Mark Vandermeulen
MPU6050 library modified so I can use 2 IMUs
Dependents: MPU6050-DMP_sample
Fork of
MPU6050
by 
Shundo Kishi
MPU6051.h@6:d348c3cad7c7, 2015-03-18 (annotated)
- Committer:
- majik
- Date:
- Wed Mar 18 22:18:55 2015 +0000
- Revision:
- 6:d348c3cad7c7
This was modified so I can use 2 MPU6050 IMUs.; I just made a copy of the mpu6050 files under a different name. There is probably a better way to do this.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| majik | 6:d348c3cad7c7 | 1 | //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 |
| majik | 6:d348c3cad7c7 | 2 | //written by szymon gaertig (email: szymon@gaertig.com.pl) |
| majik | 6:d348c3cad7c7 | 3 | // |
| majik | 6:d348c3cad7c7 | 4 | //Changelog: |
| majik | 6:d348c3cad7c7 | 5 | //2013-01-08 - first beta release |
| majik | 6:d348c3cad7c7 | 6 | |
| majik | 6:d348c3cad7c7 | 7 | // I2Cdev library collection - MPU6050 I2C device class |
| majik | 6:d348c3cad7c7 | 8 | // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) |
| majik | 6:d348c3cad7c7 | 9 | // 10/3/2011 by Jeff Rowberg <jeff@rowberg.net> |
| majik | 6:d348c3cad7c7 | 10 | // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib |
| majik | 6:d348c3cad7c7 | 11 | // |
| majik | 6:d348c3cad7c7 | 12 | // Changelog: |
| majik | 6:d348c3cad7c7 | 13 | // ... - ongoing debug release |
| majik | 6:d348c3cad7c7 | 14 | |
| majik | 6:d348c3cad7c7 | 15 | // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE |
| majik | 6:d348c3cad7c7 | 16 | // DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF |
| majik | 6:d348c3cad7c7 | 17 | // YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING. |
| majik | 6:d348c3cad7c7 | 18 | |
| majik | 6:d348c3cad7c7 | 19 | /* ============================================ |
| majik | 6:d348c3cad7c7 | 20 | I2Cdev device library code is placed under the MIT license |
| majik | 6:d348c3cad7c7 | 21 | Copyright (c) 2012 Jeff Rowberg |
| majik | 6:d348c3cad7c7 | 22 | |
| majik | 6:d348c3cad7c7 | 23 | Permission is hereby granted, free of charge, to any person obtaining a copy |
| majik | 6:d348c3cad7c7 | 24 | of this software and associated documentation files (the "Software"), to deal |
| majik | 6:d348c3cad7c7 | 25 | in the Software without restriction, including without limitation the rights |
| majik | 6:d348c3cad7c7 | 26 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| majik | 6:d348c3cad7c7 | 27 | copies of the Software, and to permit persons to whom the Software is |
| majik | 6:d348c3cad7c7 | 28 | furnished to do so, subject to the following conditions: |
| majik | 6:d348c3cad7c7 | 29 | |
| majik | 6:d348c3cad7c7 | 30 | The above copyright notice and this permission notice shall be included in |
| majik | 6:d348c3cad7c7 | 31 | all copies or substantial portions of the Software. |
| majik | 6:d348c3cad7c7 | 32 | |
| majik | 6:d348c3cad7c7 | 33 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| majik | 6:d348c3cad7c7 | 34 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| majik | 6:d348c3cad7c7 | 35 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| majik | 6:d348c3cad7c7 | 36 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| majik | 6:d348c3cad7c7 | 37 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| majik | 6:d348c3cad7c7 | 38 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| majik | 6:d348c3cad7c7 | 39 | THE SOFTWARE. |
| majik | 6:d348c3cad7c7 | 40 | =============================================== |
| majik | 6:d348c3cad7c7 | 41 | */ |
| majik | 6:d348c3cad7c7 | 42 | |
| majik | 6:d348c3cad7c7 | 43 | #ifndef _MPU6051_H_ |
| majik | 6:d348c3cad7c7 | 44 | #define _MPU6051_H_ |
| majik | 6:d348c3cad7c7 | 45 | |
| majik | 6:d348c3cad7c7 | 46 | #include "I2Cdev2.h" |
| majik | 6:d348c3cad7c7 | 47 | #include "helper_3dmath.h" |
| majik | 6:d348c3cad7c7 | 48 | |
| majik | 6:d348c3cad7c7 | 49 | #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board |
| majik | 6:d348c3cad7c7 | 50 | #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) |
| majik | 6:d348c3cad7c7 | 51 | #define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW |
| majik | 6:d348c3cad7c7 | 52 | |
| majik | 6:d348c3cad7c7 | 53 | #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD |
| majik | 6:d348c3cad7c7 | 54 | #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD |
| majik | 6:d348c3cad7c7 | 55 | #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD |
| majik | 6:d348c3cad7c7 | 56 | #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN |
| majik | 6:d348c3cad7c7 | 57 | #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN |
| majik | 6:d348c3cad7c7 | 58 | #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN |
| majik | 6:d348c3cad7c7 | 59 | #define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS |
| majik | 6:d348c3cad7c7 | 60 | #define MPU6050_RA_XA_OFFS_L_TC 0x07 |
| majik | 6:d348c3cad7c7 | 61 | #define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS |
| majik | 6:d348c3cad7c7 | 62 | #define MPU6050_RA_YA_OFFS_L_TC 0x09 |
| majik | 6:d348c3cad7c7 | 63 | #define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS |
| majik | 6:d348c3cad7c7 | 64 | #define MPU6050_RA_ZA_OFFS_L_TC 0x0B |
| majik | 6:d348c3cad7c7 | 65 | #define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR |
| majik | 6:d348c3cad7c7 | 66 | #define MPU6050_RA_XG_OFFS_USRL 0x14 |
| majik | 6:d348c3cad7c7 | 67 | #define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR |
| majik | 6:d348c3cad7c7 | 68 | #define MPU6050_RA_YG_OFFS_USRL 0x16 |
| majik | 6:d348c3cad7c7 | 69 | #define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR |
| majik | 6:d348c3cad7c7 | 70 | #define MPU6050_RA_ZG_OFFS_USRL 0x18 |
| majik | 6:d348c3cad7c7 | 71 | #define MPU6050_RA_SMPLRT_DIV 0x19 |
| majik | 6:d348c3cad7c7 | 72 | #define MPU6050_RA_CONFIG 0x1A |
| majik | 6:d348c3cad7c7 | 73 | #define MPU6050_RA_GYRO_CONFIG 0x1B |
| majik | 6:d348c3cad7c7 | 74 | #define MPU6050_RA_ACCEL_CONFIG 0x1C |
| majik | 6:d348c3cad7c7 | 75 | #define MPU6050_RA_FF_THR 0x1D |
| majik | 6:d348c3cad7c7 | 76 | #define MPU6050_RA_FF_DUR 0x1E |
| majik | 6:d348c3cad7c7 | 77 | #define MPU6050_RA_MOT_THR 0x1F |
| majik | 6:d348c3cad7c7 | 78 | #define MPU6050_RA_MOT_DUR 0x20 |
| majik | 6:d348c3cad7c7 | 79 | #define MPU6050_RA_ZRMOT_THR 0x21 |
| majik | 6:d348c3cad7c7 | 80 | #define MPU6050_RA_ZRMOT_DUR 0x22 |
| majik | 6:d348c3cad7c7 | 81 | #define MPU6050_RA_FIFO_EN 0x23 |
| majik | 6:d348c3cad7c7 | 82 | #define MPU6050_RA_I2C_MST_CTRL 0x24 |
| majik | 6:d348c3cad7c7 | 83 | #define MPU6050_RA_I2C_SLV0_ADDR 0x25 |
| majik | 6:d348c3cad7c7 | 84 | #define MPU6050_RA_I2C_SLV0_REG 0x26 |
| majik | 6:d348c3cad7c7 | 85 | #define MPU6050_RA_I2C_SLV0_CTRL 0x27 |
| majik | 6:d348c3cad7c7 | 86 | #define MPU6050_RA_I2C_SLV1_ADDR 0x28 |
| majik | 6:d348c3cad7c7 | 87 | #define MPU6050_RA_I2C_SLV1_REG 0x29 |
| majik | 6:d348c3cad7c7 | 88 | #define MPU6050_RA_I2C_SLV1_CTRL 0x2A |
| majik | 6:d348c3cad7c7 | 89 | #define MPU6050_RA_I2C_SLV2_ADDR 0x2B |
| majik | 6:d348c3cad7c7 | 90 | #define MPU6050_RA_I2C_SLV2_REG 0x2C |
| majik | 6:d348c3cad7c7 | 91 | #define MPU6050_RA_I2C_SLV2_CTRL 0x2D |
| majik | 6:d348c3cad7c7 | 92 | #define MPU6050_RA_I2C_SLV3_ADDR 0x2E |
| majik | 6:d348c3cad7c7 | 93 | #define MPU6050_RA_I2C_SLV3_REG 0x2F |
| majik | 6:d348c3cad7c7 | 94 | #define MPU6050_RA_I2C_SLV3_CTRL 0x30 |
| majik | 6:d348c3cad7c7 | 95 | #define MPU6050_RA_I2C_SLV4_ADDR 0x31 |
| majik | 6:d348c3cad7c7 | 96 | #define MPU6050_RA_I2C_SLV4_REG 0x32 |
| majik | 6:d348c3cad7c7 | 97 | #define MPU6050_RA_I2C_SLV4_DO 0x33 |
| majik | 6:d348c3cad7c7 | 98 | #define MPU6050_RA_I2C_SLV4_CTRL 0x34 |
| majik | 6:d348c3cad7c7 | 99 | #define MPU6050_RA_I2C_SLV4_DI 0x35 |
| majik | 6:d348c3cad7c7 | 100 | #define MPU6050_RA_I2C_MST_STATUS 0x36 |
| majik | 6:d348c3cad7c7 | 101 | #define MPU6050_RA_INT_PIN_CFG 0x37 |
| majik | 6:d348c3cad7c7 | 102 | #define MPU6050_RA_INT_ENABLE 0x38 |
| majik | 6:d348c3cad7c7 | 103 | #define MPU6050_RA_DMP_INT_STATUS 0x39 |
| majik | 6:d348c3cad7c7 | 104 | #define MPU6050_RA_INT_STATUS 0x3A |
| majik | 6:d348c3cad7c7 | 105 | |
| majik | 6:d348c3cad7c7 | 106 | #define MPU6050_RA_ACCEL_XOUT_H 0x3B |
| majik | 6:d348c3cad7c7 | 107 | #define MPU6050_RA_ACCEL_XOUT_L 0x3C |
| majik | 6:d348c3cad7c7 | 108 | #define MPU6050_RA_ACCEL_YOUT_H 0x3D |
| majik | 6:d348c3cad7c7 | 109 | #define MPU6050_RA_ACCEL_YOUT_L 0x3E |
| majik | 6:d348c3cad7c7 | 110 | #define MPU6050_RA_ACCEL_ZOUT_H 0x3F |
| majik | 6:d348c3cad7c7 | 111 | #define MPU6050_RA_ACCEL_ZOUT_L 0x40 |
| majik | 6:d348c3cad7c7 | 112 | |
| majik | 6:d348c3cad7c7 | 113 | #define MPU6050_RA_TEMP_OUT_H 0x41 |
| majik | 6:d348c3cad7c7 | 114 | #define MPU6050_RA_TEMP_OUT_L 0x42 |
| majik | 6:d348c3cad7c7 | 115 | |
| majik | 6:d348c3cad7c7 | 116 | #define MPU6050_RA_GYRO_XOUT_H 0x43 |
| majik | 6:d348c3cad7c7 | 117 | #define MPU6050_RA_GYRO_XOUT_L 0x44 |
| majik | 6:d348c3cad7c7 | 118 | #define MPU6050_RA_GYRO_YOUT_H 0x45 |
| majik | 6:d348c3cad7c7 | 119 | #define MPU6050_RA_GYRO_YOUT_L 0x46 |
| majik | 6:d348c3cad7c7 | 120 | #define MPU6050_RA_GYRO_ZOUT_H 0x47 |
| majik | 6:d348c3cad7c7 | 121 | #define MPU6050_RA_GYRO_ZOUT_L 0x48 |
| majik | 6:d348c3cad7c7 | 122 | |
| majik | 6:d348c3cad7c7 | 123 | #define MPU9150_RA_MAG_ADDRESS 0x0C |
| majik | 6:d348c3cad7c7 | 124 | #define MPU9150_RA_MAG_XOUT_L 0x03 |
| majik | 6:d348c3cad7c7 | 125 | #define MPU9150_RA_MAG_XOUT_H 0x04 |
| majik | 6:d348c3cad7c7 | 126 | #define MPU9150_RA_MAG_YOUT_L 0x05 |
| majik | 6:d348c3cad7c7 | 127 | #define MPU9150_RA_MAG_YOUT_H 0x06 |
| majik | 6:d348c3cad7c7 | 128 | #define MPU9150_RA_MAG_ZOUT_L 0x07 |
| majik | 6:d348c3cad7c7 | 129 | #define MPU9150_RA_MAG_ZOUT_H 0x08 |
| majik | 6:d348c3cad7c7 | 130 | |
| majik | 6:d348c3cad7c7 | 131 | #define MPU6050_RA_EXT_SENS_DATA_00 0x49 |
| majik | 6:d348c3cad7c7 | 132 | #define MPU6050_RA_EXT_SENS_DATA_01 0x4A |
| majik | 6:d348c3cad7c7 | 133 | #define MPU6050_RA_EXT_SENS_DATA_02 0x4B |
| majik | 6:d348c3cad7c7 | 134 | #define MPU6050_RA_EXT_SENS_DATA_03 0x4C |
| majik | 6:d348c3cad7c7 | 135 | #define MPU6050_RA_EXT_SENS_DATA_04 0x4D |
| majik | 6:d348c3cad7c7 | 136 | #define MPU6050_RA_EXT_SENS_DATA_05 0x4E |
| majik | 6:d348c3cad7c7 | 137 | #define MPU6050_RA_EXT_SENS_DATA_06 0x4F |
| majik | 6:d348c3cad7c7 | 138 | #define MPU6050_RA_EXT_SENS_DATA_07 0x50 |
| majik | 6:d348c3cad7c7 | 139 | #define MPU6050_RA_EXT_SENS_DATA_08 0x51 |
| majik | 6:d348c3cad7c7 | 140 | #define MPU6050_RA_EXT_SENS_DATA_09 0x52 |
| majik | 6:d348c3cad7c7 | 141 | #define MPU6050_RA_EXT_SENS_DATA_10 0x53 |
| majik | 6:d348c3cad7c7 | 142 | #define MPU6050_RA_EXT_SENS_DATA_11 0x54 |
| majik | 6:d348c3cad7c7 | 143 | #define MPU6050_RA_EXT_SENS_DATA_12 0x55 |
| majik | 6:d348c3cad7c7 | 144 | #define MPU6050_RA_EXT_SENS_DATA_13 0x56 |
| majik | 6:d348c3cad7c7 | 145 | #define MPU6050_RA_EXT_SENS_DATA_14 0x57 |
| majik | 6:d348c3cad7c7 | 146 | #define MPU6050_RA_EXT_SENS_DATA_15 0x58 |
| majik | 6:d348c3cad7c7 | 147 | #define MPU6050_RA_EXT_SENS_DATA_16 0x59 |
| majik | 6:d348c3cad7c7 | 148 | #define MPU6050_RA_EXT_SENS_DATA_17 0x5A |
| majik | 6:d348c3cad7c7 | 149 | #define MPU6050_RA_EXT_SENS_DATA_18 0x5B |
| majik | 6:d348c3cad7c7 | 150 | #define MPU6050_RA_EXT_SENS_DATA_19 0x5C |
| majik | 6:d348c3cad7c7 | 151 | #define MPU6050_RA_EXT_SENS_DATA_20 0x5D |
| majik | 6:d348c3cad7c7 | 152 | #define MPU6050_RA_EXT_SENS_DATA_21 0x5E |
| majik | 6:d348c3cad7c7 | 153 | #define MPU6050_RA_EXT_SENS_DATA_22 0x5F |
| majik | 6:d348c3cad7c7 | 154 | #define MPU6050_RA_EXT_SENS_DATA_23 0x60 |
| majik | 6:d348c3cad7c7 | 155 | #define MPU6050_RA_MOT_DETECT_STATUS 0x61 |
| majik | 6:d348c3cad7c7 | 156 | #define MPU6050_RA_I2C_SLV0_DO 0x63 |
| majik | 6:d348c3cad7c7 | 157 | #define MPU6050_RA_I2C_SLV1_DO 0x64 |
| majik | 6:d348c3cad7c7 | 158 | #define MPU6050_RA_I2C_SLV2_DO 0x65 |
| majik | 6:d348c3cad7c7 | 159 | #define MPU6050_RA_I2C_SLV3_DO 0x66 |
| majik | 6:d348c3cad7c7 | 160 | #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 |
| majik | 6:d348c3cad7c7 | 161 | #define MPU6050_RA_SIGNAL_PATH_RESET 0x68 |
| majik | 6:d348c3cad7c7 | 162 | #define MPU6050_RA_MOT_DETECT_CTRL 0x69 |
| majik | 6:d348c3cad7c7 | 163 | #define MPU6050_RA_USER_CTRL 0x6A |
| majik | 6:d348c3cad7c7 | 164 | #define MPU6050_RA_PWR_MGMT_1 0x6B |
| majik | 6:d348c3cad7c7 | 165 | #define MPU6050_RA_PWR_MGMT_2 0x6C |
| majik | 6:d348c3cad7c7 | 166 | #define MPU6050_RA_BANK_SEL 0x6D |
| majik | 6:d348c3cad7c7 | 167 | #define MPU6050_RA_MEM_START_ADDR 0x6E |
| majik | 6:d348c3cad7c7 | 168 | #define MPU6050_RA_MEM_R_W 0x6F |
| majik | 6:d348c3cad7c7 | 169 | #define MPU6050_RA_DMP_CFG_1 0x70 |
| majik | 6:d348c3cad7c7 | 170 | #define MPU6050_RA_DMP_CFG_2 0x71 |
| majik | 6:d348c3cad7c7 | 171 | #define MPU6050_RA_FIFO_COUNTH 0x72 |
| majik | 6:d348c3cad7c7 | 172 | #define MPU6050_RA_FIFO_COUNTL 0x73 |
| majik | 6:d348c3cad7c7 | 173 | #define MPU6050_RA_FIFO_R_W 0x74 |
| majik | 6:d348c3cad7c7 | 174 | #define MPU6050_RA_WHO_AM_I 0x75 |
| majik | 6:d348c3cad7c7 | 175 | |
| majik | 6:d348c3cad7c7 | 176 | #define MPU6050_TC_PWR_MODE_BIT 7 |
| majik | 6:d348c3cad7c7 | 177 | #define MPU6050_TC_OFFSET_BIT 6 |
| majik | 6:d348c3cad7c7 | 178 | #define MPU6050_TC_OFFSET_LENGTH 6 |
| majik | 6:d348c3cad7c7 | 179 | #define MPU6050_TC_OTP_BNK_VLD_BIT 0 |
| majik | 6:d348c3cad7c7 | 180 | |
| majik | 6:d348c3cad7c7 | 181 | #define MPU6050_VDDIO_LEVEL_VLOGIC 0 |
| majik | 6:d348c3cad7c7 | 182 | #define MPU6050_VDDIO_LEVEL_VDD 1 |
| majik | 6:d348c3cad7c7 | 183 | |
| majik | 6:d348c3cad7c7 | 184 | #define MPU6050_CFG_EXT_SYNC_SET_BIT 5 |
| majik | 6:d348c3cad7c7 | 185 | #define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3 |
| majik | 6:d348c3cad7c7 | 186 | #define MPU6050_CFG_DLPF_CFG_BIT 2 |
| majik | 6:d348c3cad7c7 | 187 | #define MPU6050_CFG_DLPF_CFG_LENGTH 3 |
| majik | 6:d348c3cad7c7 | 188 | |
| majik | 6:d348c3cad7c7 | 189 | #define MPU6050_EXT_SYNC_DISABLED 0x0 |
| majik | 6:d348c3cad7c7 | 190 | #define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1 |
| majik | 6:d348c3cad7c7 | 191 | #define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2 |
| majik | 6:d348c3cad7c7 | 192 | #define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3 |
| majik | 6:d348c3cad7c7 | 193 | #define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4 |
| majik | 6:d348c3cad7c7 | 194 | #define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5 |
| majik | 6:d348c3cad7c7 | 195 | #define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6 |
| majik | 6:d348c3cad7c7 | 196 | #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7 |
| majik | 6:d348c3cad7c7 | 197 | |
| majik | 6:d348c3cad7c7 | 198 | #define MPU6050_DLPF_BW_256 0x00 |
| majik | 6:d348c3cad7c7 | 199 | #define MPU6050_DLPF_BW_188 0x01 |
| majik | 6:d348c3cad7c7 | 200 | #define MPU6050_DLPF_BW_98 0x02 |
| majik | 6:d348c3cad7c7 | 201 | #define MPU6050_DLPF_BW_42 0x03 |
| majik | 6:d348c3cad7c7 | 202 | #define MPU6050_DLPF_BW_20 0x04 |
| majik | 6:d348c3cad7c7 | 203 | #define MPU6050_DLPF_BW_10 0x05 |
| majik | 6:d348c3cad7c7 | 204 | #define MPU6050_DLPF_BW_5 0x06 |
| majik | 6:d348c3cad7c7 | 205 | |
| majik | 6:d348c3cad7c7 | 206 | #define MPU6050_GCONFIG_FS_SEL_BIT 4 |
| majik | 6:d348c3cad7c7 | 207 | #define MPU6050_GCONFIG_FS_SEL_LENGTH 2 |
| majik | 6:d348c3cad7c7 | 208 | |
| majik | 6:d348c3cad7c7 | 209 | #define MPU6050_GYRO_FS_250 0x00 |
| majik | 6:d348c3cad7c7 | 210 | #define MPU6050_GYRO_FS_500 0x01 |
| majik | 6:d348c3cad7c7 | 211 | #define MPU6050_GYRO_FS_1000 0x02 |
| majik | 6:d348c3cad7c7 | 212 | #define MPU6050_GYRO_FS_2000 0x03 |
| majik | 6:d348c3cad7c7 | 213 | |
| majik | 6:d348c3cad7c7 | 214 | #define MPU6050_ACONFIG_XA_ST_BIT 7 |
| majik | 6:d348c3cad7c7 | 215 | #define MPU6050_ACONFIG_YA_ST_BIT 6 |
| majik | 6:d348c3cad7c7 | 216 | #define MPU6050_ACONFIG_ZA_ST_BIT 5 |
| majik | 6:d348c3cad7c7 | 217 | #define MPU6050_ACONFIG_AFS_SEL_BIT 4 |
| majik | 6:d348c3cad7c7 | 218 | #define MPU6050_ACONFIG_AFS_SEL_LENGTH 2 |
| majik | 6:d348c3cad7c7 | 219 | #define MPU6050_ACONFIG_ACCEL_HPF_BIT 2 |
| majik | 6:d348c3cad7c7 | 220 | #define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3 |
| majik | 6:d348c3cad7c7 | 221 | |
| majik | 6:d348c3cad7c7 | 222 | #define MPU6050_ACCEL_FS_2 0x00 |
| majik | 6:d348c3cad7c7 | 223 | #define MPU6050_ACCEL_FS_4 0x01 |
| majik | 6:d348c3cad7c7 | 224 | #define MPU6050_ACCEL_FS_8 0x02 |
| majik | 6:d348c3cad7c7 | 225 | #define MPU6050_ACCEL_FS_16 0x03 |
| majik | 6:d348c3cad7c7 | 226 | |
| majik | 6:d348c3cad7c7 | 227 | #define MPU6050_DHPF_RESET 0x00 |
| majik | 6:d348c3cad7c7 | 228 | #define MPU6050_DHPF_5 0x01 |
| majik | 6:d348c3cad7c7 | 229 | #define MPU6050_DHPF_2P5 0x02 |
| majik | 6:d348c3cad7c7 | 230 | #define MPU6050_DHPF_1P25 0x03 |
| majik | 6:d348c3cad7c7 | 231 | #define MPU6050_DHPF_0P63 0x04 |
| majik | 6:d348c3cad7c7 | 232 | #define MPU6050_DHPF_HOLD 0x07 |
| majik | 6:d348c3cad7c7 | 233 | |
| majik | 6:d348c3cad7c7 | 234 | #define MPU6050_TEMP_FIFO_EN_BIT 7 |
| majik | 6:d348c3cad7c7 | 235 | #define MPU6050_XG_FIFO_EN_BIT 6 |
| majik | 6:d348c3cad7c7 | 236 | #define MPU6050_YG_FIFO_EN_BIT 5 |
| majik | 6:d348c3cad7c7 | 237 | #define MPU6050_ZG_FIFO_EN_BIT 4 |
| majik | 6:d348c3cad7c7 | 238 | #define MPU6050_ACCEL_FIFO_EN_BIT 3 |
| majik | 6:d348c3cad7c7 | 239 | #define MPU6050_SLV2_FIFO_EN_BIT 2 |
| majik | 6:d348c3cad7c7 | 240 | #define MPU6050_SLV1_FIFO_EN_BIT 1 |
| majik | 6:d348c3cad7c7 | 241 | #define MPU6050_SLV0_FIFO_EN_BIT 0 |
| majik | 6:d348c3cad7c7 | 242 | |
| majik | 6:d348c3cad7c7 | 243 | #define MPU6050_MULT_MST_EN_BIT 7 |
| majik | 6:d348c3cad7c7 | 244 | #define MPU6050_WAIT_FOR_ES_BIT 6 |
| majik | 6:d348c3cad7c7 | 245 | #define MPU6050_SLV_3_FIFO_EN_BIT 5 |
| majik | 6:d348c3cad7c7 | 246 | #define MPU6050_I2C_MST_P_NSR_BIT 4 |
| majik | 6:d348c3cad7c7 | 247 | #define MPU6050_I2C_MST_CLK_BIT 3 |
| majik | 6:d348c3cad7c7 | 248 | #define MPU6050_I2C_MST_CLK_LENGTH 4 |
| majik | 6:d348c3cad7c7 | 249 | |
| majik | 6:d348c3cad7c7 | 250 | #define MPU6050_CLOCK_DIV_348 0x0 |
| majik | 6:d348c3cad7c7 | 251 | #define MPU6050_CLOCK_DIV_333 0x1 |
| majik | 6:d348c3cad7c7 | 252 | #define MPU6050_CLOCK_DIV_320 0x2 |
| majik | 6:d348c3cad7c7 | 253 | #define MPU6050_CLOCK_DIV_308 0x3 |
| majik | 6:d348c3cad7c7 | 254 | #define MPU6050_CLOCK_DIV_296 0x4 |
| majik | 6:d348c3cad7c7 | 255 | #define MPU6050_CLOCK_DIV_286 0x5 |
| majik | 6:d348c3cad7c7 | 256 | #define MPU6050_CLOCK_DIV_276 0x6 |
| majik | 6:d348c3cad7c7 | 257 | #define MPU6050_CLOCK_DIV_267 0x7 |
| majik | 6:d348c3cad7c7 | 258 | #define MPU6050_CLOCK_DIV_258 0x8 |
| majik | 6:d348c3cad7c7 | 259 | #define MPU6050_CLOCK_DIV_500 0x9 |
| majik | 6:d348c3cad7c7 | 260 | #define MPU6050_CLOCK_DIV_471 0xA |
| majik | 6:d348c3cad7c7 | 261 | #define MPU6050_CLOCK_DIV_444 0xB |
| majik | 6:d348c3cad7c7 | 262 | #define MPU6050_CLOCK_DIV_421 0xC |
| majik | 6:d348c3cad7c7 | 263 | #define MPU6050_CLOCK_DIV_400 0xD |
| majik | 6:d348c3cad7c7 | 264 | #define MPU6050_CLOCK_DIV_381 0xE |
| majik | 6:d348c3cad7c7 | 265 | #define MPU6050_CLOCK_DIV_364 0xF |
| majik | 6:d348c3cad7c7 | 266 | |
| majik | 6:d348c3cad7c7 | 267 | #define MPU6050_I2C_SLV_RW_BIT 7 |
| majik | 6:d348c3cad7c7 | 268 | #define MPU6050_I2C_SLV_ADDR_BIT 6 |
| majik | 6:d348c3cad7c7 | 269 | #define MPU6050_I2C_SLV_ADDR_LENGTH 7 |
| majik | 6:d348c3cad7c7 | 270 | #define MPU6050_I2C_SLV_EN_BIT 7 |
| majik | 6:d348c3cad7c7 | 271 | #define MPU6050_I2C_SLV_BYTE_SW_BIT 6 |
| majik | 6:d348c3cad7c7 | 272 | #define MPU6050_I2C_SLV_REG_DIS_BIT 5 |
| majik | 6:d348c3cad7c7 | 273 | #define MPU6050_I2C_SLV_GRP_BIT 4 |
| majik | 6:d348c3cad7c7 | 274 | #define MPU6050_I2C_SLV_LEN_BIT 3 |
| majik | 6:d348c3cad7c7 | 275 | #define MPU6050_I2C_SLV_LEN_LENGTH 4 |
| majik | 6:d348c3cad7c7 | 276 | |
| majik | 6:d348c3cad7c7 | 277 | #define MPU6050_I2C_SLV4_RW_BIT 7 |
| majik | 6:d348c3cad7c7 | 278 | #define MPU6050_I2C_SLV4_ADDR_BIT 6 |
| majik | 6:d348c3cad7c7 | 279 | #define MPU6050_I2C_SLV4_ADDR_LENGTH 7 |
| majik | 6:d348c3cad7c7 | 280 | #define MPU6050_I2C_SLV4_EN_BIT 7 |
| majik | 6:d348c3cad7c7 | 281 | #define MPU6050_I2C_SLV4_INT_EN_BIT 6 |
| majik | 6:d348c3cad7c7 | 282 | #define MPU6050_I2C_SLV4_REG_DIS_BIT 5 |
| majik | 6:d348c3cad7c7 | 283 | #define MPU6050_I2C_SLV4_MST_DLY_BIT 4 |
| majik | 6:d348c3cad7c7 | 284 | #define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5 |
| majik | 6:d348c3cad7c7 | 285 | |
| majik | 6:d348c3cad7c7 | 286 | #define MPU6050_MST_PASS_THROUGH_BIT 7 |
| majik | 6:d348c3cad7c7 | 287 | #define MPU6050_MST_I2C_SLV4_DONE_BIT 6 |
| majik | 6:d348c3cad7c7 | 288 | #define MPU6050_MST_I2C_LOST_ARB_BIT 5 |
| majik | 6:d348c3cad7c7 | 289 | #define MPU6050_MST_I2C_SLV4_NACK_BIT 4 |
| majik | 6:d348c3cad7c7 | 290 | #define MPU6050_MST_I2C_SLV3_NACK_BIT 3 |
| majik | 6:d348c3cad7c7 | 291 | #define MPU6050_MST_I2C_SLV2_NACK_BIT 2 |
| majik | 6:d348c3cad7c7 | 292 | #define MPU6050_MST_I2C_SLV1_NACK_BIT 1 |
| majik | 6:d348c3cad7c7 | 293 | #define MPU6050_MST_I2C_SLV0_NACK_BIT 0 |
| majik | 6:d348c3cad7c7 | 294 | |
| majik | 6:d348c3cad7c7 | 295 | #define MPU6050_INTCFG_INT_LEVEL_BIT 7 |
| majik | 6:d348c3cad7c7 | 296 | #define MPU6050_INTCFG_INT_OPEN_BIT 6 |
| majik | 6:d348c3cad7c7 | 297 | #define MPU6050_INTCFG_LATCH_INT_EN_BIT 5 |
| majik | 6:d348c3cad7c7 | 298 | #define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4 |
| majik | 6:d348c3cad7c7 | 299 | #define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3 |
| majik | 6:d348c3cad7c7 | 300 | #define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2 |
| majik | 6:d348c3cad7c7 | 301 | #define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1 |
| majik | 6:d348c3cad7c7 | 302 | #define MPU6050_INTCFG_CLKOUT_EN_BIT 0 |
| majik | 6:d348c3cad7c7 | 303 | |
| majik | 6:d348c3cad7c7 | 304 | #define MPU6050_INTMODE_ACTIVEHIGH 0x00 |
| majik | 6:d348c3cad7c7 | 305 | #define MPU6050_INTMODE_ACTIVELOW 0x01 |
| majik | 6:d348c3cad7c7 | 306 | |
| majik | 6:d348c3cad7c7 | 307 | #define MPU6050_INTDRV_PUSHPULL 0x00 |
| majik | 6:d348c3cad7c7 | 308 | #define MPU6050_INTDRV_OPENDRAIN 0x01 |
| majik | 6:d348c3cad7c7 | 309 | |
| majik | 6:d348c3cad7c7 | 310 | #define MPU6050_INTLATCH_50USPULSE 0x00 |
| majik | 6:d348c3cad7c7 | 311 | #define MPU6050_INTLATCH_WAITCLEAR 0x01 |
| majik | 6:d348c3cad7c7 | 312 | |
| majik | 6:d348c3cad7c7 | 313 | #define MPU6050_INTCLEAR_STATUSREAD 0x00 |
| majik | 6:d348c3cad7c7 | 314 | #define MPU6050_INTCLEAR_ANYREAD 0x01 |
| majik | 6:d348c3cad7c7 | 315 | |
| majik | 6:d348c3cad7c7 | 316 | #define MPU6050_INTERRUPT_FF_BIT 7 |
| majik | 6:d348c3cad7c7 | 317 | #define MPU6050_INTERRUPT_MOT_BIT 6 |
| majik | 6:d348c3cad7c7 | 318 | #define MPU6050_INTERRUPT_ZMOT_BIT 5 |
| majik | 6:d348c3cad7c7 | 319 | #define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4 |
| majik | 6:d348c3cad7c7 | 320 | #define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3 |
| majik | 6:d348c3cad7c7 | 321 | #define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2 |
| majik | 6:d348c3cad7c7 | 322 | #define MPU6050_INTERRUPT_DMP_INT_BIT 1 |
| majik | 6:d348c3cad7c7 | 323 | #define MPU6050_INTERRUPT_DATA_RDY_BIT 0 |
| majik | 6:d348c3cad7c7 | 324 | |
| majik | 6:d348c3cad7c7 | 325 | // TODO: figure out what these actually do |
| majik | 6:d348c3cad7c7 | 326 | // UMPL source code is not very obivous |
| majik | 6:d348c3cad7c7 | 327 | #define MPU6050_DMPINT_5_BIT 5 |
| majik | 6:d348c3cad7c7 | 328 | #define MPU6050_DMPINT_4_BIT 4 |
| majik | 6:d348c3cad7c7 | 329 | #define MPU6050_DMPINT_3_BIT 3 |
| majik | 6:d348c3cad7c7 | 330 | #define MPU6050_DMPINT_2_BIT 2 |
| majik | 6:d348c3cad7c7 | 331 | #define MPU6050_DMPINT_1_BIT 1 |
| majik | 6:d348c3cad7c7 | 332 | #define MPU6050_DMPINT_0_BIT 0 |
| majik | 6:d348c3cad7c7 | 333 | |
| majik | 6:d348c3cad7c7 | 334 | #define MPU6050_MOTION_MOT_XNEG_BIT 7 |
| majik | 6:d348c3cad7c7 | 335 | #define MPU6050_MOTION_MOT_XPOS_BIT 6 |
| majik | 6:d348c3cad7c7 | 336 | #define MPU6050_MOTION_MOT_YNEG_BIT 5 |
| majik | 6:d348c3cad7c7 | 337 | #define MPU6050_MOTION_MOT_YPOS_BIT 4 |
| majik | 6:d348c3cad7c7 | 338 | #define MPU6050_MOTION_MOT_ZNEG_BIT 3 |
| majik | 6:d348c3cad7c7 | 339 | #define MPU6050_MOTION_MOT_ZPOS_BIT 2 |
| majik | 6:d348c3cad7c7 | 340 | #define MPU6050_MOTION_MOT_ZRMOT_BIT 0 |
| majik | 6:d348c3cad7c7 | 341 | |
| majik | 6:d348c3cad7c7 | 342 | #define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7 |
| majik | 6:d348c3cad7c7 | 343 | #define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4 |
| majik | 6:d348c3cad7c7 | 344 | #define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3 |
| majik | 6:d348c3cad7c7 | 345 | #define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2 |
| majik | 6:d348c3cad7c7 | 346 | #define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1 |
| majik | 6:d348c3cad7c7 | 347 | #define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0 |
| majik | 6:d348c3cad7c7 | 348 | |
| majik | 6:d348c3cad7c7 | 349 | #define MPU6050_PATHRESET_GYRO_RESET_BIT 2 |
| majik | 6:d348c3cad7c7 | 350 | #define MPU6050_PATHRESET_ACCEL_RESET_BIT 1 |
| majik | 6:d348c3cad7c7 | 351 | #define MPU6050_PATHRESET_TEMP_RESET_BIT 0 |
| majik | 6:d348c3cad7c7 | 352 | |
| majik | 6:d348c3cad7c7 | 353 | #define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5 |
| majik | 6:d348c3cad7c7 | 354 | #define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2 |
| majik | 6:d348c3cad7c7 | 355 | #define MPU6050_DETECT_FF_COUNT_BIT 3 |
| majik | 6:d348c3cad7c7 | 356 | #define MPU6050_DETECT_FF_COUNT_LENGTH 2 |
| majik | 6:d348c3cad7c7 | 357 | #define MPU6050_DETECT_MOT_COUNT_BIT 1 |
| majik | 6:d348c3cad7c7 | 358 | #define MPU6050_DETECT_MOT_COUNT_LENGTH 2 |
| majik | 6:d348c3cad7c7 | 359 | |
| majik | 6:d348c3cad7c7 | 360 | #define MPU6050_DETECT_DECREMENT_RESET 0x0 |
| majik | 6:d348c3cad7c7 | 361 | #define MPU6050_DETECT_DECREMENT_1 0x1 |
| majik | 6:d348c3cad7c7 | 362 | #define MPU6050_DETECT_DECREMENT_2 0x2 |
| majik | 6:d348c3cad7c7 | 363 | #define MPU6050_DETECT_DECREMENT_4 0x3 |
| majik | 6:d348c3cad7c7 | 364 | |
| majik | 6:d348c3cad7c7 | 365 | #define MPU6050_USERCTRL_DMP_EN_BIT 7 |
| majik | 6:d348c3cad7c7 | 366 | #define MPU6050_USERCTRL_FIFO_EN_BIT 6 |
| majik | 6:d348c3cad7c7 | 367 | #define MPU6050_USERCTRL_I2C_MST_EN_BIT 5 |
| majik | 6:d348c3cad7c7 | 368 | #define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4 |
| majik | 6:d348c3cad7c7 | 369 | #define MPU6050_USERCTRL_DMP_RESET_BIT 3 |
| majik | 6:d348c3cad7c7 | 370 | #define MPU6050_USERCTRL_FIFO_RESET_BIT 2 |
| majik | 6:d348c3cad7c7 | 371 | #define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1 |
| majik | 6:d348c3cad7c7 | 372 | #define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0 |
| majik | 6:d348c3cad7c7 | 373 | |
| majik | 6:d348c3cad7c7 | 374 | #define MPU6050_PWR1_DEVICE_RESET_BIT 7 |
| majik | 6:d348c3cad7c7 | 375 | #define MPU6050_PWR1_SLEEP_BIT 6 |
| majik | 6:d348c3cad7c7 | 376 | #define MPU6050_PWR1_CYCLE_BIT 5 |
| majik | 6:d348c3cad7c7 | 377 | #define MPU6050_PWR1_TEMP_DIS_BIT 3 |
| majik | 6:d348c3cad7c7 | 378 | #define MPU6050_PWR1_CLKSEL_BIT 2 |
| majik | 6:d348c3cad7c7 | 379 | #define MPU6050_PWR1_CLKSEL_LENGTH 3 |
| majik | 6:d348c3cad7c7 | 380 | |
| majik | 6:d348c3cad7c7 | 381 | #define MPU6050_CLOCK_INTERNAL 0x00 |
| majik | 6:d348c3cad7c7 | 382 | #define MPU6050_CLOCK_PLL_XGYRO 0x01 |
| majik | 6:d348c3cad7c7 | 383 | #define MPU6050_CLOCK_PLL_YGYRO 0x02 |
| majik | 6:d348c3cad7c7 | 384 | #define MPU6050_CLOCK_PLL_ZGYRO 0x03 |
| majik | 6:d348c3cad7c7 | 385 | #define MPU6050_CLOCK_PLL_EXT32K 0x04 |
| majik | 6:d348c3cad7c7 | 386 | #define MPU6050_CLOCK_PLL_EXT19M 0x05 |
| majik | 6:d348c3cad7c7 | 387 | #define MPU6050_CLOCK_KEEP_RESET 0x07 |
| majik | 6:d348c3cad7c7 | 388 | |
| majik | 6:d348c3cad7c7 | 389 | #define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7 |
| majik | 6:d348c3cad7c7 | 390 | #define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2 |
| majik | 6:d348c3cad7c7 | 391 | #define MPU6050_PWR2_STBY_XA_BIT 5 |
| majik | 6:d348c3cad7c7 | 392 | #define MPU6050_PWR2_STBY_YA_BIT 4 |
| majik | 6:d348c3cad7c7 | 393 | #define MPU6050_PWR2_STBY_ZA_BIT 3 |
| majik | 6:d348c3cad7c7 | 394 | #define MPU6050_PWR2_STBY_XG_BIT 2 |
| majik | 6:d348c3cad7c7 | 395 | #define MPU6050_PWR2_STBY_YG_BIT 1 |
| majik | 6:d348c3cad7c7 | 396 | #define MPU6050_PWR2_STBY_ZG_BIT 0 |
| majik | 6:d348c3cad7c7 | 397 | |
| majik | 6:d348c3cad7c7 | 398 | #define MPU6050_WAKE_FREQ_1P25 0x0 |
| majik | 6:d348c3cad7c7 | 399 | #define MPU6050_WAKE_FREQ_2P5 0x1 |
| majik | 6:d348c3cad7c7 | 400 | #define MPU6050_WAKE_FREQ_5 0x2 |
| majik | 6:d348c3cad7c7 | 401 | #define MPU6050_WAKE_FREQ_10 0x3 |
| majik | 6:d348c3cad7c7 | 402 | |
| majik | 6:d348c3cad7c7 | 403 | #define MPU6050_BANKSEL_PRFTCH_EN_BIT 6 |
| majik | 6:d348c3cad7c7 | 404 | #define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5 |
| majik | 6:d348c3cad7c7 | 405 | #define MPU6050_BANKSEL_MEM_SEL_BIT 4 |
| majik | 6:d348c3cad7c7 | 406 | #define MPU6050_BANKSEL_MEM_SEL_LENGTH 5 |
| majik | 6:d348c3cad7c7 | 407 | |
| majik | 6:d348c3cad7c7 | 408 | #define MPU6050_WHO_AM_I_BIT 6 |
| majik | 6:d348c3cad7c7 | 409 | #define MPU6050_WHO_AM_I_LENGTH 6 |
| majik | 6:d348c3cad7c7 | 410 | |
| majik | 6:d348c3cad7c7 | 411 | #define MPU6050_DMP_MEMORY_BANKS 8 |
| majik | 6:d348c3cad7c7 | 412 | #define MPU6050_DMP_MEMORY_BANK_SIZE 256 |
| majik | 6:d348c3cad7c7 | 413 | #define MPU6050_DMP_MEMORY_CHUNK_SIZE 16 |
| majik | 6:d348c3cad7c7 | 414 | |
| majik | 6:d348c3cad7c7 | 415 | // note: DMP code memory blocks defined at end of header file |
| majik | 6:d348c3cad7c7 | 416 | |
| majik | 6:d348c3cad7c7 | 417 | class MPU6051 { |
| majik | 6:d348c3cad7c7 | 418 | private: |
| majik | 6:d348c3cad7c7 | 419 | I2Cdev2 i2Cdev; |
| majik | 6:d348c3cad7c7 | 420 | Serial debugSerial; |
| majik | 6:d348c3cad7c7 | 421 | public: |
| majik | 6:d348c3cad7c7 | 422 | MPU6051(); |
| majik | 6:d348c3cad7c7 | 423 | MPU6051(uint8_t address); |
| majik | 6:d348c3cad7c7 | 424 | |
| majik | 6:d348c3cad7c7 | 425 | void initialize(); |
| majik | 6:d348c3cad7c7 | 426 | bool testConnection(); |
| majik | 6:d348c3cad7c7 | 427 | |
| majik | 6:d348c3cad7c7 | 428 | // AUX_VDDIO register |
| majik | 6:d348c3cad7c7 | 429 | uint8_t getAuxVDDIOLevel(); |
| majik | 6:d348c3cad7c7 | 430 | void setAuxVDDIOLevel(uint8_t level); |
| majik | 6:d348c3cad7c7 | 431 | |
| majik | 6:d348c3cad7c7 | 432 | // SMPLRT_DIV register |
| majik | 6:d348c3cad7c7 | 433 | uint8_t getRate(); |
| majik | 6:d348c3cad7c7 | 434 | void setRate(uint8_t rate); |
| majik | 6:d348c3cad7c7 | 435 | |
| majik | 6:d348c3cad7c7 | 436 | // CONFIG register |
| majik | 6:d348c3cad7c7 | 437 | uint8_t getExternalFrameSync(); |
| majik | 6:d348c3cad7c7 | 438 | void setExternalFrameSync(uint8_t sync); |
| majik | 6:d348c3cad7c7 | 439 | uint8_t getDLPFMode(); |
| majik | 6:d348c3cad7c7 | 440 | void setDLPFMode(uint8_t bandwidth); |
| majik | 6:d348c3cad7c7 | 441 | |
| majik | 6:d348c3cad7c7 | 442 | // GYRO_CONFIG register |
| majik | 6:d348c3cad7c7 | 443 | uint8_t getFullScaleGyroRange(); |
| majik | 6:d348c3cad7c7 | 444 | void setFullScaleGyroRange(uint8_t range); |
| majik | 6:d348c3cad7c7 | 445 | |
| majik | 6:d348c3cad7c7 | 446 | // ACCEL_CONFIG register |
| majik | 6:d348c3cad7c7 | 447 | bool getAccelXSelfTest(); |
| majik | 6:d348c3cad7c7 | 448 | void setAccelXSelfTest(bool enabled); |
| majik | 6:d348c3cad7c7 | 449 | bool getAccelYSelfTest(); |
| majik | 6:d348c3cad7c7 | 450 | void setAccelYSelfTest(bool enabled); |
| majik | 6:d348c3cad7c7 | 451 | bool getAccelZSelfTest(); |
| majik | 6:d348c3cad7c7 | 452 | void setAccelZSelfTest(bool enabled); |
| majik | 6:d348c3cad7c7 | 453 | uint8_t getFullScaleAccelRange(); |
| majik | 6:d348c3cad7c7 | 454 | void setFullScaleAccelRange(uint8_t range); |
| majik | 6:d348c3cad7c7 | 455 | uint8_t getDHPFMode(); |
| majik | 6:d348c3cad7c7 | 456 | void setDHPFMode(uint8_t mode); |
| majik | 6:d348c3cad7c7 | 457 | |
| majik | 6:d348c3cad7c7 | 458 | // FF_THR register |
| majik | 6:d348c3cad7c7 | 459 | uint8_t getFreefallDetectionThreshold(); |
| majik | 6:d348c3cad7c7 | 460 | void setFreefallDetectionThreshold(uint8_t threshold); |
| majik | 6:d348c3cad7c7 | 461 | |
| majik | 6:d348c3cad7c7 | 462 | // FF_DUR register |
| majik | 6:d348c3cad7c7 | 463 | uint8_t getFreefallDetectionDuration(); |
| majik | 6:d348c3cad7c7 | 464 | void setFreefallDetectionDuration(uint8_t duration); |
| majik | 6:d348c3cad7c7 | 465 | |
| majik | 6:d348c3cad7c7 | 466 | // MOT_THR register |
| majik | 6:d348c3cad7c7 | 467 | uint8_t getMotionDetectionThreshold(); |
| majik | 6:d348c3cad7c7 | 468 | void setMotionDetectionThreshold(uint8_t threshold); |
| majik | 6:d348c3cad7c7 | 469 | |
| majik | 6:d348c3cad7c7 | 470 | // MOT_DUR register |
| majik | 6:d348c3cad7c7 | 471 | uint8_t getMotionDetectionDuration(); |
| majik | 6:d348c3cad7c7 | 472 | void setMotionDetectionDuration(uint8_t duration); |
| majik | 6:d348c3cad7c7 | 473 | |
| majik | 6:d348c3cad7c7 | 474 | // ZRMOT_THR register |
| majik | 6:d348c3cad7c7 | 475 | uint8_t getZeroMotionDetectionThreshold(); |
| majik | 6:d348c3cad7c7 | 476 | void setZeroMotionDetectionThreshold(uint8_t threshold); |
| majik | 6:d348c3cad7c7 | 477 | |
| majik | 6:d348c3cad7c7 | 478 | // ZRMOT_DUR register |
| majik | 6:d348c3cad7c7 | 479 | uint8_t getZeroMotionDetectionDuration(); |
| majik | 6:d348c3cad7c7 | 480 | void setZeroMotionDetectionDuration(uint8_t duration); |
| majik | 6:d348c3cad7c7 | 481 | |
| majik | 6:d348c3cad7c7 | 482 | // FIFO_EN register |
| majik | 6:d348c3cad7c7 | 483 | bool getTempFIFOEnabled(); |
| majik | 6:d348c3cad7c7 | 484 | void setTempFIFOEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 485 | bool getXGyroFIFOEnabled(); |
| majik | 6:d348c3cad7c7 | 486 | void setXGyroFIFOEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 487 | bool getYGyroFIFOEnabled(); |
| majik | 6:d348c3cad7c7 | 488 | void setYGyroFIFOEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 489 | bool getZGyroFIFOEnabled(); |
| majik | 6:d348c3cad7c7 | 490 | void setZGyroFIFOEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 491 | bool getAccelFIFOEnabled(); |
| majik | 6:d348c3cad7c7 | 492 | void setAccelFIFOEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 493 | bool getSlave2FIFOEnabled(); |
| majik | 6:d348c3cad7c7 | 494 | void setSlave2FIFOEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 495 | bool getSlave1FIFOEnabled(); |
| majik | 6:d348c3cad7c7 | 496 | void setSlave1FIFOEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 497 | bool getSlave0FIFOEnabled(); |
| majik | 6:d348c3cad7c7 | 498 | void setSlave0FIFOEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 499 | |
| majik | 6:d348c3cad7c7 | 500 | // I2C_MST_CTRL register |
| majik | 6:d348c3cad7c7 | 501 | bool getMultiMasterEnabled(); |
| majik | 6:d348c3cad7c7 | 502 | void setMultiMasterEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 503 | bool getWaitForExternalSensorEnabled(); |
| majik | 6:d348c3cad7c7 | 504 | void setWaitForExternalSensorEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 505 | bool getSlave3FIFOEnabled(); |
| majik | 6:d348c3cad7c7 | 506 | void setSlave3FIFOEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 507 | bool getSlaveReadWriteTransitionEnabled(); |
| majik | 6:d348c3cad7c7 | 508 | void setSlaveReadWriteTransitionEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 509 | uint8_t getMasterClockSpeed(); |
| majik | 6:d348c3cad7c7 | 510 | void setMasterClockSpeed(uint8_t speed); |
| majik | 6:d348c3cad7c7 | 511 | |
| majik | 6:d348c3cad7c7 | 512 | // I2C_SLV* registers (Slave 0-3) |
| majik | 6:d348c3cad7c7 | 513 | uint8_t getSlaveAddress(uint8_t num); |
| majik | 6:d348c3cad7c7 | 514 | void setSlaveAddress(uint8_t num, uint8_t address); |
| majik | 6:d348c3cad7c7 | 515 | uint8_t getSlaveRegister(uint8_t num); |
| majik | 6:d348c3cad7c7 | 516 | void setSlaveRegister(uint8_t num, uint8_t reg); |
| majik | 6:d348c3cad7c7 | 517 | bool getSlaveEnabled(uint8_t num); |
| majik | 6:d348c3cad7c7 | 518 | void setSlaveEnabled(uint8_t num, bool enabled); |
| majik | 6:d348c3cad7c7 | 519 | bool getSlaveWordByteSwap(uint8_t num); |
| majik | 6:d348c3cad7c7 | 520 | void setSlaveWordByteSwap(uint8_t num, bool enabled); |
| majik | 6:d348c3cad7c7 | 521 | bool getSlaveWriteMode(uint8_t num); |
| majik | 6:d348c3cad7c7 | 522 | void setSlaveWriteMode(uint8_t num, bool mode); |
| majik | 6:d348c3cad7c7 | 523 | bool getSlaveWordGroupOffset(uint8_t num); |
| majik | 6:d348c3cad7c7 | 524 | void setSlaveWordGroupOffset(uint8_t num, bool enabled); |
| majik | 6:d348c3cad7c7 | 525 | uint8_t getSlaveDataLength(uint8_t num); |
| majik | 6:d348c3cad7c7 | 526 | void setSlaveDataLength(uint8_t num, uint8_t length); |
| majik | 6:d348c3cad7c7 | 527 | |
| majik | 6:d348c3cad7c7 | 528 | // I2C_SLV* registers (Slave 4) |
| majik | 6:d348c3cad7c7 | 529 | uint8_t getSlave4Address(); |
| majik | 6:d348c3cad7c7 | 530 | void setSlave4Address(uint8_t address); |
| majik | 6:d348c3cad7c7 | 531 | uint8_t getSlave4Register(); |
| majik | 6:d348c3cad7c7 | 532 | void setSlave4Register(uint8_t reg); |
| majik | 6:d348c3cad7c7 | 533 | void setSlave4OutputByte(uint8_t data); |
| majik | 6:d348c3cad7c7 | 534 | bool getSlave4Enabled(); |
| majik | 6:d348c3cad7c7 | 535 | void setSlave4Enabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 536 | bool getSlave4InterruptEnabled(); |
| majik | 6:d348c3cad7c7 | 537 | void setSlave4InterruptEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 538 | bool getSlave4WriteMode(); |
| majik | 6:d348c3cad7c7 | 539 | void setSlave4WriteMode(bool mode); |
| majik | 6:d348c3cad7c7 | 540 | uint8_t getSlave4MasterDelay(); |
| majik | 6:d348c3cad7c7 | 541 | void setSlave4MasterDelay(uint8_t delay); |
| majik | 6:d348c3cad7c7 | 542 | uint8_t getSlate4InputByte(); |
| majik | 6:d348c3cad7c7 | 543 | |
| majik | 6:d348c3cad7c7 | 544 | // I2C_MST_STATUS register |
| majik | 6:d348c3cad7c7 | 545 | bool getPassthroughStatus(); |
| majik | 6:d348c3cad7c7 | 546 | bool getSlave4IsDone(); |
| majik | 6:d348c3cad7c7 | 547 | bool getLostArbitration(); |
| majik | 6:d348c3cad7c7 | 548 | bool getSlave4Nack(); |
| majik | 6:d348c3cad7c7 | 549 | bool getSlave3Nack(); |
| majik | 6:d348c3cad7c7 | 550 | bool getSlave2Nack(); |
| majik | 6:d348c3cad7c7 | 551 | bool getSlave1Nack(); |
| majik | 6:d348c3cad7c7 | 552 | bool getSlave0Nack(); |
| majik | 6:d348c3cad7c7 | 553 | |
| majik | 6:d348c3cad7c7 | 554 | // INT_PIN_CFG register |
| majik | 6:d348c3cad7c7 | 555 | bool getInterruptMode(); |
| majik | 6:d348c3cad7c7 | 556 | void setInterruptMode(bool mode); |
| majik | 6:d348c3cad7c7 | 557 | bool getInterruptDrive(); |
| majik | 6:d348c3cad7c7 | 558 | void setInterruptDrive(bool drive); |
| majik | 6:d348c3cad7c7 | 559 | bool getInterruptLatch(); |
| majik | 6:d348c3cad7c7 | 560 | void setInterruptLatch(bool latch); |
| majik | 6:d348c3cad7c7 | 561 | bool getInterruptLatchClear(); |
| majik | 6:d348c3cad7c7 | 562 | void setInterruptLatchClear(bool clear); |
| majik | 6:d348c3cad7c7 | 563 | bool getFSyncInterruptLevel(); |
| majik | 6:d348c3cad7c7 | 564 | void setFSyncInterruptLevel(bool level); |
| majik | 6:d348c3cad7c7 | 565 | bool getFSyncInterruptEnabled(); |
| majik | 6:d348c3cad7c7 | 566 | void setFSyncInterruptEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 567 | bool getI2CBypassEnabled(); |
| majik | 6:d348c3cad7c7 | 568 | void setI2CBypassEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 569 | bool getClockOutputEnabled(); |
| majik | 6:d348c3cad7c7 | 570 | void setClockOutputEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 571 | |
| majik | 6:d348c3cad7c7 | 572 | // INT_ENABLE register |
| majik | 6:d348c3cad7c7 | 573 | uint8_t getIntEnabled(); |
| majik | 6:d348c3cad7c7 | 574 | void setIntEnabled(uint8_t enabled); |
| majik | 6:d348c3cad7c7 | 575 | bool getIntFreefallEnabled(); |
| majik | 6:d348c3cad7c7 | 576 | void setIntFreefallEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 577 | bool getIntMotionEnabled(); |
| majik | 6:d348c3cad7c7 | 578 | void setIntMotionEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 579 | bool getIntZeroMotionEnabled(); |
| majik | 6:d348c3cad7c7 | 580 | void setIntZeroMotionEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 581 | bool getIntFIFOBufferOverflowEnabled(); |
| majik | 6:d348c3cad7c7 | 582 | void setIntFIFOBufferOverflowEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 583 | bool getIntI2CMasterEnabled(); |
| majik | 6:d348c3cad7c7 | 584 | void setIntI2CMasterEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 585 | bool getIntDataReadyEnabled(); |
| majik | 6:d348c3cad7c7 | 586 | void setIntDataReadyEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 587 | |
| majik | 6:d348c3cad7c7 | 588 | // INT_STATUS register |
| majik | 6:d348c3cad7c7 | 589 | uint8_t getIntStatus(); |
| majik | 6:d348c3cad7c7 | 590 | bool getIntFreefallStatus(); |
| majik | 6:d348c3cad7c7 | 591 | bool getIntMotionStatus(); |
| majik | 6:d348c3cad7c7 | 592 | bool getIntZeroMotionStatus(); |
| majik | 6:d348c3cad7c7 | 593 | bool getIntFIFOBufferOverflowStatus(); |
| majik | 6:d348c3cad7c7 | 594 | bool getIntI2CMasterStatus(); |
| majik | 6:d348c3cad7c7 | 595 | bool getIntDataReadyStatus(); |
| majik | 6:d348c3cad7c7 | 596 | |
| majik | 6:d348c3cad7c7 | 597 | // ACCEL_*OUT_* registers |
| majik | 6:d348c3cad7c7 | 598 | 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); |
| majik | 6:d348c3cad7c7 | 599 | void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz); |
| majik | 6:d348c3cad7c7 | 600 | void getAcceleration(int16_t* x, int16_t* y, int16_t* z); |
| majik | 6:d348c3cad7c7 | 601 | int16_t getAccelerationX(); |
| majik | 6:d348c3cad7c7 | 602 | int16_t getAccelerationY(); |
| majik | 6:d348c3cad7c7 | 603 | int16_t getAccelerationZ(); |
| majik | 6:d348c3cad7c7 | 604 | |
| majik | 6:d348c3cad7c7 | 605 | // TEMP_OUT_* registers |
| majik | 6:d348c3cad7c7 | 606 | int16_t getTemperature(); |
| majik | 6:d348c3cad7c7 | 607 | |
| majik | 6:d348c3cad7c7 | 608 | // GYRO_*OUT_* registers |
| majik | 6:d348c3cad7c7 | 609 | void getRotation(int16_t* x, int16_t* y, int16_t* z); |
| majik | 6:d348c3cad7c7 | 610 | int16_t getRotationX(); |
| majik | 6:d348c3cad7c7 | 611 | int16_t getRotationY(); |
| majik | 6:d348c3cad7c7 | 612 | int16_t getRotationZ(); |
| majik | 6:d348c3cad7c7 | 613 | |
| majik | 6:d348c3cad7c7 | 614 | // EXT_SENS_DATA_* registers |
| majik | 6:d348c3cad7c7 | 615 | uint8_t getExternalSensorByte(int position); |
| majik | 6:d348c3cad7c7 | 616 | uint16_t getExternalSensorWord(int position); |
| majik | 6:d348c3cad7c7 | 617 | uint32_t getExternalSensorDWord(int position); |
| majik | 6:d348c3cad7c7 | 618 | |
| majik | 6:d348c3cad7c7 | 619 | // MOT_DETECT_STATUS register |
| majik | 6:d348c3cad7c7 | 620 | bool getXNegMotionDetected(); |
| majik | 6:d348c3cad7c7 | 621 | bool getXPosMotionDetected(); |
| majik | 6:d348c3cad7c7 | 622 | bool getYNegMotionDetected(); |
| majik | 6:d348c3cad7c7 | 623 | bool getYPosMotionDetected(); |
| majik | 6:d348c3cad7c7 | 624 | bool getZNegMotionDetected(); |
| majik | 6:d348c3cad7c7 | 625 | bool getZPosMotionDetected(); |
| majik | 6:d348c3cad7c7 | 626 | bool getZeroMotionDetected(); |
| majik | 6:d348c3cad7c7 | 627 | |
| majik | 6:d348c3cad7c7 | 628 | // I2C_SLV*_DO register |
| majik | 6:d348c3cad7c7 | 629 | void setSlaveOutputByte(uint8_t num, uint8_t data); |
| majik | 6:d348c3cad7c7 | 630 | |
| majik | 6:d348c3cad7c7 | 631 | // I2C_MST_DELAY_CTRL register |
| majik | 6:d348c3cad7c7 | 632 | bool getExternalShadowDelayEnabled(); |
| majik | 6:d348c3cad7c7 | 633 | void setExternalShadowDelayEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 634 | bool getSlaveDelayEnabled(uint8_t num); |
| majik | 6:d348c3cad7c7 | 635 | void setSlaveDelayEnabled(uint8_t num, bool enabled); |
| majik | 6:d348c3cad7c7 | 636 | |
| majik | 6:d348c3cad7c7 | 637 | // SIGNAL_PATH_RESET register |
| majik | 6:d348c3cad7c7 | 638 | void resetGyroscopePath(); |
| majik | 6:d348c3cad7c7 | 639 | void resetAccelerometerPath(); |
| majik | 6:d348c3cad7c7 | 640 | void resetTemperaturePath(); |
| majik | 6:d348c3cad7c7 | 641 | |
| majik | 6:d348c3cad7c7 | 642 | // MOT_DETECT_CTRL register |
| majik | 6:d348c3cad7c7 | 643 | uint8_t getAccelerometerPowerOnDelay(); |
| majik | 6:d348c3cad7c7 | 644 | void setAccelerometerPowerOnDelay(uint8_t delay); |
| majik | 6:d348c3cad7c7 | 645 | uint8_t getFreefallDetectionCounterDecrement(); |
| majik | 6:d348c3cad7c7 | 646 | void setFreefallDetectionCounterDecrement(uint8_t decrement); |
| majik | 6:d348c3cad7c7 | 647 | uint8_t getMotionDetectionCounterDecrement(); |
| majik | 6:d348c3cad7c7 | 648 | void setMotionDetectionCounterDecrement(uint8_t decrement); |
| majik | 6:d348c3cad7c7 | 649 | |
| majik | 6:d348c3cad7c7 | 650 | // USER_CTRL register |
| majik | 6:d348c3cad7c7 | 651 | bool getFIFOEnabled(); |
| majik | 6:d348c3cad7c7 | 652 | void setFIFOEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 653 | bool getI2CMasterModeEnabled(); |
| majik | 6:d348c3cad7c7 | 654 | void setI2CMasterModeEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 655 | void switchSPIEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 656 | void resetFIFO(); |
| majik | 6:d348c3cad7c7 | 657 | void resetI2CMaster(); |
| majik | 6:d348c3cad7c7 | 658 | void resetSensors(); |
| majik | 6:d348c3cad7c7 | 659 | |
| majik | 6:d348c3cad7c7 | 660 | // PWR_MGMT_1 register |
| majik | 6:d348c3cad7c7 | 661 | void reset(); |
| majik | 6:d348c3cad7c7 | 662 | bool getSleepEnabled(); |
| majik | 6:d348c3cad7c7 | 663 | void setSleepEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 664 | bool getWakeCycleEnabled(); |
| majik | 6:d348c3cad7c7 | 665 | void setWakeCycleEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 666 | bool getTempSensorEnabled(); |
| majik | 6:d348c3cad7c7 | 667 | void setTempSensorEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 668 | uint8_t getClockSource(); |
| majik | 6:d348c3cad7c7 | 669 | void setClockSource(uint8_t source); |
| majik | 6:d348c3cad7c7 | 670 | |
| majik | 6:d348c3cad7c7 | 671 | // PWR_MGMT_2 register |
| majik | 6:d348c3cad7c7 | 672 | uint8_t getWakeFrequency(); |
| majik | 6:d348c3cad7c7 | 673 | void setWakeFrequency(uint8_t frequency); |
| majik | 6:d348c3cad7c7 | 674 | bool getStandbyXAccelEnabled(); |
| majik | 6:d348c3cad7c7 | 675 | void setStandbyXAccelEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 676 | bool getStandbyYAccelEnabled(); |
| majik | 6:d348c3cad7c7 | 677 | void setStandbyYAccelEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 678 | bool getStandbyZAccelEnabled(); |
| majik | 6:d348c3cad7c7 | 679 | void setStandbyZAccelEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 680 | bool getStandbyXGyroEnabled(); |
| majik | 6:d348c3cad7c7 | 681 | void setStandbyXGyroEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 682 | bool getStandbyYGyroEnabled(); |
| majik | 6:d348c3cad7c7 | 683 | void setStandbyYGyroEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 684 | bool getStandbyZGyroEnabled(); |
| majik | 6:d348c3cad7c7 | 685 | void setStandbyZGyroEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 686 | |
| majik | 6:d348c3cad7c7 | 687 | // FIFO_COUNT_* registers |
| majik | 6:d348c3cad7c7 | 688 | uint16_t getFIFOCount(); |
| majik | 6:d348c3cad7c7 | 689 | |
| majik | 6:d348c3cad7c7 | 690 | // FIFO_R_W register |
| majik | 6:d348c3cad7c7 | 691 | uint8_t getFIFOByte(); |
| majik | 6:d348c3cad7c7 | 692 | void setFIFOByte(uint8_t data); |
| majik | 6:d348c3cad7c7 | 693 | void getFIFOBytes(uint8_t *data, uint8_t length); |
| majik | 6:d348c3cad7c7 | 694 | |
| majik | 6:d348c3cad7c7 | 695 | // WHO_AM_I register |
| majik | 6:d348c3cad7c7 | 696 | uint8_t getDeviceID(); |
| majik | 6:d348c3cad7c7 | 697 | void setDeviceID(uint8_t id); |
| majik | 6:d348c3cad7c7 | 698 | |
| majik | 6:d348c3cad7c7 | 699 | // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ======== |
| majik | 6:d348c3cad7c7 | 700 | |
| majik | 6:d348c3cad7c7 | 701 | // XG_OFFS_TC register |
| majik | 6:d348c3cad7c7 | 702 | uint8_t getOTPBankValid(); |
| majik | 6:d348c3cad7c7 | 703 | void setOTPBankValid(bool enabled); |
| majik | 6:d348c3cad7c7 | 704 | int8_t getXGyroOffset(); |
| majik | 6:d348c3cad7c7 | 705 | void setXGyroOffset(int8_t offset); |
| majik | 6:d348c3cad7c7 | 706 | |
| majik | 6:d348c3cad7c7 | 707 | // YG_OFFS_TC register |
| majik | 6:d348c3cad7c7 | 708 | int8_t getYGyroOffset(); |
| majik | 6:d348c3cad7c7 | 709 | void setYGyroOffset(int8_t offset); |
| majik | 6:d348c3cad7c7 | 710 | |
| majik | 6:d348c3cad7c7 | 711 | // ZG_OFFS_TC register |
| majik | 6:d348c3cad7c7 | 712 | int8_t getZGyroOffset(); |
| majik | 6:d348c3cad7c7 | 713 | void setZGyroOffset(int8_t offset); |
| majik | 6:d348c3cad7c7 | 714 | |
| majik | 6:d348c3cad7c7 | 715 | // X_FINE_GAIN register |
| majik | 6:d348c3cad7c7 | 716 | int8_t getXFineGain(); |
| majik | 6:d348c3cad7c7 | 717 | void setXFineGain(int8_t gain); |
| majik | 6:d348c3cad7c7 | 718 | |
| majik | 6:d348c3cad7c7 | 719 | // Y_FINE_GAIN register |
| majik | 6:d348c3cad7c7 | 720 | int8_t getYFineGain(); |
| majik | 6:d348c3cad7c7 | 721 | void setYFineGain(int8_t gain); |
| majik | 6:d348c3cad7c7 | 722 | |
| majik | 6:d348c3cad7c7 | 723 | // Z_FINE_GAIN register |
| majik | 6:d348c3cad7c7 | 724 | int8_t getZFineGain(); |
| majik | 6:d348c3cad7c7 | 725 | void setZFineGain(int8_t gain); |
| majik | 6:d348c3cad7c7 | 726 | |
| majik | 6:d348c3cad7c7 | 727 | // XA_OFFS_* registers |
| majik | 6:d348c3cad7c7 | 728 | int16_t getXAccelOffset(); |
| majik | 6:d348c3cad7c7 | 729 | void setXAccelOffset(int16_t offset); |
| majik | 6:d348c3cad7c7 | 730 | |
| majik | 6:d348c3cad7c7 | 731 | // YA_OFFS_* register |
| majik | 6:d348c3cad7c7 | 732 | int16_t getYAccelOffset(); |
| majik | 6:d348c3cad7c7 | 733 | void setYAccelOffset(int16_t offset); |
| majik | 6:d348c3cad7c7 | 734 | |
| majik | 6:d348c3cad7c7 | 735 | // ZA_OFFS_* register |
| majik | 6:d348c3cad7c7 | 736 | int16_t getZAccelOffset(); |
| majik | 6:d348c3cad7c7 | 737 | void setZAccelOffset(int16_t offset); |
| majik | 6:d348c3cad7c7 | 738 | |
| majik | 6:d348c3cad7c7 | 739 | // XG_OFFS_USR* registers |
| majik | 6:d348c3cad7c7 | 740 | int16_t getXGyroOffsetUser(); |
| majik | 6:d348c3cad7c7 | 741 | void setXGyroOffsetUser(int16_t offset); |
| majik | 6:d348c3cad7c7 | 742 | |
| majik | 6:d348c3cad7c7 | 743 | // YG_OFFS_USR* register |
| majik | 6:d348c3cad7c7 | 744 | int16_t getYGyroOffsetUser(); |
| majik | 6:d348c3cad7c7 | 745 | void setYGyroOffsetUser(int16_t offset); |
| majik | 6:d348c3cad7c7 | 746 | |
| majik | 6:d348c3cad7c7 | 747 | // ZG_OFFS_USR* register |
| majik | 6:d348c3cad7c7 | 748 | int16_t getZGyroOffsetUser(); |
| majik | 6:d348c3cad7c7 | 749 | void setZGyroOffsetUser(int16_t offset); |
| majik | 6:d348c3cad7c7 | 750 | |
| majik | 6:d348c3cad7c7 | 751 | // INT_ENABLE register (DMP functions) |
| majik | 6:d348c3cad7c7 | 752 | bool getIntPLLReadyEnabled(); |
| majik | 6:d348c3cad7c7 | 753 | void setIntPLLReadyEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 754 | bool getIntDMPEnabled(); |
| majik | 6:d348c3cad7c7 | 755 | void setIntDMPEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 756 | |
| majik | 6:d348c3cad7c7 | 757 | // DMP_INT_STATUS |
| majik | 6:d348c3cad7c7 | 758 | bool getDMPInt5Status(); |
| majik | 6:d348c3cad7c7 | 759 | bool getDMPInt4Status(); |
| majik | 6:d348c3cad7c7 | 760 | bool getDMPInt3Status(); |
| majik | 6:d348c3cad7c7 | 761 | bool getDMPInt2Status(); |
| majik | 6:d348c3cad7c7 | 762 | bool getDMPInt1Status(); |
| majik | 6:d348c3cad7c7 | 763 | bool getDMPInt0Status(); |
| majik | 6:d348c3cad7c7 | 764 | |
| majik | 6:d348c3cad7c7 | 765 | // INT_STATUS register (DMP functions) |
| majik | 6:d348c3cad7c7 | 766 | bool getIntPLLReadyStatus(); |
| majik | 6:d348c3cad7c7 | 767 | bool getIntDMPStatus(); |
| majik | 6:d348c3cad7c7 | 768 | |
| majik | 6:d348c3cad7c7 | 769 | // USER_CTRL register (DMP functions) |
| majik | 6:d348c3cad7c7 | 770 | bool getDMPEnabled(); |
| majik | 6:d348c3cad7c7 | 771 | void setDMPEnabled(bool enabled); |
| majik | 6:d348c3cad7c7 | 772 | void resetDMP(); |
| majik | 6:d348c3cad7c7 | 773 | |
| majik | 6:d348c3cad7c7 | 774 | // BANK_SEL register |
| majik | 6:d348c3cad7c7 | 775 | void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false); |
| majik | 6:d348c3cad7c7 | 776 | |
| majik | 6:d348c3cad7c7 | 777 | // MEM_START_ADDR register |
| majik | 6:d348c3cad7c7 | 778 | void setMemoryStartAddress(uint8_t address); |
| majik | 6:d348c3cad7c7 | 779 | |
| majik | 6:d348c3cad7c7 | 780 | // MEM_R_W register |
| majik | 6:d348c3cad7c7 | 781 | uint8_t readMemoryByte(); |
| majik | 6:d348c3cad7c7 | 782 | void writeMemoryByte(uint8_t data); |
| majik | 6:d348c3cad7c7 | 783 | void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0); |
| majik | 6:d348c3cad7c7 | 784 | bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false); |
| majik | 6:d348c3cad7c7 | 785 | bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true); |
| majik | 6:d348c3cad7c7 | 786 | |
| majik | 6:d348c3cad7c7 | 787 | bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false); |
| majik | 6:d348c3cad7c7 | 788 | bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize); |
| majik | 6:d348c3cad7c7 | 789 | |
| majik | 6:d348c3cad7c7 | 790 | // DMP_CFG_1 register |
| majik | 6:d348c3cad7c7 | 791 | uint8_t getDMPConfig1(); |
| majik | 6:d348c3cad7c7 | 792 | void setDMPConfig1(uint8_t config); |
| majik | 6:d348c3cad7c7 | 793 | |
| majik | 6:d348c3cad7c7 | 794 | // DMP_CFG_2 register |
| majik | 6:d348c3cad7c7 | 795 | uint8_t getDMPConfig2(); |
| majik | 6:d348c3cad7c7 | 796 | void setDMPConfig2(uint8_t config); |
| majik | 6:d348c3cad7c7 | 797 | |
| majik | 6:d348c3cad7c7 | 798 | // special methods for MotionApps 2.0 implementation |
| majik | 6:d348c3cad7c7 | 799 | #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20 |
| majik | 6:d348c3cad7c7 | 800 | uint8_t *dmpPacketBuffer; |
| majik | 6:d348c3cad7c7 | 801 | uint16_t dmpPacketSize; |
| majik | 6:d348c3cad7c7 | 802 | |
| majik | 6:d348c3cad7c7 | 803 | uint8_t dmpInitialize(); |
| majik | 6:d348c3cad7c7 | 804 | bool dmpPacketAvailable(); |
| majik | 6:d348c3cad7c7 | 805 | |
| majik | 6:d348c3cad7c7 | 806 | uint8_t dmpSetFIFORate(uint8_t fifoRate); |
| majik | 6:d348c3cad7c7 | 807 | uint8_t dmpGetFIFORate(); |
| majik | 6:d348c3cad7c7 | 808 | uint8_t dmpGetSampleStepSizeMS(); |
| majik | 6:d348c3cad7c7 | 809 | uint8_t dmpGetSampleFrequency(); |
| majik | 6:d348c3cad7c7 | 810 | int32_t dmpDecodeTemperature(int8_t tempReg); |
| majik | 6:d348c3cad7c7 | 811 | |
| majik | 6:d348c3cad7c7 | 812 | // Register callbacks after a packet of FIFO data is processed |
| majik | 6:d348c3cad7c7 | 813 | //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); |
| majik | 6:d348c3cad7c7 | 814 | //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); |
| majik | 6:d348c3cad7c7 | 815 | uint8_t dmpRunFIFORateProcesses(); |
| majik | 6:d348c3cad7c7 | 816 | |
| majik | 6:d348c3cad7c7 | 817 | // Setup FIFO for various output |
| majik | 6:d348c3cad7c7 | 818 | uint8_t dmpSendQuaternion(uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 819 | uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 820 | uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 821 | uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 822 | uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 823 | uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 824 | uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 825 | uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 826 | uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 827 | uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 828 | uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 829 | uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 830 | |
| majik | 6:d348c3cad7c7 | 831 | // Get Fixed Point data from FIFO |
| majik | 6:d348c3cad7c7 | 832 | uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 833 | uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 834 | uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 835 | uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 836 | uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 837 | uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 838 | uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 839 | uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 840 | uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 841 | uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 842 | uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 843 | uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 844 | uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 845 | uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 846 | uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 847 | uint8_t dmpSetLinearAccelFilterCoefficient(float coef); |
| majik | 6:d348c3cad7c7 | 848 | uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 849 | uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 850 | uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 851 | uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); |
| majik | 6:d348c3cad7c7 | 852 | uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 853 | uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 854 | uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 855 | uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); |
| majik | 6:d348c3cad7c7 | 856 | uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 857 | uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 858 | uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 859 | uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 860 | uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 861 | uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 862 | uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 863 | uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 864 | uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 865 | uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 866 | uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 867 | uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); |
| majik | 6:d348c3cad7c7 | 868 | uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 869 | uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 870 | uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 871 | uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 872 | uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 873 | uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 874 | uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 875 | uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 876 | |
| majik | 6:d348c3cad7c7 | 877 | uint8_t dmpGetEuler(float *data, Quaternion *q); |
| majik | 6:d348c3cad7c7 | 878 | uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); |
| majik | 6:d348c3cad7c7 | 879 | |
| majik | 6:d348c3cad7c7 | 880 | // Get Floating Point data from FIFO |
| majik | 6:d348c3cad7c7 | 881 | uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 882 | uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 883 | |
| majik | 6:d348c3cad7c7 | 884 | uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); |
| majik | 6:d348c3cad7c7 | 885 | uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); |
| majik | 6:d348c3cad7c7 | 886 | |
| majik | 6:d348c3cad7c7 | 887 | uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); |
| majik | 6:d348c3cad7c7 | 888 | |
| majik | 6:d348c3cad7c7 | 889 | uint8_t dmpInitFIFOParam(); |
| majik | 6:d348c3cad7c7 | 890 | uint8_t dmpCloseFIFO(); |
| majik | 6:d348c3cad7c7 | 891 | uint8_t dmpSetGyroDataSource(uint8_t source); |
| majik | 6:d348c3cad7c7 | 892 | uint8_t dmpDecodeQuantizedAccel(); |
| majik | 6:d348c3cad7c7 | 893 | uint32_t dmpGetGyroSumOfSquare(); |
| majik | 6:d348c3cad7c7 | 894 | uint32_t dmpGetAccelSumOfSquare(); |
| majik | 6:d348c3cad7c7 | 895 | void dmpOverrideQuaternion(long *q); |
| majik | 6:d348c3cad7c7 | 896 | uint16_t dmpGetFIFOPacketSize(); |
| majik | 6:d348c3cad7c7 | 897 | #endif |
| majik | 6:d348c3cad7c7 | 898 | |
| majik | 6:d348c3cad7c7 | 899 | // special methods for MotionApps 4.1 implementation |
| majik | 6:d348c3cad7c7 | 900 | #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41 |
| majik | 6:d348c3cad7c7 | 901 | uint8_t *dmpPacketBuffer; |
| majik | 6:d348c3cad7c7 | 902 | uint16_t dmpPacketSize; |
| majik | 6:d348c3cad7c7 | 903 | |
| majik | 6:d348c3cad7c7 | 904 | uint8_t dmpInitialize(); |
| majik | 6:d348c3cad7c7 | 905 | bool dmpPacketAvailable(); |
| majik | 6:d348c3cad7c7 | 906 | |
| majik | 6:d348c3cad7c7 | 907 | uint8_t dmpSetFIFORate(uint8_t fifoRate); |
| majik | 6:d348c3cad7c7 | 908 | uint8_t dmpGetFIFORate(); |
| majik | 6:d348c3cad7c7 | 909 | uint8_t dmpGetSampleStepSizeMS(); |
| majik | 6:d348c3cad7c7 | 910 | uint8_t dmpGetSampleFrequency(); |
| majik | 6:d348c3cad7c7 | 911 | int32_t dmpDecodeTemperature(int8_t tempReg); |
| majik | 6:d348c3cad7c7 | 912 | |
| majik | 6:d348c3cad7c7 | 913 | // Register callbacks after a packet of FIFO data is processed |
| majik | 6:d348c3cad7c7 | 914 | //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); |
| majik | 6:d348c3cad7c7 | 915 | //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); |
| majik | 6:d348c3cad7c7 | 916 | uint8_t dmpRunFIFORateProcesses(); |
| majik | 6:d348c3cad7c7 | 917 | |
| majik | 6:d348c3cad7c7 | 918 | // Setup FIFO for various output |
| majik | 6:d348c3cad7c7 | 919 | uint8_t dmpSendQuaternion(uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 920 | uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 921 | uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 922 | uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 923 | uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 924 | uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 925 | uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 926 | uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 927 | uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 928 | uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 929 | uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 930 | uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); |
| majik | 6:d348c3cad7c7 | 931 | |
| majik | 6:d348c3cad7c7 | 932 | // Get Fixed Point data from FIFO |
| majik | 6:d348c3cad7c7 | 933 | uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 934 | uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 935 | uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 936 | uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 937 | uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 938 | uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 939 | uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 940 | uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 941 | uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 942 | uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 943 | uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 944 | uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 945 | uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 946 | uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 947 | uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 948 | uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 949 | uint8_t dmpSetLinearAccelFilterCoefficient(float coef); |
| majik | 6:d348c3cad7c7 | 950 | uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 951 | uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 952 | uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 953 | uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); |
| majik | 6:d348c3cad7c7 | 954 | uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 955 | uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 956 | uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 957 | uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); |
| majik | 6:d348c3cad7c7 | 958 | uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 959 | uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 960 | uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 961 | uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 962 | uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 963 | uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 964 | uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 965 | uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 966 | uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 967 | uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 968 | uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 969 | uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); |
| majik | 6:d348c3cad7c7 | 970 | uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 971 | uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 972 | uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 973 | uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 974 | uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 975 | uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 976 | uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 977 | uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 978 | |
| majik | 6:d348c3cad7c7 | 979 | uint8_t dmpGetEuler(float *data, Quaternion *q); |
| majik | 6:d348c3cad7c7 | 980 | uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); |
| majik | 6:d348c3cad7c7 | 981 | |
| majik | 6:d348c3cad7c7 | 982 | // Get Floating Point data from FIFO |
| majik | 6:d348c3cad7c7 | 983 | uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 984 | uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); |
| majik | 6:d348c3cad7c7 | 985 | |
| majik | 6:d348c3cad7c7 | 986 | uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); |
| majik | 6:d348c3cad7c7 | 987 | uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); |
| majik | 6:d348c3cad7c7 | 988 | |
| majik | 6:d348c3cad7c7 | 989 | uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); |
| majik | 6:d348c3cad7c7 | 990 | |
| majik | 6:d348c3cad7c7 | 991 | uint8_t dmpInitFIFOParam(); |
| majik | 6:d348c3cad7c7 | 992 | uint8_t dmpCloseFIFO(); |
| majik | 6:d348c3cad7c7 | 993 | uint8_t dmpSetGyroDataSource(uint8_t source); |
| majik | 6:d348c3cad7c7 | 994 | uint8_t dmpDecodeQuantizedAccel(); |
| majik | 6:d348c3cad7c7 | 995 | uint32_t dmpGetGyroSumOfSquare(); |
| majik | 6:d348c3cad7c7 | 996 | uint32_t dmpGetAccelSumOfSquare(); |
| majik | 6:d348c3cad7c7 | 997 | void dmpOverrideQuaternion(long *q); |
| majik | 6:d348c3cad7c7 | 998 | uint16_t dmpGetFIFOPacketSize(); |
| majik | 6:d348c3cad7c7 | 999 | #endif |
| majik | 6:d348c3cad7c7 | 1000 | |
| majik | 6:d348c3cad7c7 | 1001 | private: |
| majik | 6:d348c3cad7c7 | 1002 | uint8_t devAddr; |
| majik | 6:d348c3cad7c7 | 1003 | uint8_t buffer[14]; |
| majik | 6:d348c3cad7c7 | 1004 | }; |
| majik | 6:d348c3cad7c7 | 1005 | |
| majik | 6:d348c3cad7c7 | 1006 | #endif /* _MPU6050_H_ */ |