mpu9150
Fork of MPU9150 by
MPU9150.h
- Committer:
- syundo0730
- Date:
- 2016-02-01
- Revision:
- 0:78ba160ba5f3
File content as of revision 0:78ba160ba5f3:
#ifndef _MPU9150_H_ #define _MPU9150_H_ #include "I2Cdev.h" // supporting link: http://forum.arduino.cc/index.php?&topic=143444.msg1079517#msg1079517 // also: http://forum.arduino.cc/index.php?&topic=141571.msg1062899#msg1062899s #ifdef __AVR__ #include <avr/pgmspace.h> #else #define PROGMEM /* empty */ #define pgm_read_byte(x) (*(x)) #define pgm_read_word(x) (*(x)) #define pgm_read_float(x) (*(x)) #define PSTR(STR) STR #endif //Magnetometer Registers #define MPU9150_RA_MAG_ADDRESS 0x0C #define MPU9150_RA_MAG_XOUT_L 0x03 #define MPU9150_RA_MAG_XOUT_H 0x04 #define MPU9150_RA_MAG_YOUT_L 0x05 #define MPU9150_RA_MAG_YOUT_H 0x06 #define MPU9150_RA_MAG_ZOUT_L 0x07 #define MPU9150_RA_MAG_ZOUT_H 0x08 #define MPU9150_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board #define MPU9150_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) #define MPU9150_DEFAULT_ADDRESS MPU9150_ADDRESS_AD0_LOW #define MPU9150_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD #define MPU9150_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD #define MPU9150_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD #define MPU9150_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN #define MPU9150_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN #define MPU9150_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN #define MPU9150_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS #define MPU9150_RA_XA_OFFS_L_TC 0x07 #define MPU9150_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS #define MPU9150_RA_YA_OFFS_L_TC 0x09 #define MPU9150_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS #define MPU9150_RA_ZA_OFFS_L_TC 0x0B #define MPU9150_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR #define MPU9150_RA_XG_OFFS_USRL 0x14 #define MPU9150_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR #define MPU9150_RA_YG_OFFS_USRL 0x16 #define MPU9150_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR #define MPU9150_RA_ZG_OFFS_USRL 0x18 #define MPU9150_RA_SMPLRT_DIV 0x19 #define MPU9150_RA_CONFIG 0x1A #define MPU9150_RA_GYRO_CONFIG 0x1B #define MPU9150_RA_ACCEL_CONFIG 0x1C #define MPU9150_RA_FF_THR 0x1D #define MPU9150_RA_FF_DUR 0x1E #define MPU9150_RA_MOT_THR 0x1F #define MPU9150_RA_MOT_DUR 0x20 #define MPU9150_RA_ZRMOT_THR 0x21 #define MPU9150_RA_ZRMOT_DUR 0x22 #define MPU9150_RA_FIFO_EN 0x23 #define MPU9150_RA_I2C_MST_CTRL 0x24 #define MPU9150_RA_I2C_SLV0_ADDR 0x25 #define MPU9150_RA_I2C_SLV0_REG 0x26 #define MPU9150_RA_I2C_SLV0_CTRL 0x27 #define MPU9150_RA_I2C_SLV1_ADDR 0x28 #define MPU9150_RA_I2C_SLV1_REG 0x29 #define MPU9150_RA_I2C_SLV1_CTRL 0x2A #define MPU9150_RA_I2C_SLV2_ADDR 0x2B #define MPU9150_RA_I2C_SLV2_REG 0x2C #define MPU9150_RA_I2C_SLV2_CTRL 0x2D #define MPU9150_RA_I2C_SLV3_ADDR 0x2E #define MPU9150_RA_I2C_SLV3_REG 0x2F #define MPU9150_RA_I2C_SLV3_CTRL 0x30 #define MPU9150_RA_I2C_SLV4_ADDR 0x31 #define MPU9150_RA_I2C_SLV4_REG 0x32 #define MPU9150_RA_I2C_SLV4_DO 0x33 #define MPU9150_RA_I2C_SLV4_CTRL 0x34 #define MPU9150_RA_I2C_SLV4_DI 0x35 #define MPU9150_RA_I2C_MST_STATUS 0x36 #define MPU9150_RA_INT_PIN_CFG 0x37 #define MPU9150_RA_INT_ENABLE 0x38 #define MPU9150_RA_DMP_INT_STATUS 0x39 #define MPU9150_RA_INT_STATUS 0x3A #define MPU9150_RA_ACCEL_XOUT_H 0x3B #define MPU9150_RA_ACCEL_XOUT_L 0x3C #define MPU9150_RA_ACCEL_YOUT_H 0x3D #define MPU9150_RA_ACCEL_YOUT_L 0x3E #define MPU9150_RA_ACCEL_ZOUT_H 0x3F #define MPU9150_RA_ACCEL_ZOUT_L 0x40 #define MPU9150_RA_TEMP_OUT_H 0x41 #define MPU9150_RA_TEMP_OUT_L 0x42 #define MPU9150_RA_GYRO_XOUT_H 0x43 #define MPU9150_RA_GYRO_XOUT_L 0x44 #define MPU9150_RA_GYRO_YOUT_H 0x45 #define MPU9150_RA_GYRO_YOUT_L 0x46 #define MPU9150_RA_GYRO_ZOUT_H 0x47 #define MPU9150_RA_GYRO_ZOUT_L 0x48 #define MPU9150_RA_EXT_SENS_DATA_00 0x49 #define MPU9150_RA_EXT_SENS_DATA_01 0x4A #define MPU9150_RA_EXT_SENS_DATA_02 0x4B #define MPU9150_RA_EXT_SENS_DATA_03 0x4C #define MPU9150_RA_EXT_SENS_DATA_04 0x4D #define MPU9150_RA_EXT_SENS_DATA_05 0x4E #define MPU9150_RA_EXT_SENS_DATA_06 0x4F #define MPU9150_RA_EXT_SENS_DATA_07 0x50 #define MPU9150_RA_EXT_SENS_DATA_08 0x51 #define MPU9150_RA_EXT_SENS_DATA_09 0x52 #define MPU9150_RA_EXT_SENS_DATA_10 0x53 #define MPU9150_RA_EXT_SENS_DATA_11 0x54 #define MPU9150_RA_EXT_SENS_DATA_12 0x55 #define MPU9150_RA_EXT_SENS_DATA_13 0x56 #define MPU9150_RA_EXT_SENS_DATA_14 0x57 #define MPU9150_RA_EXT_SENS_DATA_15 0x58 #define MPU9150_RA_EXT_SENS_DATA_16 0x59 #define MPU9150_RA_EXT_SENS_DATA_17 0x5A #define MPU9150_RA_EXT_SENS_DATA_18 0x5B #define MPU9150_RA_EXT_SENS_DATA_19 0x5C #define MPU9150_RA_EXT_SENS_DATA_20 0x5D #define MPU9150_RA_EXT_SENS_DATA_21 0x5E #define MPU9150_RA_EXT_SENS_DATA_22 0x5F #define MPU9150_RA_EXT_SENS_DATA_23 0x60 #define MPU9150_RA_MOT_DETECT_STATUS 0x61 #define MPU9150_RA_I2C_SLV0_DO 0x63 #define MPU9150_RA_I2C_SLV1_DO 0x64 #define MPU9150_RA_I2C_SLV2_DO 0x65 #define MPU9150_RA_I2C_SLV3_DO 0x66 #define MPU9150_RA_I2C_MST_DELAY_CTRL 0x67 #define MPU9150_RA_SIGNAL_PATH_RESET 0x68 #define MPU9150_RA_MOT_DETECT_CTRL 0x69 #define MPU9150_RA_USER_CTRL 0x6A #define MPU9150_RA_PWR_MGMT_1 0x6B #define MPU9150_RA_PWR_MGMT_2 0x6C #define MPU9150_RA_BANK_SEL 0x6D #define MPU9150_RA_MEM_START_ADDR 0x6E #define MPU9150_RA_MEM_R_W 0x6F #define MPU9150_RA_DMP_CFG_1 0x70 #define MPU9150_RA_DMP_CFG_2 0x71 #define MPU9150_RA_FIFO_COUNTH 0x72 #define MPU9150_RA_FIFO_COUNTL 0x73 #define MPU9150_RA_FIFO_R_W 0x74 #define MPU9150_RA_WHO_AM_I 0x75 #define MPU9150_TC_PWR_MODE_BIT 7 #define MPU9150_TC_OFFSET_BIT 6 #define MPU9150_TC_OFFSET_LENGTH 6 #define MPU9150_TC_OTP_BNK_VLD_BIT 0 #define MPU9150_VDDIO_LEVEL_VLOGIC 0 #define MPU9150_VDDIO_LEVEL_VDD 1 #define MPU9150_CFG_EXT_SYNC_SET_BIT 5 #define MPU9150_CFG_EXT_SYNC_SET_LENGTH 3 #define MPU9150_CFG_DLPF_CFG_BIT 2 #define MPU9150_CFG_DLPF_CFG_LENGTH 3 #define MPU9150_EXT_SYNC_DISABLED 0x0 #define MPU9150_EXT_SYNC_TEMP_OUT_L 0x1 #define MPU9150_EXT_SYNC_GYRO_XOUT_L 0x2 #define MPU9150_EXT_SYNC_GYRO_YOUT_L 0x3 #define MPU9150_EXT_SYNC_GYRO_ZOUT_L 0x4 #define MPU9150_EXT_SYNC_ACCEL_XOUT_L 0x5 #define MPU9150_EXT_SYNC_ACCEL_YOUT_L 0x6 #define MPU9150_EXT_SYNC_ACCEL_ZOUT_L 0x7 #define MPU9150_DLPF_BW_256 0x00 #define MPU9150_DLPF_BW_188 0x01 #define MPU9150_DLPF_BW_98 0x02 #define MPU9150_DLPF_BW_42 0x03 #define MPU9150_DLPF_BW_20 0x04 #define MPU9150_DLPF_BW_10 0x05 #define MPU9150_DLPF_BW_5 0x06 #define MPU9150_GCONFIG_FS_SEL_BIT 4 #define MPU9150_GCONFIG_FS_SEL_LENGTH 2 #define MPU9150_GYRO_FS_250 0x00 #define MPU9150_GYRO_FS_500 0x01 #define MPU9150_GYRO_FS_1000 0x02 #define MPU9150_GYRO_FS_2000 0x03 #define MPU9150_ACONFIG_XA_ST_BIT 7 #define MPU9150_ACONFIG_YA_ST_BIT 6 #define MPU9150_ACONFIG_ZA_ST_BIT 5 #define MPU9150_ACONFIG_AFS_SEL_BIT 4 #define MPU9150_ACONFIG_AFS_SEL_LENGTH 2 #define MPU9150_ACONFIG_ACCEL_HPF_BIT 2 #define MPU9150_ACONFIG_ACCEL_HPF_LENGTH 3 #define MPU9150_ACCEL_FS_2 0x00 #define MPU9150_ACCEL_FS_4 0x01 #define MPU9150_ACCEL_FS_8 0x02 #define MPU9150_ACCEL_FS_16 0x03 #define MPU9150_DHPF_RESET 0x00 #define MPU9150_DHPF_5 0x01 #define MPU9150_DHPF_2P5 0x02 #define MPU9150_DHPF_1P25 0x03 #define MPU9150_DHPF_0P63 0x04 #define MPU9150_DHPF_HOLD 0x07 #define MPU9150_TEMP_FIFO_EN_BIT 7 #define MPU9150_XG_FIFO_EN_BIT 6 #define MPU9150_YG_FIFO_EN_BIT 5 #define MPU9150_ZG_FIFO_EN_BIT 4 #define MPU9150_ACCEL_FIFO_EN_BIT 3 #define MPU9150_SLV2_FIFO_EN_BIT 2 #define MPU9150_SLV1_FIFO_EN_BIT 1 #define MPU9150_SLV0_FIFO_EN_BIT 0 #define MPU9150_MULT_MST_EN_BIT 7 #define MPU9150_WAIT_FOR_ES_BIT 6 #define MPU9150_SLV_3_FIFO_EN_BIT 5 #define MPU9150_I2C_MST_P_NSR_BIT 4 #define MPU9150_I2C_MST_CLK_BIT 3 #define MPU9150_I2C_MST_CLK_LENGTH 4 #define MPU9150_CLOCK_DIV_348 0x0 #define MPU9150_CLOCK_DIV_333 0x1 #define MPU9150_CLOCK_DIV_320 0x2 #define MPU9150_CLOCK_DIV_308 0x3 #define MPU9150_CLOCK_DIV_296 0x4 #define MPU9150_CLOCK_DIV_286 0x5 #define MPU9150_CLOCK_DIV_276 0x6 #define MPU9150_CLOCK_DIV_267 0x7 #define MPU9150_CLOCK_DIV_258 0x8 #define MPU9150_CLOCK_DIV_500 0x9 #define MPU9150_CLOCK_DIV_471 0xA #define MPU9150_CLOCK_DIV_444 0xB #define MPU9150_CLOCK_DIV_421 0xC #define MPU9150_CLOCK_DIV_400 0xD #define MPU9150_CLOCK_DIV_381 0xE #define MPU9150_CLOCK_DIV_364 0xF #define MPU9150_I2C_SLV_RW_BIT 7 #define MPU9150_I2C_SLV_ADDR_BIT 6 #define MPU9150_I2C_SLV_ADDR_LENGTH 7 #define MPU9150_I2C_SLV_EN_BIT 7 #define MPU9150_I2C_SLV_BYTE_SW_BIT 6 #define MPU9150_I2C_SLV_REG_DIS_BIT 5 #define MPU9150_I2C_SLV_GRP_BIT 4 #define MPU9150_I2C_SLV_LEN_BIT 3 #define MPU9150_I2C_SLV_LEN_LENGTH 4 #define MPU9150_I2C_SLV4_RW_BIT 7 #define MPU9150_I2C_SLV4_ADDR_BIT 6 #define MPU9150_I2C_SLV4_ADDR_LENGTH 7 #define MPU9150_I2C_SLV4_EN_BIT 7 #define MPU9150_I2C_SLV4_INT_EN_BIT 6 #define MPU9150_I2C_SLV4_REG_DIS_BIT 5 #define MPU9150_I2C_SLV4_MST_DLY_BIT 4 #define MPU9150_I2C_SLV4_MST_DLY_LENGTH 5 #define MPU9150_MST_PASS_THROUGH_BIT 7 #define MPU9150_MST_I2C_SLV4_DONE_BIT 6 #define MPU9150_MST_I2C_LOST_ARB_BIT 5 #define MPU9150_MST_I2C_SLV4_NACK_BIT 4 #define MPU9150_MST_I2C_SLV3_NACK_BIT 3 #define MPU9150_MST_I2C_SLV2_NACK_BIT 2 #define MPU9150_MST_I2C_SLV1_NACK_BIT 1 #define MPU9150_MST_I2C_SLV0_NACK_BIT 0 #define MPU9150_INTCFG_INT_LEVEL_BIT 7 #define MPU9150_INTCFG_INT_OPEN_BIT 6 #define MPU9150_INTCFG_LATCH_INT_EN_BIT 5 #define MPU9150_INTCFG_INT_RD_CLEAR_BIT 4 #define MPU9150_INTCFG_FSYNC_INT_LEVEL_BIT 3 #define MPU9150_INTCFG_FSYNC_INT_EN_BIT 2 #define MPU9150_INTCFG_I2C_BYPASS_EN_BIT 1 #define MPU9150_INTCFG_CLKOUT_EN_BIT 0 #define MPU9150_INTMODE_ACTIVEHIGH 0x00 #define MPU9150_INTMODE_ACTIVELOW 0x01 #define MPU9150_INTDRV_PUSHPULL 0x00 #define MPU9150_INTDRV_OPENDRAIN 0x01 #define MPU9150_INTLATCH_50USPULSE 0x00 #define MPU9150_INTLATCH_WAITCLEAR 0x01 #define MPU9150_INTCLEAR_STATUSREAD 0x00 #define MPU9150_INTCLEAR_ANYREAD 0x01 #define MPU9150_INTERRUPT_FF_BIT 7 #define MPU9150_INTERRUPT_MOT_BIT 6 #define MPU9150_INTERRUPT_ZMOT_BIT 5 #define MPU9150_INTERRUPT_FIFO_OFLOW_BIT 4 #define MPU9150_INTERRUPT_I2C_MST_INT_BIT 3 #define MPU9150_INTERRUPT_PLL_RDY_INT_BIT 2 #define MPU9150_INTERRUPT_DMP_INT_BIT 1 #define MPU9150_INTERRUPT_DATA_RDY_BIT 0 // TODO: figure out what these actually do // UMPL source code is not very obivous #define MPU9150_DMPINT_5_BIT 5 #define MPU9150_DMPINT_4_BIT 4 #define MPU9150_DMPINT_3_BIT 3 #define MPU9150_DMPINT_2_BIT 2 #define MPU9150_DMPINT_1_BIT 1 #define MPU9150_DMPINT_0_BIT 0 #define MPU9150_MOTION_MOT_XNEG_BIT 7 #define MPU9150_MOTION_MOT_XPOS_BIT 6 #define MPU9150_MOTION_MOT_YNEG_BIT 5 #define MPU9150_MOTION_MOT_YPOS_BIT 4 #define MPU9150_MOTION_MOT_ZNEG_BIT 3 #define MPU9150_MOTION_MOT_ZPOS_BIT 2 #define MPU9150_MOTION_MOT_ZRMOT_BIT 0 #define MPU9150_DELAYCTRL_DELAY_ES_SHADOW_BIT 7 #define MPU9150_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4 #define MPU9150_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3 #define MPU9150_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2 #define MPU9150_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1 #define MPU9150_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0 #define MPU9150_PATHRESET_GYRO_RESET_BIT 2 #define MPU9150_PATHRESET_ACCEL_RESET_BIT 1 #define MPU9150_PATHRESET_TEMP_RESET_BIT 0 #define MPU9150_DETECT_ACCEL_ON_DELAY_BIT 5 #define MPU9150_DETECT_ACCEL_ON_DELAY_LENGTH 2 #define MPU9150_DETECT_FF_COUNT_BIT 3 #define MPU9150_DETECT_FF_COUNT_LENGTH 2 #define MPU9150_DETECT_MOT_COUNT_BIT 1 #define MPU9150_DETECT_MOT_COUNT_LENGTH 2 #define MPU9150_DETECT_DECREMENT_RESET 0x0 #define MPU9150_DETECT_DECREMENT_1 0x1 #define MPU9150_DETECT_DECREMENT_2 0x2 #define MPU9150_DETECT_DECREMENT_4 0x3 #define MPU9150_USERCTRL_DMP_EN_BIT 7 #define MPU9150_USERCTRL_FIFO_EN_BIT 6 #define MPU9150_USERCTRL_I2C_MST_EN_BIT 5 #define MPU9150_USERCTRL_I2C_IF_DIS_BIT 4 #define MPU9150_USERCTRL_DMP_RESET_BIT 3 #define MPU9150_USERCTRL_FIFO_RESET_BIT 2 #define MPU9150_USERCTRL_I2C_MST_RESET_BIT 1 #define MPU9150_USERCTRL_SIG_COND_RESET_BIT 0 #define MPU9150_PWR1_DEVICE_RESET_BIT 7 #define MPU9150_PWR1_SLEEP_BIT 6 #define MPU9150_PWR1_CYCLE_BIT 5 #define MPU9150_PWR1_TEMP_DIS_BIT 3 #define MPU9150_PWR1_CLKSEL_BIT 2 #define MPU9150_PWR1_CLKSEL_LENGTH 3 #define MPU9150_CLOCK_INTERNAL 0x00 #define MPU9150_CLOCK_PLL_XGYRO 0x01 #define MPU9150_CLOCK_PLL_YGYRO 0x02 #define MPU9150_CLOCK_PLL_ZGYRO 0x03 #define MPU9150_CLOCK_PLL_EXT32K 0x04 #define MPU9150_CLOCK_PLL_EXT19M 0x05 #define MPU9150_CLOCK_KEEP_RESET 0x07 #define MPU9150_PWR2_LP_WAKE_CTRL_BIT 7 #define MPU9150_PWR2_LP_WAKE_CTRL_LENGTH 2 #define MPU9150_PWR2_STBY_XA_BIT 5 #define MPU9150_PWR2_STBY_YA_BIT 4 #define MPU9150_PWR2_STBY_ZA_BIT 3 #define MPU9150_PWR2_STBY_XG_BIT 2 #define MPU9150_PWR2_STBY_YG_BIT 1 #define MPU9150_PWR2_STBY_ZG_BIT 0 #define MPU9150_WAKE_FREQ_1P25 0x0 #define MPU9150_WAKE_FREQ_2P5 0x1 #define MPU9150_WAKE_FREQ_5 0x2 #define MPU9150_WAKE_FREQ_10 0x3 #define MPU9150_BANKSEL_PRFTCH_EN_BIT 6 #define MPU9150_BANKSEL_CFG_USER_BANK_BIT 5 #define MPU9150_BANKSEL_MEM_SEL_BIT 4 #define MPU9150_BANKSEL_MEM_SEL_LENGTH 5 #define MPU9150_WHO_AM_I_BIT 6 #define MPU9150_WHO_AM_I_LENGTH 6 #define MPU9150_DMP_MEMORY_BANKS 8 #define MPU9150_DMP_MEMORY_BANK_SIZE 256 #define MPU9150_DMP_MEMORY_CHUNK_SIZE 16 // note: DMP code memory blocks defined at end of header file class MPU9150 { public: MPU9150(); MPU9150(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 getXGyroOffsetTC(); void setXGyroOffsetTC(int8_t offset); // YG_OFFS_TC register int8_t getYGyroOffsetTC(); void setYGyroOffsetTC(int8_t offset); // ZG_OFFS_TC register int8_t getZGyroOffsetTC(); void setZGyroOffsetTC(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 getXGyroOffset(); void setXGyroOffset(int16_t offset); // YG_OFFS_USR* register int16_t getYGyroOffset(); void setYGyroOffset(int16_t offset); // ZG_OFFS_USR* register int16_t getZGyroOffset(); void setZGyroOffset(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 MPU9150_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 MPU9150_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 /* _MPU9150_H_ */