Osman Kamerić
Ported from Arduino Library : https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
Dependents: kopija_NUCLEO_CELL_LOCKER_copy
Fork of
MPU6050
by 
Simon Garfieldsg
Embed:
(wiki syntax)
Show/hide line numbers
MPU6050.h
00001 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 00002 //written by szymon gaertig (email: szymon@gaertig.com.pl) 00003 // 00004 //Changelog: 00005 //2013-01-08 - first beta release 00006 00007 // I2Cdev library collection - MPU6050 I2C device class 00008 // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) 00009 // 10/3/2011 by Jeff Rowberg <jeff@rowberg.net> 00010 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib 00011 // 00012 // Changelog: 00013 // ... - ongoing debug release 00014 00015 // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE 00016 // DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF 00017 // YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING. 00018 00019 /* ============================================ 00020 I2Cdev device library code is placed under the MIT license 00021 Copyright (c) 2012 Jeff Rowberg 00022 00023 Permission is hereby granted, free of charge, to any person obtaining a copy 00024 of this software and associated documentation files (the "Software"), to deal 00025 in the Software without restriction, including without limitation the rights 00026 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00027 copies of the Software, and to permit persons to whom the Software is 00028 furnished to do so, subject to the following conditions: 00029 00030 The above copyright notice and this permission notice shall be included in 00031 all copies or substantial portions of the Software. 00032 00033 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00034 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00035 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00036 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00037 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00038 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00039 THE SOFTWARE. 00040 =============================================== 00041 */ 00042 00043 #ifndef _MPU6050_H_ 00044 #define _MPU6050_H_ 00045 00046 #include "I2Cdev.h" 00047 #include "helper_3dmath.h" 00048 00049 #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board 00050 #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) 00051 #define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW 00052 00053 00054 //#define ADO 0 00055 //#if ADO 00056 //#define MPU6050_DEFAULT_ADDRESS 0x69<<1 // Device address when ADO = 1 00057 //#else 00058 //#define MPU6050_DEFAULT_ADDRESS 0x68<<1 // Device address when ADO = 0 00059 //#endif 00060 00061 00062 00063 00064 00065 #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD 00066 #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD 00067 #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD 00068 #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN 00069 #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN 00070 #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN 00071 #define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS 00072 #define MPU6050_RA_XA_OFFS_L_TC 0x07 00073 #define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS 00074 #define MPU6050_RA_YA_OFFS_L_TC 0x09 00075 #define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS 00076 #define MPU6050_RA_ZA_OFFS_L_TC 0x0B 00077 #define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR 00078 #define MPU6050_RA_XG_OFFS_USRL 0x14 00079 #define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR 00080 #define MPU6050_RA_YG_OFFS_USRL 0x16 00081 #define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR 00082 #define MPU6050_RA_ZG_OFFS_USRL 0x18 00083 #define MPU6050_RA_SMPLRT_DIV 0x19 00084 #define MPU6050_RA_CONFIG 0x1A 00085 #define MPU6050_RA_GYRO_CONFIG 0x1B 00086 #define MPU6050_RA_ACCEL_CONFIG 0x1C 00087 #define MPU6050_RA_FF_THR 0x1D 00088 #define MPU6050_RA_FF_DUR 0x1E 00089 #define MPU6050_RA_MOT_THR 0x1F 00090 #define MPU6050_RA_MOT_DUR 0x20 00091 #define MPU6050_RA_ZRMOT_THR 0x21 00092 #define MPU6050_RA_ZRMOT_DUR 0x22 00093 #define MPU6050_RA_FIFO_EN 0x23 00094 #define MPU6050_RA_I2C_MST_CTRL 0x24 00095 #define MPU6050_RA_I2C_SLV0_ADDR 0x25 00096 #define MPU6050_RA_I2C_SLV0_REG 0x26 00097 #define MPU6050_RA_I2C_SLV0_CTRL 0x27 00098 #define MPU6050_RA_I2C_SLV1_ADDR 0x28 00099 #define MPU6050_RA_I2C_SLV1_REG 0x29 00100 #define MPU6050_RA_I2C_SLV1_CTRL 0x2A 00101 #define MPU6050_RA_I2C_SLV2_ADDR 0x2B 00102 #define MPU6050_RA_I2C_SLV2_REG 0x2C 00103 #define MPU6050_RA_I2C_SLV2_CTRL 0x2D 00104 #define MPU6050_RA_I2C_SLV3_ADDR 0x2E 00105 #define MPU6050_RA_I2C_SLV3_REG 0x2F 00106 #define MPU6050_RA_I2C_SLV3_CTRL 0x30 00107 #define MPU6050_RA_I2C_SLV4_ADDR 0x31 00108 #define MPU6050_RA_I2C_SLV4_REG 0x32 00109 #define MPU6050_RA_I2C_SLV4_DO 0x33 00110 #define MPU6050_RA_I2C_SLV4_CTRL 0x34 00111 #define MPU6050_RA_I2C_SLV4_DI 0x35 00112 #define MPU6050_RA_I2C_MST_STATUS 0x36 00113 #define MPU6050_RA_INT_PIN_CFG 0x37 00114 #define MPU6050_RA_INT_ENABLE 0x38 00115 #define MPU6050_RA_DMP_INT_STATUS 0x39 00116 #define MPU6050_RA_INT_STATUS 0x3A 00117 #define MPU6050_RA_ACCEL_XOUT_H 0x3B 00118 #define MPU6050_RA_ACCEL_XOUT_L 0x3C 00119 #define MPU6050_RA_ACCEL_YOUT_H 0x3D 00120 #define MPU6050_RA_ACCEL_YOUT_L 0x3E 00121 #define MPU6050_RA_ACCEL_ZOUT_H 0x3F 00122 #define MPU6050_RA_ACCEL_ZOUT_L 0x40 00123 #define MPU6050_RA_TEMP_OUT_H 0x41 00124 #define MPU6050_RA_TEMP_OUT_L 0x42 00125 #define MPU6050_RA_GYRO_XOUT_H 0x43 00126 #define MPU6050_RA_GYRO_XOUT_L 0x44 00127 #define MPU6050_RA_GYRO_YOUT_H 0x45 00128 #define MPU6050_RA_GYRO_YOUT_L 0x46 00129 #define MPU6050_RA_GYRO_ZOUT_H 0x47 00130 #define MPU6050_RA_GYRO_ZOUT_L 0x48 00131 #define MPU6050_RA_EXT_SENS_DATA_00 0x49 00132 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A 00133 #define MPU6050_RA_EXT_SENS_DATA_02 0x4B 00134 #define MPU6050_RA_EXT_SENS_DATA_03 0x4C 00135 #define MPU6050_RA_EXT_SENS_DATA_04 0x4D 00136 #define MPU6050_RA_EXT_SENS_DATA_05 0x4E 00137 #define MPU6050_RA_EXT_SENS_DATA_06 0x4F 00138 #define MPU6050_RA_EXT_SENS_DATA_07 0x50 00139 #define MPU6050_RA_EXT_SENS_DATA_08 0x51 00140 #define MPU6050_RA_EXT_SENS_DATA_09 0x52 00141 #define MPU6050_RA_EXT_SENS_DATA_10 0x53 00142 #define MPU6050_RA_EXT_SENS_DATA_11 0x54 00143 #define MPU6050_RA_EXT_SENS_DATA_12 0x55 00144 #define MPU6050_RA_EXT_SENS_DATA_13 0x56 00145 #define MPU6050_RA_EXT_SENS_DATA_14 0x57 00146 #define MPU6050_RA_EXT_SENS_DATA_15 0x58 00147 #define MPU6050_RA_EXT_SENS_DATA_16 0x59 00148 #define MPU6050_RA_EXT_SENS_DATA_17 0x5A 00149 #define MPU6050_RA_EXT_SENS_DATA_18 0x5B 00150 #define MPU6050_RA_EXT_SENS_DATA_19 0x5C 00151 #define MPU6050_RA_EXT_SENS_DATA_20 0x5D 00152 #define MPU6050_RA_EXT_SENS_DATA_21 0x5E 00153 #define MPU6050_RA_EXT_SENS_DATA_22 0x5F 00154 #define MPU6050_RA_EXT_SENS_DATA_23 0x60 00155 #define MPU6050_RA_MOT_DETECT_STATUS 0x61 00156 #define MPU6050_RA_I2C_SLV0_DO 0x63 00157 #define MPU6050_RA_I2C_SLV1_DO 0x64 00158 #define MPU6050_RA_I2C_SLV2_DO 0x65 00159 #define MPU6050_RA_I2C_SLV3_DO 0x66 00160 #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 00161 #define MPU6050_RA_SIGNAL_PATH_RESET 0x68 00162 #define MPU6050_RA_MOT_DETECT_CTRL 0x69 00163 #define MPU6050_RA_USER_CTRL 0x6A 00164 #define MPU6050_RA_PWR_MGMT_1 0x6B 00165 #define MPU6050_RA_PWR_MGMT_2 0x6C 00166 #define MPU6050_RA_BANK_SEL 0x6D 00167 #define MPU6050_RA_MEM_START_ADDR 0x6E 00168 #define MPU6050_RA_MEM_R_W 0x6F 00169 #define MPU6050_RA_DMP_CFG_1 0x70 00170 #define MPU6050_RA_DMP_CFG_2 0x71 00171 #define MPU6050_RA_FIFO_COUNTH 0x72 00172 #define MPU6050_RA_FIFO_COUNTL 0x73 00173 #define MPU6050_RA_FIFO_R_W 0x74 00174 #define MPU6050_RA_WHO_AM_I 0x75 00175 00176 #define MPU6050_TC_PWR_MODE_BIT 7 00177 #define MPU6050_TC_OFFSET_BIT 6 00178 #define MPU6050_TC_OFFSET_LENGTH 6 00179 #define MPU6050_TC_OTP_BNK_VLD_BIT 0 00180 00181 #define MPU6050_VDDIO_LEVEL_VLOGIC 0 00182 #define MPU6050_VDDIO_LEVEL_VDD 1 00183 00184 #define MPU6050_CFG_EXT_SYNC_SET_BIT 5 00185 #define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3 00186 #define MPU6050_CFG_DLPF_CFG_BIT 2 00187 #define MPU6050_CFG_DLPF_CFG_LENGTH 3 00188 00189 #define MPU6050_EXT_SYNC_DISABLED 0x0 00190 #define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1 00191 #define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2 00192 #define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3 00193 #define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4 00194 #define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5 00195 #define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6 00196 #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7 00197 00198 #define MPU6050_DLPF_BW_256 0x00 00199 #define MPU6050_DLPF_BW_188 0x01 00200 #define MPU6050_DLPF_BW_98 0x02 00201 #define MPU6050_DLPF_BW_42 0x03 00202 #define MPU6050_DLPF_BW_20 0x04 00203 #define MPU6050_DLPF_BW_10 0x05 00204 #define MPU6050_DLPF_BW_5 0x06 00205 00206 #define MPU6050_GCONFIG_FS_SEL_BIT 4 00207 #define MPU6050_GCONFIG_FS_SEL_LENGTH 2 00208 00209 #define MPU6050_GYRO_FS_250 0x00 00210 #define MPU6050_GYRO_FS_500 0x01 00211 #define MPU6050_GYRO_FS_1000 0x02 00212 #define MPU6050_GYRO_FS_2000 0x03 00213 00214 #define MPU6050_ACONFIG_XA_ST_BIT 7 00215 #define MPU6050_ACONFIG_YA_ST_BIT 6 00216 #define MPU6050_ACONFIG_ZA_ST_BIT 5 00217 #define MPU6050_ACONFIG_AFS_SEL_BIT 4 00218 #define MPU6050_ACONFIG_AFS_SEL_LENGTH 2 00219 #define MPU6050_ACONFIG_ACCEL_HPF_BIT 2 00220 #define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3 00221 00222 #define MPU6050_ACCEL_FS_2 0x00 00223 #define MPU6050_ACCEL_FS_4 0x01 00224 #define MPU6050_ACCEL_FS_8 0x02 00225 #define MPU6050_ACCEL_FS_16 0x03 00226 00227 #define MPU6050_DHPF_RESET 0x00 00228 #define MPU6050_DHPF_5 0x01 00229 #define MPU6050_DHPF_2P5 0x02 00230 #define MPU6050_DHPF_1P25 0x03 00231 #define MPU6050_DHPF_0P63 0x04 00232 #define MPU6050_DHPF_HOLD 0x07 00233 00234 #define MPU6050_TEMP_FIFO_EN_BIT 7 00235 #define MPU6050_XG_FIFO_EN_BIT 6 00236 #define MPU6050_YG_FIFO_EN_BIT 5 00237 #define MPU6050_ZG_FIFO_EN_BIT 4 00238 #define MPU6050_ACCEL_FIFO_EN_BIT 3 00239 #define MPU6050_SLV2_FIFO_EN_BIT 2 00240 #define MPU6050_SLV1_FIFO_EN_BIT 1 00241 #define MPU6050_SLV0_FIFO_EN_BIT 0 00242 00243 #define MPU6050_MULT_MST_EN_BIT 7 00244 #define MPU6050_WAIT_FOR_ES_BIT 6 00245 #define MPU6050_SLV_3_FIFO_EN_BIT 5 00246 #define MPU6050_I2C_MST_P_NSR_BIT 4 00247 #define MPU6050_I2C_MST_CLK_BIT 3 00248 #define MPU6050_I2C_MST_CLK_LENGTH 4 00249 00250 #define MPU6050_CLOCK_DIV_348 0x0 00251 #define MPU6050_CLOCK_DIV_333 0x1 00252 #define MPU6050_CLOCK_DIV_320 0x2 00253 #define MPU6050_CLOCK_DIV_308 0x3 00254 #define MPU6050_CLOCK_DIV_296 0x4 00255 #define MPU6050_CLOCK_DIV_286 0x5 00256 #define MPU6050_CLOCK_DIV_276 0x6 00257 #define MPU6050_CLOCK_DIV_267 0x7 00258 #define MPU6050_CLOCK_DIV_258 0x8 00259 #define MPU6050_CLOCK_DIV_500 0x9 00260 #define MPU6050_CLOCK_DIV_471 0xA 00261 #define MPU6050_CLOCK_DIV_444 0xB 00262 #define MPU6050_CLOCK_DIV_421 0xC 00263 #define MPU6050_CLOCK_DIV_400 0xD 00264 #define MPU6050_CLOCK_DIV_381 0xE 00265 #define MPU6050_CLOCK_DIV_364 0xF 00266 00267 #define MPU6050_I2C_SLV_RW_BIT 7 00268 #define MPU6050_I2C_SLV_ADDR_BIT 6 00269 #define MPU6050_I2C_SLV_ADDR_LENGTH 7 00270 #define MPU6050_I2C_SLV_EN_BIT 7 00271 #define MPU6050_I2C_SLV_BYTE_SW_BIT 6 00272 #define MPU6050_I2C_SLV_REG_DIS_BIT 5 00273 #define MPU6050_I2C_SLV_GRP_BIT 4 00274 #define MPU6050_I2C_SLV_LEN_BIT 3 00275 #define MPU6050_I2C_SLV_LEN_LENGTH 4 00276 00277 #define MPU6050_I2C_SLV4_RW_BIT 7 00278 #define MPU6050_I2C_SLV4_ADDR_BIT 6 00279 #define MPU6050_I2C_SLV4_ADDR_LENGTH 7 00280 #define MPU6050_I2C_SLV4_EN_BIT 7 00281 #define MPU6050_I2C_SLV4_INT_EN_BIT 6 00282 #define MPU6050_I2C_SLV4_REG_DIS_BIT 5 00283 #define MPU6050_I2C_SLV4_MST_DLY_BIT 4 00284 #define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5 00285 00286 #define MPU6050_MST_PASS_THROUGH_BIT 7 00287 #define MPU6050_MST_I2C_SLV4_DONE_BIT 6 00288 #define MPU6050_MST_I2C_LOST_ARB_BIT 5 00289 #define MPU6050_MST_I2C_SLV4_NACK_BIT 4 00290 #define MPU6050_MST_I2C_SLV3_NACK_BIT 3 00291 #define MPU6050_MST_I2C_SLV2_NACK_BIT 2 00292 #define MPU6050_MST_I2C_SLV1_NACK_BIT 1 00293 #define MPU6050_MST_I2C_SLV0_NACK_BIT 0 00294 00295 #define MPU6050_INTCFG_INT_LEVEL_BIT 7 00296 #define MPU6050_INTCFG_INT_OPEN_BIT 6 00297 #define MPU6050_INTCFG_LATCH_INT_EN_BIT 5 00298 #define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4 00299 #define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3 00300 #define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2 00301 #define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1 00302 #define MPU6050_INTCFG_CLKOUT_EN_BIT 0 00303 00304 #define MPU6050_INTMODE_ACTIVEHIGH 0x00 00305 #define MPU6050_INTMODE_ACTIVELOW 0x01 00306 00307 #define MPU6050_INTDRV_PUSHPULL 0x00 00308 #define MPU6050_INTDRV_OPENDRAIN 0x01 00309 00310 #define MPU6050_INTLATCH_50USPULSE 0x00 00311 #define MPU6050_INTLATCH_WAITCLEAR 0x01 00312 00313 #define MPU6050_INTCLEAR_STATUSREAD 0x00 00314 #define MPU6050_INTCLEAR_ANYREAD 0x01 00315 00316 #define MPU6050_INTERRUPT_FF_BIT 7 00317 #define MPU6050_INTERRUPT_MOT_BIT 6 00318 #define MPU6050_INTERRUPT_ZMOT_BIT 5 00319 #define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4 00320 #define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3 00321 #define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2 00322 #define MPU6050_INTERRUPT_DMP_INT_BIT 1 00323 #define MPU6050_INTERRUPT_DATA_RDY_BIT 0 00324 00325 // TODO: figure out what these actually do 00326 // UMPL source code is not very obivous 00327 #define MPU6050_DMPINT_5_BIT 5 00328 #define MPU6050_DMPINT_4_BIT 4 00329 #define MPU6050_DMPINT_3_BIT 3 00330 #define MPU6050_DMPINT_2_BIT 2 00331 #define MPU6050_DMPINT_1_BIT 1 00332 #define MPU6050_DMPINT_0_BIT 0 00333 00334 #define MPU6050_MOTION_MOT_XNEG_BIT 7 00335 #define MPU6050_MOTION_MOT_XPOS_BIT 6 00336 #define MPU6050_MOTION_MOT_YNEG_BIT 5 00337 #define MPU6050_MOTION_MOT_YPOS_BIT 4 00338 #define MPU6050_MOTION_MOT_ZNEG_BIT 3 00339 #define MPU6050_MOTION_MOT_ZPOS_BIT 2 00340 #define MPU6050_MOTION_MOT_ZRMOT_BIT 0 00341 00342 #define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7 00343 #define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4 00344 #define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3 00345 #define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2 00346 #define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1 00347 #define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0 00348 00349 #define MPU6050_PATHRESET_GYRO_RESET_BIT 2 00350 #define MPU6050_PATHRESET_ACCEL_RESET_BIT 1 00351 #define MPU6050_PATHRESET_TEMP_RESET_BIT 0 00352 00353 #define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5 00354 #define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2 00355 #define MPU6050_DETECT_FF_COUNT_BIT 3 00356 #define MPU6050_DETECT_FF_COUNT_LENGTH 2 00357 #define MPU6050_DETECT_MOT_COUNT_BIT 1 00358 #define MPU6050_DETECT_MOT_COUNT_LENGTH 2 00359 00360 #define MPU6050_DETECT_DECREMENT_RESET 0x0 00361 #define MPU6050_DETECT_DECREMENT_1 0x1 00362 #define MPU6050_DETECT_DECREMENT_2 0x2 00363 #define MPU6050_DETECT_DECREMENT_4 0x3 00364 00365 #define MPU6050_USERCTRL_DMP_EN_BIT 7 00366 #define MPU6050_USERCTRL_FIFO_EN_BIT 6 00367 #define MPU6050_USERCTRL_I2C_MST_EN_BIT 5 00368 #define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4 00369 #define MPU6050_USERCTRL_DMP_RESET_BIT 3 00370 #define MPU6050_USERCTRL_FIFO_RESET_BIT 2 00371 #define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1 00372 #define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0 00373 00374 #define MPU6050_PWR1_DEVICE_RESET_BIT 7 00375 #define MPU6050_PWR1_SLEEP_BIT 6 00376 #define MPU6050_PWR1_CYCLE_BIT 5 00377 #define MPU6050_PWR1_TEMP_DIS_BIT 3 00378 #define MPU6050_PWR1_CLKSEL_BIT 2 00379 #define MPU6050_PWR1_CLKSEL_LENGTH 3 00380 00381 #define MPU6050_CLOCK_INTERNAL 0x00 00382 #define MPU6050_CLOCK_PLL_XGYRO 0x01 00383 #define MPU6050_CLOCK_PLL_YGYRO 0x02 00384 #define MPU6050_CLOCK_PLL_ZGYRO 0x03 00385 #define MPU6050_CLOCK_PLL_EXT32K 0x04 00386 #define MPU6050_CLOCK_PLL_EXT19M 0x05 00387 #define MPU6050_CLOCK_KEEP_RESET 0x07 00388 00389 #define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7 00390 #define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2 00391 #define MPU6050_PWR2_STBY_XA_BIT 5 00392 #define MPU6050_PWR2_STBY_YA_BIT 4 00393 #define MPU6050_PWR2_STBY_ZA_BIT 3 00394 #define MPU6050_PWR2_STBY_XG_BIT 2 00395 #define MPU6050_PWR2_STBY_YG_BIT 1 00396 #define MPU6050_PWR2_STBY_ZG_BIT 0 00397 00398 #define MPU6050_WAKE_FREQ_1P25 0x0 00399 #define MPU6050_WAKE_FREQ_2P5 0x1 00400 #define MPU6050_WAKE_FREQ_5 0x2 00401 #define MPU6050_WAKE_FREQ_10 0x3 00402 00403 #define MPU6050_BANKSEL_PRFTCH_EN_BIT 6 00404 #define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5 00405 #define MPU6050_BANKSEL_MEM_SEL_BIT 4 00406 #define MPU6050_BANKSEL_MEM_SEL_LENGTH 5 00407 00408 #define MPU6050_WHO_AM_I_BIT 6 00409 #define MPU6050_WHO_AM_I_LENGTH 6 00410 00411 #define MPU6050_DMP_MEMORY_BANKS 8 00412 #define MPU6050_DMP_MEMORY_BANK_SIZE 256 00413 #define MPU6050_DMP_MEMORY_CHUNK_SIZE 16 00414 extern float aRes, gRes; 00415 00416 //extern DigitalOut LED2; 00417 00418 /* Sensor datas to be used in program */ 00419 extern int16_t ax,ay,az; 00420 extern int16_t gx,gy,gz; 00421 extern Serial pc; 00422 extern int16_t accelData[3],gyroData[3],tempData; 00423 extern float accelBias[3], gyroBias[3]; 00424 // note: DMP code memory blocks defined at end of header file 00425 00426 class MPU6050 { 00427 private: 00428 I2Cdev i2Cdev; 00429 //Serial debugSerial; 00430 public: 00431 MPU6050(); 00432 MPU6050(uint8_t address); 00433 00434 void initialize(); 00435 bool testConnection(); 00436 void calibrate(float* dest1, float* dest2); 00437 void getAres(); 00438 void readAccelData(int16_t* dest); 00439 void getGres(); 00440 void readGyroData(int16_t* dest); 00441 uint8_t readThisByte(uint8_t address); 00442 // AUX_VDDIO register 00443 uint8_t getAuxVDDIOLevel(); 00444 void setAuxVDDIOLevel(uint8_t level); 00445 00446 // SMPLRT_DIV register 00447 uint8_t getRate(); 00448 void setRate(uint8_t rate); 00449 00450 // CONFIG register 00451 uint8_t getExternalFrameSync(); 00452 void setExternalFrameSync(uint8_t sync); 00453 uint8_t getDLPFMode(); 00454 void setDLPFMode(uint8_t bandwidth); 00455 00456 // GYRO_CONFIG register 00457 uint8_t getFullScaleGyroRange(); 00458 void setFullScaleGyroRange(uint8_t range); 00459 00460 // ACCEL_CONFIG register 00461 bool getAccelXSelfTest(); 00462 void setAccelXSelfTest(bool enabled); 00463 bool getAccelYSelfTest(); 00464 void setAccelYSelfTest(bool enabled); 00465 bool getAccelZSelfTest(); 00466 void setAccelZSelfTest(bool enabled); 00467 uint8_t getFullScaleAccelRange(); 00468 void setFullScaleAccelRange(uint8_t range); 00469 uint8_t getDHPFMode(); 00470 void setDHPFMode(uint8_t mode); 00471 00472 // FF_THR register 00473 uint8_t getFreefallDetectionThreshold(); 00474 void setFreefallDetectionThreshold(uint8_t threshold); 00475 00476 // FF_DUR register 00477 uint8_t getFreefallDetectionDuration(); 00478 void setFreefallDetectionDuration(uint8_t duration); 00479 00480 // MOT_THR register 00481 uint8_t getMotionDetectionThreshold(); 00482 void setMotionDetectionThreshold(uint8_t threshold); 00483 00484 // MOT_DUR register 00485 uint8_t getMotionDetectionDuration(); 00486 void setMotionDetectionDuration(uint8_t duration); 00487 00488 // ZRMOT_THR register 00489 uint8_t getZeroMotionDetectionThreshold(); 00490 void setZeroMotionDetectionThreshold(uint8_t threshold); 00491 00492 // ZRMOT_DUR register 00493 uint8_t getZeroMotionDetectionDuration(); 00494 void setZeroMotionDetectionDuration(uint8_t duration); 00495 00496 // FIFO_EN register 00497 bool getTempFIFOEnabled(); 00498 void setTempFIFOEnabled(bool enabled); 00499 bool getXGyroFIFOEnabled(); 00500 void setXGyroFIFOEnabled(bool enabled); 00501 bool getYGyroFIFOEnabled(); 00502 void setYGyroFIFOEnabled(bool enabled); 00503 bool getZGyroFIFOEnabled(); 00504 void setZGyroFIFOEnabled(bool enabled); 00505 bool getAccelFIFOEnabled(); 00506 void setAccelFIFOEnabled(bool enabled); 00507 bool getSlave2FIFOEnabled(); 00508 void setSlave2FIFOEnabled(bool enabled); 00509 bool getSlave1FIFOEnabled(); 00510 void setSlave1FIFOEnabled(bool enabled); 00511 bool getSlave0FIFOEnabled(); 00512 void setSlave0FIFOEnabled(bool enabled); 00513 00514 // I2C_MST_CTRL register 00515 bool getMultiMasterEnabled(); 00516 void setMultiMasterEnabled(bool enabled); 00517 bool getWaitForExternalSensorEnabled(); 00518 void setWaitForExternalSensorEnabled(bool enabled); 00519 bool getSlave3FIFOEnabled(); 00520 void setSlave3FIFOEnabled(bool enabled); 00521 bool getSlaveReadWriteTransitionEnabled(); 00522 void setSlaveReadWriteTransitionEnabled(bool enabled); 00523 uint8_t getMasterClockSpeed(); 00524 void setMasterClockSpeed(uint8_t speed); 00525 00526 // I2C_SLV* registers (Slave 0-3) 00527 uint8_t getSlaveAddress(uint8_t num); 00528 void setSlaveAddress(uint8_t num, uint8_t address); 00529 uint8_t getSlaveRegister(uint8_t num); 00530 void setSlaveRegister(uint8_t num, uint8_t reg); 00531 bool getSlaveEnabled(uint8_t num); 00532 void setSlaveEnabled(uint8_t num, bool enabled); 00533 bool getSlaveWordByteSwap(uint8_t num); 00534 void setSlaveWordByteSwap(uint8_t num, bool enabled); 00535 bool getSlaveWriteMode(uint8_t num); 00536 void setSlaveWriteMode(uint8_t num, bool mode); 00537 bool getSlaveWordGroupOffset(uint8_t num); 00538 void setSlaveWordGroupOffset(uint8_t num, bool enabled); 00539 uint8_t getSlaveDataLength(uint8_t num); 00540 void setSlaveDataLength(uint8_t num, uint8_t length); 00541 00542 // I2C_SLV* registers (Slave 4) 00543 uint8_t getSlave4Address(); 00544 void setSlave4Address(uint8_t address); 00545 uint8_t getSlave4Register(); 00546 void setSlave4Register(uint8_t reg); 00547 void setSlave4OutputByte(uint8_t data); 00548 bool getSlave4Enabled(); 00549 void setSlave4Enabled(bool enabled); 00550 bool getSlave4InterruptEnabled(); 00551 void setSlave4InterruptEnabled(bool enabled); 00552 bool getSlave4WriteMode(); 00553 void setSlave4WriteMode(bool mode); 00554 uint8_t getSlave4MasterDelay(); 00555 void setSlave4MasterDelay(uint8_t delay); 00556 uint8_t getSlate4InputByte(); 00557 00558 // I2C_MST_STATUS register 00559 bool getPassthroughStatus(); 00560 bool getSlave4IsDone(); 00561 bool getLostArbitration(); 00562 bool getSlave4Nack(); 00563 bool getSlave3Nack(); 00564 bool getSlave2Nack(); 00565 bool getSlave1Nack(); 00566 bool getSlave0Nack(); 00567 00568 // INT_PIN_CFG register 00569 bool getInterruptMode(); 00570 void setInterruptMode(bool mode); 00571 bool getInterruptDrive(); 00572 void setInterruptDrive(bool drive); 00573 bool getInterruptLatch(); 00574 void setInterruptLatch(bool latch); 00575 bool getInterruptLatchClear(); 00576 void setInterruptLatchClear(bool clear); 00577 bool getFSyncInterruptLevel(); 00578 void setFSyncInterruptLevel(bool level); 00579 bool getFSyncInterruptEnabled(); 00580 void setFSyncInterruptEnabled(bool enabled); 00581 bool getI2CBypassEnabled(); 00582 void setI2CBypassEnabled(bool enabled); 00583 bool getClockOutputEnabled(); 00584 void setClockOutputEnabled(bool enabled); 00585 00586 // INT_ENABLE register 00587 uint8_t getIntEnabled(); 00588 void setIntEnabled(uint8_t enabled); 00589 bool getIntFreefallEnabled(); 00590 void setIntFreefallEnabled(bool enabled); 00591 bool getIntMotionEnabled(); 00592 void setIntMotionEnabled(bool enabled); 00593 bool getIntZeroMotionEnabled(); 00594 void setIntZeroMotionEnabled(bool enabled); 00595 bool getIntFIFOBufferOverflowEnabled(); 00596 void setIntFIFOBufferOverflowEnabled(bool enabled); 00597 bool getIntI2CMasterEnabled(); 00598 void setIntI2CMasterEnabled(bool enabled); 00599 bool getIntDataReadyEnabled(); 00600 void setIntDataReadyEnabled(bool enabled); 00601 00602 // INT_STATUS register 00603 uint8_t getIntStatus(); 00604 bool getIntFreefallStatus(); 00605 bool getIntMotionStatus(); 00606 bool getIntZeroMotionStatus(); 00607 bool getIntFIFOBufferOverflowStatus(); 00608 bool getIntI2CMasterStatus(); 00609 bool getIntDataReadyStatus(); 00610 00611 // ACCEL_*OUT_* registers 00612 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); 00613 void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz); 00614 void getAcceleration(int16_t* x, int16_t* y, int16_t* z); 00615 int16_t getAccelerationX(); 00616 int16_t getAccelerationY(); 00617 int16_t getAccelerationZ(); 00618 00619 // TEMP_OUT_* registers 00620 int16_t getTemperature(); 00621 00622 // GYRO_*OUT_* registers 00623 void getRotation(int16_t* x, int16_t* y, int16_t* z); 00624 int16_t getRotationX(); 00625 int16_t getRotationY(); 00626 int16_t getRotationZ(); 00627 00628 // EXT_SENS_DATA_* registers 00629 uint8_t getExternalSensorByte(int position); 00630 uint16_t getExternalSensorWord(int position); 00631 uint32_t getExternalSensorDWord(int position); 00632 00633 // MOT_DETECT_STATUS register 00634 bool getXNegMotionDetected(); 00635 bool getXPosMotionDetected(); 00636 bool getYNegMotionDetected(); 00637 bool getYPosMotionDetected(); 00638 bool getZNegMotionDetected(); 00639 bool getZPosMotionDetected(); 00640 bool getZeroMotionDetected(); 00641 00642 // I2C_SLV*_DO register 00643 void setSlaveOutputByte(uint8_t num, uint8_t data); 00644 00645 // I2C_MST_DELAY_CTRL register 00646 bool getExternalShadowDelayEnabled(); 00647 void setExternalShadowDelayEnabled(bool enabled); 00648 bool getSlaveDelayEnabled(uint8_t num); 00649 void setSlaveDelayEnabled(uint8_t num, bool enabled); 00650 00651 // SIGNAL_PATH_RESET register 00652 void resetGyroscopePath(); 00653 void resetAccelerometerPath(); 00654 void resetTemperaturePath(); 00655 00656 // MOT_DETECT_CTRL register 00657 uint8_t getAccelerometerPowerOnDelay(); 00658 void setAccelerometerPowerOnDelay(uint8_t delay); 00659 uint8_t getFreefallDetectionCounterDecrement(); 00660 void setFreefallDetectionCounterDecrement(uint8_t decrement); 00661 uint8_t getMotionDetectionCounterDecrement(); 00662 void setMotionDetectionCounterDecrement(uint8_t decrement); 00663 00664 // USER_CTRL register 00665 bool getFIFOEnabled(); 00666 void setFIFOEnabled(bool enabled); 00667 bool getI2CMasterModeEnabled(); 00668 void setI2CMasterModeEnabled(bool enabled); 00669 void switchSPIEnabled(bool enabled); 00670 void resetFIFO(); 00671 void resetI2CMaster(); 00672 void resetSensors(); 00673 00674 // PWR_MGMT_1 register 00675 void reset(); 00676 bool getSleepEnabled(); 00677 void setSleepEnabled(bool enabled); 00678 bool getWakeCycleEnabled(); 00679 void setWakeCycleEnabled(bool enabled); 00680 bool getTempSensorEnabled(); 00681 void setTempSensorEnabled(bool enabled); 00682 uint8_t getClockSource(); 00683 void setClockSource(uint8_t source); 00684 00685 // PWR_MGMT_2 register 00686 uint8_t getWakeFrequency(); 00687 void setWakeFrequency(uint8_t frequency); 00688 bool getStandbyXAccelEnabled(); 00689 void setStandbyXAccelEnabled(bool enabled); 00690 bool getStandbyYAccelEnabled(); 00691 void setStandbyYAccelEnabled(bool enabled); 00692 bool getStandbyZAccelEnabled(); 00693 void setStandbyZAccelEnabled(bool enabled); 00694 bool getStandbyXGyroEnabled(); 00695 void setStandbyXGyroEnabled(bool enabled); 00696 bool getStandbyYGyroEnabled(); 00697 void setStandbyYGyroEnabled(bool enabled); 00698 bool getStandbyZGyroEnabled(); 00699 void setStandbyZGyroEnabled(bool enabled); 00700 00701 // FIFO_COUNT_* registers 00702 uint16_t getFIFOCount(); 00703 00704 // FIFO_R_W register 00705 uint8_t getFIFOByte(); 00706 void setFIFOByte(uint8_t data); 00707 void getFIFOBytes(uint8_t *data, uint8_t length); 00708 00709 // WHO_AM_I register 00710 uint8_t getDeviceID(); 00711 void setDeviceID(uint8_t id); 00712 00713 // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ======== 00714 00715 // XG_OFFS_TC register 00716 uint8_t getOTPBankValid(); 00717 void setOTPBankValid(bool enabled); 00718 int8_t getXGyroOffset(); 00719 void setXGyroOffset(int8_t offset); 00720 00721 // YG_OFFS_TC register 00722 int8_t getYGyroOffset(); 00723 void setYGyroOffset(int8_t offset); 00724 00725 // ZG_OFFS_TC register 00726 int8_t getZGyroOffset(); 00727 void setZGyroOffset(int8_t offset); 00728 00729 // X_FINE_GAIN register 00730 int8_t getXFineGain(); 00731 void setXFineGain(int8_t gain); 00732 00733 // Y_FINE_GAIN register 00734 int8_t getYFineGain(); 00735 void setYFineGain(int8_t gain); 00736 00737 // Z_FINE_GAIN register 00738 int8_t getZFineGain(); 00739 void setZFineGain(int8_t gain); 00740 00741 // XA_OFFS_* registers 00742 int16_t getXAccelOffset(); 00743 void setXAccelOffset(int16_t offset); 00744 00745 // YA_OFFS_* register 00746 int16_t getYAccelOffset(); 00747 void setYAccelOffset(int16_t offset); 00748 00749 // ZA_OFFS_* register 00750 int16_t getZAccelOffset(); 00751 void setZAccelOffset(int16_t offset); 00752 00753 // XG_OFFS_USR* registers 00754 int16_t getXGyroOffsetUser(); 00755 void setXGyroOffsetUser(int16_t offset); 00756 00757 // YG_OFFS_USR* register 00758 int16_t getYGyroOffsetUser(); 00759 void setYGyroOffsetUser(int16_t offset); 00760 00761 // ZG_OFFS_USR* register 00762 int16_t getZGyroOffsetUser(); 00763 void setZGyroOffsetUser(int16_t offset); 00764 00765 // INT_ENABLE register (DMP functions) 00766 bool getIntPLLReadyEnabled(); 00767 void setIntPLLReadyEnabled(bool enabled); 00768 bool getIntDMPEnabled(); 00769 void setIntDMPEnabled(bool enabled); 00770 00771 // DMP_INT_STATUS 00772 bool getDMPInt5Status(); 00773 bool getDMPInt4Status(); 00774 bool getDMPInt3Status(); 00775 bool getDMPInt2Status(); 00776 bool getDMPInt1Status(); 00777 bool getDMPInt0Status(); 00778 00779 // INT_STATUS register (DMP functions) 00780 bool getIntPLLReadyStatus(); 00781 bool getIntDMPStatus(); 00782 00783 // USER_CTRL register (DMP functions) 00784 bool getDMPEnabled(); 00785 void setDMPEnabled(bool enabled); 00786 void resetDMP(); 00787 00788 // BANK_SEL register 00789 void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false); 00790 00791 // MEM_START_ADDR register 00792 void setMemoryStartAddress(uint8_t address); 00793 00794 // MEM_R_W register 00795 uint8_t readMemoryByte(); 00796 void writeMemoryByte(uint8_t data); 00797 void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0); 00798 bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false); 00799 bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true); 00800 00801 bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false); 00802 bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize); 00803 00804 // DMP_CFG_1 register 00805 uint8_t getDMPConfig1(); 00806 void setDMPConfig1(uint8_t config); 00807 00808 // DMP_CFG_2 register 00809 uint8_t getDMPConfig2(); 00810 void setDMPConfig2(uint8_t config); 00811 00812 // special methods for MotionApps 2.0 implementation 00813 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20 00814 uint8_t *dmpPacketBuffer; 00815 uint16_t dmpPacketSize; 00816 00817 uint8_t dmpInitialize(); 00818 bool dmpPacketAvailable(); 00819 00820 uint8_t dmpSetFIFORate(uint8_t fifoRate); 00821 uint8_t dmpGetFIFORate(); 00822 uint8_t dmpGetSampleStepSizeMS(); 00823 uint8_t dmpGetSampleFrequency(); 00824 int32_t dmpDecodeTemperature(int8_t tempReg); 00825 00826 // Register callbacks after a packet of FIFO data is processed 00827 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); 00828 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); 00829 uint8_t dmpRunFIFORateProcesses(); 00830 00831 // Setup FIFO for various output 00832 uint8_t dmpSendQuaternion(uint_fast16_t accuracy); 00833 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); 00834 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00835 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00836 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); 00837 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); 00838 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00839 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00840 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); 00841 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); 00842 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00843 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); 00844 00845 // Get Fixed Point data from FIFO 00846 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); 00847 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); 00848 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); 00849 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); 00850 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); 00851 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); 00852 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); 00853 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); 00854 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); 00855 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); 00856 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); 00857 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); 00858 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); 00859 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); 00860 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); 00861 uint8_t dmpSetLinearAccelFilterCoefficient(float coef); 00862 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); 00863 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); 00864 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); 00865 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); 00866 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); 00867 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); 00868 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); 00869 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); 00870 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); 00871 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); 00872 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); 00873 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); 00874 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); 00875 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); 00876 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); 00877 uint8_t dm pGetTemperature(int32_t *data, const uint8_t* packet=0); 00878 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); 00879 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); 00880 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); 00881 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); 00882 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); 00883 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); 00884 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00885 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); 00886 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); 00887 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00888 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); 00889 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); 00890 00891 uint8_t dmpGetEuler(float *data, Quaternion *q); 00892 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); 00893 00894 // Get Floating Point data from FIFO 00895 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); 00896 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); 00897 00898 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); 00899 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); 00900 00901 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); 00902 00903 uint8_t dmpInitFIFOParam(); 00904 uint8_t dmpCloseFIFO(); 00905 uint8_t dmpSetGyroDataSource(uint8_t source); 00906 uint8_t dmpDecodeQuantizedAccel(); 00907 uint32_t dmpGetGyroSumOfSquare(); 00908 uint32_t dmpGetAccelSumOfSquare(); 00909 void dmpOverrideQuaternion(long *q); 00910 uint16_t dmpGetFIFOPacketSize(); 00911 #endif 00912 00913 // special methods for MotionApps 4.1 implementation 00914 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41 00915 uint8_t *dmpPacketBuffer; 00916 uint16_t dmpPacketSize; 00917 00918 uint8_t dmpInitialize(); 00919 bool dmpPacketAvailable(); 00920 00921 uint8_t dmpSetFIFORate(uint8_t fifoRate); 00922 uint8_t dmpGetFIFORate(); 00923 uint8_t dmpGetSampleStepSizeMS(); 00924 uint8_t dmpGetSampleFrequency(); 00925 int32_t dmpDecodeTemperature(int8_t tempReg); 00926 00927 // Register callbacks after a packet of FIFO data is processed 00928 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); 00929 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); 00930 uint8_t dmpRunFIFORateProcesses(); 00931 00932 // Setup FIFO for various output 00933 uint8_t dmpSendQuaternion(uint_fast16_t accuracy); 00934 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); 00935 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00936 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00937 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); 00938 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); 00939 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00940 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00941 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); 00942 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); 00943 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00944 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); 00945 00946 // Get Fixed Point data from FIFO 00947 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); 00948 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); 00949 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); 00950 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); 00951 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); 00952 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); 00953 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); 00954 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); 00955 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); 00956 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); 00957 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); 00958 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); 00959 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); 00960 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); 00961 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); 00962 uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0); 00963 uint8_t dmpSetLinearAccelFilterCoefficient(float coef); 00964 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); 00965 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); 00966 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); 00967 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); 00968 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); 00969 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); 00970 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); 00971 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); 00972 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); 00973 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); 00974 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); 00975 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); 00976 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); 00977 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); 00978 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); 00979 uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); 00980 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); 00981 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); 00982 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); 00983 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); 00984 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); 00985 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); 00986 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00987 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); 00988 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); 00989 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00990 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); 00991 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); 00992 00993 uint8_t dmpGetEuler(float *data, Quaternion *q); 00994 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); 00995 00996 // Get Floating Point data from FIFO 00997 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); 00998 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); 00999 01000 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); 01001 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); 01002 01003 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); 01004 01005 uint8_t dmpInitFIFOParam(); 01006 uint8_t dmpCloseFIFO(); 01007 uint8_t dmpSetGyroDataSource(uint8_t source); 01008 uint8_t dmpDecodeQuantizedAccel(); 01009 uint32_t dmpGetGyroSumOfSquare(); 01010 uint32_t dmpGetAccelSumOfSquare(); 01011 void dmpOverrideQuaternion(long *q); 01012 uint16_t dmpGetFIFOPacketSize(); 01013 #endif 01014 01015 private: 01016 uint8_t devAddr; 01017 uint8_t buffer[14]; 01018 }; 01019 01020 #endif /* _MPU6050_H_ */
Generated on Wed Jul 13 2022 20:33:32 by
1.7.2