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Fork of MPU6050_Driver_Balanceddddd by
mpu6050.h
- Committer:
- heroistired
- Date:
- 2018-04-09
- Revision:
- 0:badebd32bd8b
File content as of revision 0:badebd32bd8b:
#ifndef __MPU6050_H #define __MPU6050_H //#include "mpuiic.h" #include "mbed.h" ////////////////////////////////////////////////////////////////////////////////// //MPU6050驱动程序 C.H. ////////////////////////////////////////////////////////////////////////////////// //用来选择驱动程序用于哪个项目的电路板 //define DRIVER_MODE_ROTOR //四旋翼 #define DRIVER_MODE_BALANCE //平衡车 //兼容宏定义 #define delay_us wait_us #define delay_ms wait_ms //IO口操作宏定义 #define BITBAND(addr, bitnum) ((addr & 0xF0000000)+0x2000000+((addr &0xFFFFF)<<5)+(bitnum<<2)) #define MEM_ADDR(addr) *((volatile unsigned long *)(addr)) #define BIT_ADDR(addr, bitnum) MEM_ADDR(BITBAND(addr, bitnum)) //IO口地址映射 #define GPIOA_ODR_Addr (GPIOA_BASE+12) //0x4001080C #define GPIOB_ODR_Addr (GPIOB_BASE+12) //0x40010C0C #define GPIOC_ODR_Addr (GPIOC_BASE+12) //0x4001100C #define GPIOD_ODR_Addr (GPIOD_BASE+12) //0x4001140C #define GPIOE_ODR_Addr (GPIOE_BASE+12) //0x4001180C #define GPIOF_ODR_Addr (GPIOF_BASE+12) //0x40011A0C #define GPIOG_ODR_Addr (GPIOG_BASE+12) //0x40011E0C #define GPIOA_IDR_Addr (GPIOA_BASE+8) //0x40010808 #define GPIOB_IDR_Addr (GPIOB_BASE+8) //0x40010C08 #define GPIOC_IDR_Addr (GPIOC_BASE+8) //0x40011008 #define GPIOD_IDR_Addr (GPIOD_BASE+8) //0x40011408 #define GPIOE_IDR_Addr (GPIOE_BASE+8) //0x40011808 #define GPIOF_IDR_Addr (GPIOF_BASE+8) //0x40011A08 #define GPIOG_IDR_Addr (GPIOG_BASE+8) //0x40011E08 //IO口操作,只对单一的IO口! //确保n的值小于16! #define PAout(n) BIT_ADDR(GPIOA_ODR_Addr,n) //输出 #define PAin(n) BIT_ADDR(GPIOA_IDR_Addr,n) //输入 #define PBout(n) BIT_ADDR(GPIOB_ODR_Addr,n) //输出 #define PBin(n) BIT_ADDR(GPIOB_IDR_Addr,n) //输入 #define PCout(n) BIT_ADDR(GPIOC_ODR_Addr,n) //输出 #define PCin(n) BIT_ADDR(GPIOC_IDR_Addr,n) //输入 #define PDout(n) BIT_ADDR(GPIOD_ODR_Addr,n) //输出 #define PDin(n) BIT_ADDR(GPIOD_IDR_Addr,n) //输入 #define PEout(n) BIT_ADDR(GPIOE_ODR_Addr,n) //输出 #define PEin(n) BIT_ADDR(GPIOE_IDR_Addr,n) //输入 #define PFout(n) BIT_ADDR(GPIOF_ODR_Addr,n) //输出 #define PFin(n) BIT_ADDR(GPIOF_IDR_Addr,n) //输入 #define PGout(n) BIT_ADDR(GPIOG_ODR_Addr,n) //输出 #define PGin(n) BIT_ADDR(GPIOG_IDR_Addr,n) //输入 ///////////////////////////////////////////////////////////////// //#define MPU_ACCEL_OFFS_REG 0X06 //accel_offs寄存器,可读取版本号,寄存器手册未提到 //#define MPU_PROD_ID_REG 0X0C //prod id寄存器,在寄存器手册未提到 #define MPU_SELF_TESTX_REG 0X0D //自检寄存器X #define MPU_SELF_TESTY_REG 0X0E //自检寄存器Y #define MPU_SELF_TESTZ_REG 0X0F //自检寄存器Z #define MPU_SELF_TESTA_REG 0X10 //自检寄存器A #define MPU_SAMPLE_RATE_REG 0X19 //采样频率分频器 #define MPU_CFG_REG 0X1A //配置寄存器 #define MPU_GYRO_CFG_REG 0X1B //陀螺仪配置寄存器 #define MPU_ACCEL_CFG_REG 0X1C //加速度计配置寄存器 #define MPU_MOTION_DET_REG 0X1F //运动检测阀值设置寄存器 #define MPU_FIFO_EN_REG 0X23 //FIFO使能寄存器 #define MPU_I2CMST_CTRL_REG 0X24 //IIC主机控制寄存器 #define MPU_I2CSLV0_ADDR_REG 0X25 //IIC从机0器件地址寄存器 #define MPU_I2CSLV0_REG 0X26 //IIC从机0数据地址寄存器 #define MPU_I2CSLV0_CTRL_REG 0X27 //IIC从机0控制寄存器 #define MPU_I2CSLV1_ADDR_REG 0X28 //IIC从机1器件地址寄存器 #define MPU_I2CSLV1_REG 0X29 //IIC从机1数据地址寄存器 #define MPU_I2CSLV1_CTRL_REG 0X2A //IIC从机1控制寄存器 #define MPU_I2CSLV2_ADDR_REG 0X2B //IIC从机2器件地址寄存器 #define MPU_I2CSLV2_REG 0X2C //IIC从机2数据地址寄存器 #define MPU_I2CSLV2_CTRL_REG 0X2D //IIC从机2控制寄存器 #define MPU_I2CSLV3_ADDR_REG 0X2E //IIC从机3器件地址寄存器 #define MPU_I2CSLV3_REG 0X2F //IIC从机3数据地址寄存器 #define MPU_I2CSLV3_CTRL_REG 0X30 //IIC从机3控制寄存器 #define MPU_I2CSLV4_ADDR_REG 0X31 //IIC从机4器件地址寄存器 #define MPU_I2CSLV4_REG 0X32 //IIC从机4数据地址寄存器 #define MPU_I2CSLV4_DO_REG 0X33 //IIC从机4写数据寄存器 #define MPU_I2CSLV4_CTRL_REG 0X34 //IIC从机4控制寄存器 #define MPU_I2CSLV4_DI_REG 0X35 //IIC从机4读数据寄存器 #define MPU_I2CMST_STA_REG 0X36 //IIC主机状态寄存器 #define MPU_INTBP_CFG_REG 0X37 //中断/旁路设置寄存器 #define MPU_INT_EN_REG 0X38 //中断使能寄存器 #define MPU_INT_STA_REG 0X3A //中断状态寄存器 #define MPU_ACCEL_XOUTH_REG 0X3B //加速度值,X轴高8位寄存器 #define MPU_ACCEL_XOUTL_REG 0X3C //加速度值,X轴低8位寄存器 #define MPU_ACCEL_YOUTH_REG 0X3D //加速度值,Y轴高8位寄存器 #define MPU_ACCEL_YOUTL_REG 0X3E //加速度值,Y轴低8位寄存器 #define MPU_ACCEL_ZOUTH_REG 0X3F //加速度值,Z轴高8位寄存器 #define MPU_ACCEL_ZOUTL_REG 0X40 //加速度值,Z轴低8位寄存器 #define MPU_TEMP_OUTH_REG 0X41 //温度值高八位寄存器 #define MPU_TEMP_OUTL_REG 0X42 //温度值低8位寄存器 #define MPU_GYRO_XOUTH_REG 0X43 //陀螺仪值,X轴高8位寄存器 #define MPU_GYRO_XOUTL_REG 0X44 //陀螺仪值,X轴低8位寄存器 #define MPU_GYRO_YOUTH_REG 0X45 //陀螺仪值,Y轴高8位寄存器 #define MPU_GYRO_YOUTL_REG 0X46 //陀螺仪值,Y轴低8位寄存器 #define MPU_GYRO_ZOUTH_REG 0X47 //陀螺仪值,Z轴高8位寄存器 #define MPU_GYRO_ZOUTL_REG 0X48 //陀螺仪值,Z轴低8位寄存器 #define MPU_I2CSLV0_DO_REG 0X63 //IIC从机0数据寄存器 #define MPU_I2CSLV1_DO_REG 0X64 //IIC从机1数据寄存器 #define MPU_I2CSLV2_DO_REG 0X65 //IIC从机2数据寄存器 #define MPU_I2CSLV3_DO_REG 0X66 //IIC从机3数据寄存器 #define MPU_I2CMST_DELAY_REG 0X67 //IIC主机延时管理寄存器 #define MPU_SIGPATH_RST_REG 0X68 //信号通道复位寄存器 #define MPU_MDETECT_CTRL_REG 0X69 //运动检测控制寄存器 #define MPU_USER_CTRL_REG 0X6A //用户控制寄存器 #define MPU_PWR_MGMT1_REG 0X6B //电源管理寄存器1 #define MPU_PWR_MGMT2_REG 0X6C //电源管理寄存器2 #define MPU_FIFO_CNTH_REG 0X72 //FIFO计数寄存器高八位 #define MPU_FIFO_CNTL_REG 0X73 //FIFO计数寄存器低八位 #define MPU_FIFO_RW_REG 0X74 //FIFO读写寄存器 #define MPU_DEVICE_ID_REG 0X75 //器件ID寄存器 //如果AD0脚(9脚)接地,IIC地址为0X68(不包含最低位). //如果接V3.3,则IIC地址为0X69(不包含最低位). #define MPU_ADDR 0X68 ////因为模块AD0默认接GND,所以转为读写地址后,为0XD1和0XD0(如果接VCC,则为0XD3和0XD2) //#define MPU_READ 0XD1 //#define MPU_WRITE 0XD0 unsigned char MPU_Init(void); //初始化MPU6050 unsigned char MPU_Write_Len(unsigned char addr,unsigned char reg,unsigned char len,unsigned char *buf);//IIC连续写 unsigned char MPU_Read_Len(unsigned char addr,unsigned char reg,unsigned char len,unsigned char *buf); //IIC连续读 unsigned char MPU_Write_Byte(unsigned char reg,unsigned char data); //IIC写一个字节 unsigned char MPU_Read_Byte(unsigned char reg); //IIC读一个字节 unsigned char MPU_Set_Gyro_Fsr(unsigned char fsr); unsigned char MPU_Set_Accel_Fsr(unsigned char fsr); unsigned char MPU_Set_LPF(unsigned short lpf); unsigned char MPU_Set_Rate(unsigned short rate); unsigned char MPU_Set_Fifo(unsigned char sens); short MPU_Get_Temperature(void); unsigned char MPU_Get_Gyroscope(short *gx,short *gy,short *gz); unsigned char MPU_Get_Accelerometer(short *ax,short *ay,short *az); #if defined DRIVER_MODE_BALANCE //IO方向设置 #define MPU_SDA_IN() {GPIOB->CRL&=0X0FFFFFFF;GPIOB->CRL|=8<<28;} #define MPU_SDA_OUT() {GPIOB->CRL&=0X0FFFFFFF;GPIOB->CRL|=3<<28;} //IO操作函数 #define MPU_IIC_SCL PBout(6) //SCL #define MPU_IIC_SDA PBout(7) //SDA #define MPU_READ_SDA PBin(7) //输入SDA #elif defined DRIVER_MODE_ROTOR #define MPU_SDA_IN() {GPIOB->CRH&=0XFFFF0FFF;GPIOB->CRH|=8<<12;} #define MPU_SDA_OUT() {GPIOB->CRH&=0XFFFF0FFF;GPIOB->CRH|=3<<12;} #define MPU_IIC_SCL PBout(10) //SCL #define MPU_IIC_SDA PBout(11) //SDA #define MPU_READ_SDA PBin(11) //输入SDA #else #error Target Board is not specified. #endif //IIC所有操作函数 void MPU_IIC_Delay(void); //MPU IIC延时函数 void MPU_IIC_Init(void); //初始化IIC的IO口 void MPU_IIC_Start(void); //发送IIC开始信号 void MPU_IIC_Stop(void); //发送IIC停止信号 void MPU_IIC_Send_Byte(unsigned char txd); //IIC发送一个字节 unsigned char MPU_IIC_Read_Byte(unsigned char ack);//IIC读取一个字节 unsigned char MPU_IIC_Wait_Ack(void); //IIC等待ACK信号 void MPU_IIC_Ack(void); //IIC发送ACK信号 void MPU_IIC_NAck(void); //IIC不发送ACK信号 void IMPU_IC_Write_One_Byte(unsigned char daddr,unsigned char addr,unsigned char data); unsigned char MPU_IIC_Read_One_Byte(unsigned char daddr,unsigned char addr); #define KEY_CFG_25 (0) #define KEY_CFG_24 (KEY_CFG_25 + 1) #define KEY_CFG_26 (KEY_CFG_24 + 1) #define KEY_CFG_27 (KEY_CFG_26 + 1) #define KEY_CFG_21 (KEY_CFG_27 + 1) #define KEY_CFG_20 (KEY_CFG_21 + 1) #define KEY_CFG_TAP4 (KEY_CFG_20 + 1) #define KEY_CFG_TAP5 (KEY_CFG_TAP4 + 1) #define KEY_CFG_TAP6 (KEY_CFG_TAP5 + 1) #define KEY_CFG_TAP7 (KEY_CFG_TAP6 + 1) #define KEY_CFG_TAP0 (KEY_CFG_TAP7 + 1) #define KEY_CFG_TAP1 (KEY_CFG_TAP0 + 1) #define KEY_CFG_TAP2 (KEY_CFG_TAP1 + 1) #define KEY_CFG_TAP3 (KEY_CFG_TAP2 + 1) #define KEY_CFG_TAP_QUANTIZE (KEY_CFG_TAP3 + 1) #define KEY_CFG_TAP_JERK (KEY_CFG_TAP_QUANTIZE + 1) #define KEY_CFG_DR_INT (KEY_CFG_TAP_JERK + 1) #define KEY_CFG_AUTH (KEY_CFG_DR_INT + 1) #define KEY_CFG_TAP_SAVE_ACCB (KEY_CFG_AUTH + 1) #define KEY_CFG_TAP_CLEAR_STICKY (KEY_CFG_TAP_SAVE_ACCB + 1) #define KEY_CFG_FIFO_ON_EVENT (KEY_CFG_TAP_CLEAR_STICKY + 1) #define KEY_FCFG_ACCEL_INPUT (KEY_CFG_FIFO_ON_EVENT + 1) #define KEY_FCFG_ACCEL_INIT (KEY_FCFG_ACCEL_INPUT + 1) #define KEY_CFG_23 (KEY_FCFG_ACCEL_INIT + 1) #define KEY_FCFG_1 (KEY_CFG_23 + 1) #define KEY_FCFG_3 (KEY_FCFG_1 + 1) #define KEY_FCFG_2 (KEY_FCFG_3 + 1) #define KEY_CFG_3D (KEY_FCFG_2 + 1) #define KEY_CFG_3B (KEY_CFG_3D + 1) #define KEY_CFG_3C (KEY_CFG_3B + 1) #define KEY_FCFG_5 (KEY_CFG_3C + 1) #define KEY_FCFG_4 (KEY_FCFG_5 + 1) #define KEY_FCFG_7 (KEY_FCFG_4 + 1) #define KEY_FCFG_FSCALE (KEY_FCFG_7 + 1) #define KEY_FCFG_AZ (KEY_FCFG_FSCALE + 1) #define KEY_FCFG_6 (KEY_FCFG_AZ + 1) #define KEY_FCFG_LSB4 (KEY_FCFG_6 + 1) #define KEY_CFG_12 (KEY_FCFG_LSB4 + 1) #define KEY_CFG_14 (KEY_CFG_12 + 1) #define KEY_CFG_15 (KEY_CFG_14 + 1) #define KEY_CFG_16 (KEY_CFG_15 + 1) #define KEY_CFG_18 (KEY_CFG_16 + 1) #define KEY_CFG_6 (KEY_CFG_18 + 1) #define KEY_CFG_7 (KEY_CFG_6 + 1) #define KEY_CFG_4 (KEY_CFG_7 + 1) #define KEY_CFG_5 (KEY_CFG_4 + 1) #define KEY_CFG_2 (KEY_CFG_5 + 1) #define KEY_CFG_3 (KEY_CFG_2 + 1) #define KEY_CFG_1 (KEY_CFG_3 + 1) #define KEY_CFG_EXTERNAL (KEY_CFG_1 + 1) #define KEY_CFG_8 (KEY_CFG_EXTERNAL + 1) #define KEY_CFG_9 (KEY_CFG_8 + 1) #define KEY_CFG_ORIENT_3 (KEY_CFG_9 + 1) #define KEY_CFG_ORIENT_2 (KEY_CFG_ORIENT_3 + 1) #define KEY_CFG_ORIENT_1 (KEY_CFG_ORIENT_2 + 1) #define KEY_CFG_GYRO_SOURCE (KEY_CFG_ORIENT_1 + 1) #define KEY_CFG_ORIENT_IRQ_1 (KEY_CFG_GYRO_SOURCE + 1) #define KEY_CFG_ORIENT_IRQ_2 (KEY_CFG_ORIENT_IRQ_1 + 1) #define KEY_CFG_ORIENT_IRQ_3 (KEY_CFG_ORIENT_IRQ_2 + 1) #define KEY_FCFG_MAG_VAL (KEY_CFG_ORIENT_IRQ_3 + 1) #define KEY_FCFG_MAG_MOV (KEY_FCFG_MAG_VAL + 1) #define KEY_CFG_LP_QUAT (KEY_FCFG_MAG_MOV + 1) /* MPU6050 keys */ #define KEY_CFG_ACCEL_FILTER (KEY_CFG_LP_QUAT + 1) #define KEY_CFG_MOTION_BIAS (KEY_CFG_ACCEL_FILTER + 1) #define KEY_TEMPLABEL (KEY_CFG_MOTION_BIAS + 1) #define KEY_D_0_22 (KEY_TEMPLABEL + 1) #define KEY_D_0_24 (KEY_D_0_22 + 1) #define KEY_D_0_36 (KEY_D_0_24 + 1) #define KEY_D_0_52 (KEY_D_0_36 + 1) #define KEY_D_0_96 (KEY_D_0_52 + 1) #define KEY_D_0_104 (KEY_D_0_96 + 1) #define KEY_D_0_108 (KEY_D_0_104 + 1) #define KEY_D_0_163 (KEY_D_0_108 + 1) #define KEY_D_0_188 (KEY_D_0_163 + 1) #define KEY_D_0_192 (KEY_D_0_188 + 1) #define KEY_D_0_224 (KEY_D_0_192 + 1) #define KEY_D_0_228 (KEY_D_0_224 + 1) #define KEY_D_0_232 (KEY_D_0_228 + 1) #define KEY_D_0_236 (KEY_D_0_232 + 1) #define KEY_DMP_PREVPTAT (KEY_D_0_236 + 1) #define KEY_D_1_2 (KEY_DMP_PREVPTAT + 1) #define KEY_D_1_4 (KEY_D_1_2 + 1) #define KEY_D_1_8 (KEY_D_1_4 + 1) #define KEY_D_1_10 (KEY_D_1_8 + 1) #define KEY_D_1_24 (KEY_D_1_10 + 1) #define KEY_D_1_28 (KEY_D_1_24 + 1) #define KEY_D_1_36 (KEY_D_1_28 + 1) #define KEY_D_1_40 (KEY_D_1_36 + 1) #define KEY_D_1_44 (KEY_D_1_40 + 1) #define KEY_D_1_72 (KEY_D_1_44 + 1) #define KEY_D_1_74 (KEY_D_1_72 + 1) #define KEY_D_1_79 (KEY_D_1_74 + 1) #define KEY_D_1_88 (KEY_D_1_79 + 1) #define KEY_D_1_90 (KEY_D_1_88 + 1) #define KEY_D_1_92 (KEY_D_1_90 + 1) #define KEY_D_1_96 (KEY_D_1_92 + 1) #define KEY_D_1_98 (KEY_D_1_96 + 1) #define KEY_D_1_100 (KEY_D_1_98 + 1) #define KEY_D_1_106 (KEY_D_1_100 + 1) #define KEY_D_1_108 (KEY_D_1_106 + 1) #define KEY_D_1_112 (KEY_D_1_108 + 1) #define KEY_D_1_128 (KEY_D_1_112 + 1) #define KEY_D_1_152 (KEY_D_1_128 + 1) #define KEY_D_1_160 (KEY_D_1_152 + 1) #define KEY_D_1_168 (KEY_D_1_160 + 1) #define KEY_D_1_175 (KEY_D_1_168 + 1) #define KEY_D_1_176 (KEY_D_1_175 + 1) #define KEY_D_1_178 (KEY_D_1_176 + 1) #define KEY_D_1_179 (KEY_D_1_178 + 1) #define KEY_D_1_218 (KEY_D_1_179 + 1) #define KEY_D_1_232 (KEY_D_1_218 + 1) #define KEY_D_1_236 (KEY_D_1_232 + 1) #define KEY_D_1_240 (KEY_D_1_236 + 1) #define KEY_D_1_244 (KEY_D_1_240 + 1) #define KEY_D_1_250 (KEY_D_1_244 + 1) #define KEY_D_1_252 (KEY_D_1_250 + 1) #define KEY_D_2_12 (KEY_D_1_252 + 1) #define KEY_D_2_96 (KEY_D_2_12 + 1) #define KEY_D_2_108 (KEY_D_2_96 + 1) #define KEY_D_2_208 (KEY_D_2_108 + 1) #define KEY_FLICK_MSG (KEY_D_2_208 + 1) #define KEY_FLICK_COUNTER (KEY_FLICK_MSG + 1) #define KEY_FLICK_LOWER (KEY_FLICK_COUNTER + 1) #define KEY_CFG_FLICK_IN (KEY_FLICK_LOWER + 1) #define KEY_FLICK_UPPER (KEY_CFG_FLICK_IN + 1) #define KEY_CGNOTICE_INTR (KEY_FLICK_UPPER + 1) #define KEY_D_2_224 (KEY_CGNOTICE_INTR + 1) #define KEY_D_2_244 (KEY_D_2_224 + 1) #define KEY_D_2_248 (KEY_D_2_244 + 1) #define KEY_D_2_252 (KEY_D_2_248 + 1) #define KEY_D_GYRO_BIAS_X (KEY_D_2_252 + 1) #define KEY_D_GYRO_BIAS_Y (KEY_D_GYRO_BIAS_X + 1) #define KEY_D_GYRO_BIAS_Z (KEY_D_GYRO_BIAS_Y + 1) #define KEY_D_ACC_BIAS_X (KEY_D_GYRO_BIAS_Z + 1) #define KEY_D_ACC_BIAS_Y (KEY_D_ACC_BIAS_X + 1) #define KEY_D_ACC_BIAS_Z (KEY_D_ACC_BIAS_Y + 1) #define KEY_D_GYRO_ENABLE (KEY_D_ACC_BIAS_Z + 1) #define KEY_D_ACCEL_ENABLE (KEY_D_GYRO_ENABLE + 1) #define KEY_D_QUAT_ENABLE (KEY_D_ACCEL_ENABLE +1) #define KEY_D_OUTPUT_ENABLE (KEY_D_QUAT_ENABLE + 1) #define KEY_D_CR_TIME_G (KEY_D_OUTPUT_ENABLE + 1) #define KEY_D_CR_TIME_A (KEY_D_CR_TIME_G + 1) #define KEY_D_CR_TIME_Q (KEY_D_CR_TIME_A + 1) #define KEY_D_CS_TAX (KEY_D_CR_TIME_Q + 1) #define KEY_D_CS_TAY (KEY_D_CS_TAX + 1) #define KEY_D_CS_TAZ (KEY_D_CS_TAY + 1) #define KEY_D_CS_TGX (KEY_D_CS_TAZ + 1) #define KEY_D_CS_TGY (KEY_D_CS_TGX + 1) #define KEY_D_CS_TGZ (KEY_D_CS_TGY + 1) #define KEY_D_CS_TQ0 (KEY_D_CS_TGZ + 1) #define KEY_D_CS_TQ1 (KEY_D_CS_TQ0 + 1) #define KEY_D_CS_TQ2 (KEY_D_CS_TQ1 + 1) #define KEY_D_CS_TQ3 (KEY_D_CS_TQ2 + 1) /* Compass keys */ #define KEY_CPASS_BIAS_X (KEY_D_CS_TQ3 + 1) #define KEY_CPASS_BIAS_Y (KEY_CPASS_BIAS_X + 1) #define KEY_CPASS_BIAS_Z (KEY_CPASS_BIAS_Y + 1) #define KEY_CPASS_MTX_00 (KEY_CPASS_BIAS_Z + 1) #define KEY_CPASS_MTX_01 (KEY_CPASS_MTX_00 + 1) #define KEY_CPASS_MTX_02 (KEY_CPASS_MTX_01 + 1) #define KEY_CPASS_MTX_10 (KEY_CPASS_MTX_02 + 1) #define KEY_CPASS_MTX_11 (KEY_CPASS_MTX_10 + 1) #define KEY_CPASS_MTX_12 (KEY_CPASS_MTX_11 + 1) #define KEY_CPASS_MTX_20 (KEY_CPASS_MTX_12 + 1) #define KEY_CPASS_MTX_21 (KEY_CPASS_MTX_20 + 1) #define KEY_CPASS_MTX_22 (KEY_CPASS_MTX_21 + 1) /* Gesture Keys */ #define KEY_DMP_TAPW_MIN (KEY_CPASS_MTX_22 + 1) #define KEY_DMP_TAP_THR_X (KEY_DMP_TAPW_MIN + 1) #define KEY_DMP_TAP_THR_Y (KEY_DMP_TAP_THR_X + 1) #define KEY_DMP_TAP_THR_Z (KEY_DMP_TAP_THR_Y + 1) #define KEY_DMP_SH_TH_Y (KEY_DMP_TAP_THR_Z + 1) #define KEY_DMP_SH_TH_X (KEY_DMP_SH_TH_Y + 1) #define KEY_DMP_SH_TH_Z (KEY_DMP_SH_TH_X + 1) #define KEY_DMP_ORIENT (KEY_DMP_SH_TH_Z + 1) #define KEY_D_ACT0 (KEY_DMP_ORIENT + 1) #define KEY_D_ACSX (KEY_D_ACT0 + 1) #define KEY_D_ACSY (KEY_D_ACSX + 1) #define KEY_D_ACSZ (KEY_D_ACSY + 1) #define KEY_X_GRT_Y_TMP (KEY_D_ACSZ + 1) #define KEY_SKIP_X_GRT_Y_TMP (KEY_X_GRT_Y_TMP + 1) #define KEY_SKIP_END_COMPARE (KEY_SKIP_X_GRT_Y_TMP + 1) #define KEY_END_COMPARE_Y_X_TMP2 (KEY_SKIP_END_COMPARE + 1) #define KEY_CFG_ANDROID_ORIENT_INT (KEY_END_COMPARE_Y_X_TMP2 + 1) #define KEY_NO_ORIENT_INTERRUPT (KEY_CFG_ANDROID_ORIENT_INT + 1) #define KEY_END_COMPARE_Y_X_TMP (KEY_NO_ORIENT_INTERRUPT + 1) #define KEY_END_ORIENT_1 (KEY_END_COMPARE_Y_X_TMP + 1) #define KEY_END_COMPARE_Y_X (KEY_END_ORIENT_1 + 1) #define KEY_END_ORIENT (KEY_END_COMPARE_Y_X + 1) #define KEY_X_GRT_Y (KEY_END_ORIENT + 1) #define KEY_NOT_TIME_MINUS_1 (KEY_X_GRT_Y + 1) #define KEY_END_COMPARE_Y_X_TMP3 (KEY_NOT_TIME_MINUS_1 + 1) #define KEY_X_GRT_Y_TMP2 (KEY_END_COMPARE_Y_X_TMP3 + 1) /* Authenticate Keys */ #define KEY_D_AUTH_OUT (KEY_X_GRT_Y_TMP2 + 1) #define KEY_D_AUTH_IN (KEY_D_AUTH_OUT + 1) #define KEY_D_AUTH_A (KEY_D_AUTH_IN + 1) #define KEY_D_AUTH_B (KEY_D_AUTH_A + 1) /* Pedometer standalone only keys */ #define KEY_D_PEDSTD_BP_B (KEY_D_AUTH_B + 1) #define KEY_D_PEDSTD_HP_A (KEY_D_PEDSTD_BP_B + 1) #define KEY_D_PEDSTD_HP_B (KEY_D_PEDSTD_HP_A + 1) #define KEY_D_PEDSTD_BP_A4 (KEY_D_PEDSTD_HP_B + 1) #define KEY_D_PEDSTD_BP_A3 (KEY_D_PEDSTD_BP_A4 + 1) #define KEY_D_PEDSTD_BP_A2 (KEY_D_PEDSTD_BP_A3 + 1) #define KEY_D_PEDSTD_BP_A1 (KEY_D_PEDSTD_BP_A2 + 1) #define KEY_D_PEDSTD_INT_THRSH (KEY_D_PEDSTD_BP_A1 + 1) #define KEY_D_PEDSTD_CLIP (KEY_D_PEDSTD_INT_THRSH + 1) #define KEY_D_PEDSTD_SB (KEY_D_PEDSTD_CLIP + 1) #define KEY_D_PEDSTD_SB_TIME (KEY_D_PEDSTD_SB + 1) #define KEY_D_PEDSTD_PEAKTHRSH (KEY_D_PEDSTD_SB_TIME + 1) #define KEY_D_PEDSTD_TIML (KEY_D_PEDSTD_PEAKTHRSH + 1) #define KEY_D_PEDSTD_TIMH (KEY_D_PEDSTD_TIML + 1) #define KEY_D_PEDSTD_PEAK (KEY_D_PEDSTD_TIMH + 1) #define KEY_D_PEDSTD_TIMECTR (KEY_D_PEDSTD_PEAK + 1) #define KEY_D_PEDSTD_STEPCTR (KEY_D_PEDSTD_TIMECTR + 1) #define KEY_D_PEDSTD_WALKTIME (KEY_D_PEDSTD_STEPCTR + 1) #define KEY_D_PEDSTD_DECI (KEY_D_PEDSTD_WALKTIME + 1) /*Host Based No Motion*/ #define KEY_D_HOST_NO_MOT (KEY_D_PEDSTD_DECI + 1) /* EIS keys */ #define KEY_P_EIS_FIFO_FOOTER (KEY_D_HOST_NO_MOT + 1) #define KEY_P_EIS_FIFO_YSHIFT (KEY_P_EIS_FIFO_FOOTER + 1) #define KEY_P_EIS_DATA_RATE (KEY_P_EIS_FIFO_YSHIFT + 1) #define KEY_P_EIS_FIFO_XSHIFT (KEY_P_EIS_DATA_RATE + 1) #define KEY_P_EIS_FIFO_SYNC (KEY_P_EIS_FIFO_XSHIFT + 1) #define KEY_P_EIS_FIFO_ZSHIFT (KEY_P_EIS_FIFO_SYNC + 1) #define KEY_P_EIS_FIFO_READY (KEY_P_EIS_FIFO_ZSHIFT + 1) #define KEY_DMP_FOOTER (KEY_P_EIS_FIFO_READY + 1) #define KEY_DMP_INTX_HC (KEY_DMP_FOOTER + 1) #define KEY_DMP_INTX_PH (KEY_DMP_INTX_HC + 1) #define KEY_DMP_INTX_SH (KEY_DMP_INTX_PH + 1) #define KEY_DMP_AINV_SH (KEY_DMP_INTX_SH + 1) #define KEY_DMP_A_INV_XH (KEY_DMP_AINV_SH + 1) #define KEY_DMP_AINV_PH (KEY_DMP_A_INV_XH + 1) #define KEY_DMP_CTHX_H (KEY_DMP_AINV_PH + 1) #define KEY_DMP_CTHY_H (KEY_DMP_CTHX_H + 1) #define KEY_DMP_CTHZ_H (KEY_DMP_CTHY_H + 1) #define KEY_DMP_NCTHX_H (KEY_DMP_CTHZ_H + 1) #define KEY_DMP_NCTHY_H (KEY_DMP_NCTHX_H + 1) #define KEY_DMP_NCTHZ_H (KEY_DMP_NCTHY_H + 1) #define KEY_DMP_CTSQ_XH (KEY_DMP_NCTHZ_H + 1) #define KEY_DMP_CTSQ_YH (KEY_DMP_CTSQ_XH + 1) #define KEY_DMP_CTSQ_ZH (KEY_DMP_CTSQ_YH + 1) #define KEY_DMP_INTX_H (KEY_DMP_CTSQ_ZH + 1) #define KEY_DMP_INTY_H (KEY_DMP_INTX_H + 1) #define KEY_DMP_INTZ_H (KEY_DMP_INTY_H + 1) //#define KEY_DMP_HPX_H (KEY_DMP_INTZ_H + 1) //#define KEY_DMP_HPY_H (KEY_DMP_HPX_H + 1) //#define KEY_DMP_HPZ_H (KEY_DMP_HPY_H + 1) /* Stream keys */ #define KEY_STREAM_P_GYRO_Z (KEY_DMP_INTZ_H + 1) #define KEY_STREAM_P_GYRO_Y (KEY_STREAM_P_GYRO_Z + 1) #define KEY_STREAM_P_GYRO_X (KEY_STREAM_P_GYRO_Y + 1) #define KEY_STREAM_P_TEMP (KEY_STREAM_P_GYRO_X + 1) #define KEY_STREAM_P_AUX_Y (KEY_STREAM_P_TEMP + 1) #define KEY_STREAM_P_AUX_X (KEY_STREAM_P_AUX_Y + 1) #define KEY_STREAM_P_AUX_Z (KEY_STREAM_P_AUX_X + 1) #define KEY_STREAM_P_ACCEL_Y (KEY_STREAM_P_AUX_Z + 1) #define KEY_STREAM_P_ACCEL_X (KEY_STREAM_P_ACCEL_Y + 1) #define KEY_STREAM_P_FOOTER (KEY_STREAM_P_ACCEL_X + 1) #define KEY_STREAM_P_ACCEL_Z (KEY_STREAM_P_FOOTER + 1) #define NUM_KEYS (KEY_STREAM_P_ACCEL_Z + 1) typedef struct { unsigned short key; unsigned short addr; } tKeyLabel; #define DINA0A 0x0a #define DINA22 0x22 #define DINA42 0x42 #define DINA5A 0x5a #define DINA06 0x06 #define DINA0E 0x0e #define DINA16 0x16 #define DINA1E 0x1e #define DINA26 0x26 #define DINA2E 0x2e #define DINA36 0x36 #define DINA3E 0x3e #define DINA46 0x46 #define DINA4E 0x4e #define DINA56 0x56 #define DINA5E 0x5e #define DINA66 0x66 #define DINA6E 0x6e #define DINA76 0x76 #define DINA7E 0x7e #define DINA00 0x00 #define DINA08 0x08 #define DINA10 0x10 #define DINA18 0x18 #define DINA20 0x20 #define DINA28 0x28 #define DINA30 0x30 #define DINA38 0x38 #define DINA40 0x40 #define DINA48 0x48 #define DINA50 0x50 #define DINA58 0x58 #define DINA60 0x60 #define DINA68 0x68 #define DINA70 0x70 #define DINA78 0x78 #define DINA04 0x04 #define DINA0C 0x0c #define DINA14 0x14 #define DINA1C 0x1C #define DINA24 0x24 #define DINA2C 0x2c #define DINA34 0x34 #define DINA3C 0x3c #define DINA44 0x44 #define DINA4C 0x4c #define DINA54 0x54 #define DINA5C 0x5c #define DINA64 0x64 #define DINA6C 0x6c #define DINA74 0x74 #define DINA7C 0x7c #define DINA01 0x01 #define DINA09 0x09 #define DINA11 0x11 #define DINA19 0x19 #define DINA21 0x21 #define DINA29 0x29 #define DINA31 0x31 #define DINA39 0x39 #define DINA41 0x41 #define DINA49 0x49 #define DINA51 0x51 #define DINA59 0x59 #define DINA61 0x61 #define DINA69 0x69 #define DINA71 0x71 #define DINA79 0x79 #define DINA25 0x25 #define DINA2D 0x2d #define DINA35 0x35 #define DINA3D 0x3d #define DINA4D 0x4d #define DINA55 0x55 #define DINA5D 0x5D #define DINA6D 0x6d #define DINA75 0x75 #define DINA7D 0x7d #define DINADC 0xdc #define DINAF2 0xf2 #define DINAAB 0xab #define DINAAA 0xaa #define DINAF1 0xf1 #define DINADF 0xdf #define DINADA 0xda #define DINAB1 0xb1 #define DINAB9 0xb9 #define DINAF3 0xf3 #define DINA8B 0x8b #define DINAA3 0xa3 #define DINA91 0x91 #define DINAB6 0xb6 #define DINAB4 0xb4 #define DINC00 0x00 #define DINC01 0x01 #define DINC02 0x02 #define DINC03 0x03 #define DINC08 0x08 #define DINC09 0x09 #define DINC0A 0x0a #define DINC0B 0x0b #define DINC10 0x10 #define DINC11 0x11 #define DINC12 0x12 #define DINC13 0x13 #define DINC18 0x18 #define DINC19 0x19 #define DINC1A 0x1a #define DINC1B 0x1b #define DINC20 0x20 #define DINC21 0x21 #define DINC22 0x22 #define DINC23 0x23 #define DINC28 0x28 #define DINC29 0x29 #define DINC2A 0x2a #define DINC2B 0x2b #define DINC30 0x30 #define DINC31 0x31 #define DINC32 0x32 #define DINC33 0x33 #define DINC38 0x38 #define DINC39 0x39 #define DINC3A 0x3a #define DINC3B 0x3b #define DINC40 0x40 #define DINC41 0x41 #define DINC42 0x42 #define DINC43 0x43 #define DINC48 0x48 #define DINC49 0x49 #define DINC4A 0x4a #define DINC4B 0x4b #define DINC50 0x50 #define DINC51 0x51 #define DINC52 0x52 #define DINC53 0x53 #define DINC58 0x58 #define DINC59 0x59 #define DINC5A 0x5a #define DINC5B 0x5b #define DINC60 0x60 #define DINC61 0x61 #define DINC62 0x62 #define DINC63 0x63 #define DINC68 0x68 #define DINC69 0x69 #define DINC6A 0x6a #define DINC6B 0x6b #define DINC70 0x70 #define DINC71 0x71 #define DINC72 0x72 #define DINC73 0x73 #define DINC78 0x78 #define DINC79 0x79 #define DINC7A 0x7a #define DINC7B 0x7b #define DIND40 0x40 #define DINA80 0x80 #define DINA90 0x90 #define DINAA0 0xa0 #define DINAC9 0xc9 #define DINACB 0xcb #define DINACD 0xcd #define DINACF 0xcf #define DINAC8 0xc8 #define DINACA 0xca #define DINACC 0xcc #define DINACE 0xce #define DINAD8 0xd8 #define DINADD 0xdd #define DINAF8 0xf0 #define DINAFE 0xfe #define DINBF8 0xf8 #define DINAC0 0xb0 #define DINAC1 0xb1 #define DINAC2 0xb4 #define DINAC3 0xb5 #define DINAC4 0xb8 #define DINAC5 0xb9 #define DINBC0 0xc0 #define DINBC2 0xc2 #define DINBC4 0xc4 #define DINBC6 0xc6 #ifdef __cplusplus extern "C" { #endif #define DMP_PTAT 0 #define DMP_XGYR 2 #define DMP_YGYR 4 #define DMP_ZGYR 6 #define DMP_XACC 8 #define DMP_YACC 10 #define DMP_ZACC 12 #define DMP_ADC1 14 #define DMP_ADC2 16 #define DMP_ADC3 18 #define DMP_BIASUNC 20 #define DMP_FIFORT 22 #define DMP_INVGSFH 24 #define DMP_INVGSFL 26 #define DMP_1H 28 #define DMP_1L 30 #define DMP_BLPFSTCH 32 #define DMP_BLPFSTCL 34 #define DMP_BLPFSXH 36 #define DMP_BLPFSXL 38 #define DMP_BLPFSYH 40 #define DMP_BLPFSYL 42 #define DMP_BLPFSZH 44 #define DMP_BLPFSZL 46 #define DMP_BLPFMTC 48 #define DMP_SMC 50 #define DMP_BLPFMXH 52 #define DMP_BLPFMXL 54 #define DMP_BLPFMYH 56 #define DMP_BLPFMYL 58 #define DMP_BLPFMZH 60 #define DMP_BLPFMZL 62 #define DMP_BLPFC 64 #define DMP_SMCTH 66 #define DMP_0H2 68 #define DMP_0L2 70 #define DMP_BERR2H 72 #define DMP_BERR2L 74 #define DMP_BERR2NH 76 #define DMP_SMCINC 78 #define DMP_ANGVBXH 80 #define DMP_ANGVBXL 82 #define DMP_ANGVBYH 84 #define DMP_ANGVBYL 86 #define DMP_ANGVBZH 88 #define DMP_ANGVBZL 90 #define DMP_BERR1H 92 #define DMP_BERR1L 94 #define DMP_ATCH 96 #define DMP_BIASUNCSF 98 #define DMP_ACT2H 100 #define DMP_ACT2L 102 #define DMP_GSFH 104 #define DMP_GSFL 106 #define DMP_GH 108 #define DMP_GL 110 #define DMP_0_5H 112 #define DMP_0_5L 114 #define DMP_0_0H 116 #define DMP_0_0L 118 #define DMP_1_0H 120 #define DMP_1_0L 122 #define DMP_1_5H 124 #define DMP_1_5L 126 #define DMP_TMP1AH 128 #define DMP_TMP1AL 130 #define DMP_TMP2AH 132 #define DMP_TMP2AL 134 #define DMP_TMP3AH 136 #define DMP_TMP3AL 138 #define DMP_TMP4AH 140 #define DMP_TMP4AL 142 #define DMP_XACCW 144 #define DMP_TMP5 146 #define DMP_XACCB 148 #define DMP_TMP8 150 #define DMP_YACCB 152 #define DMP_TMP9 154 #define DMP_ZACCB 156 #define DMP_TMP10 158 #define DMP_DZH 160 #define DMP_DZL 162 #define DMP_XGCH 164 #define DMP_XGCL 166 #define DMP_YGCH 168 #define DMP_YGCL 170 #define DMP_ZGCH 172 #define DMP_ZGCL 174 #define DMP_YACCW 176 #define DMP_TMP7 178 #define DMP_AFB1H 180 #define DMP_AFB1L 182 #define DMP_AFB2H 184 #define DMP_AFB2L 186 #define DMP_MAGFBH 188 #define DMP_MAGFBL 190 #define DMP_QT1H 192 #define DMP_QT1L 194 #define DMP_QT2H 196 #define DMP_QT2L 198 #define DMP_QT3H 200 #define DMP_QT3L 202 #define DMP_QT4H 204 #define DMP_QT4L 206 #define DMP_CTRL1H 208 #define DMP_CTRL1L 210 #define DMP_CTRL2H 212 #define DMP_CTRL2L 214 #define DMP_CTRL3H 216 #define DMP_CTRL3L 218 #define DMP_CTRL4H 220 #define DMP_CTRL4L 222 #define DMP_CTRLS1 224 #define DMP_CTRLSF1 226 #define DMP_CTRLS2 228 #define DMP_CTRLSF2 230 #define DMP_CTRLS3 232 #define DMP_CTRLSFNLL 234 #define DMP_CTRLS4 236 #define DMP_CTRLSFNL2 238 #define DMP_CTRLSFNL 240 #define DMP_TMP30 242 #define DMP_CTRLSFJT 244 #define DMP_TMP31 246 #define DMP_TMP11 248 #define DMP_CTRLSF2_2 250 #define DMP_TMP12 252 #define DMP_CTRLSF1_2 254 #define DMP_PREVPTAT 256 #define DMP_ACCZB 258 #define DMP_ACCXB 264 #define DMP_ACCYB 266 #define DMP_1HB 272 #define DMP_1LB 274 #define DMP_0H 276 #define DMP_0L 278 #define DMP_ASR22H 280 #define DMP_ASR22L 282 #define DMP_ASR6H 284 #define DMP_ASR6L 286 #define DMP_TMP13 288 #define DMP_TMP14 290 #define DMP_FINTXH 292 #define DMP_FINTXL 294 #define DMP_FINTYH 296 #define DMP_FINTYL 298 #define DMP_FINTZH 300 #define DMP_FINTZL 302 #define DMP_TMP1BH 304 #define DMP_TMP1BL 306 #define DMP_TMP2BH 308 #define DMP_TMP2BL 310 #define DMP_TMP3BH 312 #define DMP_TMP3BL 314 #define DMP_TMP4BH 316 #define DMP_TMP4BL 318 #define DMP_STXG 320 #define DMP_ZCTXG 322 #define DMP_STYG 324 #define DMP_ZCTYG 326 #define DMP_STZG 328 #define DMP_ZCTZG 330 #define DMP_CTRLSFJT2 332 #define DMP_CTRLSFJTCNT 334 #define DMP_PVXG 336 #define DMP_TMP15 338 #define DMP_PVYG 340 #define DMP_TMP16 342 #define DMP_PVZG 344 #define DMP_TMP17 346 #define DMP_MNMFLAGH 352 #define DMP_MNMFLAGL 354 #define DMP_MNMTMH 356 #define DMP_MNMTML 358 #define DMP_MNMTMTHRH 360 #define DMP_MNMTMTHRL 362 #define DMP_MNMTHRH 364 #define DMP_MNMTHRL 366 #define DMP_ACCQD4H 368 #define DMP_ACCQD4L 370 #define DMP_ACCQD5H 372 #define DMP_ACCQD5L 374 #define DMP_ACCQD6H 376 #define DMP_ACCQD6L 378 #define DMP_ACCQD7H 380 #define DMP_ACCQD7L 382 #define DMP_ACCQD0H 384 #define DMP_ACCQD0L 386 #define DMP_ACCQD1H 388 #define DMP_ACCQD1L 390 #define DMP_ACCQD2H 392 #define DMP_ACCQD2L 394 #define DMP_ACCQD3H 396 #define DMP_ACCQD3L 398 #define DMP_XN2H 400 #define DMP_XN2L 402 #define DMP_XN1H 404 #define DMP_XN1L 406 #define DMP_YN2H 408 #define DMP_YN2L 410 #define DMP_YN1H 412 #define DMP_YN1L 414 #define DMP_YH 416 #define DMP_YL 418 #define DMP_B0H 420 #define DMP_B0L 422 #define DMP_A1H 424 #define DMP_A1L 426 #define DMP_A2H 428 #define DMP_A2L 430 #define DMP_SEM1 432 #define DMP_FIFOCNT 434 #define DMP_SH_TH_X 436 #define DMP_PACKET 438 #define DMP_SH_TH_Y 440 #define DMP_FOOTER 442 #define DMP_SH_TH_Z 444 #define DMP_TEMP29 448 #define DMP_TEMP30 450 #define DMP_XACCB_PRE 452 #define DMP_XACCB_PREL 454 #define DMP_YACCB_PRE 456 #define DMP_YACCB_PREL 458 #define DMP_ZACCB_PRE 460 #define DMP_ZACCB_PREL 462 #define DMP_TMP22 464 #define DMP_TAP_TIMER 466 #define DMP_TAP_THX 468 #define DMP_TAP_THY 472 #define DMP_TAP_THZ 476 #define DMP_TAPW_MIN 478 #define DMP_TMP25 480 #define DMP_TMP26 482 #define DMP_TMP27 484 #define DMP_TMP28 486 #define DMP_ORIENT 488 #define DMP_THRSH 490 #define DMP_ENDIANH 492 #define DMP_ENDIANL 494 #define DMP_BLPFNMTCH 496 #define DMP_BLPFNMTCL 498 #define DMP_BLPFNMXH 500 #define DMP_BLPFNMXL 502 #define DMP_BLPFNMYH 504 #define DMP_BLPFNMYL 506 #define DMP_BLPFNMZH 508 #define DMP_BLPFNMZL 510 #ifdef __cplusplus } #endif //定义输出速度 #define DEFAULT_MPU_HZ (100) //100Hz #define INV_X_GYRO (0x40) #define INV_Y_GYRO (0x20) #define INV_Z_GYRO (0x10) #define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO) #define INV_XYZ_ACCEL (0x08) #define INV_XYZ_COMPASS (0x01) //移植官方MSP430 DMP驱动过来 struct int_param_s { //#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 void (*cb)(void); unsigned short pin; unsigned char lp_exit; unsigned char active_low; //#elif defined EMPL_TARGET_UC3L0 // unsigned long pin; // void (*cb)(volatile void*); // void *arg; //#endif }; #define MPU_INT_STATUS_DATA_READY (0x0001) #define MPU_INT_STATUS_DMP (0x0002) #define MPU_INT_STATUS_PLL_READY (0x0004) #define MPU_INT_STATUS_I2C_MST (0x0008) #define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010) #define MPU_INT_STATUS_ZMOT (0x0020) #define MPU_INT_STATUS_MOT (0x0040) #define MPU_INT_STATUS_FREE_FALL (0x0080) #define MPU_INT_STATUS_DMP_0 (0x0100) #define MPU_INT_STATUS_DMP_1 (0x0200) #define MPU_INT_STATUS_DMP_2 (0x0400) #define MPU_INT_STATUS_DMP_3 (0x0800) #define MPU_INT_STATUS_DMP_4 (0x1000) #define MPU_INT_STATUS_DMP_5 (0x2000) /* Set up APIs */ int mpu_init(void); int mpu_init_slave(void); int mpu_set_bypass(unsigned char bypass_on); /* Configuration APIs */ int mpu_lp_accel_mode(unsigned char rate); int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, unsigned char lpa_freq); int mpu_set_int_level(unsigned char active_low); int mpu_set_int_latched(unsigned char enable); int mpu_set_dmp_state(unsigned char enable); int mpu_get_dmp_state(unsigned char *enabled); int mpu_get_lpf(unsigned short *lpf); int mpu_set_lpf(unsigned short lpf); int mpu_get_gyro_fsr(unsigned short *fsr); int mpu_set_gyro_fsr(unsigned short fsr); int mpu_get_accel_fsr(unsigned char *fsr); int mpu_set_accel_fsr(unsigned char fsr); int mpu_get_compass_fsr(unsigned short *fsr); int mpu_get_gyro_sens(float *sens); int mpu_get_accel_sens(unsigned short *sens); int mpu_get_sample_rate(unsigned short *rate); int mpu_set_sample_rate(unsigned short rate); int mpu_get_compass_sample_rate(unsigned short *rate); int mpu_set_compass_sample_rate(unsigned short rate); int mpu_get_fifo_config(unsigned char *sensors); int mpu_configure_fifo(unsigned char sensors); int mpu_get_power_state(unsigned char *power_on); int mpu_set_sensors(unsigned char sensors); int mpu_set_accel_bias(const long *accel_bias); /* Data getter/setter APIs */ int mpu_get_gyro_reg(short *data, unsigned long *timestamp); int mpu_get_accel_reg(short *data, unsigned long *timestamp); int mpu_get_compass_reg(short *data, unsigned long *timestamp); int mpu_get_temperature(long *data, unsigned long *timestamp); int mpu_get_int_status(short *status); int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, unsigned char *sensors, unsigned char *more); int mpu_read_fifo_stream(unsigned short length, unsigned char *data, unsigned char *more); int mpu_reset_fifo(void); int mpu_write_mem(unsigned short mem_addr, unsigned short length, unsigned char *data); int mpu_read_mem(unsigned short mem_addr, unsigned short length, unsigned char *data); int mpu_load_firmware(unsigned short length, const unsigned char *firmware, unsigned short start_addr, unsigned short sample_rate); int mpu_reg_dump(void); int mpu_read_reg(unsigned char reg, unsigned char *data); int mpu_run_self_test(long *gyro, long *accel); int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char)); //自行添加的一些函数 void mget_ms(unsigned long *time); unsigned short inv_row_2_scale(const signed char *row); unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx); unsigned char run_self_test(void); unsigned char mpu_dmp_init(void); unsigned char mpu_dmp_get_data(float *pitch,float *roll,float *yaw); #define TAP_X (0x01) #define TAP_Y (0x02) #define TAP_Z (0x04) #define TAP_XYZ (0x07) #define TAP_X_UP (0x01) #define TAP_X_DOWN (0x02) #define TAP_Y_UP (0x03) #define TAP_Y_DOWN (0x04) #define TAP_Z_UP (0x05) #define TAP_Z_DOWN (0x06) #define ANDROID_ORIENT_PORTRAIT (0x00) #define ANDROID_ORIENT_LANDSCAPE (0x01) #define ANDROID_ORIENT_REVERSE_PORTRAIT (0x02) #define ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03) #define DMP_INT_GESTURE (0x01) #define DMP_INT_CONTINUOUS (0x02) #define DMP_FEATURE_TAP (0x001) #define DMP_FEATURE_ANDROID_ORIENT (0x002) #define DMP_FEATURE_LP_QUAT (0x004) #define DMP_FEATURE_PEDOMETER (0x008) #define DMP_FEATURE_6X_LP_QUAT (0x010) #define DMP_FEATURE_GYRO_CAL (0x020) #define DMP_FEATURE_SEND_RAW_ACCEL (0x040) #define DMP_FEATURE_SEND_RAW_GYRO (0x080) #define DMP_FEATURE_SEND_CAL_GYRO (0x100) #define INV_WXYZ_QUAT (0x100) /* Set up functions. */ int dmp_load_motion_driver_firmware(void); int dmp_set_fifo_rate(unsigned short rate); int dmp_get_fifo_rate(unsigned short *rate); int dmp_enable_feature(unsigned short mask); int dmp_get_enabled_features(unsigned short *mask); int dmp_set_interrupt_mode(unsigned char mode); int dmp_set_orientation(unsigned short orient); int dmp_set_gyro_bias(long *bias); int dmp_set_accel_bias(long *bias); /* Tap functions. */ int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)); int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh); int dmp_set_tap_axes(unsigned char axis); int dmp_set_tap_count(unsigned char min_taps); int dmp_set_tap_time(unsigned short time); int dmp_set_tap_time_multi(unsigned short time); int dmp_set_shake_reject_thresh(long sf, unsigned short thresh); int dmp_set_shake_reject_time(unsigned short time); int dmp_set_shake_reject_timeout(unsigned short time); /* Android orientation functions. */ int dmp_register_android_orient_cb(void (*func)(unsigned char)); /* LP quaternion functions. */ int dmp_enable_lp_quat(unsigned char enable); int dmp_enable_6x_lp_quat(unsigned char enable); /* Pedometer functions. */ int dmp_get_pedometer_step_count(unsigned long *count); int dmp_set_pedometer_step_count(unsigned long count); int dmp_get_pedometer_walk_time(unsigned long *time); int dmp_set_pedometer_walk_time(unsigned long time); /* DMP gyro calibration functions. */ int dmp_enable_gyro_cal(unsigned char enable); /* Read function. This function should be called whenever the MPU interrupt is * detected. */ int dmp_read_fifo(short *gyro, short *accel, long *quat, unsigned long *timestamp, short *sensors, unsigned char *more); #endif