Mark Vandermeulen
Code for our FYDP -only one IMU works right now -RTOS is working
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MPU6050.h
00001 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 00002 //written by szymon gaertig (email: szymon@gaertig.com.pl) 00003 // 00004 //Changelog: 00005 //2013-01-08 - first beta release 00006 00007 // I2Cdev library collection - MPU6050 I2C device class 00008 // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) 00009 // 10/3/2011 by Jeff Rowberg <jeff@rowberg.net> 00010 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib 00011 // 00012 // Changelog: 00013 // ... - ongoing debug release 00014 00015 // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE 00016 // DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF 00017 // YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING. 00018 00019 /* ============================================ 00020 I2Cdev device library code is placed under the MIT license 00021 Copyright (c) 2012 Jeff Rowberg 00022 00023 Permission is hereby granted, free of charge, to any person obtaining a copy 00024 of this software and associated documentation files (the "Software"), to deal 00025 in the Software without restriction, including without limitation the rights 00026 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00027 copies of the Software, and to permit persons to whom the Software is 00028 furnished to do so, subject to the following conditions: 00029 00030 The above copyright notice and this permission notice shall be included in 00031 all copies or substantial portions of the Software. 00032 00033 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00034 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00035 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00036 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00037 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00038 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00039 THE SOFTWARE. 00040 =============================================== 00041 */ 00042 00043 #ifndef _MPU6050_H_ 00044 #define _MPU6050_H_ 00045 00046 #include "I2Cdev.h" 00047 #include "helper_3dmath.h" 00048 00049 #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board 00050 #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) 00051 #define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW 00052 00053 #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD 00054 #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD 00055 #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD 00056 #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN 00057 #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN 00058 #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN 00059 #define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS 00060 #define MPU6050_RA_XA_OFFS_L_TC 0x07 00061 #define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS 00062 #define MPU6050_RA_YA_OFFS_L_TC 0x09 00063 #define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS 00064 #define MPU6050_RA_ZA_OFFS_L_TC 0x0B 00065 #define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR 00066 #define MPU6050_RA_XG_OFFS_USRL 0x14 00067 #define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR 00068 #define MPU6050_RA_YG_OFFS_USRL 0x16 00069 #define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR 00070 #define MPU6050_RA_ZG_OFFS_USRL 0x18 00071 #define MPU6050_RA_SMPLRT_DIV 0x19 00072 #define MPU6050_RA_CONFIG 0x1A 00073 #define MPU6050_RA_GYRO_CONFIG 0x1B 00074 #define MPU6050_RA_ACCEL_CONFIG 0x1C 00075 #define MPU6050_RA_FF_THR 0x1D 00076 #define MPU6050_RA_FF_DUR 0x1E 00077 #define MPU6050_RA_MOT_THR 0x1F 00078 #define MPU6050_RA_MOT_DUR 0x20 00079 #define MPU6050_RA_ZRMOT_THR 0x21 00080 #define MPU6050_RA_ZRMOT_DUR 0x22 00081 #define MPU6050_RA_FIFO_EN 0x23 00082 #define MPU6050_RA_I2C_MST_CTRL 0x24 00083 #define MPU6050_RA_I2C_SLV0_ADDR 0x25 00084 #define MPU6050_RA_I2C_SLV0_REG 0x26 00085 #define MPU6050_RA_I2C_SLV0_CTRL 0x27 00086 #define MPU6050_RA_I2C_SLV1_ADDR 0x28 00087 #define MPU6050_RA_I2C_SLV1_REG 0x29 00088 #define MPU6050_RA_I2C_SLV1_CTRL 0x2A 00089 #define MPU6050_RA_I2C_SLV2_ADDR 0x2B 00090 #define MPU6050_RA_I2C_SLV2_REG 0x2C 00091 #define MPU6050_RA_I2C_SLV2_CTRL 0x2D 00092 #define MPU6050_RA_I2C_SLV3_ADDR 0x2E 00093 #define MPU6050_RA_I2C_SLV3_REG 0x2F 00094 #define MPU6050_RA_I2C_SLV3_CTRL 0x30 00095 #define MPU6050_RA_I2C_SLV4_ADDR 0x31 00096 #define MPU6050_RA_I2C_SLV4_REG 0x32 00097 #define MPU6050_RA_I2C_SLV4_DO 0x33 00098 #define MPU6050_RA_I2C_SLV4_CTRL 0x34 00099 #define MPU6050_RA_I2C_SLV4_DI 0x35 00100 #define MPU6050_RA_I2C_MST_STATUS 0x36 00101 #define MPU6050_RA_INT_PIN_CFG 0x37 00102 #define MPU6050_RA_INT_ENABLE 0x38 00103 #define MPU6050_RA_DMP_INT_STATUS 0x39 00104 #define MPU6050_RA_INT_STATUS 0x3A 00105 00106 #define MPU6050_RA_ACCEL_XOUT_H 0x3B 00107 #define MPU6050_RA_ACCEL_XOUT_L 0x3C 00108 #define MPU6050_RA_ACCEL_YOUT_H 0x3D 00109 #define MPU6050_RA_ACCEL_YOUT_L 0x3E 00110 #define MPU6050_RA_ACCEL_ZOUT_H 0x3F 00111 #define MPU6050_RA_ACCEL_ZOUT_L 0x40 00112 00113 #define MPU6050_RA_TEMP_OUT_H 0x41 00114 #define MPU6050_RA_TEMP_OUT_L 0x42 00115 00116 #define MPU6050_RA_GYRO_XOUT_H 0x43 00117 #define MPU6050_RA_GYRO_XOUT_L 0x44 00118 #define MPU6050_RA_GYRO_YOUT_H 0x45 00119 #define MPU6050_RA_GYRO_YOUT_L 0x46 00120 #define MPU6050_RA_GYRO_ZOUT_H 0x47 00121 #define MPU6050_RA_GYRO_ZOUT_L 0x48 00122 00123 #define MPU9150_RA_MAG_ADDRESS 0x0C 00124 #define MPU9150_RA_MAG_XOUT_L 0x03 00125 #define MPU9150_RA_MAG_XOUT_H 0x04 00126 #define MPU9150_RA_MAG_YOUT_L 0x05 00127 #define MPU9150_RA_MAG_YOUT_H 0x06 00128 #define MPU9150_RA_MAG_ZOUT_L 0x07 00129 #define MPU9150_RA_MAG_ZOUT_H 0x08 00130 00131 #define MPU6050_RA_EXT_SENS_DATA_00 0x49 00132 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A 00133 #define MPU6050_RA_EXT_SENS_DATA_02 0x4B 00134 #define MPU6050_RA_EXT_SENS_DATA_03 0x4C 00135 #define MPU6050_RA_EXT_SENS_DATA_04 0x4D 00136 #define MPU6050_RA_EXT_SENS_DATA_05 0x4E 00137 #define MPU6050_RA_EXT_SENS_DATA_06 0x4F 00138 #define MPU6050_RA_EXT_SENS_DATA_07 0x50 00139 #define MPU6050_RA_EXT_SENS_DATA_08 0x51 00140 #define MPU6050_RA_EXT_SENS_DATA_09 0x52 00141 #define MPU6050_RA_EXT_SENS_DATA_10 0x53 00142 #define MPU6050_RA_EXT_SENS_DATA_11 0x54 00143 #define MPU6050_RA_EXT_SENS_DATA_12 0x55 00144 #define MPU6050_RA_EXT_SENS_DATA_13 0x56 00145 #define MPU6050_RA_EXT_SENS_DATA_14 0x57 00146 #define MPU6050_RA_EXT_SENS_DATA_15 0x58 00147 #define MPU6050_RA_EXT_SENS_DATA_16 0x59 00148 #define MPU6050_RA_EXT_SENS_DATA_17 0x5A 00149 #define MPU6050_RA_EXT_SENS_DATA_18 0x5B 00150 #define MPU6050_RA_EXT_SENS_DATA_19 0x5C 00151 #define MPU6050_RA_EXT_SENS_DATA_20 0x5D 00152 #define MPU6050_RA_EXT_SENS_DATA_21 0x5E 00153 #define MPU6050_RA_EXT_SENS_DATA_22 0x5F 00154 #define MPU6050_RA_EXT_SENS_DATA_23 0x60 00155 #define MPU6050_RA_MOT_DETECT_STATUS 0x61 00156 #define MPU6050_RA_I2C_SLV0_DO 0x63 00157 #define MPU6050_RA_I2C_SLV1_DO 0x64 00158 #define MPU6050_RA_I2C_SLV2_DO 0x65 00159 #define MPU6050_RA_I2C_SLV3_DO 0x66 00160 #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 00161 #define MPU6050_RA_SIGNAL_PATH_RESET 0x68 00162 #define MPU6050_RA_MOT_DETECT_CTRL 0x69 00163 #define MPU6050_RA_USER_CTRL 0x6A 00164 #define MPU6050_RA_PWR_MGMT_1 0x6B 00165 #define MPU6050_RA_PWR_MGMT_2 0x6C 00166 #define MPU6050_RA_BANK_SEL 0x6D 00167 #define MPU6050_RA_MEM_START_ADDR 0x6E 00168 #define MPU6050_RA_MEM_R_W 0x6F 00169 #define MPU6050_RA_DMP_CFG_1 0x70 00170 #define MPU6050_RA_DMP_CFG_2 0x71 00171 #define MPU6050_RA_FIFO_COUNTH 0x72 00172 #define MPU6050_RA_FIFO_COUNTL 0x73 00173 #define MPU6050_RA_FIFO_R_W 0x74 00174 #define MPU6050_RA_WHO_AM_I 0x75 00175 00176 #define MPU6050_TC_PWR_MODE_BIT 7 00177 #define MPU6050_TC_OFFSET_BIT 6 00178 #define MPU6050_TC_OFFSET_LENGTH 6 00179 #define MPU6050_TC_OTP_BNK_VLD_BIT 0 00180 00181 #define MPU6050_VDDIO_LEVEL_VLOGIC 0 00182 #define MPU6050_VDDIO_LEVEL_VDD 1 00183 00184 #define MPU6050_CFG_EXT_SYNC_SET_BIT 5 00185 #define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3 00186 #define MPU6050_CFG_DLPF_CFG_BIT 2 00187 #define MPU6050_CFG_DLPF_CFG_LENGTH 3 00188 00189 #define MPU6050_EXT_SYNC_DISABLED 0x0 00190 #define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1 00191 #define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2 00192 #define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3 00193 #define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4 00194 #define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5 00195 #define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6 00196 #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7 00197 00198 #define MPU6050_DLPF_BW_256 0x00 00199 #define MPU6050_DLPF_BW_188 0x01 00200 #define MPU6050_DLPF_BW_98 0x02 00201 #define MPU6050_DLPF_BW_42 0x03 00202 #define MPU6050_DLPF_BW_20 0x04 00203 #define MPU6050_DLPF_BW_10 0x05 00204 #define MPU6050_DLPF_BW_5 0x06 00205 00206 #define MPU6050_GCONFIG_FS_SEL_BIT 4 00207 #define MPU6050_GCONFIG_FS_SEL_LENGTH 2 00208 00209 #define MPU6050_GYRO_FS_250 0x00 00210 #define MPU6050_GYRO_FS_500 0x01 00211 #define MPU6050_GYRO_FS_1000 0x02 00212 #define MPU6050_GYRO_FS_2000 0x03 00213 00214 #define MPU6050_ACONFIG_XA_ST_BIT 7 00215 #define MPU6050_ACONFIG_YA_ST_BIT 6 00216 #define MPU6050_ACONFIG_ZA_ST_BIT 5 00217 #define MPU6050_ACONFIG_AFS_SEL_BIT 4 00218 #define MPU6050_ACONFIG_AFS_SEL_LENGTH 2 00219 #define MPU6050_ACONFIG_ACCEL_HPF_BIT 2 00220 #define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3 00221 00222 #define MPU6050_ACCEL_FS_2 0x00 00223 #define MPU6050_ACCEL_FS_4 0x01 00224 #define MPU6050_ACCEL_FS_8 0x02 00225 #define MPU6050_ACCEL_FS_16 0x03 00226 00227 #define MPU6050_DHPF_RESET 0x00 00228 #define MPU6050_DHPF_5 0x01 00229 #define MPU6050_DHPF_2P5 0x02 00230 #define MPU6050_DHPF_1P25 0x03 00231 #define MPU6050_DHPF_0P63 0x04 00232 #define MPU6050_DHPF_HOLD 0x07 00233 00234 #define MPU6050_TEMP_FIFO_EN_BIT 7 00235 #define MPU6050_XG_FIFO_EN_BIT 6 00236 #define MPU6050_YG_FIFO_EN_BIT 5 00237 #define MPU6050_ZG_FIFO_EN_BIT 4 00238 #define MPU6050_ACCEL_FIFO_EN_BIT 3 00239 #define MPU6050_SLV2_FIFO_EN_BIT 2 00240 #define MPU6050_SLV1_FIFO_EN_BIT 1 00241 #define MPU6050_SLV0_FIFO_EN_BIT 0 00242 00243 #define MPU6050_MULT_MST_EN_BIT 7 00244 #define MPU6050_WAIT_FOR_ES_BIT 6 00245 #define MPU6050_SLV_3_FIFO_EN_BIT 5 00246 #define MPU6050_I2C_MST_P_NSR_BIT 4 00247 #define MPU6050_I2C_MST_CLK_BIT 3 00248 #define MPU6050_I2C_MST_CLK_LENGTH 4 00249 00250 #define MPU6050_CLOCK_DIV_348 0x0 00251 #define MPU6050_CLOCK_DIV_333 0x1 00252 #define MPU6050_CLOCK_DIV_320 0x2 00253 #define MPU6050_CLOCK_DIV_308 0x3 00254 #define MPU6050_CLOCK_DIV_296 0x4 00255 #define MPU6050_CLOCK_DIV_286 0x5 00256 #define MPU6050_CLOCK_DIV_276 0x6 00257 #define MPU6050_CLOCK_DIV_267 0x7 00258 #define MPU6050_CLOCK_DIV_258 0x8 00259 #define MPU6050_CLOCK_DIV_500 0x9 00260 #define MPU6050_CLOCK_DIV_471 0xA 00261 #define MPU6050_CLOCK_DIV_444 0xB 00262 #define MPU6050_CLOCK_DIV_421 0xC 00263 #define MPU6050_CLOCK_DIV_400 0xD 00264 #define MPU6050_CLOCK_DIV_381 0xE 00265 #define MPU6050_CLOCK_DIV_364 0xF 00266 00267 #define MPU6050_I2C_SLV_RW_BIT 7 00268 #define MPU6050_I2C_SLV_ADDR_BIT 6 00269 #define MPU6050_I2C_SLV_ADDR_LENGTH 7 00270 #define MPU6050_I2C_SLV_EN_BIT 7 00271 #define MPU6050_I2C_SLV_BYTE_SW_BIT 6 00272 #define MPU6050_I2C_SLV_REG_DIS_BIT 5 00273 #define MPU6050_I2C_SLV_GRP_BIT 4 00274 #define MPU6050_I2C_SLV_LEN_BIT 3 00275 #define MPU6050_I2C_SLV_LEN_LENGTH 4 00276 00277 #define MPU6050_I2C_SLV4_RW_BIT 7 00278 #define MPU6050_I2C_SLV4_ADDR_BIT 6 00279 #define MPU6050_I2C_SLV4_ADDR_LENGTH 7 00280 #define MPU6050_I2C_SLV4_EN_BIT 7 00281 #define MPU6050_I2C_SLV4_INT_EN_BIT 6 00282 #define MPU6050_I2C_SLV4_REG_DIS_BIT 5 00283 #define MPU6050_I2C_SLV4_MST_DLY_BIT 4 00284 #define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5 00285 00286 #define MPU6050_MST_PASS_THROUGH_BIT 7 00287 #define MPU6050_MST_I2C_SLV4_DONE_BIT 6 00288 #define MPU6050_MST_I2C_LOST_ARB_BIT 5 00289 #define MPU6050_MST_I2C_SLV4_NACK_BIT 4 00290 #define MPU6050_MST_I2C_SLV3_NACK_BIT 3 00291 #define MPU6050_MST_I2C_SLV2_NACK_BIT 2 00292 #define MPU6050_MST_I2C_SLV1_NACK_BIT 1 00293 #define MPU6050_MST_I2C_SLV0_NACK_BIT 0 00294 00295 #define MPU6050_INTCFG_INT_LEVEL_BIT 7 00296 #define MPU6050_INTCFG_INT_OPEN_BIT 6 00297 #define MPU6050_INTCFG_LATCH_INT_EN_BIT 5 00298 #define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4 00299 #define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3 00300 #define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2 00301 #define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1 00302 #define MPU6050_INTCFG_CLKOUT_EN_BIT 0 00303 00304 #define MPU6050_INTMODE_ACTIVEHIGH 0x00 00305 #define MPU6050_INTMODE_ACTIVELOW 0x01 00306 00307 #define MPU6050_INTDRV_PUSHPULL 0x00 00308 #define MPU6050_INTDRV_OPENDRAIN 0x01 00309 00310 #define MPU6050_INTLATCH_50USPULSE 0x00 00311 #define MPU6050_INTLATCH_WAITCLEAR 0x01 00312 00313 #define MPU6050_INTCLEAR_STATUSREAD 0x00 00314 #define MPU6050_INTCLEAR_ANYREAD 0x01 00315 00316 #define MPU6050_INTERRUPT_FF_BIT 7 00317 #define MPU6050_INTERRUPT_MOT_BIT 6 00318 #define MPU6050_INTERRUPT_ZMOT_BIT 5 00319 #define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4 00320 #define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3 00321 #define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2 00322 #define MPU6050_INTERRUPT_DMP_INT_BIT 1 00323 #define MPU6050_INTERRUPT_DATA_RDY_BIT 0 00324 00325 // TODO: figure out what these actually do 00326 // UMPL source code is not very obivous 00327 #define MPU6050_DMPINT_5_BIT 5 00328 #define MPU6050_DMPINT_4_BIT 4 00329 #define MPU6050_DMPINT_3_BIT 3 00330 #define MPU6050_DMPINT_2_BIT 2 00331 #define MPU6050_DMPINT_1_BIT 1 00332 #define MPU6050_DMPINT_0_BIT 0 00333 00334 #define MPU6050_MOTION_MOT_XNEG_BIT 7 00335 #define MPU6050_MOTION_MOT_XPOS_BIT 6 00336 #define MPU6050_MOTION_MOT_YNEG_BIT 5 00337 #define MPU6050_MOTION_MOT_YPOS_BIT 4 00338 #define MPU6050_MOTION_MOT_ZNEG_BIT 3 00339 #define MPU6050_MOTION_MOT_ZPOS_BIT 2 00340 #define MPU6050_MOTION_MOT_ZRMOT_BIT 0 00341 00342 #define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7 00343 #define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4 00344 #define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3 00345 #define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2 00346 #define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1 00347 #define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0 00348 00349 #define MPU6050_PATHRESET_GYRO_RESET_BIT 2 00350 #define MPU6050_PATHRESET_ACCEL_RESET_BIT 1 00351 #define MPU6050_PATHRESET_TEMP_RESET_BIT 0 00352 00353 #define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5 00354 #define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2 00355 #define MPU6050_DETECT_FF_COUNT_BIT 3 00356 #define MPU6050_DETECT_FF_COUNT_LENGTH 2 00357 #define MPU6050_DETECT_MOT_COUNT_BIT 1 00358 #define MPU6050_DETECT_MOT_COUNT_LENGTH 2 00359 00360 #define MPU6050_DETECT_DECREMENT_RESET 0x0 00361 #define MPU6050_DETECT_DECREMENT_1 0x1 00362 #define MPU6050_DETECT_DECREMENT_2 0x2 00363 #define MPU6050_DETECT_DECREMENT_4 0x3 00364 00365 #define MPU6050_USERCTRL_DMP_EN_BIT 7 00366 #define MPU6050_USERCTRL_FIFO_EN_BIT 6 00367 #define MPU6050_USERCTRL_I2C_MST_EN_BIT 5 00368 #define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4 00369 #define MPU6050_USERCTRL_DMP_RESET_BIT 3 00370 #define MPU6050_USERCTRL_FIFO_RESET_BIT 2 00371 #define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1 00372 #define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0 00373 00374 #define MPU6050_PWR1_DEVICE_RESET_BIT 7 00375 #define MPU6050_PWR1_SLEEP_BIT 6 00376 #define MPU6050_PWR1_CYCLE_BIT 5 00377 #define MPU6050_PWR1_TEMP_DIS_BIT 3 00378 #define MPU6050_PWR1_CLKSEL_BIT 2 00379 #define MPU6050_PWR1_CLKSEL_LENGTH 3 00380 00381 #define MPU6050_CLOCK_INTERNAL 0x00 00382 #define MPU6050_CLOCK_PLL_XGYRO 0x01 00383 #define MPU6050_CLOCK_PLL_YGYRO 0x02 00384 #define MPU6050_CLOCK_PLL_ZGYRO 0x03 00385 #define MPU6050_CLOCK_PLL_EXT32K 0x04 00386 #define MPU6050_CLOCK_PLL_EXT19M 0x05 00387 #define MPU6050_CLOCK_KEEP_RESET 0x07 00388 00389 #define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7 00390 #define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2 00391 #define MPU6050_PWR2_STBY_XA_BIT 5 00392 #define MPU6050_PWR2_STBY_YA_BIT 4 00393 #define MPU6050_PWR2_STBY_ZA_BIT 3 00394 #define MPU6050_PWR2_STBY_XG_BIT 2 00395 #define MPU6050_PWR2_STBY_YG_BIT 1 00396 #define MPU6050_PWR2_STBY_ZG_BIT 0 00397 00398 #define MPU6050_WAKE_FREQ_1P25 0x0 00399 #define MPU6050_WAKE_FREQ_2P5 0x1 00400 #define MPU6050_WAKE_FREQ_5 0x2 00401 #define MPU6050_WAKE_FREQ_10 0x3 00402 00403 #define MPU6050_BANKSEL_PRFTCH_EN_BIT 6 00404 #define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5 00405 #define MPU6050_BANKSEL_MEM_SEL_BIT 4 00406 #define MPU6050_BANKSEL_MEM_SEL_LENGTH 5 00407 00408 #define MPU6050_WHO_AM_I_BIT 6 00409 #define MPU6050_WHO_AM_I_LENGTH 6 00410 00411 #define MPU6050_DMP_MEMORY_BANKS 8 00412 #define MPU6050_DMP_MEMORY_BANK_SIZE 256 00413 #define MPU6050_DMP_MEMORY_CHUNK_SIZE 16 00414 00415 // note: DMP code memory blocks defined at end of header file 00416 00417 class MPU6050 { 00418 private: 00419 I2Cdev i2Cdev; 00420 // Serial debugSerial; 00421 public: 00422 MPU6050(); 00423 MPU6050(uint8_t address); 00424 00425 void initialize(); 00426 bool testConnection(); 00427 00428 // AUX_VDDIO register 00429 uint8_t getAuxVDDIOLevel(); 00430 void setAuxVDDIOLevel(uint8_t level); 00431 00432 // SMPLRT_DIV register 00433 uint8_t getRate(); 00434 void setRate(uint8_t rate); 00435 00436 // CONFIG register 00437 uint8_t getExternalFrameSync(); 00438 void setExternalFrameSync(uint8_t sync); 00439 uint8_t getDLPFMode(); 00440 void setDLPFMode(uint8_t bandwidth); 00441 00442 // GYRO_CONFIG register 00443 uint8_t getFullScaleGyroRange(); 00444 void setFullScaleGyroRange(uint8_t range); 00445 00446 // ACCEL_CONFIG register 00447 bool getAccelXSelfTest(); 00448 void setAccelXSelfTest(bool enabled); 00449 bool getAccelYSelfTest(); 00450 void setAccelYSelfTest(bool enabled); 00451 bool getAccelZSelfTest(); 00452 void setAccelZSelfTest(bool enabled); 00453 uint8_t getFullScaleAccelRange(); 00454 void setFullScaleAccelRange(uint8_t range); 00455 uint8_t getDHPFMode(); 00456 void setDHPFMode(uint8_t mode); 00457 00458 // FF_THR register 00459 uint8_t getFreefallDetectionThreshold(); 00460 void setFreefallDetectionThreshold(uint8_t threshold); 00461 00462 // FF_DUR register 00463 uint8_t getFreefallDetectionDuration(); 00464 void setFreefallDetectionDuration(uint8_t duration); 00465 00466 // MOT_THR register 00467 uint8_t getMotionDetectionThreshold(); 00468 void setMotionDetectionThreshold(uint8_t threshold); 00469 00470 // MOT_DUR register 00471 uint8_t getMotionDetectionDuration(); 00472 void setMotionDetectionDuration(uint8_t duration); 00473 00474 // ZRMOT_THR register 00475 uint8_t getZeroMotionDetectionThreshold(); 00476 void setZeroMotionDetectionThreshold(uint8_t threshold); 00477 00478 // ZRMOT_DUR register 00479 uint8_t getZeroMotionDetectionDuration(); 00480 void setZeroMotionDetectionDuration(uint8_t duration); 00481 00482 // FIFO_EN register 00483 bool getTempFIFOEnabled(); 00484 void setTempFIFOEnabled(bool enabled); 00485 bool getXGyroFIFOEnabled(); 00486 void setXGyroFIFOEnabled(bool enabled); 00487 bool getYGyroFIFOEnabled(); 00488 void setYGyroFIFOEnabled(bool enabled); 00489 bool getZGyroFIFOEnabled(); 00490 void setZGyroFIFOEnabled(bool enabled); 00491 bool getAccelFIFOEnabled(); 00492 void setAccelFIFOEnabled(bool enabled); 00493 bool getSlave2FIFOEnabled(); 00494 void setSlave2FIFOEnabled(bool enabled); 00495 bool getSlave1FIFOEnabled(); 00496 void setSlave1FIFOEnabled(bool enabled); 00497 bool getSlave0FIFOEnabled(); 00498 void setSlave0FIFOEnabled(bool enabled); 00499 00500 // I2C_MST_CTRL register 00501 bool getMultiMasterEnabled(); 00502 void setMultiMasterEnabled(bool enabled); 00503 bool getWaitForExternalSensorEnabled(); 00504 void setWaitForExternalSensorEnabled(bool enabled); 00505 bool getSlave3FIFOEnabled(); 00506 void setSlave3FIFOEnabled(bool enabled); 00507 bool getSlaveReadWriteTransitionEnabled(); 00508 void setSlaveReadWriteTransitionEnabled(bool enabled); 00509 uint8_t getMasterClockSpeed(); 00510 void setMasterClockSpeed(uint8_t speed); 00511 00512 // I2C_SLV* registers (Slave 0-3) 00513 uint8_t getSlaveAddress(uint8_t num); 00514 void setSlaveAddress(uint8_t num, uint8_t address); 00515 uint8_t getSlaveRegister(uint8_t num); 00516 void setSlaveRegister(uint8_t num, uint8_t reg); 00517 bool getSlaveEnabled(uint8_t num); 00518 void setSlaveEnabled(uint8_t num, bool enabled); 00519 bool getSlaveWordByteSwap(uint8_t num); 00520 void setSlaveWordByteSwap(uint8_t num, bool enabled); 00521 bool getSlaveWriteMode(uint8_t num); 00522 void setSlaveWriteMode(uint8_t num, bool mode); 00523 bool getSlaveWordGroupOffset(uint8_t num); 00524 void setSlaveWordGroupOffset(uint8_t num, bool enabled); 00525 uint8_t getSlaveDataLength(uint8_t num); 00526 void setSlaveDataLength(uint8_t num, uint8_t length); 00527 00528 // I2C_SLV* registers (Slave 4) 00529 uint8_t getSlave4Address(); 00530 void setSlave4Address(uint8_t address); 00531 uint8_t getSlave4Register(); 00532 void setSlave4Register(uint8_t reg); 00533 void setSlave4OutputByte(uint8_t data); 00534 bool getSlave4Enabled(); 00535 void setSlave4Enabled(bool enabled); 00536 bool getSlave4InterruptEnabled(); 00537 void setSlave4InterruptEnabled(bool enabled); 00538 bool getSlave4WriteMode(); 00539 void setSlave4WriteMode(bool mode); 00540 uint8_t getSlave4MasterDelay(); 00541 void setSlave4MasterDelay(uint8_t delay); 00542 uint8_t getSlate4InputByte(); 00543 00544 // I2C_MST_STATUS register 00545 bool getPassthroughStatus(); 00546 bool getSlave4IsDone(); 00547 bool getLostArbitration(); 00548 bool getSlave4Nack(); 00549 bool getSlave3Nack(); 00550 bool getSlave2Nack(); 00551 bool getSlave1Nack(); 00552 bool getSlave0Nack(); 00553 00554 // INT_PIN_CFG register 00555 bool getInterruptMode(); 00556 void setInterruptMode(bool mode); 00557 bool getInterruptDrive(); 00558 void setInterruptDrive(bool drive); 00559 bool getInterruptLatch(); 00560 void setInterruptLatch(bool latch); 00561 bool getInterruptLatchClear(); 00562 void setInterruptLatchClear(bool clear); 00563 bool getFSyncInterruptLevel(); 00564 void setFSyncInterruptLevel(bool level); 00565 bool getFSyncInterruptEnabled(); 00566 void setFSyncInterruptEnabled(bool enabled); 00567 bool getI2CBypassEnabled(); 00568 void setI2CBypassEnabled(bool enabled); 00569 bool getClockOutputEnabled(); 00570 void setClockOutputEnabled(bool enabled); 00571 00572 // INT_ENABLE register 00573 uint8_t getIntEnabled(); 00574 void setIntEnabled(uint8_t enabled); 00575 bool getIntFreefallEnabled(); 00576 void setIntFreefallEnabled(bool enabled); 00577 bool getIntMotionEnabled(); 00578 void setIntMotionEnabled(bool enabled); 00579 bool getIntZeroMotionEnabled(); 00580 void setIntZeroMotionEnabled(bool enabled); 00581 bool getIntFIFOBufferOverflowEnabled(); 00582 void setIntFIFOBufferOverflowEnabled(bool enabled); 00583 bool getIntI2CMasterEnabled(); 00584 void setIntI2CMasterEnabled(bool enabled); 00585 bool getIntDataReadyEnabled(); 00586 void setIntDataReadyEnabled(bool enabled); 00587 00588 // INT_STATUS register 00589 uint8_t getIntStatus(); 00590 bool getIntFreefallStatus(); 00591 bool getIntMotionStatus(); 00592 bool getIntZeroMotionStatus(); 00593 bool getIntFIFOBufferOverflowStatus(); 00594 bool getIntI2CMasterStatus(); 00595 bool getIntDataReadyStatus(); 00596 00597 // ACCEL_*OUT_* registers 00598 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); 00599 void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz); 00600 void getAcceleration(int16_t* x, int16_t* y, int16_t* z); 00601 int16_t getAccelerationX(); 00602 int16_t getAccelerationY(); 00603 int16_t getAccelerationZ(); 00604 00605 // TEMP_OUT_* registers 00606 int16_t getTemperature(); 00607 00608 // GYRO_*OUT_* registers 00609 void getRotation(int16_t* x, int16_t* y, int16_t* z); 00610 int16_t getRotationX(); 00611 int16_t getRotationY(); 00612 int16_t getRotationZ(); 00613 00614 // EXT_SENS_DATA_* registers 00615 uint8_t getExternalSensorByte(int position); 00616 uint16_t getExternalSensorWord(int position); 00617 uint32_t getExternalSensorDWord(int position); 00618 00619 // MOT_DETECT_STATUS register 00620 bool getXNegMotionDetected(); 00621 bool getXPosMotionDetected(); 00622 bool getYNegMotionDetected(); 00623 bool getYPosMotionDetected(); 00624 bool getZNegMotionDetected(); 00625 bool getZPosMotionDetected(); 00626 bool getZeroMotionDetected(); 00627 00628 // I2C_SLV*_DO register 00629 void setSlaveOutputByte(uint8_t num, uint8_t data); 00630 00631 // I2C_MST_DELAY_CTRL register 00632 bool getExternalShadowDelayEnabled(); 00633 void setExternalShadowDelayEnabled(bool enabled); 00634 bool getSlaveDelayEnabled(uint8_t num); 00635 void setSlaveDelayEnabled(uint8_t num, bool enabled); 00636 00637 // SIGNAL_PATH_RESET register 00638 void resetGyroscopePath(); 00639 void resetAccelerometerPath(); 00640 void resetTemperaturePath(); 00641 00642 // MOT_DETECT_CTRL register 00643 uint8_t getAccelerometerPowerOnDelay(); 00644 void setAccelerometerPowerOnDelay(uint8_t delay); 00645 uint8_t getFreefallDetectionCounterDecrement(); 00646 void setFreefallDetectionCounterDecrement(uint8_t decrement); 00647 uint8_t getMotionDetectionCounterDecrement(); 00648 void setMotionDetectionCounterDecrement(uint8_t decrement); 00649 00650 // USER_CTRL register 00651 bool getFIFOEnabled(); 00652 void setFIFOEnabled(bool enabled); 00653 bool getI2CMasterModeEnabled(); 00654 void setI2CMasterModeEnabled(bool enabled); 00655 void switchSPIEnabled(bool enabled); 00656 void resetFIFO(); 00657 void resetI2CMaster(); 00658 void resetSensors(); 00659 00660 // PWR_MGMT_1 register 00661 void reset(); 00662 bool getSleepEnabled(); 00663 void setSleepEnabled(bool enabled); 00664 bool getWakeCycleEnabled(); 00665 void setWakeCycleEnabled(bool enabled); 00666 bool getTempSensorEnabled(); 00667 void setTempSensorEnabled(bool enabled); 00668 uint8_t getClockSource(); 00669 void setClockSource(uint8_t source); 00670 00671 // PWR_MGMT_2 register 00672 uint8_t getWakeFrequency(); 00673 void setWakeFrequency(uint8_t frequency); 00674 bool getStandbyXAccelEnabled(); 00675 void setStandbyXAccelEnabled(bool enabled); 00676 bool getStandbyYAccelEnabled(); 00677 void setStandbyYAccelEnabled(bool enabled); 00678 bool getStandbyZAccelEnabled(); 00679 void setStandbyZAccelEnabled(bool enabled); 00680 bool getStandbyXGyroEnabled(); 00681 void setStandbyXGyroEnabled(bool enabled); 00682 bool getStandbyYGyroEnabled(); 00683 void setStandbyYGyroEnabled(bool enabled); 00684 bool getStandbyZGyroEnabled(); 00685 void setStandbyZGyroEnabled(bool enabled); 00686 00687 // FIFO_COUNT_* registers 00688 uint16_t getFIFOCount(); 00689 00690 // FIFO_R_W register 00691 uint8_t getFIFOByte(); 00692 void setFIFOByte(uint8_t data); 00693 void getFIFOBytes(uint8_t *data, uint8_t length); 00694 00695 // WHO_AM_I register 00696 uint8_t getDeviceID(); 00697 void setDeviceID(uint8_t id); 00698 00699 // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ======== 00700 00701 // XG_OFFS_TC register 00702 uint8_t getOTPBankValid(); 00703 void setOTPBankValid(bool enabled); 00704 int8_t getXGyroOffset(); 00705 void setXGyroOffset(int8_t offset); 00706 00707 // YG_OFFS_TC register 00708 int8_t getYGyroOffset(); 00709 void setYGyroOffset(int8_t offset); 00710 00711 // ZG_OFFS_TC register 00712 int8_t getZGyroOffset(); 00713 void setZGyroOffset(int8_t offset); 00714 00715 // X_FINE_GAIN register 00716 int8_t getXFineGain(); 00717 void setXFineGain(int8_t gain); 00718 00719 // Y_FINE_GAIN register 00720 int8_t getYFineGain(); 00721 void setYFineGain(int8_t gain); 00722 00723 // Z_FINE_GAIN register 00724 int8_t getZFineGain(); 00725 void setZFineGain(int8_t gain); 00726 00727 // XA_OFFS_* registers 00728 int16_t getXAccelOffset(); 00729 void setXAccelOffset(int16_t offset); 00730 00731 // YA_OFFS_* register 00732 int16_t getYAccelOffset(); 00733 void setYAccelOffset(int16_t offset); 00734 00735 // ZA_OFFS_* register 00736 int16_t getZAccelOffset(); 00737 void setZAccelOffset(int16_t offset); 00738 00739 // XG_OFFS_USR* registers 00740 int16_t getXGyroOffsetUser(); 00741 void setXGyroOffsetUser(int16_t offset); 00742 00743 // YG_OFFS_USR* register 00744 int16_t getYGyroOffsetUser(); 00745 void setYGyroOffsetUser(int16_t offset); 00746 00747 // ZG_OFFS_USR* register 00748 int16_t getZGyroOffsetUser(); 00749 void setZGyroOffsetUser(int16_t offset); 00750 00751 // INT_ENABLE register (DMP functions) 00752 bool getIntPLLReadyEnabled(); 00753 void setIntPLLReadyEnabled(bool enabled); 00754 bool getIntDMPEnabled(); 00755 void setIntDMPEnabled(bool enabled); 00756 00757 // DMP_INT_STATUS 00758 bool getDMPInt5Status(); 00759 bool getDMPInt4Status(); 00760 bool getDMPInt3Status(); 00761 bool getDMPInt2Status(); 00762 bool getDMPInt1Status(); 00763 bool getDMPInt0Status(); 00764 00765 // INT_STATUS register (DMP functions) 00766 bool getIntPLLReadyStatus(); 00767 bool getIntDMPStatus(); 00768 00769 // USER_CTRL register (DMP functions) 00770 bool getDMPEnabled(); 00771 void setDMPEnabled(bool enabled); 00772 void resetDMP(); 00773 00774 // BANK_SEL register 00775 void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false); 00776 00777 // MEM_START_ADDR register 00778 void setMemoryStartAddress(uint8_t address); 00779 00780 // MEM_R_W register 00781 uint8_t readMemoryByte(); 00782 void writeMemoryByte(uint8_t data); 00783 void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0); 00784 bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false); 00785 bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true); 00786 00787 bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false); 00788 bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize); 00789 00790 // DMP_CFG_1 register 00791 uint8_t getDMPConfig1(); 00792 void setDMPConfig1(uint8_t config); 00793 00794 // DMP_CFG_2 register 00795 uint8_t getDMPConfig2(); 00796 void setDMPConfig2(uint8_t config); 00797 00798 // special methods for MotionApps 2.0 implementation 00799 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20 00800 uint8_t *dmpPacketBuffer; 00801 uint16_t dmpPacketSize; 00802 00803 uint8_t dmpInitialize(); 00804 bool dmpPacketAvailable(); 00805 00806 uint8_t dmpSetFIFORate(uint8_t fifoRate); 00807 uint8_t dmpGetFIFORate(); 00808 uint8_t dmpGetSampleStepSizeMS(); 00809 uint8_t dmpGetSampleFrequency(); 00810 int32_t dmpDecodeTemperature(int8_t tempReg); 00811 00812 // Register callbacks after a packet of FIFO data is processed 00813 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); 00814 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); 00815 uint8_t dmpRunFIFORateProcesses(); 00816 00817 // Setup FIFO for various output 00818 uint8_t dmpSendQuaternion(uint_fast16_t accuracy); 00819 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); 00820 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00821 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00822 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); 00823 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); 00824 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00825 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00826 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); 00827 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); 00828 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00829 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); 00830 00831 // Get Fixed Point data from FIFO 00832 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); 00833 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); 00834 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); 00835 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); 00836 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); 00837 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); 00838 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); 00839 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); 00840 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); 00841 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); 00842 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); 00843 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); 00844 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); 00845 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); 00846 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); 00847 uint8_t dmpSetLinearAccelFilterCoefficient(float coef); 00848 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); 00849 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); 00850 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); 00851 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); 00852 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); 00853 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); 00854 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); 00855 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); 00856 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); 00857 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); 00858 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); 00859 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); 00860 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); 00861 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); 00862 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); 00863 uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); 00864 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); 00865 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); 00866 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); 00867 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); 00868 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); 00869 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); 00870 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00871 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); 00872 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); 00873 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00874 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); 00875 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); 00876 00877 uint8_t dmpGetEuler(float *data, Quaternion *q); 00878 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); 00879 00880 // Get Floating Point data from FIFO 00881 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); 00882 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); 00883 00884 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); 00885 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); 00886 00887 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); 00888 00889 uint8_t dmpInitFIFOParam(); 00890 uint8_t dmpCloseFIFO(); 00891 uint8_t dmpSetGyroDataSource(uint8_t source); 00892 uint8_t dmpDecodeQuantizedAccel(); 00893 uint32_t dmpGetGyroSumOfSquare(); 00894 uint32_t dmpGetAccelSumOfSquare(); 00895 void dmpOverrideQuaternion(long *q); 00896 uint16_t dmpGetFIFOPacketSize(); 00897 #endif 00898 00899 // special methods for MotionApps 4.1 implementation 00900 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41 00901 uint8_t *dmpPacketBuffer; 00902 uint16_t dmpPacketSize; 00903 00904 uint8_t dmpInitialize(); 00905 bool dmpPacketAvailable(); 00906 00907 uint8_t dmpSetFIFORate(uint8_t fifoRate); 00908 uint8_t dmpGetFIFORate(); 00909 uint8_t dmpGetSampleStepSizeMS(); 00910 uint8_t dmpGetSampleFrequency(); 00911 int32_t dmpDecodeTemperature(int8_t tempReg); 00912 00913 // Register callbacks after a packet of FIFO data is processed 00914 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); 00915 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); 00916 uint8_t dmpRunFIFORateProcesses(); 00917 00918 // Setup FIFO for various output 00919 uint8_t dmpSendQuaternion(uint_fast16_t accuracy); 00920 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); 00921 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00922 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00923 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); 00924 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); 00925 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00926 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00927 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); 00928 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); 00929 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00930 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); 00931 00932 // Get Fixed Point data from FIFO 00933 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); 00934 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); 00935 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); 00936 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); 00937 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); 00938 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); 00939 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); 00940 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); 00941 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); 00942 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); 00943 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); 00944 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); 00945 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); 00946 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); 00947 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); 00948 uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0); 00949 uint8_t dmpSetLinearAccelFilterCoefficient(float coef); 00950 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); 00951 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); 00952 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); 00953 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); 00954 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); 00955 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); 00956 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); 00957 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); 00958 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); 00959 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); 00960 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); 00961 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); 00962 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); 00963 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); 00964 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); 00965 uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); 00966 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); 00967 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); 00968 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); 00969 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); 00970 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); 00971 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); 00972 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00973 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); 00974 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); 00975 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00976 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); 00977 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); 00978 00979 uint8_t dmpGetEuler(float *data, Quaternion *q); 00980 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); 00981 00982 // Get Floating Point data from FIFO 00983 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); 00984 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); 00985 00986 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); 00987 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); 00988 00989 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); 00990 00991 uint8_t dmpInitFIFOParam(); 00992 uint8_t dmpCloseFIFO(); 00993 uint8_t dmpSetGyroDataSource(uint8_t source); 00994 uint8_t dmpDecodeQuantizedAccel(); 00995 uint32_t dmpGetGyroSumOfSquare(); 00996 uint32_t dmpGetAccelSumOfSquare(); 00997 void dmpOverrideQuaternion(long *q); 00998 uint16_t dmpGetFIFOPacketSize(); 00999 #endif 01000 01001 private: 01002 uint8_t devAddr; 01003 uint8_t buffer[14]; 01004 }; 01005 01006 #endif /* _MPU6050_H_ */
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