Junichi Katsu / Mbed 2 deprecated wallbotLED_base

うおーるぼっとLEDのワークショップ用

Dependencies:   mbed

wallbotLED/MPU6050_wallbotble/MPU6050.h@3:b707c09b4433, 2017-02-04 (annotated)

Committer:
jksoft
Date:
Sat Feb 04 03:33:08 2017 +0000
Revision:
3:b707c09b4433
Parent:
0:9fcc79b3f00e 
????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:9fcc79b3f00e 1 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
jksoft 0:9fcc79b3f00e 2 //written by szymon gaertig (email: szymon@gaertig.com.pl)
jksoft 0:9fcc79b3f00e 3 //
jksoft 0:9fcc79b3f00e 4 //Changelog:
jksoft 0:9fcc79b3f00e 5 //2013-01-08 - first beta release
jksoft 0:9fcc79b3f00e 6
jksoft 0:9fcc79b3f00e 7 // I2Cdev library collection - MPU6050 I2C device class
jksoft 0:9fcc79b3f00e 8 // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
jksoft 0:9fcc79b3f00e 9 // 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
jksoft 0:9fcc79b3f00e 10 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
jksoft 0:9fcc79b3f00e 11 //
jksoft 0:9fcc79b3f00e 12 // Changelog:
jksoft 0:9fcc79b3f00e 13 // ... - ongoing debug release
jksoft 0:9fcc79b3f00e 14
jksoft 0:9fcc79b3f00e 15 // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
jksoft 0:9fcc79b3f00e 16 // DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
jksoft 0:9fcc79b3f00e 17 // YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
jksoft 0:9fcc79b3f00e 18
jksoft 0:9fcc79b3f00e 19 /* ============================================
jksoft 0:9fcc79b3f00e 20 I2Cdev device library code is placed under the MIT license
jksoft 0:9fcc79b3f00e 21 Copyright (c) 2012 Jeff Rowberg
jksoft 0:9fcc79b3f00e 22
jksoft 0:9fcc79b3f00e 23 Permission is hereby granted, free of charge, to any person obtaining a copy
jksoft 0:9fcc79b3f00e 24 of this software and associated documentation files (the "Software"), to deal
jksoft 0:9fcc79b3f00e 25 in the Software without restriction, including without limitation the rights
jksoft 0:9fcc79b3f00e 26 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
jksoft 0:9fcc79b3f00e 27 copies of the Software, and to permit persons to whom the Software is
jksoft 0:9fcc79b3f00e 28 furnished to do so, subject to the following conditions:
jksoft 0:9fcc79b3f00e 29
jksoft 0:9fcc79b3f00e 30 The above copyright notice and this permission notice shall be included in
jksoft 0:9fcc79b3f00e 31 all copies or substantial portions of the Software.
jksoft 0:9fcc79b3f00e 32
jksoft 0:9fcc79b3f00e 33 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
jksoft 0:9fcc79b3f00e 34 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
jksoft 0:9fcc79b3f00e 35 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
jksoft 0:9fcc79b3f00e 36 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
jksoft 0:9fcc79b3f00e 37 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jksoft 0:9fcc79b3f00e 38 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
jksoft 0:9fcc79b3f00e 39 THE SOFTWARE.
jksoft 0:9fcc79b3f00e 40 ===============================================
jksoft 0:9fcc79b3f00e 41 */
jksoft 0:9fcc79b3f00e 42
jksoft 0:9fcc79b3f00e 43 #ifndef _MPU6050_H_
jksoft 0:9fcc79b3f00e 44 #define _MPU6050_H_
jksoft 0:9fcc79b3f00e 45
jksoft 0:9fcc79b3f00e 46 #include "I2Cdev.h"
jksoft 0:9fcc79b3f00e 47 #include "helper_3dmath.h"
jksoft 0:9fcc79b3f00e 48
jksoft 0:9fcc79b3f00e 49 #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
jksoft 0:9fcc79b3f00e 50 #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
jksoft 0:9fcc79b3f00e 51 #define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
jksoft 0:9fcc79b3f00e 52
jksoft 0:9fcc79b3f00e 53 #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
jksoft 0:9fcc79b3f00e 54 #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
jksoft 0:9fcc79b3f00e 55 #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
jksoft 0:9fcc79b3f00e 56 #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
jksoft 0:9fcc79b3f00e 57 #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
jksoft 0:9fcc79b3f00e 58 #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
jksoft 0:9fcc79b3f00e 59 #define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
jksoft 0:9fcc79b3f00e 60 #define MPU6050_RA_XA_OFFS_L_TC 0x07
jksoft 0:9fcc79b3f00e 61 #define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
jksoft 0:9fcc79b3f00e 62 #define MPU6050_RA_YA_OFFS_L_TC 0x09
jksoft 0:9fcc79b3f00e 63 #define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
jksoft 0:9fcc79b3f00e 64 #define MPU6050_RA_ZA_OFFS_L_TC 0x0B
jksoft 0:9fcc79b3f00e 65 #define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
jksoft 0:9fcc79b3f00e 66 #define MPU6050_RA_XG_OFFS_USRL 0x14
jksoft 0:9fcc79b3f00e 67 #define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
jksoft 0:9fcc79b3f00e 68 #define MPU6050_RA_YG_OFFS_USRL 0x16
jksoft 0:9fcc79b3f00e 69 #define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
jksoft 0:9fcc79b3f00e 70 #define MPU6050_RA_ZG_OFFS_USRL 0x18
jksoft 0:9fcc79b3f00e 71 #define MPU6050_RA_SMPLRT_DIV 0x19
jksoft 0:9fcc79b3f00e 72 #define MPU6050_RA_CONFIG 0x1A
jksoft 0:9fcc79b3f00e 73 #define MPU6050_RA_GYRO_CONFIG 0x1B
jksoft 0:9fcc79b3f00e 74 #define MPU6050_RA_ACCEL_CONFIG 0x1C
jksoft 0:9fcc79b3f00e 75 #define MPU6050_RA_FF_THR 0x1D
jksoft 0:9fcc79b3f00e 76 #define MPU6050_RA_FF_DUR 0x1E
jksoft 0:9fcc79b3f00e 77 #define MPU6050_RA_MOT_THR 0x1F
jksoft 0:9fcc79b3f00e 78 #define MPU6050_RA_MOT_DUR 0x20
jksoft 0:9fcc79b3f00e 79 #define MPU6050_RA_ZRMOT_THR 0x21
jksoft 0:9fcc79b3f00e 80 #define MPU6050_RA_ZRMOT_DUR 0x22
jksoft 0:9fcc79b3f00e 81 #define MPU6050_RA_FIFO_EN 0x23
jksoft 0:9fcc79b3f00e 82 #define MPU6050_RA_I2C_MST_CTRL 0x24
jksoft 0:9fcc79b3f00e 83 #define MPU6050_RA_I2C_SLV0_ADDR 0x25
jksoft 0:9fcc79b3f00e 84 #define MPU6050_RA_I2C_SLV0_REG 0x26
jksoft 0:9fcc79b3f00e 85 #define MPU6050_RA_I2C_SLV0_CTRL 0x27
jksoft 0:9fcc79b3f00e 86 #define MPU6050_RA_I2C_SLV1_ADDR 0x28
jksoft 0:9fcc79b3f00e 87 #define MPU6050_RA_I2C_SLV1_REG 0x29
jksoft 0:9fcc79b3f00e 88 #define MPU6050_RA_I2C_SLV1_CTRL 0x2A
jksoft 0:9fcc79b3f00e 89 #define MPU6050_RA_I2C_SLV2_ADDR 0x2B
jksoft 0:9fcc79b3f00e 90 #define MPU6050_RA_I2C_SLV2_REG 0x2C
jksoft 0:9fcc79b3f00e 91 #define MPU6050_RA_I2C_SLV2_CTRL 0x2D
jksoft 0:9fcc79b3f00e 92 #define MPU6050_RA_I2C_SLV3_ADDR 0x2E
jksoft 0:9fcc79b3f00e 93 #define MPU6050_RA_I2C_SLV3_REG 0x2F
jksoft 0:9fcc79b3f00e 94 #define MPU6050_RA_I2C_SLV3_CTRL 0x30
jksoft 0:9fcc79b3f00e 95 #define MPU6050_RA_I2C_SLV4_ADDR 0x31
jksoft 0:9fcc79b3f00e 96 #define MPU6050_RA_I2C_SLV4_REG 0x32
jksoft 0:9fcc79b3f00e 97 #define MPU6050_RA_I2C_SLV4_DO 0x33
jksoft 0:9fcc79b3f00e 98 #define MPU6050_RA_I2C_SLV4_CTRL 0x34
jksoft 0:9fcc79b3f00e 99 #define MPU6050_RA_I2C_SLV4_DI 0x35
jksoft 0:9fcc79b3f00e 100 #define MPU6050_RA_I2C_MST_STATUS 0x36
jksoft 0:9fcc79b3f00e 101 #define MPU6050_RA_INT_PIN_CFG 0x37
jksoft 0:9fcc79b3f00e 102 #define MPU6050_RA_INT_ENABLE 0x38
jksoft 0:9fcc79b3f00e 103 #define MPU6050_RA_DMP_INT_STATUS 0x39
jksoft 0:9fcc79b3f00e 104 #define MPU6050_RA_INT_STATUS 0x3A
jksoft 0:9fcc79b3f00e 105 #define MPU6050_RA_ACCEL_XOUT_H 0x3B
jksoft 0:9fcc79b3f00e 106 #define MPU6050_RA_ACCEL_XOUT_L 0x3C
jksoft 0:9fcc79b3f00e 107 #define MPU6050_RA_ACCEL_YOUT_H 0x3D
jksoft 0:9fcc79b3f00e 108 #define MPU6050_RA_ACCEL_YOUT_L 0x3E
jksoft 0:9fcc79b3f00e 109 #define MPU6050_RA_ACCEL_ZOUT_H 0x3F
jksoft 0:9fcc79b3f00e 110 #define MPU6050_RA_ACCEL_ZOUT_L 0x40
jksoft 0:9fcc79b3f00e 111 #define MPU6050_RA_TEMP_OUT_H 0x41
jksoft 0:9fcc79b3f00e 112 #define MPU6050_RA_TEMP_OUT_L 0x42
jksoft 0:9fcc79b3f00e 113 #define MPU6050_RA_GYRO_XOUT_H 0x43
jksoft 0:9fcc79b3f00e 114 #define MPU6050_RA_GYRO_XOUT_L 0x44
jksoft 0:9fcc79b3f00e 115 #define MPU6050_RA_GYRO_YOUT_H 0x45
jksoft 0:9fcc79b3f00e 116 #define MPU6050_RA_GYRO_YOUT_L 0x46
jksoft 0:9fcc79b3f00e 117 #define MPU6050_RA_GYRO_ZOUT_H 0x47
jksoft 0:9fcc79b3f00e 118 #define MPU6050_RA_GYRO_ZOUT_L 0x48
jksoft 0:9fcc79b3f00e 119 #define MPU6050_RA_EXT_SENS_DATA_00 0x49
jksoft 0:9fcc79b3f00e 120 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A
jksoft 0:9fcc79b3f00e 121 #define MPU6050_RA_EXT_SENS_DATA_02 0x4B
jksoft 0:9fcc79b3f00e 122 #define MPU6050_RA_EXT_SENS_DATA_03 0x4C
jksoft 0:9fcc79b3f00e 123 #define MPU6050_RA_EXT_SENS_DATA_04 0x4D
jksoft 0:9fcc79b3f00e 124 #define MPU6050_RA_EXT_SENS_DATA_05 0x4E
jksoft 0:9fcc79b3f00e 125 #define MPU6050_RA_EXT_SENS_DATA_06 0x4F
jksoft 0:9fcc79b3f00e 126 #define MPU6050_RA_EXT_SENS_DATA_07 0x50
jksoft 0:9fcc79b3f00e 127 #define MPU6050_RA_EXT_SENS_DATA_08 0x51
jksoft 0:9fcc79b3f00e 128 #define MPU6050_RA_EXT_SENS_DATA_09 0x52
jksoft 0:9fcc79b3f00e 129 #define MPU6050_RA_EXT_SENS_DATA_10 0x53
jksoft 0:9fcc79b3f00e 130 #define MPU6050_RA_EXT_SENS_DATA_11 0x54
jksoft 0:9fcc79b3f00e 131 #define MPU6050_RA_EXT_SENS_DATA_12 0x55
jksoft 0:9fcc79b3f00e 132 #define MPU6050_RA_EXT_SENS_DATA_13 0x56
jksoft 0:9fcc79b3f00e 133 #define MPU6050_RA_EXT_SENS_DATA_14 0x57
jksoft 0:9fcc79b3f00e 134 #define MPU6050_RA_EXT_SENS_DATA_15 0x58
jksoft 0:9fcc79b3f00e 135 #define MPU6050_RA_EXT_SENS_DATA_16 0x59
jksoft 0:9fcc79b3f00e 136 #define MPU6050_RA_EXT_SENS_DATA_17 0x5A
jksoft 0:9fcc79b3f00e 137 #define MPU6050_RA_EXT_SENS_DATA_18 0x5B
jksoft 0:9fcc79b3f00e 138 #define MPU6050_RA_EXT_SENS_DATA_19 0x5C
jksoft 0:9fcc79b3f00e 139 #define MPU6050_RA_EXT_SENS_DATA_20 0x5D
jksoft 0:9fcc79b3f00e 140 #define MPU6050_RA_EXT_SENS_DATA_21 0x5E
jksoft 0:9fcc79b3f00e 141 #define MPU6050_RA_EXT_SENS_DATA_22 0x5F
jksoft 0:9fcc79b3f00e 142 #define MPU6050_RA_EXT_SENS_DATA_23 0x60
jksoft 0:9fcc79b3f00e 143 #define MPU6050_RA_MOT_DETECT_STATUS 0x61
jksoft 0:9fcc79b3f00e 144 #define MPU6050_RA_I2C_SLV0_DO 0x63
jksoft 0:9fcc79b3f00e 145 #define MPU6050_RA_I2C_SLV1_DO 0x64
jksoft 0:9fcc79b3f00e 146 #define MPU6050_RA_I2C_SLV2_DO 0x65
jksoft 0:9fcc79b3f00e 147 #define MPU6050_RA_I2C_SLV3_DO 0x66
jksoft 0:9fcc79b3f00e 148 #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
jksoft 0:9fcc79b3f00e 149 #define MPU6050_RA_SIGNAL_PATH_RESET 0x68
jksoft 0:9fcc79b3f00e 150 #define MPU6050_RA_MOT_DETECT_CTRL 0x69
jksoft 0:9fcc79b3f00e 151 #define MPU6050_RA_USER_CTRL 0x6A
jksoft 0:9fcc79b3f00e 152 #define MPU6050_RA_PWR_MGMT_1 0x6B
jksoft 0:9fcc79b3f00e 153 #define MPU6050_RA_PWR_MGMT_2 0x6C
jksoft 0:9fcc79b3f00e 154 #define MPU6050_RA_BANK_SEL 0x6D
jksoft 0:9fcc79b3f00e 155 #define MPU6050_RA_MEM_START_ADDR 0x6E
jksoft 0:9fcc79b3f00e 156 #define MPU6050_RA_MEM_R_W 0x6F
jksoft 0:9fcc79b3f00e 157 #define MPU6050_RA_DMP_CFG_1 0x70
jksoft 0:9fcc79b3f00e 158 #define MPU6050_RA_DMP_CFG_2 0x71
jksoft 0:9fcc79b3f00e 159 #define MPU6050_RA_FIFO_COUNTH 0x72
jksoft 0:9fcc79b3f00e 160 #define MPU6050_RA_FIFO_COUNTL 0x73
jksoft 0:9fcc79b3f00e 161 #define MPU6050_RA_FIFO_R_W 0x74
jksoft 0:9fcc79b3f00e 162 #define MPU6050_RA_WHO_AM_I 0x75
jksoft 0:9fcc79b3f00e 163
jksoft 0:9fcc79b3f00e 164 #define MPU6050_TC_PWR_MODE_BIT 7
jksoft 0:9fcc79b3f00e 165 #define MPU6050_TC_OFFSET_BIT 6
jksoft 0:9fcc79b3f00e 166 #define MPU6050_TC_OFFSET_LENGTH 6
jksoft 0:9fcc79b3f00e 167 #define MPU6050_TC_OTP_BNK_VLD_BIT 0
jksoft 0:9fcc79b3f00e 168
jksoft 0:9fcc79b3f00e 169 #define MPU6050_VDDIO_LEVEL_VLOGIC 0
jksoft 0:9fcc79b3f00e 170 #define MPU6050_VDDIO_LEVEL_VDD 1
jksoft 0:9fcc79b3f00e 171
jksoft 0:9fcc79b3f00e 172 #define MPU6050_CFG_EXT_SYNC_SET_BIT 5
jksoft 0:9fcc79b3f00e 173 #define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
jksoft 0:9fcc79b3f00e 174 #define MPU6050_CFG_DLPF_CFG_BIT 2
jksoft 0:9fcc79b3f00e 175 #define MPU6050_CFG_DLPF_CFG_LENGTH 3
jksoft 0:9fcc79b3f00e 176
jksoft 0:9fcc79b3f00e 177 #define MPU6050_EXT_SYNC_DISABLED 0x0
jksoft 0:9fcc79b3f00e 178 #define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
jksoft 0:9fcc79b3f00e 179 #define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
jksoft 0:9fcc79b3f00e 180 #define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
jksoft 0:9fcc79b3f00e 181 #define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
jksoft 0:9fcc79b3f00e 182 #define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
jksoft 0:9fcc79b3f00e 183 #define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
jksoft 0:9fcc79b3f00e 184 #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
jksoft 0:9fcc79b3f00e 185
jksoft 0:9fcc79b3f00e 186 #define MPU6050_DLPF_BW_256 0x00
jksoft 0:9fcc79b3f00e 187 #define MPU6050_DLPF_BW_188 0x01
jksoft 0:9fcc79b3f00e 188 #define MPU6050_DLPF_BW_98 0x02
jksoft 0:9fcc79b3f00e 189 #define MPU6050_DLPF_BW_42 0x03
jksoft 0:9fcc79b3f00e 190 #define MPU6050_DLPF_BW_20 0x04
jksoft 0:9fcc79b3f00e 191 #define MPU6050_DLPF_BW_10 0x05
jksoft 0:9fcc79b3f00e 192 #define MPU6050_DLPF_BW_5 0x06
jksoft 0:9fcc79b3f00e 193
jksoft 0:9fcc79b3f00e 194 #define MPU6050_GCONFIG_FS_SEL_BIT 4
jksoft 0:9fcc79b3f00e 195 #define MPU6050_GCONFIG_FS_SEL_LENGTH 2
jksoft 0:9fcc79b3f00e 196
jksoft 0:9fcc79b3f00e 197 #define MPU6050_GYRO_FS_250 0x00
jksoft 0:9fcc79b3f00e 198 #define MPU6050_GYRO_FS_500 0x01
jksoft 0:9fcc79b3f00e 199 #define MPU6050_GYRO_FS_1000 0x02
jksoft 0:9fcc79b3f00e 200 #define MPU6050_GYRO_FS_2000 0x03
jksoft 0:9fcc79b3f00e 201
jksoft 0:9fcc79b3f00e 202 #define MPU6050_ACONFIG_XA_ST_BIT 7
jksoft 0:9fcc79b3f00e 203 #define MPU6050_ACONFIG_YA_ST_BIT 6
jksoft 0:9fcc79b3f00e 204 #define MPU6050_ACONFIG_ZA_ST_BIT 5
jksoft 0:9fcc79b3f00e 205 #define MPU6050_ACONFIG_AFS_SEL_BIT 4
jksoft 0:9fcc79b3f00e 206 #define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
jksoft 0:9fcc79b3f00e 207 #define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
jksoft 0:9fcc79b3f00e 208 #define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
jksoft 0:9fcc79b3f00e 209
jksoft 0:9fcc79b3f00e 210 #define MPU6050_ACCEL_FS_2 0x00
jksoft 0:9fcc79b3f00e 211 #define MPU6050_ACCEL_FS_4 0x01
jksoft 0:9fcc79b3f00e 212 #define MPU6050_ACCEL_FS_8 0x02
jksoft 0:9fcc79b3f00e 213 #define MPU6050_ACCEL_FS_16 0x03
jksoft 0:9fcc79b3f00e 214
jksoft 0:9fcc79b3f00e 215 #define MPU6050_DHPF_RESET 0x00
jksoft 0:9fcc79b3f00e 216 #define MPU6050_DHPF_5 0x01
jksoft 0:9fcc79b3f00e 217 #define MPU6050_DHPF_2P5 0x02
jksoft 0:9fcc79b3f00e 218 #define MPU6050_DHPF_1P25 0x03
jksoft 0:9fcc79b3f00e 219 #define MPU6050_DHPF_0P63 0x04
jksoft 0:9fcc79b3f00e 220 #define MPU6050_DHPF_HOLD 0x07
jksoft 0:9fcc79b3f00e 221
jksoft 0:9fcc79b3f00e 222 #define MPU6050_TEMP_FIFO_EN_BIT 7
jksoft 0:9fcc79b3f00e 223 #define MPU6050_XG_FIFO_EN_BIT 6
jksoft 0:9fcc79b3f00e 224 #define MPU6050_YG_FIFO_EN_BIT 5
jksoft 0:9fcc79b3f00e 225 #define MPU6050_ZG_FIFO_EN_BIT 4
jksoft 0:9fcc79b3f00e 226 #define MPU6050_ACCEL_FIFO_EN_BIT 3
jksoft 0:9fcc79b3f00e 227 #define MPU6050_SLV2_FIFO_EN_BIT 2
jksoft 0:9fcc79b3f00e 228 #define MPU6050_SLV1_FIFO_EN_BIT 1
jksoft 0:9fcc79b3f00e 229 #define MPU6050_SLV0_FIFO_EN_BIT 0
jksoft 0:9fcc79b3f00e 230
jksoft 0:9fcc79b3f00e 231 #define MPU6050_MULT_MST_EN_BIT 7
jksoft 0:9fcc79b3f00e 232 #define MPU6050_WAIT_FOR_ES_BIT 6
jksoft 0:9fcc79b3f00e 233 #define MPU6050_SLV_3_FIFO_EN_BIT 5
jksoft 0:9fcc79b3f00e 234 #define MPU6050_I2C_MST_P_NSR_BIT 4
jksoft 0:9fcc79b3f00e 235 #define MPU6050_I2C_MST_CLK_BIT 3
jksoft 0:9fcc79b3f00e 236 #define MPU6050_I2C_MST_CLK_LENGTH 4
jksoft 0:9fcc79b3f00e 237
jksoft 0:9fcc79b3f00e 238 #define MPU6050_CLOCK_DIV_348 0x0
jksoft 0:9fcc79b3f00e 239 #define MPU6050_CLOCK_DIV_333 0x1
jksoft 0:9fcc79b3f00e 240 #define MPU6050_CLOCK_DIV_320 0x2
jksoft 0:9fcc79b3f00e 241 #define MPU6050_CLOCK_DIV_308 0x3
jksoft 0:9fcc79b3f00e 242 #define MPU6050_CLOCK_DIV_296 0x4
jksoft 0:9fcc79b3f00e 243 #define MPU6050_CLOCK_DIV_286 0x5
jksoft 0:9fcc79b3f00e 244 #define MPU6050_CLOCK_DIV_276 0x6
jksoft 0:9fcc79b3f00e 245 #define MPU6050_CLOCK_DIV_267 0x7
jksoft 0:9fcc79b3f00e 246 #define MPU6050_CLOCK_DIV_258 0x8
jksoft 0:9fcc79b3f00e 247 #define MPU6050_CLOCK_DIV_500 0x9
jksoft 0:9fcc79b3f00e 248 #define MPU6050_CLOCK_DIV_471 0xA
jksoft 0:9fcc79b3f00e 249 #define MPU6050_CLOCK_DIV_444 0xB
jksoft 0:9fcc79b3f00e 250 #define MPU6050_CLOCK_DIV_421 0xC
jksoft 0:9fcc79b3f00e 251 #define MPU6050_CLOCK_DIV_400 0xD
jksoft 0:9fcc79b3f00e 252 #define MPU6050_CLOCK_DIV_381 0xE
jksoft 0:9fcc79b3f00e 253 #define MPU6050_CLOCK_DIV_364 0xF
jksoft 0:9fcc79b3f00e 254
jksoft 0:9fcc79b3f00e 255 #define MPU6050_I2C_SLV_RW_BIT 7
jksoft 0:9fcc79b3f00e 256 #define MPU6050_I2C_SLV_ADDR_BIT 6
jksoft 0:9fcc79b3f00e 257 #define MPU6050_I2C_SLV_ADDR_LENGTH 7
jksoft 0:9fcc79b3f00e 258 #define MPU6050_I2C_SLV_EN_BIT 7
jksoft 0:9fcc79b3f00e 259 #define MPU6050_I2C_SLV_BYTE_SW_BIT 6
jksoft 0:9fcc79b3f00e 260 #define MPU6050_I2C_SLV_REG_DIS_BIT 5
jksoft 0:9fcc79b3f00e 261 #define MPU6050_I2C_SLV_GRP_BIT 4
jksoft 0:9fcc79b3f00e 262 #define MPU6050_I2C_SLV_LEN_BIT 3
jksoft 0:9fcc79b3f00e 263 #define MPU6050_I2C_SLV_LEN_LENGTH 4
jksoft 0:9fcc79b3f00e 264
jksoft 0:9fcc79b3f00e 265 #define MPU6050_I2C_SLV4_RW_BIT 7
jksoft 0:9fcc79b3f00e 266 #define MPU6050_I2C_SLV4_ADDR_BIT 6
jksoft 0:9fcc79b3f00e 267 #define MPU6050_I2C_SLV4_ADDR_LENGTH 7
jksoft 0:9fcc79b3f00e 268 #define MPU6050_I2C_SLV4_EN_BIT 7
jksoft 0:9fcc79b3f00e 269 #define MPU6050_I2C_SLV4_INT_EN_BIT 6
jksoft 0:9fcc79b3f00e 270 #define MPU6050_I2C_SLV4_REG_DIS_BIT 5
jksoft 0:9fcc79b3f00e 271 #define MPU6050_I2C_SLV4_MST_DLY_BIT 4
jksoft 0:9fcc79b3f00e 272 #define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
jksoft 0:9fcc79b3f00e 273
jksoft 0:9fcc79b3f00e 274 #define MPU6050_MST_PASS_THROUGH_BIT 7
jksoft 0:9fcc79b3f00e 275 #define MPU6050_MST_I2C_SLV4_DONE_BIT 6
jksoft 0:9fcc79b3f00e 276 #define MPU6050_MST_I2C_LOST_ARB_BIT 5
jksoft 0:9fcc79b3f00e 277 #define MPU6050_MST_I2C_SLV4_NACK_BIT 4
jksoft 0:9fcc79b3f00e 278 #define MPU6050_MST_I2C_SLV3_NACK_BIT 3
jksoft 0:9fcc79b3f00e 279 #define MPU6050_MST_I2C_SLV2_NACK_BIT 2
jksoft 0:9fcc79b3f00e 280 #define MPU6050_MST_I2C_SLV1_NACK_BIT 1
jksoft 0:9fcc79b3f00e 281 #define MPU6050_MST_I2C_SLV0_NACK_BIT 0
jksoft 0:9fcc79b3f00e 282
jksoft 0:9fcc79b3f00e 283 #define MPU6050_INTCFG_INT_LEVEL_BIT 7
jksoft 0:9fcc79b3f00e 284 #define MPU6050_INTCFG_INT_OPEN_BIT 6
jksoft 0:9fcc79b3f00e 285 #define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
jksoft 0:9fcc79b3f00e 286 #define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
jksoft 0:9fcc79b3f00e 287 #define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
jksoft 0:9fcc79b3f00e 288 #define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
jksoft 0:9fcc79b3f00e 289 #define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
jksoft 0:9fcc79b3f00e 290 #define MPU6050_INTCFG_CLKOUT_EN_BIT 0
jksoft 0:9fcc79b3f00e 291
jksoft 0:9fcc79b3f00e 292 #define MPU6050_INTMODE_ACTIVEHIGH 0x00
jksoft 0:9fcc79b3f00e 293 #define MPU6050_INTMODE_ACTIVELOW 0x01
jksoft 0:9fcc79b3f00e 294
jksoft 0:9fcc79b3f00e 295 #define MPU6050_INTDRV_PUSHPULL 0x00
jksoft 0:9fcc79b3f00e 296 #define MPU6050_INTDRV_OPENDRAIN 0x01
jksoft 0:9fcc79b3f00e 297
jksoft 0:9fcc79b3f00e 298 #define MPU6050_INTLATCH_50USPULSE 0x00
jksoft 0:9fcc79b3f00e 299 #define MPU6050_INTLATCH_WAITCLEAR 0x01
jksoft 0:9fcc79b3f00e 300
jksoft 0:9fcc79b3f00e 301 #define MPU6050_INTCLEAR_STATUSREAD 0x00
jksoft 0:9fcc79b3f00e 302 #define MPU6050_INTCLEAR_ANYREAD 0x01
jksoft 0:9fcc79b3f00e 303
jksoft 0:9fcc79b3f00e 304 #define MPU6050_INTERRUPT_FF_BIT 7
jksoft 0:9fcc79b3f00e 305 #define MPU6050_INTERRUPT_MOT_BIT 6
jksoft 0:9fcc79b3f00e 306 #define MPU6050_INTERRUPT_ZMOT_BIT 5
jksoft 0:9fcc79b3f00e 307 #define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
jksoft 0:9fcc79b3f00e 308 #define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
jksoft 0:9fcc79b3f00e 309 #define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
jksoft 0:9fcc79b3f00e 310 #define MPU6050_INTERRUPT_DMP_INT_BIT 1
jksoft 0:9fcc79b3f00e 311 #define MPU6050_INTERRUPT_DATA_RDY_BIT 0
jksoft 0:9fcc79b3f00e 312
jksoft 0:9fcc79b3f00e 313 // TODO: figure out what these actually do
jksoft 0:9fcc79b3f00e 314 // UMPL source code is not very obivous
jksoft 0:9fcc79b3f00e 315 #define MPU6050_DMPINT_5_BIT 5
jksoft 0:9fcc79b3f00e 316 #define MPU6050_DMPINT_4_BIT 4
jksoft 0:9fcc79b3f00e 317 #define MPU6050_DMPINT_3_BIT 3
jksoft 0:9fcc79b3f00e 318 #define MPU6050_DMPINT_2_BIT 2
jksoft 0:9fcc79b3f00e 319 #define MPU6050_DMPINT_1_BIT 1
jksoft 0:9fcc79b3f00e 320 #define MPU6050_DMPINT_0_BIT 0
jksoft 0:9fcc79b3f00e 321
jksoft 0:9fcc79b3f00e 322 #define MPU6050_MOTION_MOT_XNEG_BIT 7
jksoft 0:9fcc79b3f00e 323 #define MPU6050_MOTION_MOT_XPOS_BIT 6
jksoft 0:9fcc79b3f00e 324 #define MPU6050_MOTION_MOT_YNEG_BIT 5
jksoft 0:9fcc79b3f00e 325 #define MPU6050_MOTION_MOT_YPOS_BIT 4
jksoft 0:9fcc79b3f00e 326 #define MPU6050_MOTION_MOT_ZNEG_BIT 3
jksoft 0:9fcc79b3f00e 327 #define MPU6050_MOTION_MOT_ZPOS_BIT 2
jksoft 0:9fcc79b3f00e 328 #define MPU6050_MOTION_MOT_ZRMOT_BIT 0
jksoft 0:9fcc79b3f00e 329
jksoft 0:9fcc79b3f00e 330 #define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
jksoft 0:9fcc79b3f00e 331 #define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
jksoft 0:9fcc79b3f00e 332 #define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
jksoft 0:9fcc79b3f00e 333 #define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
jksoft 0:9fcc79b3f00e 334 #define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
jksoft 0:9fcc79b3f00e 335 #define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
jksoft 0:9fcc79b3f00e 336
jksoft 0:9fcc79b3f00e 337 #define MPU6050_PATHRESET_GYRO_RESET_BIT 2
jksoft 0:9fcc79b3f00e 338 #define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
jksoft 0:9fcc79b3f00e 339 #define MPU6050_PATHRESET_TEMP_RESET_BIT 0
jksoft 0:9fcc79b3f00e 340
jksoft 0:9fcc79b3f00e 341 #define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
jksoft 0:9fcc79b3f00e 342 #define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
jksoft 0:9fcc79b3f00e 343 #define MPU6050_DETECT_FF_COUNT_BIT 3
jksoft 0:9fcc79b3f00e 344 #define MPU6050_DETECT_FF_COUNT_LENGTH 2
jksoft 0:9fcc79b3f00e 345 #define MPU6050_DETECT_MOT_COUNT_BIT 1
jksoft 0:9fcc79b3f00e 346 #define MPU6050_DETECT_MOT_COUNT_LENGTH 2
jksoft 0:9fcc79b3f00e 347
jksoft 0:9fcc79b3f00e 348 #define MPU6050_DETECT_DECREMENT_RESET 0x0
jksoft 0:9fcc79b3f00e 349 #define MPU6050_DETECT_DECREMENT_1 0x1
jksoft 0:9fcc79b3f00e 350 #define MPU6050_DETECT_DECREMENT_2 0x2
jksoft 0:9fcc79b3f00e 351 #define MPU6050_DETECT_DECREMENT_4 0x3
jksoft 0:9fcc79b3f00e 352
jksoft 0:9fcc79b3f00e 353 #define MPU6050_USERCTRL_DMP_EN_BIT 7
jksoft 0:9fcc79b3f00e 354 #define MPU6050_USERCTRL_FIFO_EN_BIT 6
jksoft 0:9fcc79b3f00e 355 #define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
jksoft 0:9fcc79b3f00e 356 #define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
jksoft 0:9fcc79b3f00e 357 #define MPU6050_USERCTRL_DMP_RESET_BIT 3
jksoft 0:9fcc79b3f00e 358 #define MPU6050_USERCTRL_FIFO_RESET_BIT 2
jksoft 0:9fcc79b3f00e 359 #define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
jksoft 0:9fcc79b3f00e 360 #define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
jksoft 0:9fcc79b3f00e 361
jksoft 0:9fcc79b3f00e 362 #define MPU6050_PWR1_DEVICE_RESET_BIT 7
jksoft 0:9fcc79b3f00e 363 #define MPU6050_PWR1_SLEEP_BIT 6
jksoft 0:9fcc79b3f00e 364 #define MPU6050_PWR1_CYCLE_BIT 5
jksoft 0:9fcc79b3f00e 365 #define MPU6050_PWR1_TEMP_DIS_BIT 3
jksoft 0:9fcc79b3f00e 366 #define MPU6050_PWR1_CLKSEL_BIT 2
jksoft 0:9fcc79b3f00e 367 #define MPU6050_PWR1_CLKSEL_LENGTH 3
jksoft 0:9fcc79b3f00e 368
jksoft 0:9fcc79b3f00e 369 #define MPU6050_CLOCK_INTERNAL 0x00
jksoft 0:9fcc79b3f00e 370 #define MPU6050_CLOCK_PLL_XGYRO 0x01
jksoft 0:9fcc79b3f00e 371 #define MPU6050_CLOCK_PLL_YGYRO 0x02
jksoft 0:9fcc79b3f00e 372 #define MPU6050_CLOCK_PLL_ZGYRO 0x03
jksoft 0:9fcc79b3f00e 373 #define MPU6050_CLOCK_PLL_EXT32K 0x04
jksoft 0:9fcc79b3f00e 374 #define MPU6050_CLOCK_PLL_EXT19M 0x05
jksoft 0:9fcc79b3f00e 375 #define MPU6050_CLOCK_KEEP_RESET 0x07
jksoft 0:9fcc79b3f00e 376
jksoft 0:9fcc79b3f00e 377 #define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
jksoft 0:9fcc79b3f00e 378 #define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
jksoft 0:9fcc79b3f00e 379 #define MPU6050_PWR2_STBY_XA_BIT 5
jksoft 0:9fcc79b3f00e 380 #define MPU6050_PWR2_STBY_YA_BIT 4
jksoft 0:9fcc79b3f00e 381 #define MPU6050_PWR2_STBY_ZA_BIT 3
jksoft 0:9fcc79b3f00e 382 #define MPU6050_PWR2_STBY_XG_BIT 2
jksoft 0:9fcc79b3f00e 383 #define MPU6050_PWR2_STBY_YG_BIT 1
jksoft 0:9fcc79b3f00e 384 #define MPU6050_PWR2_STBY_ZG_BIT 0
jksoft 0:9fcc79b3f00e 385
jksoft 0:9fcc79b3f00e 386 #define MPU6050_WAKE_FREQ_1P25 0x0
jksoft 0:9fcc79b3f00e 387 #define MPU6050_WAKE_FREQ_2P5 0x1
jksoft 0:9fcc79b3f00e 388 #define MPU6050_WAKE_FREQ_5 0x2
jksoft 0:9fcc79b3f00e 389 #define MPU6050_WAKE_FREQ_10 0x3
jksoft 0:9fcc79b3f00e 390
jksoft 0:9fcc79b3f00e 391 #define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
jksoft 0:9fcc79b3f00e 392 #define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
jksoft 0:9fcc79b3f00e 393 #define MPU6050_BANKSEL_MEM_SEL_BIT 4
jksoft 0:9fcc79b3f00e 394 #define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
jksoft 0:9fcc79b3f00e 395
jksoft 0:9fcc79b3f00e 396 #define MPU6050_WHO_AM_I_BIT 6
jksoft 0:9fcc79b3f00e 397 #define MPU6050_WHO_AM_I_LENGTH 6
jksoft 0:9fcc79b3f00e 398
jksoft 0:9fcc79b3f00e 399 #define MPU6050_DMP_MEMORY_BANKS 8
jksoft 0:9fcc79b3f00e 400 #define MPU6050_DMP_MEMORY_BANK_SIZE 256
jksoft 0:9fcc79b3f00e 401 #define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
jksoft 0:9fcc79b3f00e 402
jksoft 0:9fcc79b3f00e 403 // note: DMP code memory blocks defined at end of header file
jksoft 0:9fcc79b3f00e 404
jksoft 0:9fcc79b3f00e 405 class MPU6050 {
jksoft 0:9fcc79b3f00e 406 private:
jksoft 0:9fcc79b3f00e 407 I2Cdev i2Cdev;
jksoft 0:9fcc79b3f00e 408 Serial debugSerial;
jksoft 0:9fcc79b3f00e 409 public:
jksoft 0:9fcc79b3f00e 410 MPU6050();
jksoft 0:9fcc79b3f00e 411 MPU6050(uint8_t address);
jksoft 0:9fcc79b3f00e 412
jksoft 0:9fcc79b3f00e 413 void initialize();
jksoft 0:9fcc79b3f00e 414 bool testConnection();
jksoft 0:9fcc79b3f00e 415
jksoft 0:9fcc79b3f00e 416 // AUX_VDDIO register
jksoft 0:9fcc79b3f00e 417 uint8_t getAuxVDDIOLevel();
jksoft 0:9fcc79b3f00e 418 void setAuxVDDIOLevel(uint8_t level);
jksoft 0:9fcc79b3f00e 419
jksoft 0:9fcc79b3f00e 420 // SMPLRT_DIV register
jksoft 0:9fcc79b3f00e 421 uint8_t getRate();
jksoft 0:9fcc79b3f00e 422 void setRate(uint8_t rate);
jksoft 0:9fcc79b3f00e 423
jksoft 0:9fcc79b3f00e 424 // CONFIG register
jksoft 0:9fcc79b3f00e 425 uint8_t getExternalFrameSync();
jksoft 0:9fcc79b3f00e 426 void setExternalFrameSync(uint8_t sync);
jksoft 0:9fcc79b3f00e 427 uint8_t getDLPFMode();
jksoft 0:9fcc79b3f00e 428 void setDLPFMode(uint8_t bandwidth);
jksoft 0:9fcc79b3f00e 429
jksoft 0:9fcc79b3f00e 430 // GYRO_CONFIG register
jksoft 0:9fcc79b3f00e 431 uint8_t getFullScaleGyroRange();
jksoft 0:9fcc79b3f00e 432 void setFullScaleGyroRange(uint8_t range);
jksoft 0:9fcc79b3f00e 433
jksoft 0:9fcc79b3f00e 434 // ACCEL_CONFIG register
jksoft 0:9fcc79b3f00e 435 bool getAccelXSelfTest();
jksoft 0:9fcc79b3f00e 436 void setAccelXSelfTest(bool enabled);
jksoft 0:9fcc79b3f00e 437 bool getAccelYSelfTest();
jksoft 0:9fcc79b3f00e 438 void setAccelYSelfTest(bool enabled);
jksoft 0:9fcc79b3f00e 439 bool getAccelZSelfTest();
jksoft 0:9fcc79b3f00e 440 void setAccelZSelfTest(bool enabled);
jksoft 0:9fcc79b3f00e 441 uint8_t getFullScaleAccelRange();
jksoft 0:9fcc79b3f00e 442 void setFullScaleAccelRange(uint8_t range);
jksoft 0:9fcc79b3f00e 443 uint8_t getDHPFMode();
jksoft 0:9fcc79b3f00e 444 void setDHPFMode(uint8_t mode);
jksoft 0:9fcc79b3f00e 445
jksoft 0:9fcc79b3f00e 446 // FF_THR register
jksoft 0:9fcc79b3f00e 447 uint8_t getFreefallDetectionThreshold();
jksoft 0:9fcc79b3f00e 448 void setFreefallDetectionThreshold(uint8_t threshold);
jksoft 0:9fcc79b3f00e 449
jksoft 0:9fcc79b3f00e 450 // FF_DUR register
jksoft 0:9fcc79b3f00e 451 uint8_t getFreefallDetectionDuration();
jksoft 0:9fcc79b3f00e 452 void setFreefallDetectionDuration(uint8_t duration);
jksoft 0:9fcc79b3f00e 453
jksoft 0:9fcc79b3f00e 454 // MOT_THR register
jksoft 0:9fcc79b3f00e 455 uint8_t getMotionDetectionThreshold();
jksoft 0:9fcc79b3f00e 456 void setMotionDetectionThreshold(uint8_t threshold);
jksoft 0:9fcc79b3f00e 457
jksoft 0:9fcc79b3f00e 458 // MOT_DUR register
jksoft 0:9fcc79b3f00e 459 uint8_t getMotionDetectionDuration();
jksoft 0:9fcc79b3f00e 460 void setMotionDetectionDuration(uint8_t duration);
jksoft 0:9fcc79b3f00e 461
jksoft 0:9fcc79b3f00e 462 // ZRMOT_THR register
jksoft 0:9fcc79b3f00e 463 uint8_t getZeroMotionDetectionThreshold();
jksoft 0:9fcc79b3f00e 464 void setZeroMotionDetectionThreshold(uint8_t threshold);
jksoft 0:9fcc79b3f00e 465
jksoft 0:9fcc79b3f00e 466 // ZRMOT_DUR register
jksoft 0:9fcc79b3f00e 467 uint8_t getZeroMotionDetectionDuration();
jksoft 0:9fcc79b3f00e 468 void setZeroMotionDetectionDuration(uint8_t duration);
jksoft 0:9fcc79b3f00e 469
jksoft 0:9fcc79b3f00e 470 // FIFO_EN register
jksoft 0:9fcc79b3f00e 471 bool getTempFIFOEnabled();
jksoft 0:9fcc79b3f00e 472 void setTempFIFOEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 473 bool getXGyroFIFOEnabled();
jksoft 0:9fcc79b3f00e 474 void setXGyroFIFOEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 475 bool getYGyroFIFOEnabled();
jksoft 0:9fcc79b3f00e 476 void setYGyroFIFOEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 477 bool getZGyroFIFOEnabled();
jksoft 0:9fcc79b3f00e 478 void setZGyroFIFOEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 479 bool getAccelFIFOEnabled();
jksoft 0:9fcc79b3f00e 480 void setAccelFIFOEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 481 bool getSlave2FIFOEnabled();
jksoft 0:9fcc79b3f00e 482 void setSlave2FIFOEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 483 bool getSlave1FIFOEnabled();
jksoft 0:9fcc79b3f00e 484 void setSlave1FIFOEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 485 bool getSlave0FIFOEnabled();
jksoft 0:9fcc79b3f00e 486 void setSlave0FIFOEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 487
jksoft 0:9fcc79b3f00e 488 // I2C_MST_CTRL register
jksoft 0:9fcc79b3f00e 489 bool getMultiMasterEnabled();
jksoft 0:9fcc79b3f00e 490 void setMultiMasterEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 491 bool getWaitForExternalSensorEnabled();
jksoft 0:9fcc79b3f00e 492 void setWaitForExternalSensorEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 493 bool getSlave3FIFOEnabled();
jksoft 0:9fcc79b3f00e 494 void setSlave3FIFOEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 495 bool getSlaveReadWriteTransitionEnabled();
jksoft 0:9fcc79b3f00e 496 void setSlaveReadWriteTransitionEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 497 uint8_t getMasterClockSpeed();
jksoft 0:9fcc79b3f00e 498 void setMasterClockSpeed(uint8_t speed);
jksoft 0:9fcc79b3f00e 499
jksoft 0:9fcc79b3f00e 500 // I2C_SLV* registers (Slave 0-3)
jksoft 0:9fcc79b3f00e 501 uint8_t getSlaveAddress(uint8_t num);
jksoft 0:9fcc79b3f00e 502 void setSlaveAddress(uint8_t num, uint8_t address);
jksoft 0:9fcc79b3f00e 503 uint8_t getSlaveRegister(uint8_t num);
jksoft 0:9fcc79b3f00e 504 void setSlaveRegister(uint8_t num, uint8_t reg);
jksoft 0:9fcc79b3f00e 505 bool getSlaveEnabled(uint8_t num);
jksoft 0:9fcc79b3f00e 506 void setSlaveEnabled(uint8_t num, bool enabled);
jksoft 0:9fcc79b3f00e 507 bool getSlaveWordByteSwap(uint8_t num);
jksoft 0:9fcc79b3f00e 508 void setSlaveWordByteSwap(uint8_t num, bool enabled);
jksoft 0:9fcc79b3f00e 509 bool getSlaveWriteMode(uint8_t num);
jksoft 0:9fcc79b3f00e 510 void setSlaveWriteMode(uint8_t num, bool mode);
jksoft 0:9fcc79b3f00e 511 bool getSlaveWordGroupOffset(uint8_t num);
jksoft 0:9fcc79b3f00e 512 void setSlaveWordGroupOffset(uint8_t num, bool enabled);
jksoft 0:9fcc79b3f00e 513 uint8_t getSlaveDataLength(uint8_t num);
jksoft 0:9fcc79b3f00e 514 void setSlaveDataLength(uint8_t num, uint8_t length);
jksoft 0:9fcc79b3f00e 515
jksoft 0:9fcc79b3f00e 516 // I2C_SLV* registers (Slave 4)
jksoft 0:9fcc79b3f00e 517 uint8_t getSlave4Address();
jksoft 0:9fcc79b3f00e 518 void setSlave4Address(uint8_t address);
jksoft 0:9fcc79b3f00e 519 uint8_t getSlave4Register();
jksoft 0:9fcc79b3f00e 520 void setSlave4Register(uint8_t reg);
jksoft 0:9fcc79b3f00e 521 void setSlave4OutputByte(uint8_t data);
jksoft 0:9fcc79b3f00e 522 bool getSlave4Enabled();
jksoft 0:9fcc79b3f00e 523 void setSlave4Enabled(bool enabled);
jksoft 0:9fcc79b3f00e 524 bool getSlave4InterruptEnabled();
jksoft 0:9fcc79b3f00e 525 void setSlave4InterruptEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 526 bool getSlave4WriteMode();
jksoft 0:9fcc79b3f00e 527 void setSlave4WriteMode(bool mode);
jksoft 0:9fcc79b3f00e 528 uint8_t getSlave4MasterDelay();
jksoft 0:9fcc79b3f00e 529 void setSlave4MasterDelay(uint8_t delay);
jksoft 0:9fcc79b3f00e 530 uint8_t getSlate4InputByte();
jksoft 0:9fcc79b3f00e 531
jksoft 0:9fcc79b3f00e 532 // I2C_MST_STATUS register
jksoft 0:9fcc79b3f00e 533 bool getPassthroughStatus();
jksoft 0:9fcc79b3f00e 534 bool getSlave4IsDone();
jksoft 0:9fcc79b3f00e 535 bool getLostArbitration();
jksoft 0:9fcc79b3f00e 536 bool getSlave4Nack();
jksoft 0:9fcc79b3f00e 537 bool getSlave3Nack();
jksoft 0:9fcc79b3f00e 538 bool getSlave2Nack();
jksoft 0:9fcc79b3f00e 539 bool getSlave1Nack();
jksoft 0:9fcc79b3f00e 540 bool getSlave0Nack();
jksoft 0:9fcc79b3f00e 541
jksoft 0:9fcc79b3f00e 542 // INT_PIN_CFG register
jksoft 0:9fcc79b3f00e 543 bool getInterruptMode();
jksoft 0:9fcc79b3f00e 544 void setInterruptMode(bool mode);
jksoft 0:9fcc79b3f00e 545 bool getInterruptDrive();
jksoft 0:9fcc79b3f00e 546 void setInterruptDrive(bool drive);
jksoft 0:9fcc79b3f00e 547 bool getInterruptLatch();
jksoft 0:9fcc79b3f00e 548 void setInterruptLatch(bool latch);
jksoft 0:9fcc79b3f00e 549 bool getInterruptLatchClear();
jksoft 0:9fcc79b3f00e 550 void setInterruptLatchClear(bool clear);
jksoft 0:9fcc79b3f00e 551 bool getFSyncInterruptLevel();
jksoft 0:9fcc79b3f00e 552 void setFSyncInterruptLevel(bool level);
jksoft 0:9fcc79b3f00e 553 bool getFSyncInterruptEnabled();
jksoft 0:9fcc79b3f00e 554 void setFSyncInterruptEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 555 bool getI2CBypassEnabled();
jksoft 0:9fcc79b3f00e 556 void setI2CBypassEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 557 bool getClockOutputEnabled();
jksoft 0:9fcc79b3f00e 558 void setClockOutputEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 559
jksoft 0:9fcc79b3f00e 560 // INT_ENABLE register
jksoft 0:9fcc79b3f00e 561 uint8_t getIntEnabled();
jksoft 0:9fcc79b3f00e 562 void setIntEnabled(uint8_t enabled);
jksoft 0:9fcc79b3f00e 563 bool getIntFreefallEnabled();
jksoft 0:9fcc79b3f00e 564 void setIntFreefallEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 565 bool getIntMotionEnabled();
jksoft 0:9fcc79b3f00e 566 void setIntMotionEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 567 bool getIntZeroMotionEnabled();
jksoft 0:9fcc79b3f00e 568 void setIntZeroMotionEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 569 bool getIntFIFOBufferOverflowEnabled();
jksoft 0:9fcc79b3f00e 570 void setIntFIFOBufferOverflowEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 571 bool getIntI2CMasterEnabled();
jksoft 0:9fcc79b3f00e 572 void setIntI2CMasterEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 573 bool getIntDataReadyEnabled();
jksoft 0:9fcc79b3f00e 574 void setIntDataReadyEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 575
jksoft 0:9fcc79b3f00e 576 // INT_STATUS register
jksoft 0:9fcc79b3f00e 577 uint8_t getIntStatus();
jksoft 0:9fcc79b3f00e 578 bool getIntFreefallStatus();
jksoft 0:9fcc79b3f00e 579 bool getIntMotionStatus();
jksoft 0:9fcc79b3f00e 580 bool getIntZeroMotionStatus();
jksoft 0:9fcc79b3f00e 581 bool getIntFIFOBufferOverflowStatus();
jksoft 0:9fcc79b3f00e 582 bool getIntI2CMasterStatus();
jksoft 0:9fcc79b3f00e 583 bool getIntDataReadyStatus();
jksoft 0:9fcc79b3f00e 584
jksoft 0:9fcc79b3f00e 585 // ACCEL_*OUT_* registers
jksoft 0:9fcc79b3f00e 586 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);
jksoft 0:9fcc79b3f00e 587 void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
jksoft 0:9fcc79b3f00e 588 void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
jksoft 0:9fcc79b3f00e 589 int16_t getAccelerationX();
jksoft 0:9fcc79b3f00e 590 int16_t getAccelerationY();
jksoft 0:9fcc79b3f00e 591 int16_t getAccelerationZ();
jksoft 0:9fcc79b3f00e 592
jksoft 0:9fcc79b3f00e 593 // TEMP_OUT_* registers
jksoft 0:9fcc79b3f00e 594 int16_t getTemperature();
jksoft 0:9fcc79b3f00e 595
jksoft 0:9fcc79b3f00e 596 // GYRO_*OUT_* registers
jksoft 0:9fcc79b3f00e 597 void getRotation(int16_t* x, int16_t* y, int16_t* z);
jksoft 0:9fcc79b3f00e 598 int16_t getRotationX();
jksoft 0:9fcc79b3f00e 599 int16_t getRotationY();
jksoft 0:9fcc79b3f00e 600 int16_t getRotationZ();
jksoft 0:9fcc79b3f00e 601
jksoft 0:9fcc79b3f00e 602 // EXT_SENS_DATA_* registers
jksoft 0:9fcc79b3f00e 603 uint8_t getExternalSensorByte(int position);
jksoft 0:9fcc79b3f00e 604 uint16_t getExternalSensorWord(int position);
jksoft 0:9fcc79b3f00e 605 uint32_t getExternalSensorDWord(int position);
jksoft 0:9fcc79b3f00e 606
jksoft 0:9fcc79b3f00e 607 // MOT_DETECT_STATUS register
jksoft 0:9fcc79b3f00e 608 bool getXNegMotionDetected();
jksoft 0:9fcc79b3f00e 609 bool getXPosMotionDetected();
jksoft 0:9fcc79b3f00e 610 bool getYNegMotionDetected();
jksoft 0:9fcc79b3f00e 611 bool getYPosMotionDetected();
jksoft 0:9fcc79b3f00e 612 bool getZNegMotionDetected();
jksoft 0:9fcc79b3f00e 613 bool getZPosMotionDetected();
jksoft 0:9fcc79b3f00e 614 bool getZeroMotionDetected();
jksoft 0:9fcc79b3f00e 615
jksoft 0:9fcc79b3f00e 616 // I2C_SLV*_DO register
jksoft 0:9fcc79b3f00e 617 void setSlaveOutputByte(uint8_t num, uint8_t data);
jksoft 0:9fcc79b3f00e 618
jksoft 0:9fcc79b3f00e 619 // I2C_MST_DELAY_CTRL register
jksoft 0:9fcc79b3f00e 620 bool getExternalShadowDelayEnabled();
jksoft 0:9fcc79b3f00e 621 void setExternalShadowDelayEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 622 bool getSlaveDelayEnabled(uint8_t num);
jksoft 0:9fcc79b3f00e 623 void setSlaveDelayEnabled(uint8_t num, bool enabled);
jksoft 0:9fcc79b3f00e 624
jksoft 0:9fcc79b3f00e 625 // SIGNAL_PATH_RESET register
jksoft 0:9fcc79b3f00e 626 void resetGyroscopePath();
jksoft 0:9fcc79b3f00e 627 void resetAccelerometerPath();
jksoft 0:9fcc79b3f00e 628 void resetTemperaturePath();
jksoft 0:9fcc79b3f00e 629
jksoft 0:9fcc79b3f00e 630 // MOT_DETECT_CTRL register
jksoft 0:9fcc79b3f00e 631 uint8_t getAccelerometerPowerOnDelay();
jksoft 0:9fcc79b3f00e 632 void setAccelerometerPowerOnDelay(uint8_t delay);
jksoft 0:9fcc79b3f00e 633 uint8_t getFreefallDetectionCounterDecrement();
jksoft 0:9fcc79b3f00e 634 void setFreefallDetectionCounterDecrement(uint8_t decrement);
jksoft 0:9fcc79b3f00e 635 uint8_t getMotionDetectionCounterDecrement();
jksoft 0:9fcc79b3f00e 636 void setMotionDetectionCounterDecrement(uint8_t decrement);
jksoft 0:9fcc79b3f00e 637
jksoft 0:9fcc79b3f00e 638 // USER_CTRL register
jksoft 0:9fcc79b3f00e 639 bool getFIFOEnabled();
jksoft 0:9fcc79b3f00e 640 void setFIFOEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 641 bool getI2CMasterModeEnabled();
jksoft 0:9fcc79b3f00e 642 void setI2CMasterModeEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 643 void switchSPIEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 644 void resetFIFO();
jksoft 0:9fcc79b3f00e 645 void resetI2CMaster();
jksoft 0:9fcc79b3f00e 646 void resetSensors();
jksoft 0:9fcc79b3f00e 647
jksoft 0:9fcc79b3f00e 648 // PWR_MGMT_1 register
jksoft 0:9fcc79b3f00e 649 void reset();
jksoft 0:9fcc79b3f00e 650 bool getSleepEnabled();
jksoft 0:9fcc79b3f00e 651 void setSleepEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 652 bool getWakeCycleEnabled();
jksoft 0:9fcc79b3f00e 653 void setWakeCycleEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 654 bool getTempSensorEnabled();
jksoft 0:9fcc79b3f00e 655 void setTempSensorEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 656 uint8_t getClockSource();
jksoft 0:9fcc79b3f00e 657 void setClockSource(uint8_t source);
jksoft 0:9fcc79b3f00e 658
jksoft 0:9fcc79b3f00e 659 // PWR_MGMT_2 register
jksoft 0:9fcc79b3f00e 660 uint8_t getWakeFrequency();
jksoft 0:9fcc79b3f00e 661 void setWakeFrequency(uint8_t frequency);
jksoft 0:9fcc79b3f00e 662 bool getStandbyXAccelEnabled();
jksoft 0:9fcc79b3f00e 663 void setStandbyXAccelEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 664 bool getStandbyYAccelEnabled();
jksoft 0:9fcc79b3f00e 665 void setStandbyYAccelEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 666 bool getStandbyZAccelEnabled();
jksoft 0:9fcc79b3f00e 667 void setStandbyZAccelEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 668 bool getStandbyXGyroEnabled();
jksoft 0:9fcc79b3f00e 669 void setStandbyXGyroEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 670 bool getStandbyYGyroEnabled();
jksoft 0:9fcc79b3f00e 671 void setStandbyYGyroEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 672 bool getStandbyZGyroEnabled();
jksoft 0:9fcc79b3f00e 673 void setStandbyZGyroEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 674
jksoft 0:9fcc79b3f00e 675 // FIFO_COUNT_* registers
jksoft 0:9fcc79b3f00e 676 uint16_t getFIFOCount();
jksoft 0:9fcc79b3f00e 677
jksoft 0:9fcc79b3f00e 678 // FIFO_R_W register
jksoft 0:9fcc79b3f00e 679 uint8_t getFIFOByte();
jksoft 0:9fcc79b3f00e 680 void setFIFOByte(uint8_t data);
jksoft 0:9fcc79b3f00e 681 void getFIFOBytes(uint8_t *data, uint8_t length);
jksoft 0:9fcc79b3f00e 682
jksoft 0:9fcc79b3f00e 683 // WHO_AM_I register
jksoft 0:9fcc79b3f00e 684 uint8_t getDeviceID();
jksoft 0:9fcc79b3f00e 685 void setDeviceID(uint8_t id);
jksoft 0:9fcc79b3f00e 686
jksoft 0:9fcc79b3f00e 687 // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
jksoft 0:9fcc79b3f00e 688
jksoft 0:9fcc79b3f00e 689 // XG_OFFS_TC register
jksoft 0:9fcc79b3f00e 690 uint8_t getOTPBankValid();
jksoft 0:9fcc79b3f00e 691 void setOTPBankValid(bool enabled);
jksoft 0:9fcc79b3f00e 692 int8_t getXGyroOffset();
jksoft 0:9fcc79b3f00e 693 void setXGyroOffset(int8_t offset);
jksoft 0:9fcc79b3f00e 694
jksoft 0:9fcc79b3f00e 695 // YG_OFFS_TC register
jksoft 0:9fcc79b3f00e 696 int8_t getYGyroOffset();
jksoft 0:9fcc79b3f00e 697 void setYGyroOffset(int8_t offset);
jksoft 0:9fcc79b3f00e 698
jksoft 0:9fcc79b3f00e 699 // ZG_OFFS_TC register
jksoft 0:9fcc79b3f00e 700 int8_t getZGyroOffset();
jksoft 0:9fcc79b3f00e 701 void setZGyroOffset(int8_t offset);
jksoft 0:9fcc79b3f00e 702
jksoft 0:9fcc79b3f00e 703 // X_FINE_GAIN register
jksoft 0:9fcc79b3f00e 704 int8_t getXFineGain();
jksoft 0:9fcc79b3f00e 705 void setXFineGain(int8_t gain);
jksoft 0:9fcc79b3f00e 706
jksoft 0:9fcc79b3f00e 707 // Y_FINE_GAIN register
jksoft 0:9fcc79b3f00e 708 int8_t getYFineGain();
jksoft 0:9fcc79b3f00e 709 void setYFineGain(int8_t gain);
jksoft 0:9fcc79b3f00e 710
jksoft 0:9fcc79b3f00e 711 // Z_FINE_GAIN register
jksoft 0:9fcc79b3f00e 712 int8_t getZFineGain();
jksoft 0:9fcc79b3f00e 713 void setZFineGain(int8_t gain);
jksoft 0:9fcc79b3f00e 714
jksoft 0:9fcc79b3f00e 715 // XA_OFFS_* registers
jksoft 0:9fcc79b3f00e 716 int16_t getXAccelOffset();
jksoft 0:9fcc79b3f00e 717 void setXAccelOffset(int16_t offset);
jksoft 0:9fcc79b3f00e 718
jksoft 0:9fcc79b3f00e 719 // YA_OFFS_* register
jksoft 0:9fcc79b3f00e 720 int16_t getYAccelOffset();
jksoft 0:9fcc79b3f00e 721 void setYAccelOffset(int16_t offset);
jksoft 0:9fcc79b3f00e 722
jksoft 0:9fcc79b3f00e 723 // ZA_OFFS_* register
jksoft 0:9fcc79b3f00e 724 int16_t getZAccelOffset();
jksoft 0:9fcc79b3f00e 725 void setZAccelOffset(int16_t offset);
jksoft 0:9fcc79b3f00e 726
jksoft 0:9fcc79b3f00e 727 // XG_OFFS_USR* registers
jksoft 0:9fcc79b3f00e 728 int16_t getXGyroOffsetUser();
jksoft 0:9fcc79b3f00e 729 void setXGyroOffsetUser(int16_t offset);
jksoft 0:9fcc79b3f00e 730
jksoft 0:9fcc79b3f00e 731 // YG_OFFS_USR* register
jksoft 0:9fcc79b3f00e 732 int16_t getYGyroOffsetUser();
jksoft 0:9fcc79b3f00e 733 void setYGyroOffsetUser(int16_t offset);
jksoft 0:9fcc79b3f00e 734
jksoft 0:9fcc79b3f00e 735 // ZG_OFFS_USR* register
jksoft 0:9fcc79b3f00e 736 int16_t getZGyroOffsetUser();
jksoft 0:9fcc79b3f00e 737 void setZGyroOffsetUser(int16_t offset);
jksoft 0:9fcc79b3f00e 738
jksoft 0:9fcc79b3f00e 739 // INT_ENABLE register (DMP functions)
jksoft 0:9fcc79b3f00e 740 bool getIntPLLReadyEnabled();
jksoft 0:9fcc79b3f00e 741 void setIntPLLReadyEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 742 bool getIntDMPEnabled();
jksoft 0:9fcc79b3f00e 743 void setIntDMPEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 744
jksoft 0:9fcc79b3f00e 745 // DMP_INT_STATUS
jksoft 0:9fcc79b3f00e 746 bool getDMPInt5Status();
jksoft 0:9fcc79b3f00e 747 bool getDMPInt4Status();
jksoft 0:9fcc79b3f00e 748 bool getDMPInt3Status();
jksoft 0:9fcc79b3f00e 749 bool getDMPInt2Status();
jksoft 0:9fcc79b3f00e 750 bool getDMPInt1Status();
jksoft 0:9fcc79b3f00e 751 bool getDMPInt0Status();
jksoft 0:9fcc79b3f00e 752
jksoft 0:9fcc79b3f00e 753 // INT_STATUS register (DMP functions)
jksoft 0:9fcc79b3f00e 754 bool getIntPLLReadyStatus();
jksoft 0:9fcc79b3f00e 755 bool getIntDMPStatus();
jksoft 0:9fcc79b3f00e 756
jksoft 0:9fcc79b3f00e 757 // USER_CTRL register (DMP functions)
jksoft 0:9fcc79b3f00e 758 bool getDMPEnabled();
jksoft 0:9fcc79b3f00e 759 void setDMPEnabled(bool enabled);
jksoft 0:9fcc79b3f00e 760 void resetDMP();
jksoft 0:9fcc79b3f00e 761
jksoft 0:9fcc79b3f00e 762 // BANK_SEL register
jksoft 0:9fcc79b3f00e 763 void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
jksoft 0:9fcc79b3f00e 764
jksoft 0:9fcc79b3f00e 765 // MEM_START_ADDR register
jksoft 0:9fcc79b3f00e 766 void setMemoryStartAddress(uint8_t address);
jksoft 0:9fcc79b3f00e 767
jksoft 0:9fcc79b3f00e 768 // MEM_R_W register
jksoft 0:9fcc79b3f00e 769 uint8_t readMemoryByte();
jksoft 0:9fcc79b3f00e 770 void writeMemoryByte(uint8_t data);
jksoft 0:9fcc79b3f00e 771 void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
jksoft 0:9fcc79b3f00e 772 bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
jksoft 0:9fcc79b3f00e 773 bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
jksoft 0:9fcc79b3f00e 774
jksoft 0:9fcc79b3f00e 775 bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false);
jksoft 0:9fcc79b3f00e 776 bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
jksoft 0:9fcc79b3f00e 777
jksoft 0:9fcc79b3f00e 778 // DMP_CFG_1 register
jksoft 0:9fcc79b3f00e 779 uint8_t getDMPConfig1();
jksoft 0:9fcc79b3f00e 780 void setDMPConfig1(uint8_t config);
jksoft 0:9fcc79b3f00e 781
jksoft 0:9fcc79b3f00e 782 // DMP_CFG_2 register
jksoft 0:9fcc79b3f00e 783 uint8_t getDMPConfig2();
jksoft 0:9fcc79b3f00e 784 void setDMPConfig2(uint8_t config);
jksoft 0:9fcc79b3f00e 785
jksoft 0:9fcc79b3f00e 786 // special methods for MotionApps 2.0 implementation
jksoft 0:9fcc79b3f00e 787 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
jksoft 0:9fcc79b3f00e 788 uint8_t *dmpPacketBuffer;
jksoft 0:9fcc79b3f00e 789 uint16_t dmpPacketSize;
jksoft 0:9fcc79b3f00e 790
jksoft 0:9fcc79b3f00e 791 uint8_t dmpInitialize();
jksoft 0:9fcc79b3f00e 792 bool dmpPacketAvailable();
jksoft 0:9fcc79b3f00e 793
jksoft 0:9fcc79b3f00e 794 uint8_t dmpSetFIFORate(uint8_t fifoRate);
jksoft 0:9fcc79b3f00e 795 uint8_t dmpGetFIFORate();
jksoft 0:9fcc79b3f00e 796 uint8_t dmpGetSampleStepSizeMS();
jksoft 0:9fcc79b3f00e 797 uint8_t dmpGetSampleFrequency();
jksoft 0:9fcc79b3f00e 798 int32_t dmpDecodeTemperature(int8_t tempReg);
jksoft 0:9fcc79b3f00e 799
jksoft 0:9fcc79b3f00e 800 // Register callbacks after a packet of FIFO data is processed
jksoft 0:9fcc79b3f00e 801 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
jksoft 0:9fcc79b3f00e 802 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
jksoft 0:9fcc79b3f00e 803 uint8_t dmpRunFIFORateProcesses();
jksoft 0:9fcc79b3f00e 804
jksoft 0:9fcc79b3f00e 805 // Setup FIFO for various output
jksoft 0:9fcc79b3f00e 806 uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 807 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 808 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 809 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 810 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 811 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 812 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 813 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 814 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 815 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 816 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 817 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 818
jksoft 0:9fcc79b3f00e 819 // Get Fixed Point data from FIFO
jksoft 0:9fcc79b3f00e 820 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 821 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 822 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 823 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 824 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 825 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 826 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 827 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 828 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 829 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 830 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 831 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 832 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 833 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 834 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 835 uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
jksoft 0:9fcc79b3f00e 836 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 837 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 838 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 839 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
jksoft 0:9fcc79b3f00e 840 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 841 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 842 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 843 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
jksoft 0:9fcc79b3f00e 844 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 845 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 846 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 847 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 848 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 849 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 850 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 851 uint8_t dm pGetTemperature(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 852 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 853 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 854 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 855 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
jksoft 0:9fcc79b3f00e 856 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 857 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 858 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 859 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 860 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 861 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 862 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 863 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 864
jksoft 0:9fcc79b3f00e 865 uint8_t dmpGetEuler(float *data, Quaternion *q);
jksoft 0:9fcc79b3f00e 866 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
jksoft 0:9fcc79b3f00e 867
jksoft 0:9fcc79b3f00e 868 // Get Floating Point data from FIFO
jksoft 0:9fcc79b3f00e 869 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 870 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 871
jksoft 0:9fcc79b3f00e 872 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
jksoft 0:9fcc79b3f00e 873 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
jksoft 0:9fcc79b3f00e 874
jksoft 0:9fcc79b3f00e 875 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
jksoft 0:9fcc79b3f00e 876
jksoft 0:9fcc79b3f00e 877 uint8_t dmpInitFIFOParam();
jksoft 0:9fcc79b3f00e 878 uint8_t dmpCloseFIFO();
jksoft 0:9fcc79b3f00e 879 uint8_t dmpSetGyroDataSource(uint8_t source);
jksoft 0:9fcc79b3f00e 880 uint8_t dmpDecodeQuantizedAccel();
jksoft 0:9fcc79b3f00e 881 uint32_t dmpGetGyroSumOfSquare();
jksoft 0:9fcc79b3f00e 882 uint32_t dmpGetAccelSumOfSquare();
jksoft 0:9fcc79b3f00e 883 void dmpOverrideQuaternion(long *q);
jksoft 0:9fcc79b3f00e 884 uint16_t dmpGetFIFOPacketSize();
jksoft 0:9fcc79b3f00e 885 #endif
jksoft 0:9fcc79b3f00e 886
jksoft 0:9fcc79b3f00e 887 // special methods for MotionApps 4.1 implementation
jksoft 0:9fcc79b3f00e 888 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
jksoft 0:9fcc79b3f00e 889 uint8_t *dmpPacketBuffer;
jksoft 0:9fcc79b3f00e 890 uint16_t dmpPacketSize;
jksoft 0:9fcc79b3f00e 891
jksoft 0:9fcc79b3f00e 892 uint8_t dmpInitialize();
jksoft 0:9fcc79b3f00e 893 bool dmpPacketAvailable();
jksoft 0:9fcc79b3f00e 894
jksoft 0:9fcc79b3f00e 895 uint8_t dmpSetFIFORate(uint8_t fifoRate);
jksoft 0:9fcc79b3f00e 896 uint8_t dmpGetFIFORate();
jksoft 0:9fcc79b3f00e 897 uint8_t dmpGetSampleStepSizeMS();
jksoft 0:9fcc79b3f00e 898 uint8_t dmpGetSampleFrequency();
jksoft 0:9fcc79b3f00e 899 int32_t dmpDecodeTemperature(int8_t tempReg);
jksoft 0:9fcc79b3f00e 900
jksoft 0:9fcc79b3f00e 901 // Register callbacks after a packet of FIFO data is processed
jksoft 0:9fcc79b3f00e 902 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
jksoft 0:9fcc79b3f00e 903 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
jksoft 0:9fcc79b3f00e 904 uint8_t dmpRunFIFORateProcesses();
jksoft 0:9fcc79b3f00e 905
jksoft 0:9fcc79b3f00e 906 // Setup FIFO for various output
jksoft 0:9fcc79b3f00e 907 uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 908 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 909 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 910 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 911 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 912 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 913 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 914 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 915 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 916 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 917 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 918 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
jksoft 0:9fcc79b3f00e 919
jksoft 0:9fcc79b3f00e 920 // Get Fixed Point data from FIFO
jksoft 0:9fcc79b3f00e 921 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 922 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 923 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 924 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 925 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 926 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 927 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 928 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 929 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 930 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 931 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 932 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 933 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 934 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 935 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 936 uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 937 uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
jksoft 0:9fcc79b3f00e 938 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 939 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 940 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 941 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
jksoft 0:9fcc79b3f00e 942 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 943 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 944 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 945 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
jksoft 0:9fcc79b3f00e 946 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 947 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 948 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 949 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 950 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 951 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 952 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 953 uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 954 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 955 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 956 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 957 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
jksoft 0:9fcc79b3f00e 958 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 959 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 960 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 961 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 962 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 963 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 964 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 965 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 966
jksoft 0:9fcc79b3f00e 967 uint8_t dmpGetEuler(float *data, Quaternion *q);
jksoft 0:9fcc79b3f00e 968 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
jksoft 0:9fcc79b3f00e 969
jksoft 0:9fcc79b3f00e 970 // Get Floating Point data from FIFO
jksoft 0:9fcc79b3f00e 971 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 972 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
jksoft 0:9fcc79b3f00e 973
jksoft 0:9fcc79b3f00e 974 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
jksoft 0:9fcc79b3f00e 975 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
jksoft 0:9fcc79b3f00e 976
jksoft 0:9fcc79b3f00e 977 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
jksoft 0:9fcc79b3f00e 978
jksoft 0:9fcc79b3f00e 979 uint8_t dmpInitFIFOParam();
jksoft 0:9fcc79b3f00e 980 uint8_t dmpCloseFIFO();
jksoft 0:9fcc79b3f00e 981 uint8_t dmpSetGyroDataSource(uint8_t source);
jksoft 0:9fcc79b3f00e 982 uint8_t dmpDecodeQuantizedAccel();
jksoft 0:9fcc79b3f00e 983 uint32_t dmpGetGyroSumOfSquare();
jksoft 0:9fcc79b3f00e 984 uint32_t dmpGetAccelSumOfSquare();
jksoft 0:9fcc79b3f00e 985 void dmpOverrideQuaternion(long *q);
jksoft 0:9fcc79b3f00e 986 uint16_t dmpGetFIFOPacketSize();
jksoft 0:9fcc79b3f00e 987 #endif
jksoft 0:9fcc79b3f00e 988
jksoft 0:9fcc79b3f00e 989 private:
jksoft 0:9fcc79b3f00e 990 uint8_t devAddr;
jksoft 0:9fcc79b3f00e 991 uint8_t buffer[14];
jksoft 0:9fcc79b3f00e 992 };
jksoft 0:9fcc79b3f00e 993
jksoft 0:9fcc79b3f00e 994 #endif /* _MPU6050_H_ */