0 647 void resetSensors();
Gurvan 0:9cb9445a11f0 648
Gurvan 0:9cb9445a11f0 649 // PWR_MGMT_1 register
Gurvan 0:9cb9445a11f0 650 void reset();
Gurvan 0:9cb9445a11f0 651 bool getSleepEnabled();
Gurvan 0:9cb9445a11f0 652 void setSleepEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 653 bool getWakeCycleEnabled();
Gurvan 0:9cb9445a11f0 654 void setWakeCycleEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 655 bool getTempSensorEnabled();
Gurvan 0:9cb9445a11f0 656 void setTempSensorEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 657 uint8_t getClockSource();
Gurvan 0:9cb9445a11f0 658 void setClockSource(uint8_t source);
Gurvan 0:9cb9445a11f0 659
Gurvan 0:9cb9445a11f0 660 // PWR_MGMT_2 register
Gurvan 0:9cb9445a11f0 661 uint8_t getWakeFrequency();
Gurvan 0:9cb9445a11f0 662 void setWakeFrequency(uint8_t frequency);
Gurvan 0:9cb9445a11f0 663 bool getStandbyXAccelEnabled();
Gurvan 0:9cb9445a11f0 664 void setStandbyXAccelEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 665 bool getStandbyYAccelEnabled();
Gurvan 0:9cb9445a11f0 666 void setStandbyYAccelEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 667 bool getStandbyZAccelEnabled();
Gurvan 0:9cb9445a11f0 668 void setStandbyZAccelEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 669 bool getStandbyXGyroEnabled();
Gurvan 0:9cb9445a11f0 670 void setStandbyXGyroEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 671 bool getStandbyYGyroEnabled();
Gurvan 0:9cb9445a11f0 672 void setStandbyYGyroEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 673 bool getStandbyZGyroEnabled();
Gurvan 0:9cb9445a11f0 674 void setStandbyZGyroEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 675
Gurvan 0:9cb9445a11f0 676 // FIFO_COUNT_* registers
Gurvan 0:9cb9445a11f0 677 uint16_t getFIFOCount();
Gurvan 0:9cb9445a11f0 678
Gurvan 0:9cb9445a11f0 679 // FIFO_R_W register
Gurvan 0:9cb9445a11f0 680 uint8_t getFIFOByte();
Gurvan 0:9cb9445a11f0 681 void setFIFOByte(uint8_t data);
Gurvan 0:9cb9445a11f0 682 void getFIFOBytes(uint8_t *data, uint8_t length);
Gurvan 0:9cb9445a11f0 683
Gurvan 0:9cb9445a11f0 684 // WHO_AM_I register
Gurvan 0:9cb9445a11f0 685 uint8_t getDeviceID();
Gurvan 0:9cb9445a11f0 686 void setDeviceID(uint8_t id);
Gurvan 0:9cb9445a11f0 687
Gurvan 0:9cb9445a11f0 688 // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
Gurvan 0:9cb9445a11f0 689
Gurvan 0:9cb9445a11f0 690 // XG_OFFS_TC register
Gurvan 0:9cb9445a11f0 691 uint8_t getOTPBankValid();
Gurvan 0:9cb9445a11f0 692 void setOTPBankValid(bool enabled);
Gurvan 0:9cb9445a11f0 693 int8_t getXGyroOffset();
Gurvan 0:9cb9445a11f0 694 void setXGyroOffset(int8_t offset);
Gurvan 0:9cb9445a11f0 695
Gurvan 0:9cb9445a11f0 696 // YG_OFFS_TC register
Gurvan 0:9cb9445a11f0 697 int8_t getYGyroOffset();
Gurvan 0:9cb9445a11f0 698 void setYGyroOffset(int8_t offset);
Gurvan 0:9cb9445a11f0 699
Gurvan 0:9cb9445a11f0 700 // ZG_OFFS_TC register
Gurvan 0:9cb9445a11f0 701 int8_t getZGyroOffset();
Gurvan 0:9cb9445a11f0 702 void setZGyroOffset(int8_t offset);
Gurvan 0:9cb9445a11f0 703
Gurvan 0:9cb9445a11f0 704 // X_FINE_GAIN register
Gurvan 0:9cb9445a11f0 705 int8_t getXFineGain();
Gurvan 0:9cb9445a11f0 706 void setXFineGain(int8_t gain);
Gurvan 0:9cb9445a11f0 707
Gurvan 0:9cb9445a11f0 708 // Y_FINE_GAIN register
Gurvan 0:9cb9445a11f0 709 int8_t getYFineGain();
Gurvan 0:9cb9445a11f0 710 void setYFineGain(int8_t gain);
Gurvan 0:9cb9445a11f0 711
Gurvan 0:9cb9445a11f0 712 // Z_FINE_GAIN register
Gurvan 0:9cb9445a11f0 713 int8_t getZFineGain();
Gurvan 0:9cb9445a11f0 714 void setZFineGain(int8_t gain);
Gurvan 0:9cb9445a11f0 715
Gurvan 0:9cb9445a11f0 716 // XA_OFFS_* registers
Gurvan 0:9cb9445a11f0 717 int16_t getXAccelOffset();
Gurvan 0:9cb9445a11f0 718 void setXAccelOffset(int16_t offset);
Gurvan 0:9cb9445a11f0 719
Gurvan 0:9cb9445a11f0 720 // YA_OFFS_* register
Gurvan 0:9cb9445a11f0 721 int16_t getYAccelOffset();
Gurvan 0:9cb9445a11f0 722 void setYAccelOffset(int16_t offset);
Gurvan 0:9cb9445a11f0 723
Gurvan 0:9cb9445a11f0 724 // ZA_OFFS_* register
Gurvan 0:9cb9445a11f0 725 int16_t getZAccelOffset();
Gurvan 0:9cb9445a11f0 726 void setZAccelOffset(int16_t offset);
Gurvan 0:9cb9445a11f0 727
Gurvan 0:9cb9445a11f0 728 // XG_OFFS_USR* registers
Gurvan 0:9cb9445a11f0 729 int16_t getXGyroOffsetUser();
Gurvan 0:9cb9445a11f0 730 void setXGyroOffsetUser(int16_t offset);
Gurvan 0:9cb9445a11f0 731
Gurvan 0:9cb9445a11f0 732 // YG_OFFS_USR* register
Gurvan 0:9cb9445a11f0 733 int16_t getYGyroOffsetUser();
Gurvan 0:9cb9445a11f0 734 void setYGyroOffsetUser(int16_t offset);
Gurvan 0:9cb9445a11f0 735
Gurvan 0:9cb9445a11f0 736 // ZG_OFFS_USR* register
Gurvan 0:9cb9445a11f0 737 int16_t getZGyroOffsetUser();
Gurvan 0:9cb9445a11f0 738 void setZGyroOffsetUser(int16_t offset);
Gurvan 0:9cb9445a11f0 739
Gurvan 0:9cb9445a11f0 740 // INT_ENABLE register (DMP functions)
Gurvan 0:9cb9445a11f0 741 bool getIntPLLReadyEnabled();
Gurvan 0:9cb9445a11f0 742 void setIntPLLReadyEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 743 bool getIntDMPEnabled();
Gurvan 0:9cb9445a11f0 744 void setIntDMPEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 745
Gurvan 0:9cb9445a11f0 746 // DMP_INT_STATUS
Gurvan 0:9cb9445a11f0 747 bool getDMPInt5Status();
Gurvan 0:9cb9445a11f0 748 bool getDMPInt4Status();
Gurvan 0:9cb9445a11f0 749 bool getDMPInt3Status();
Gurvan 0:9cb9445a11f0 750 bool getDMPInt2Status();
Gurvan 0:9cb9445a11f0 751 bool getDMPInt1Status();
Gurvan 0:9cb9445a11f0 752 bool getDMPInt0Status();
Gurvan 0:9cb9445a11f0 753
Gurvan 0:9cb9445a11f0 754 // INT_STATUS register (DMP functions)
Gurvan 0:9cb9445a11f0 755 bool getIntPLLReadyStatus();
Gurvan 0:9cb9445a11f0 756 bool getIntDMPStatus();
Gurvan 0:9cb9445a11f0 757
Gurvan 0:9cb9445a11f0 758 // USER_CTRL register (DMP functions)
Gurvan 0:9cb9445a11f0 759 bool getDMPEnabled();
Gurvan 0:9cb9445a11f0 760 void setDMPEnabled(bool enabled);
Gurvan 0:9cb9445a11f0 761 void resetDMP();
Gurvan 0:9cb9445a11f0 762
Gurvan 0:9cb9445a11f0 763 // BANK_SEL register
Gurvan 0:9cb9445a11f0 764 void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
Gurvan 0:9cb9445a11f0 765
Gurvan 0:9cb9445a11f0 766 // MEM_START_ADDR register
Gurvan 0:9cb9445a11f0 767 void setMemoryStartAddress(uint8_t address);
Gurvan 0:9cb9445a11f0 768
Gurvan 0:9cb9445a11f0 769 // MEM_R_W register
Gurvan 0:9cb9445a11f0 770 uint8_t readMemoryByte();
Gurvan 0:9cb9445a11f0 771 void writeMemoryByte(uint8_t data);
Gurvan 0:9cb9445a11f0 772 void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
Gurvan 0:9cb9445a11f0 773 bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
Gurvan 0:9cb9445a11f0 774 bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
Gurvan 0:9cb9445a11f0 775
Gurvan 0:9cb9445a11f0 776 bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false);
Gurvan 0:9cb9445a11f0 777 bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
Gurvan 0:9cb9445a11f0 778
Gurvan 0:9cb9445a11f0 779 // DMP_CFG_1 register
Gurvan 0:9cb9445a11f0 780 uint8_t getDMPConfig1();
Gurvan 0:9cb9445a11f0 781 void setDMPConfig1(uint8_t config);
Gurvan 0:9cb9445a11f0 782
Gurvan 0:9cb9445a11f0 783 // DMP_CFG_2 register
Gurvan 0:9cb9445a11f0 784 uint8_t getDMPConfig2();
Gurvan 0:9cb9445a11f0 785 void setDMPConfig2(uint8_t config);
Gurvan 0:9cb9445a11f0 786
Gurvan 0:9cb9445a11f0 787 // special methods for MotionApps 2.0 implementation
Gurvan 0:9cb9445a11f0 788 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
Gurvan 0:9cb9445a11f0 789 uint8_t *dmpPacketBuffer;
Gurvan 0:9cb9445a11f0 790 uint16_t dmpPacketSize;
Gurvan 0:9cb9445a11f0 791
Gurvan 0:9cb9445a11f0 792 uint8_t dmpInitialize();
Gurvan 0:9cb9445a11f0 793 bool dmpPacketAvailable();
Gurvan 0:9cb9445a11f0 794
Gurvan 0:9cb9445a11f0 795 uint8_t dmpSetFIFORate(uint8_t fifoRate);
Gurvan 0:9cb9445a11f0 796 uint8_t dmpGetFIFORate();
Gurvan 0:9cb9445a11f0 797 uint8_t dmpGetSampleStepSizeMS();
Gurvan 0:9cb9445a11f0 798 uint8_t dmpGetSampleFrequency();
Gurvan 0:9cb9445a11f0 799 int32_t dmpDecodeTemperature(int8_t tempReg);
Gurvan 0:9cb9445a11f0 800
Gurvan 0:9cb9445a11f0 801 // Register callbacks after a packet of FIFO data is processed
Gurvan 0:9cb9445a11f0 802 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
Gurvan 0:9cb9445a11f0 803 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
Gurvan 0:9cb9445a11f0 804 uint8_t dmpRunFIFORateProcesses();
Gurvan 0:9cb9445a11f0 805
Gurvan 0:9cb9445a11f0 806 // Setup FIFO for various output
Gurvan 0:9cb9445a11f0 807 uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 808 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 809 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 810 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 811 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 812 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 813 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 814 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 815 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 816 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 817 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 818 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 819
Gurvan 0:9cb9445a11f0 820 // Get Fixed Point data from FIFO
Gurvan 0:9cb9445a11f0 821 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 822 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 823 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 824 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 825 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 826 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 827 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 828 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 829 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 830 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 831 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 832 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 833 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 834 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 835 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 836 uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
Gurvan 0:9cb9445a11f0 837 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 838 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 839 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 840 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
Gurvan 0:9cb9445a11f0 841 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 842 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 843 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 844 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
Gurvan 0:9cb9445a11f0 845 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 846 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 847 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 848 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 849 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 850 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 851 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 852 uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 853 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 854 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 855 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 856 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
Gurvan 0:9cb9445a11f0 857 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 858 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 859 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 860 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 861 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 862 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 863 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 864 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 865
Gurvan 0:9cb9445a11f0 866 uint8_t dmpGetEuler(float *data, Quaternion *q);
Gurvan 0:9cb9445a11f0 867 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
Gurvan 0:9cb9445a11f0 868
Gurvan 0:9cb9445a11f0 869 // Get Floating Point data from FIFO
Gurvan 0:9cb9445a11f0 870 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 871 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 872
Gurvan 0:9cb9445a11f0 873 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
Gurvan 0:9cb9445a11f0 874 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
Gurvan 0:9cb9445a11f0 875
Gurvan 0:9cb9445a11f0 876 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
Gurvan 0:9cb9445a11f0 877
Gurvan 0:9cb9445a11f0 878 uint8_t dmpInitFIFOParam();
Gurvan 0:9cb9445a11f0 879 uint8_t dmpCloseFIFO();
Gurvan 0:9cb9445a11f0 880 uint8_t dmpSetGyroDataSource(uint8_t source);
Gurvan 0:9cb9445a11f0 881 uint8_t dmpDecodeQuantizedAccel();
Gurvan 0:9cb9445a11f0 882 uint32_t dmpGetGyroSumOfSquare();
Gurvan 0:9cb9445a11f0 883 uint32_t dmpGetAccelSumOfSquare();
Gurvan 0:9cb9445a11f0 884 void dmpOverrideQuaternion(long *q);
Gurvan 0:9cb9445a11f0 885 uint16_t dmpGetFIFOPacketSize();
Gurvan 0:9cb9445a11f0 886 #endif
Gurvan 0:9cb9445a11f0 887
Gurvan 0:9cb9445a11f0 888 // special methods for MotionApps 4.1 implementation
Gurvan 0:9cb9445a11f0 889 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
Gurvan 0:9cb9445a11f0 890 uint8_t *dmpPacketBuffer;
Gurvan 0:9cb9445a11f0 891 uint16_t dmpPacketSize;
Gurvan 0:9cb9445a11f0 892
Gurvan 0:9cb9445a11f0 893 uint8_t dmpInitialize();
Gurvan 0:9cb9445a11f0 894 bool dmpPacketAvailable();
Gurvan 0:9cb9445a11f0 895
Gurvan 0:9cb9445a11f0 896 uint8_t dmpSetFIFORate(uint8_t fifoRate);
Gurvan 0:9cb9445a11f0 897 uint8_t dmpGetFIFORate();
Gurvan 0:9cb9445a11f0 898 uint8_t dmpGetSampleStepSizeMS();
Gurvan 0:9cb9445a11f0 899 uint8_t dmpGetSampleFrequency();
Gurvan 0:9cb9445a11f0 900 int32_t dmpDecodeTemperature(int8_t tempReg);
Gurvan 0:9cb9445a11f0 901
Gurvan 0:9cb9445a11f0 902 // Register callbacks after a packet of FIFO data is processed
Gurvan 0:9cb9445a11f0 903 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
Gurvan 0:9cb9445a11f0 904 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
Gurvan 0:9cb9445a11f0 905 uint8_t dmpRunFIFORateProcesses();
Gurvan 0:9cb9445a11f0 906
Gurvan 0:9cb9445a11f0 907 // Setup FIFO for various output
Gurvan 0:9cb9445a11f0 908 uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 909 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 910 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 911 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 912 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 913 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 914 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 915 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 916 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 917 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 918 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 919 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
Gurvan 0:9cb9445a11f0 920
Gurvan 0:9cb9445a11f0 921 // Get Fixed Point data from FIFO
Gurvan 0:9cb9445a11f0 922 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 923 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 924 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 925 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 926 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 927 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 928 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 929 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 930 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 931 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 932 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 933 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 934 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 935 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 936 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 937 uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 938 uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
Gurvan 0:9cb9445a11f0 939 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 940 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 941 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 942 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
Gurvan 0:9cb9445a11f0 943 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 944 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 945 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 946 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
Gurvan 0:9cb9445a11f0 947 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 948 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 949 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 950 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 951 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 952 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 953 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 954 uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 955 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 956 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 957 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 958 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
Gurvan 0:9cb9445a11f0 959 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 960 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 961 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 962 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 963 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 964 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 965 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 966 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 967
Gurvan 0:9cb9445a11f0 968 uint8_t dmpGetEuler(float *data, Quaternion *q);
Gurvan 0:9cb9445a11f0 969 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
Gurvan 0:9cb9445a11f0 970
Gurvan 0:9cb9445a11f0 971 // Get Floating Point data from FIFO
Gurvan 0:9cb9445a11f0 972 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 973 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
Gurvan 0:9cb9445a11f0 974
Gurvan 0:9cb9445a11f0 975 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
Gurvan 0:9cb9445a11f0 976 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
Gurvan 0:9cb9445a11f0 977
Gurvan 0:9cb9445a11f0 978 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
Gurvan 0:9cb9445a11f0 979
Gurvan 0:9cb9445a11f0 980 uint8_t dmpInitFIFOParam();
Gurvan 0:9cb9445a11f0 981 uint8_t dmpCloseFIFO();
Gurvan 0:9cb9445a11f0 982 uint8_t dmpSetGyroDataSource(uint8_t source);
Gurvan 0:9cb9445a11f0 983 uint8_t dmpDecodeQuantizedAccel();
Gurvan 0:9cb9445a11f0 984 uint32_t dmpGetGyroSumOfSquare();
Gurvan 0:9cb9445a11f0 985 uint32_t dmpGetAccelSumOfSquare();
Gurvan 0:9cb9445a11f0 986 void dmpOverrideQuaternion(long *q);
Gurvan 0:9cb9445a11f0 987 uint16_t dmpGetFIFOPacketSize();
Gurvan 0:9cb9445a11f0 988 #endif
Gurvan 0:9cb9445a11f0 989
Gurvan 0:9cb9445a11f0 990 private:
Gurvan 0:9cb9445a11f0 991 uint8_t devAddr;
Gurvan 0:9cb9445a11f0 992 uint8_t buffer[14];
Gurvan 0:9cb9445a11f0 993 };
Gurvan 0:9cb9445a11f0 994
Gurvan 0:9cb9445a11f0 995 #endif /* _MPU6050_H_ */