Gurvan PRIEM
/
RaptorControl
An incomplete quadcopter control programme.
Diff: MPU6050/MPU6050.h
- Revision:
- 0:9cb9445a11f0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050/MPU6050.h Wed Jul 17 15:58:25 2013 +0000 @@ -0,0 +1,995 @@ +//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 +//written by szymon gaertig (email: szymon@gaertig.com.pl) +// +//Changelog: +//2013-01-08 - first beta release + +// I2Cdev library collection - MPU6050 I2C device class +// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) +// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net> +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// ... - ongoing debug release + +// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE +// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF +// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING. + +/* ============================================ +I2Cdev device library code is placed under the MIT license +Copyright (c) 2012 Jeff Rowberg + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. +=============================================== +*/ + +#ifndef _MPU6050_H_ +#define _MPU6050_H_ + +#include "I2Cdev.h" +#include "helper_3dmath.h" + +#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board +#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) +#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW + +#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN +#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN +#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN +#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS +#define MPU6050_RA_XA_OFFS_L_TC 0x07 +#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS +#define MPU6050_RA_YA_OFFS_L_TC 0x09 +#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS +#define MPU6050_RA_ZA_OFFS_L_TC 0x0B +#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR +#define MPU6050_RA_XG_OFFS_USRL 0x14 +#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR +#define MPU6050_RA_YG_OFFS_USRL 0x16 +#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR +#define MPU6050_RA_ZG_OFFS_USRL 0x18 +#define MPU6050_RA_SMPLRT_DIV 0x19 +#define MPU6050_RA_CONFIG 0x1A +#define MPU6050_RA_GYRO_CONFIG 0x1B +#define MPU6050_RA_ACCEL_CONFIG 0x1C +#define MPU6050_RA_FF_THR 0x1D +#define MPU6050_RA_FF_DUR 0x1E +#define MPU6050_RA_MOT_THR 0x1F +#define MPU6050_RA_MOT_DUR 0x20 +#define MPU6050_RA_ZRMOT_THR 0x21 +#define MPU6050_RA_ZRMOT_DUR 0x22 +#define MPU6050_RA_FIFO_EN 0x23 +#define MPU6050_RA_I2C_MST_CTRL 0x24 +#define MPU6050_RA_I2C_SLV0_ADDR 0x25 +#define MPU6050_RA_I2C_SLV0_REG 0x26 +#define MPU6050_RA_I2C_SLV0_CTRL 0x27 +#define MPU6050_RA_I2C_SLV1_ADDR 0x28 +#define MPU6050_RA_I2C_SLV1_REG 0x29 +#define MPU6050_RA_I2C_SLV1_CTRL 0x2A +#define MPU6050_RA_I2C_SLV2_ADDR 0x2B +#define MPU6050_RA_I2C_SLV2_REG 0x2C +#define MPU6050_RA_I2C_SLV2_CTRL 0x2D +#define MPU6050_RA_I2C_SLV3_ADDR 0x2E +#define MPU6050_RA_I2C_SLV3_REG 0x2F +#define MPU6050_RA_I2C_SLV3_CTRL 0x30 +#define MPU6050_RA_I2C_SLV4_ADDR 0x31 +#define MPU6050_RA_I2C_SLV4_REG 0x32 +#define MPU6050_RA_I2C_SLV4_DO 0x33 +#define MPU6050_RA_I2C_SLV4_CTRL 0x34 +#define MPU6050_RA_I2C_SLV4_DI 0x35 +#define MPU6050_RA_I2C_MST_STATUS 0x36 +#define MPU6050_RA_INT_PIN_CFG 0x37 +#define MPU6050_RA_INT_ENABLE 0x38 +#define MPU6050_RA_DMP_INT_STATUS 0x39 +#define MPU6050_RA_INT_STATUS 0x3A +#define MPU6050_RA_ACCEL_XOUT_H 0x3B +#define MPU6050_RA_ACCEL_XOUT_L 0x3C +#define MPU6050_RA_ACCEL_YOUT_H 0x3D +#define MPU6050_RA_ACCEL_YOUT_L 0x3E +#define MPU6050_RA_ACCEL_ZOUT_H 0x3F +#define MPU6050_RA_ACCEL_ZOUT_L 0x40 +#define MPU6050_RA_TEMP_OUT_H 0x41 +#define MPU6050_RA_TEMP_OUT_L 0x42 +#define MPU6050_RA_GYRO_XOUT_H 0x43 +#define MPU6050_RA_GYRO_XOUT_L 0x44 +#define MPU6050_RA_GYRO_YOUT_H 0x45 +#define MPU6050_RA_GYRO_YOUT_L 0x46 +#define MPU6050_RA_GYRO_ZOUT_H 0x47 +#define MPU6050_RA_GYRO_ZOUT_L 0x48 +#define MPU6050_RA_EXT_SENS_DATA_00 0x49 +#define MPU6050_RA_EXT_SENS_DATA_01 0x4A +#define MPU6050_RA_EXT_SENS_DATA_02 0x4B +#define MPU6050_RA_EXT_SENS_DATA_03 0x4C +#define MPU6050_RA_EXT_SENS_DATA_04 0x4D +#define MPU6050_RA_EXT_SENS_DATA_05 0x4E +#define MPU6050_RA_EXT_SENS_DATA_06 0x4F +#define MPU6050_RA_EXT_SENS_DATA_07 0x50 +#define MPU6050_RA_EXT_SENS_DATA_08 0x51 +#define MPU6050_RA_EXT_SENS_DATA_09 0x52 +#define MPU6050_RA_EXT_SENS_DATA_10 0x53 +#define MPU6050_RA_EXT_SENS_DATA_11 0x54 +#define MPU6050_RA_EXT_SENS_DATA_12 0x55 +#define MPU6050_RA_EXT_SENS_DATA_13 0x56 +#define MPU6050_RA_EXT_SENS_DATA_14 0x57 +#define MPU6050_RA_EXT_SENS_DATA_15 0x58 +#define MPU6050_RA_EXT_SENS_DATA_16 0x59 +#define MPU6050_RA_EXT_SENS_DATA_17 0x5A +#define MPU6050_RA_EXT_SENS_DATA_18 0x5B +#define MPU6050_RA_EXT_SENS_DATA_19 0x5C +#define MPU6050_RA_EXT_SENS_DATA_20 0x5D +#define MPU6050_RA_EXT_SENS_DATA_21 0x5E +#define MPU6050_RA_EXT_SENS_DATA_22 0x5F +#define MPU6050_RA_EXT_SENS_DATA_23 0x60 +#define MPU6050_RA_MOT_DETECT_STATUS 0x61 +#define MPU6050_RA_I2C_SLV0_DO 0x63 +#define MPU6050_RA_I2C_SLV1_DO 0x64 +#define MPU6050_RA_I2C_SLV2_DO 0x65 +#define MPU6050_RA_I2C_SLV3_DO 0x66 +#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 +#define MPU6050_RA_SIGNAL_PATH_RESET 0x68 +#define MPU6050_RA_MOT_DETECT_CTRL 0x69 +#define MPU6050_RA_USER_CTRL 0x6A +#define MPU6050_RA_PWR_MGMT_1 0x6B +#define MPU6050_RA_PWR_MGMT_2 0x6C +#define MPU6050_RA_BANK_SEL 0x6D +#define MPU6050_RA_MEM_START_ADDR 0x6E +#define MPU6050_RA_MEM_R_W 0x6F +#define MPU6050_RA_DMP_CFG_1 0x70 +#define MPU6050_RA_DMP_CFG_2 0x71 +#define MPU6050_RA_FIFO_COUNTH 0x72 +#define MPU6050_RA_FIFO_COUNTL 0x73 +#define MPU6050_RA_FIFO_R_W 0x74 +#define MPU6050_RA_WHO_AM_I 0x75 + +#define MPU6050_TC_PWR_MODE_BIT 7 +#define MPU6050_TC_OFFSET_BIT 6 +#define MPU6050_TC_OFFSET_LENGTH 6 +#define MPU6050_TC_OTP_BNK_VLD_BIT 0 + +#define MPU6050_VDDIO_LEVEL_VLOGIC 0 +#define MPU6050_VDDIO_LEVEL_VDD 1 + +#define MPU6050_CFG_EXT_SYNC_SET_BIT 5 +#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3 +#define MPU6050_CFG_DLPF_CFG_BIT 2 +#define MPU6050_CFG_DLPF_CFG_LENGTH 3 + +#define MPU6050_EXT_SYNC_DISABLED 0x0 +#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1 +#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2 +#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3 +#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4 +#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5 +#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6 +#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7 + +#define MPU6050_DLPF_BW_256 0x00 +#define MPU6050_DLPF_BW_188 0x01 +#define MPU6050_DLPF_BW_98 0x02 +#define MPU6050_DLPF_BW_42 0x03 +#define MPU6050_DLPF_BW_20 0x04 +#define MPU6050_DLPF_BW_10 0x05 +#define MPU6050_DLPF_BW_5 0x06 + +#define MPU6050_GCONFIG_FS_SEL_BIT 4 +#define MPU6050_GCONFIG_FS_SEL_LENGTH 2 + +#define MPU6050_GYRO_FS_250 0x00 +#define MPU6050_GYRO_FS_500 0x01 +#define MPU6050_GYRO_FS_1000 0x02 +#define MPU6050_GYRO_FS_2000 0x03 + +#define MPU6050_ACONFIG_XA_ST_BIT 7 +#define MPU6050_ACONFIG_YA_ST_BIT 6 +#define MPU6050_ACONFIG_ZA_ST_BIT 5 +#define MPU6050_ACONFIG_AFS_SEL_BIT 4 +#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2 +#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2 +#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3 + +#define MPU6050_ACCEL_FS_2 0x00 +#define MPU6050_ACCEL_FS_4 0x01 +#define MPU6050_ACCEL_FS_8 0x02 +#define MPU6050_ACCEL_FS_16 0x03 + +#define MPU6050_DHPF_RESET 0x00 +#define MPU6050_DHPF_5 0x01 +#define MPU6050_DHPF_2P5 0x02 +#define MPU6050_DHPF_1P25 0x03 +#define MPU6050_DHPF_0P63 0x04 +#define MPU6050_DHPF_HOLD 0x07 + +#define MPU6050_TEMP_FIFO_EN_BIT 7 +#define MPU6050_XG_FIFO_EN_BIT 6 +#define MPU6050_YG_FIFO_EN_BIT 5 +#define MPU6050_ZG_FIFO_EN_BIT 4 +#define MPU6050_ACCEL_FIFO_EN_BIT 3 +#define MPU6050_SLV2_FIFO_EN_BIT 2 +#define MPU6050_SLV1_FIFO_EN_BIT 1 +#define MPU6050_SLV0_FIFO_EN_BIT 0 + +#define MPU6050_MULT_MST_EN_BIT 7 +#define MPU6050_WAIT_FOR_ES_BIT 6 +#define MPU6050_SLV_3_FIFO_EN_BIT 5 +#define MPU6050_I2C_MST_P_NSR_BIT 4 +#define MPU6050_I2C_MST_CLK_BIT 3 +#define MPU6050_I2C_MST_CLK_LENGTH 4 + +#define MPU6050_CLOCK_DIV_348 0x0 +#define MPU6050_CLOCK_DIV_333 0x1 +#define MPU6050_CLOCK_DIV_320 0x2 +#define MPU6050_CLOCK_DIV_308 0x3 +#define MPU6050_CLOCK_DIV_296 0x4 +#define MPU6050_CLOCK_DIV_286 0x5 +#define MPU6050_CLOCK_DIV_276 0x6 +#define MPU6050_CLOCK_DIV_267 0x7 +#define MPU6050_CLOCK_DIV_258 0x8 +#define MPU6050_CLOCK_DIV_500 0x9 +#define MPU6050_CLOCK_DIV_471 0xA +#define MPU6050_CLOCK_DIV_444 0xB +#define MPU6050_CLOCK_DIV_421 0xC +#define MPU6050_CLOCK_DIV_400 0xD +#define MPU6050_CLOCK_DIV_381 0xE +#define MPU6050_CLOCK_DIV_364 0xF + +#define MPU6050_I2C_SLV_RW_BIT 7 +#define MPU6050_I2C_SLV_ADDR_BIT 6 +#define MPU6050_I2C_SLV_ADDR_LENGTH 7 +#define MPU6050_I2C_SLV_EN_BIT 7 +#define MPU6050_I2C_SLV_BYTE_SW_BIT 6 +#define MPU6050_I2C_SLV_REG_DIS_BIT 5 +#define MPU6050_I2C_SLV_GRP_BIT 4 +#define MPU6050_I2C_SLV_LEN_BIT 3 +#define MPU6050_I2C_SLV_LEN_LENGTH 4 + +#define MPU6050_I2C_SLV4_RW_BIT 7 +#define MPU6050_I2C_SLV4_ADDR_BIT 6 +#define MPU6050_I2C_SLV4_ADDR_LENGTH 7 +#define MPU6050_I2C_SLV4_EN_BIT 7 +#define MPU6050_I2C_SLV4_INT_EN_BIT 6 +#define MPU6050_I2C_SLV4_REG_DIS_BIT 5 +#define MPU6050_I2C_SLV4_MST_DLY_BIT 4 +#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5 + +#define MPU6050_MST_PASS_THROUGH_BIT 7 +#define MPU6050_MST_I2C_SLV4_DONE_BIT 6 +#define MPU6050_MST_I2C_LOST_ARB_BIT 5 +#define MPU6050_MST_I2C_SLV4_NACK_BIT 4 +#define MPU6050_MST_I2C_SLV3_NACK_BIT 3 +#define MPU6050_MST_I2C_SLV2_NACK_BIT 2 +#define MPU6050_MST_I2C_SLV1_NACK_BIT 1 +#define MPU6050_MST_I2C_SLV0_NACK_BIT 0 + +#define MPU6050_INTCFG_INT_LEVEL_BIT 7 +#define MPU6050_INTCFG_INT_OPEN_BIT 6 +#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5 +#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4 +#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3 +#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2 +#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1 +#define MPU6050_INTCFG_CLKOUT_EN_BIT 0 + +#define MPU6050_INTMODE_ACTIVEHIGH 0x00 +#define MPU6050_INTMODE_ACTIVELOW 0x01 + +#define MPU6050_INTDRV_PUSHPULL 0x00 +#define MPU6050_INTDRV_OPENDRAIN 0x01 + +#define MPU6050_INTLATCH_50USPULSE 0x00 +#define MPU6050_INTLATCH_WAITCLEAR 0x01 + +#define MPU6050_INTCLEAR_STATUSREAD 0x00 +#define MPU6050_INTCLEAR_ANYREAD 0x01 + +#define MPU6050_INTERRUPT_FF_BIT 7 +#define MPU6050_INTERRUPT_MOT_BIT 6 +#define MPU6050_INTERRUPT_ZMOT_BIT 5 +#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4 +#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3 +#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2 +#define MPU6050_INTERRUPT_DMP_INT_BIT 1 +#define MPU6050_INTERRUPT_DATA_RDY_BIT 0 + +// TODO: figure out what these actually do +// UMPL source code is not very obivous +#define MPU6050_DMPINT_5_BIT 5 +#define MPU6050_DMPINT_4_BIT 4 +#define MPU6050_DMPINT_3_BIT 3 +#define MPU6050_DMPINT_2_BIT 2 +#define MPU6050_DMPINT_1_BIT 1 +#define MPU6050_DMPINT_0_BIT 0 + +#define MPU6050_MOTION_MOT_XNEG_BIT 7 +#define MPU6050_MOTION_MOT_XPOS_BIT 6 +#define MPU6050_MOTION_MOT_YNEG_BIT 5 +#define MPU6050_MOTION_MOT_YPOS_BIT 4 +#define MPU6050_MOTION_MOT_ZNEG_BIT 3 +#define MPU6050_MOTION_MOT_ZPOS_BIT 2 +#define MPU6050_MOTION_MOT_ZRMOT_BIT 0 + +#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7 +#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4 +#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3 +#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2 +#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1 +#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0 + +#define MPU6050_PATHRESET_GYRO_RESET_BIT 2 +#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1 +#define MPU6050_PATHRESET_TEMP_RESET_BIT 0 + +#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5 +#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2 +#define MPU6050_DETECT_FF_COUNT_BIT 3 +#define MPU6050_DETECT_FF_COUNT_LENGTH 2 +#define MPU6050_DETECT_MOT_COUNT_BIT 1 +#define MPU6050_DETECT_MOT_COUNT_LENGTH 2 + +#define MPU6050_DETECT_DECREMENT_RESET 0x0 +#define MPU6050_DETECT_DECREMENT_1 0x1 +#define MPU6050_DETECT_DECREMENT_2 0x2 +#define MPU6050_DETECT_DECREMENT_4 0x3 + +#define MPU6050_USERCTRL_DMP_EN_BIT 7 +#define MPU6050_USERCTRL_FIFO_EN_BIT 6 +#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5 +#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4 +#define MPU6050_USERCTRL_DMP_RESET_BIT 3 +#define MPU6050_USERCTRL_FIFO_RESET_BIT 2 +#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1 +#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0 + +#define MPU6050_PWR1_DEVICE_RESET_BIT 7 +#define MPU6050_PWR1_SLEEP_BIT 6 +#define MPU6050_PWR1_CYCLE_BIT 5 +#define MPU6050_PWR1_TEMP_DIS_BIT 3 +#define MPU6050_PWR1_CLKSEL_BIT 2 +#define MPU6050_PWR1_CLKSEL_LENGTH 3 + +#define MPU6050_CLOCK_INTERNAL 0x00 +#define MPU6050_CLOCK_PLL_XGYRO 0x01 +#define MPU6050_CLOCK_PLL_YGYRO 0x02 +#define MPU6050_CLOCK_PLL_ZGYRO 0x03 +#define MPU6050_CLOCK_PLL_EXT32K 0x04 +#define MPU6050_CLOCK_PLL_EXT19M 0x05 +#define MPU6050_CLOCK_KEEP_RESET 0x07 + +#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7 +#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2 +#define MPU6050_PWR2_STBY_XA_BIT 5 +#define MPU6050_PWR2_STBY_YA_BIT 4 +#define MPU6050_PWR2_STBY_ZA_BIT 3 +#define MPU6050_PWR2_STBY_XG_BIT 2 +#define MPU6050_PWR2_STBY_YG_BIT 1 +#define MPU6050_PWR2_STBY_ZG_BIT 0 + +#define MPU6050_WAKE_FREQ_1P25 0x0 +#define MPU6050_WAKE_FREQ_2P5 0x1 +#define MPU6050_WAKE_FREQ_5 0x2 +#define MPU6050_WAKE_FREQ_10 0x3 + +#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6 +#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5 +#define MPU6050_BANKSEL_MEM_SEL_BIT 4 +#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5 + +#define MPU6050_WHO_AM_I_BIT 6 +#define MPU6050_WHO_AM_I_LENGTH 6 + +#define MPU6050_DMP_MEMORY_BANKS 8 +#define MPU6050_DMP_MEMORY_BANK_SIZE 256 +#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16 + +// note: DMP code memory blocks defined at end of header file + +class MPU6050 { + private: + I2Cdev i2Cdev; + Serial debugSerial; + public: + MPU6050(); + MPU6050(uint8_t address); + + void initialize(); + bool testConnection(); + + // AUX_VDDIO register + uint8_t getAuxVDDIOLevel(); + void setAuxVDDIOLevel(uint8_t level); + + // SMPLRT_DIV register + uint8_t getRate(); + void setRate(uint8_t rate); + + + // CONFIG register + uint8_t getExternalFrameSync(); + void setExternalFrameSync(uint8_t sync); + uint8_t getDLPFMode(); + void setDLPFMode(uint8_t bandwidth); + + // GYRO_CONFIG register + uint8_t getFullScaleGyroRange(); + void setFullScaleGyroRange(uint8_t range); + + // ACCEL_CONFIG register + bool getAccelXSelfTest(); + void setAccelXSelfTest(bool enabled); + bool getAccelYSelfTest(); + void setAccelYSelfTest(bool enabled); + bool getAccelZSelfTest(); + void setAccelZSelfTest(bool enabled); + uint8_t getFullScaleAccelRange(); + void setFullScaleAccelRange(uint8_t range); + uint8_t getDHPFMode(); + void setDHPFMode(uint8_t mode); + + // FF_THR register + uint8_t getFreefallDetectionThreshold(); + void setFreefallDetectionThreshold(uint8_t threshold); + + // FF_DUR register + uint8_t getFreefallDetectionDuration(); + void setFreefallDetectionDuration(uint8_t duration); + + // MOT_THR register + uint8_t getMotionDetectionThreshold(); + void setMotionDetectionThreshold(uint8_t threshold); + + // MOT_DUR register + uint8_t getMotionDetectionDuration(); + void setMotionDetectionDuration(uint8_t duration); + + // ZRMOT_THR register + uint8_t getZeroMotionDetectionThreshold(); + void setZeroMotionDetectionThreshold(uint8_t threshold); + + // ZRMOT_DUR register + uint8_t getZeroMotionDetectionDuration(); + void setZeroMotionDetectionDuration(uint8_t duration); + + // FIFO_EN register + bool getTempFIFOEnabled(); + void setTempFIFOEnabled(bool enabled); + bool getXGyroFIFOEnabled(); + void setXGyroFIFOEnabled(bool enabled); + bool getYGyroFIFOEnabled(); + void setYGyroFIFOEnabled(bool enabled); + bool getZGyroFIFOEnabled(); + void setZGyroFIFOEnabled(bool enabled); + bool getAccelFIFOEnabled(); + void setAccelFIFOEnabled(bool enabled); + bool getSlave2FIFOEnabled(); + void setSlave2FIFOEnabled(bool enabled); + bool getSlave1FIFOEnabled(); + void setSlave1FIFOEnabled(bool enabled); + bool getSlave0FIFOEnabled(); + void setSlave0FIFOEnabled(bool enabled); + + // I2C_MST_CTRL register + bool getMultiMasterEnabled(); + void setMultiMasterEnabled(bool enabled); + bool getWaitForExternalSensorEnabled(); + void setWaitForExternalSensorEnabled(bool enabled); + bool getSlave3FIFOEnabled(); + void setSlave3FIFOEnabled(bool enabled); + bool getSlaveReadWriteTransitionEnabled(); + void setSlaveReadWriteTransitionEnabled(bool enabled); + uint8_t getMasterClockSpeed(); + void setMasterClockSpeed(uint8_t speed); + + // I2C_SLV* registers (Slave 0-3) + uint8_t getSlaveAddress(uint8_t num); + void setSlaveAddress(uint8_t num, uint8_t address); + uint8_t getSlaveRegister(uint8_t num); + void setSlaveRegister(uint8_t num, uint8_t reg); + bool getSlaveEnabled(uint8_t num); + void setSlaveEnabled(uint8_t num, bool enabled); + bool getSlaveWordByteSwap(uint8_t num); + void setSlaveWordByteSwap(uint8_t num, bool enabled); + bool getSlaveWriteMode(uint8_t num); + void setSlaveWriteMode(uint8_t num, bool mode); + bool getSlaveWordGroupOffset(uint8_t num); + void setSlaveWordGroupOffset(uint8_t num, bool enabled); + uint8_t getSlaveDataLength(uint8_t num); + void setSlaveDataLength(uint8_t num, uint8_t length); + + // I2C_SLV* registers (Slave 4) + uint8_t getSlave4Address(); + void setSlave4Address(uint8_t address); + uint8_t getSlave4Register(); + void setSlave4Register(uint8_t reg); + void setSlave4OutputByte(uint8_t data); + bool getSlave4Enabled(); + void setSlave4Enabled(bool enabled); + bool getSlave4InterruptEnabled(); + void setSlave4InterruptEnabled(bool enabled); + bool getSlave4WriteMode(); + void setSlave4WriteMode(bool mode); + uint8_t getSlave4MasterDelay(); + void setSlave4MasterDelay(uint8_t delay); + uint8_t getSlate4InputByte(); + + // I2C_MST_STATUS register + bool getPassthroughStatus(); + bool getSlave4IsDone(); + bool getLostArbitration(); + bool getSlave4Nack(); + bool getSlave3Nack(); + bool getSlave2Nack(); + bool getSlave1Nack(); + bool getSlave0Nack(); + + // INT_PIN_CFG register + bool getInterruptMode(); + void setInterruptMode(bool mode); + bool getInterruptDrive(); + void setInterruptDrive(bool drive); + bool getInterruptLatch(); + void setInterruptLatch(bool latch); + bool getInterruptLatchClear(); + void setInterruptLatchClear(bool clear); + bool getFSyncInterruptLevel(); + void setFSyncInterruptLevel(bool level); + bool getFSyncInterruptEnabled(); + void setFSyncInterruptEnabled(bool enabled); + bool getI2CBypassEnabled(); + void setI2CBypassEnabled(bool enabled); + bool getClockOutputEnabled(); + void setClockOutputEnabled(bool enabled); + + // INT_ENABLE register + uint8_t getIntEnabled(); + void setIntEnabled(uint8_t enabled); + bool getIntFreefallEnabled(); + void setIntFreefallEnabled(bool enabled); + bool getIntMotionEnabled(); + void setIntMotionEnabled(bool enabled); + bool getIntZeroMotionEnabled(); + void setIntZeroMotionEnabled(bool enabled); + bool getIntFIFOBufferOverflowEnabled(); + void setIntFIFOBufferOverflowEnabled(bool enabled); + bool getIntI2CMasterEnabled(); + void setIntI2CMasterEnabled(bool enabled); + bool getIntDataReadyEnabled(); + void setIntDataReadyEnabled(bool enabled); + + // INT_STATUS register + uint8_t getIntStatus(); + bool getIntFreefallStatus(); + bool getIntMotionStatus(); + bool getIntZeroMotionStatus(); + bool getIntFIFOBufferOverflowStatus(); + bool getIntI2CMasterStatus(); + bool getIntDataReadyStatus(); + + // ACCEL_*OUT_* registers + 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); + void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz); + void getAcceleration(int16_t* x, int16_t* y, int16_t* z); + int16_t getAccelerationX(); + int16_t getAccelerationY(); + int16_t getAccelerationZ(); + + // TEMP_OUT_* registers + int16_t getTemperature(); + + // GYRO_*OUT_* registers + void getRotation(int16_t* x, int16_t* y, int16_t* z); + int16_t getRotationX(); + int16_t getRotationY(); + int16_t getRotationZ(); + + // EXT_SENS_DATA_* registers + uint8_t getExternalSensorByte(int position); + uint16_t getExternalSensorWord(int position); + uint32_t getExternalSensorDWord(int position); + + // MOT_DETECT_STATUS register + bool getXNegMotionDetected(); + bool getXPosMotionDetected(); + bool getYNegMotionDetected(); + bool getYPosMotionDetected(); + bool getZNegMotionDetected(); + bool getZPosMotionDetected(); + bool getZeroMotionDetected(); + + // I2C_SLV*_DO register + void setSlaveOutputByte(uint8_t num, uint8_t data); + + // I2C_MST_DELAY_CTRL register + bool getExternalShadowDelayEnabled(); + void setExternalShadowDelayEnabled(bool enabled); + bool getSlaveDelayEnabled(uint8_t num); + void setSlaveDelayEnabled(uint8_t num, bool enabled); + + // SIGNAL_PATH_RESET register + void resetGyroscopePath(); + void resetAccelerometerPath(); + void resetTemperaturePath(); + + // MOT_DETECT_CTRL register + uint8_t getAccelerometerPowerOnDelay(); + void setAccelerometerPowerOnDelay(uint8_t delay); + uint8_t getFreefallDetectionCounterDecrement(); + void setFreefallDetectionCounterDecrement(uint8_t decrement); + uint8_t getMotionDetectionCounterDecrement(); + void setMotionDetectionCounterDecrement(uint8_t decrement); + + // USER_CTRL register + bool getFIFOEnabled(); + void setFIFOEnabled(bool enabled); + bool getI2CMasterModeEnabled(); + void setI2CMasterModeEnabled(bool enabled); + void switchSPIEnabled(bool enabled); + void resetFIFO(); + void resetI2CMaster(); + void resetSensors(); + + // PWR_MGMT_1 register + void reset(); + bool getSleepEnabled(); + void setSleepEnabled(bool enabled); + bool getWakeCycleEnabled(); + void setWakeCycleEnabled(bool enabled); + bool getTempSensorEnabled(); + void setTempSensorEnabled(bool enabled); + uint8_t getClockSource(); + void setClockSource(uint8_t source); + + // PWR_MGMT_2 register + uint8_t getWakeFrequency(); + void setWakeFrequency(uint8_t frequency); + bool getStandbyXAccelEnabled(); + void setStandbyXAccelEnabled(bool enabled); + bool getStandbyYAccelEnabled(); + void setStandbyYAccelEnabled(bool enabled); + bool getStandbyZAccelEnabled(); + void setStandbyZAccelEnabled(bool enabled); + bool getStandbyXGyroEnabled(); + void setStandbyXGyroEnabled(bool enabled); + bool getStandbyYGyroEnabled(); + void setStandbyYGyroEnabled(bool enabled); + bool getStandbyZGyroEnabled(); + void setStandbyZGyroEnabled(bool enabled); + + // FIFO_COUNT_* registers + uint16_t getFIFOCount(); + + // FIFO_R_W register + uint8_t getFIFOByte(); + void setFIFOByte(uint8_t data); + void getFIFOBytes(uint8_t *data, uint8_t length); + + // WHO_AM_I register + uint8_t getDeviceID(); + void setDeviceID(uint8_t id); + + // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ======== + + // XG_OFFS_TC register + uint8_t getOTPBankValid(); + void setOTPBankValid(bool enabled); + int8_t getXGyroOffset(); + void setXGyroOffset(int8_t offset); + + // YG_OFFS_TC register + int8_t getYGyroOffset(); + void setYGyroOffset(int8_t offset); + + // ZG_OFFS_TC register + int8_t getZGyroOffset(); + void setZGyroOffset(int8_t offset); + + // X_FINE_GAIN register + int8_t getXFineGain(); + void setXFineGain(int8_t gain); + + // Y_FINE_GAIN register + int8_t getYFineGain(); + void setYFineGain(int8_t gain); + + // Z_FINE_GAIN register + int8_t getZFineGain(); + void setZFineGain(int8_t gain); + + // XA_OFFS_* registers + int16_t getXAccelOffset(); + void setXAccelOffset(int16_t offset); + + // YA_OFFS_* register + int16_t getYAccelOffset(); + void setYAccelOffset(int16_t offset); + + // ZA_OFFS_* register + int16_t getZAccelOffset(); + void setZAccelOffset(int16_t offset); + + // XG_OFFS_USR* registers + int16_t getXGyroOffsetUser(); + void setXGyroOffsetUser(int16_t offset); + + // YG_OFFS_USR* register + int16_t getYGyroOffsetUser(); + void setYGyroOffsetUser(int16_t offset); + + // ZG_OFFS_USR* register + int16_t getZGyroOffsetUser(); + void setZGyroOffsetUser(int16_t offset); + + // INT_ENABLE register (DMP functions) + bool getIntPLLReadyEnabled(); + void setIntPLLReadyEnabled(bool enabled); + bool getIntDMPEnabled(); + void setIntDMPEnabled(bool enabled); + + // DMP_INT_STATUS + bool getDMPInt5Status(); + bool getDMPInt4Status(); + bool getDMPInt3Status(); + bool getDMPInt2Status(); + bool getDMPInt1Status(); + bool getDMPInt0Status(); + + // INT_STATUS register (DMP functions) + bool getIntPLLReadyStatus(); + bool getIntDMPStatus(); + + // USER_CTRL register (DMP functions) + bool getDMPEnabled(); + void setDMPEnabled(bool enabled); + void resetDMP(); + + // BANK_SEL register + void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false); + + // MEM_START_ADDR register + void setMemoryStartAddress(uint8_t address); + + // MEM_R_W register + uint8_t readMemoryByte(); + void writeMemoryByte(uint8_t data); + void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0); + bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false); + bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true); + + bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false); + bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize); + + // DMP_CFG_1 register + uint8_t getDMPConfig1(); + void setDMPConfig1(uint8_t config); + + // DMP_CFG_2 register + uint8_t getDMPConfig2(); + void setDMPConfig2(uint8_t config); + + // special methods for MotionApps 2.0 implementation + #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20 + uint8_t *dmpPacketBuffer; + uint16_t dmpPacketSize; + + uint8_t dmpInitialize(); + bool dmpPacketAvailable(); + + uint8_t dmpSetFIFORate(uint8_t fifoRate); + uint8_t dmpGetFIFORate(); + uint8_t dmpGetSampleStepSizeMS(); + uint8_t dmpGetSampleFrequency(); + int32_t dmpDecodeTemperature(int8_t tempReg); + + // Register callbacks after a packet of FIFO data is processed + //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); + //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); + uint8_t dmpRunFIFORateProcesses(); + + // Setup FIFO for various output + uint8_t dmpSendQuaternion(uint_fast16_t accuracy); + uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); + uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); + + // Get Fixed Point data from FIFO + uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); + uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); + uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); + uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpSetLinearAccelFilterCoefficient(float coef); + uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); + uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); + uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); + uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); + uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); + uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); + + uint8_t dmpGetEuler(float *data, Quaternion *q); + uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); + + // Get Floating Point data from FIFO + uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); + uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); + + uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); + uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); + + uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); + + uint8_t dmpInitFIFOParam(); + uint8_t dmpCloseFIFO(); + uint8_t dmpSetGyroDataSource(uint8_t source); + uint8_t dmpDecodeQuantizedAccel(); + uint32_t dmpGetGyroSumOfSquare(); + uint32_t dmpGetAccelSumOfSquare(); + void dmpOverrideQuaternion(long *q); + uint16_t dmpGetFIFOPacketSize(); + #endif + + // special methods for MotionApps 4.1 implementation + #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41 + uint8_t *dmpPacketBuffer; + uint16_t dmpPacketSize; + + uint8_t dmpInitialize(); + bool dmpPacketAvailable(); + + uint8_t dmpSetFIFORate(uint8_t fifoRate); + uint8_t dmpGetFIFORate(); + uint8_t dmpGetSampleStepSizeMS(); + uint8_t dmpGetSampleFrequency(); + int32_t dmpDecodeTemperature(int8_t tempReg); + + // Register callbacks after a packet of FIFO data is processed + //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); + //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); + uint8_t dmpRunFIFORateProcesses(); + + // Setup FIFO for various output + uint8_t dmpSendQuaternion(uint_fast16_t accuracy); + uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); + uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); + + // Get Fixed Point data from FIFO + uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); + uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); + uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); + uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0); + uint8_t dmpSetLinearAccelFilterCoefficient(float coef); + uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); + uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); + uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); + uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); + uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); + uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); + + uint8_t dmpGetEuler(float *data, Quaternion *q); + uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); + + // Get Floating Point data from FIFO + uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); + uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); + + uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); + uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); + + uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); + + uint8_t dmpInitFIFOParam(); + uint8_t dmpCloseFIFO(); + uint8_t dmpSetGyroDataSource(uint8_t source); + uint8_t dmpDecodeQuantizedAccel(); + uint32_t dmpGetGyroSumOfSquare(); + uint32_t dmpGetAccelSumOfSquare(); + void dmpOverrideQuaternion(long *q); + uint16_t dmpGetFIFOPacketSize(); + #endif + + private: + uint8_t devAddr; + uint8_t buffer[14]; +}; + +#endif /* _MPU6050_H_ */ \ No newline at end of file