Prosper Van / MotionDriver_6_1

Embedded MotionDriver 6.1 Sourced from InvenSense

inv_mpu.h@0:5fa30cf392c3, 2014-08-24 (annotated)

Committer:
oprospero
Date:
Sun Aug 24 00:52:07 2014 +0000
Revision:
0:5fa30cf392c3
Initial commit, copied from Motion Driver 6.1 no edits

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oprospero 0:5fa30cf392c3 1 /*
oprospero 0:5fa30cf392c3 2 $License:
oprospero 0:5fa30cf392c3 3 Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
oprospero 0:5fa30cf392c3 4 See included License.txt for License information.
oprospero 0:5fa30cf392c3 5 $
oprospero 0:5fa30cf392c3 6 */
oprospero 0:5fa30cf392c3 7 /**
oprospero 0:5fa30cf392c3 8 * @addtogroup DRIVERS Sensor Driver Layer
oprospero 0:5fa30cf392c3 9 * @brief Hardware drivers to communicate with sensors via I2C.
oprospero 0:5fa30cf392c3 10 *
oprospero 0:5fa30cf392c3 11 * @{
oprospero 0:5fa30cf392c3 12 * @file inv_mpu.h
oprospero 0:5fa30cf392c3 13 * @brief An I2C-based driver for Invensense gyroscopes.
oprospero 0:5fa30cf392c3 14 * @details This driver currently works for the following devices:
oprospero 0:5fa30cf392c3 15 * MPU6050
oprospero 0:5fa30cf392c3 16 * MPU6500
oprospero 0:5fa30cf392c3 17 * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
oprospero 0:5fa30cf392c3 18 * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
oprospero 0:5fa30cf392c3 19 */
oprospero 0:5fa30cf392c3 20
oprospero 0:5fa30cf392c3 21 #ifndef _INV_MPU_H_
oprospero 0:5fa30cf392c3 22 #define _INV_MPU_H_
oprospero 0:5fa30cf392c3 23
oprospero 0:5fa30cf392c3 24 #define INV_X_GYRO (0x40)
oprospero 0:5fa30cf392c3 25 #define INV_Y_GYRO (0x20)
oprospero 0:5fa30cf392c3 26 #define INV_Z_GYRO (0x10)
oprospero 0:5fa30cf392c3 27 #define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
oprospero 0:5fa30cf392c3 28 #define INV_XYZ_ACCEL (0x08)
oprospero 0:5fa30cf392c3 29 #define INV_XYZ_COMPASS (0x01)
oprospero 0:5fa30cf392c3 30
oprospero 0:5fa30cf392c3 31 struct int_param_s {
oprospero 0:5fa30cf392c3 32 #if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430
oprospero 0:5fa30cf392c3 33 void (*cb)(void);
oprospero 0:5fa30cf392c3 34 unsigned short pin;
oprospero 0:5fa30cf392c3 35 unsigned char lp_exit;
oprospero 0:5fa30cf392c3 36 unsigned char active_low;
oprospero 0:5fa30cf392c3 37 #elif defined EMPL_TARGET_UC3L0
oprospero 0:5fa30cf392c3 38 unsigned long pin;
oprospero 0:5fa30cf392c3 39 void (*cb)(volatile void*);
oprospero 0:5fa30cf392c3 40 void *arg;
oprospero 0:5fa30cf392c3 41 #elif defined EMPL_TARGET_STM32F4
oprospero 0:5fa30cf392c3 42 void (*cb)(void);
oprospero 0:5fa30cf392c3 43 #endif
oprospero 0:5fa30cf392c3 44 };
oprospero 0:5fa30cf392c3 45
oprospero 0:5fa30cf392c3 46 #define MPU_INT_STATUS_DATA_READY (0x0001)
oprospero 0:5fa30cf392c3 47 #define MPU_INT_STATUS_DMP (0x0002)
oprospero 0:5fa30cf392c3 48 #define MPU_INT_STATUS_PLL_READY (0x0004)
oprospero 0:5fa30cf392c3 49 #define MPU_INT_STATUS_I2C_MST (0x0008)
oprospero 0:5fa30cf392c3 50 #define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010)
oprospero 0:5fa30cf392c3 51 #define MPU_INT_STATUS_ZMOT (0x0020)
oprospero 0:5fa30cf392c3 52 #define MPU_INT_STATUS_MOT (0x0040)
oprospero 0:5fa30cf392c3 53 #define MPU_INT_STATUS_FREE_FALL (0x0080)
oprospero 0:5fa30cf392c3 54 #define MPU_INT_STATUS_DMP_0 (0x0100)
oprospero 0:5fa30cf392c3 55 #define MPU_INT_STATUS_DMP_1 (0x0200)
oprospero 0:5fa30cf392c3 56 #define MPU_INT_STATUS_DMP_2 (0x0400)
oprospero 0:5fa30cf392c3 57 #define MPU_INT_STATUS_DMP_3 (0x0800)
oprospero 0:5fa30cf392c3 58 #define MPU_INT_STATUS_DMP_4 (0x1000)
oprospero 0:5fa30cf392c3 59 #define MPU_INT_STATUS_DMP_5 (0x2000)
oprospero 0:5fa30cf392c3 60
oprospero 0:5fa30cf392c3 61 /* Set up APIs */
oprospero 0:5fa30cf392c3 62 int mpu_init(struct int_param_s *int_param);
oprospero 0:5fa30cf392c3 63 int mpu_init_slave(void);
oprospero 0:5fa30cf392c3 64 int mpu_set_bypass(unsigned char bypass_on);
oprospero 0:5fa30cf392c3 65
oprospero 0:5fa30cf392c3 66 /* Configuration APIs */
oprospero 0:5fa30cf392c3 67 int mpu_lp_accel_mode(unsigned short rate);
oprospero 0:5fa30cf392c3 68 int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
oprospero 0:5fa30cf392c3 69 unsigned short lpa_freq);
oprospero 0:5fa30cf392c3 70 int mpu_set_int_level(unsigned char active_low);
oprospero 0:5fa30cf392c3 71 int mpu_set_int_latched(unsigned char enable);
oprospero 0:5fa30cf392c3 72
oprospero 0:5fa30cf392c3 73 int mpu_set_dmp_state(unsigned char enable);
oprospero 0:5fa30cf392c3 74 int mpu_get_dmp_state(unsigned char *enabled);
oprospero 0:5fa30cf392c3 75
oprospero 0:5fa30cf392c3 76 int mpu_get_lpf(unsigned short *lpf);
oprospero 0:5fa30cf392c3 77 int mpu_set_lpf(unsigned short lpf);
oprospero 0:5fa30cf392c3 78
oprospero 0:5fa30cf392c3 79 int mpu_get_gyro_fsr(unsigned short *fsr);
oprospero 0:5fa30cf392c3 80 int mpu_set_gyro_fsr(unsigned short fsr);
oprospero 0:5fa30cf392c3 81
oprospero 0:5fa30cf392c3 82 int mpu_get_accel_fsr(unsigned char *fsr);
oprospero 0:5fa30cf392c3 83 int mpu_set_accel_fsr(unsigned char fsr);
oprospero 0:5fa30cf392c3 84
oprospero 0:5fa30cf392c3 85 int mpu_get_compass_fsr(unsigned short *fsr);
oprospero 0:5fa30cf392c3 86
oprospero 0:5fa30cf392c3 87 int mpu_get_gyro_sens(float *sens);
oprospero 0:5fa30cf392c3 88 int mpu_get_accel_sens(unsigned short *sens);
oprospero 0:5fa30cf392c3 89
oprospero 0:5fa30cf392c3 90 int mpu_get_sample_rate(unsigned short *rate);
oprospero 0:5fa30cf392c3 91 int mpu_set_sample_rate(unsigned short rate);
oprospero 0:5fa30cf392c3 92 int mpu_get_compass_sample_rate(unsigned short *rate);
oprospero 0:5fa30cf392c3 93 int mpu_set_compass_sample_rate(unsigned short rate);
oprospero 0:5fa30cf392c3 94
oprospero 0:5fa30cf392c3 95 int mpu_get_fifo_config(unsigned char *sensors);
oprospero 0:5fa30cf392c3 96 int mpu_configure_fifo(unsigned char sensors);
oprospero 0:5fa30cf392c3 97
oprospero 0:5fa30cf392c3 98 int mpu_get_power_state(unsigned char *power_on);
oprospero 0:5fa30cf392c3 99 int mpu_set_sensors(unsigned char sensors);
oprospero 0:5fa30cf392c3 100
oprospero 0:5fa30cf392c3 101 int mpu_read_6500_accel_bias(long *accel_bias);
oprospero 0:5fa30cf392c3 102 int mpu_set_gyro_bias_reg(long * gyro_bias);
oprospero 0:5fa30cf392c3 103 int mpu_set_accel_bias_6500_reg(const long *accel_bias);
oprospero 0:5fa30cf392c3 104 int mpu_read_6050_accel_bias(long *accel_bias);
oprospero 0:5fa30cf392c3 105 int mpu_set_accel_bias_6050_reg(const long *accel_bias);
oprospero 0:5fa30cf392c3 106
oprospero 0:5fa30cf392c3 107 /* Data getter/setter APIs */
oprospero 0:5fa30cf392c3 108 int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
oprospero 0:5fa30cf392c3 109 int mpu_get_accel_reg(short *data, unsigned long *timestamp);
oprospero 0:5fa30cf392c3 110 int mpu_get_compass_reg(short *data, unsigned long *timestamp);
oprospero 0:5fa30cf392c3 111 int mpu_get_temperature(long *data, unsigned long *timestamp);
oprospero 0:5fa30cf392c3 112
oprospero 0:5fa30cf392c3 113 int mpu_get_int_status(short *status);
oprospero 0:5fa30cf392c3 114 int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
oprospero 0:5fa30cf392c3 115 unsigned char *sensors, unsigned char *more);
oprospero 0:5fa30cf392c3 116 int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
oprospero 0:5fa30cf392c3 117 unsigned char *more);
oprospero 0:5fa30cf392c3 118 int mpu_reset_fifo(void);
oprospero 0:5fa30cf392c3 119
oprospero 0:5fa30cf392c3 120 int mpu_write_mem(unsigned short mem_addr, unsigned short length,
oprospero 0:5fa30cf392c3 121 unsigned char *data);
oprospero 0:5fa30cf392c3 122 int mpu_read_mem(unsigned short mem_addr, unsigned short length,
oprospero 0:5fa30cf392c3 123 unsigned char *data);
oprospero 0:5fa30cf392c3 124 int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
oprospero 0:5fa30cf392c3 125 unsigned short start_addr, unsigned short sample_rate);
oprospero 0:5fa30cf392c3 126
oprospero 0:5fa30cf392c3 127 int mpu_reg_dump(void);
oprospero 0:5fa30cf392c3 128 int mpu_read_reg(unsigned char reg, unsigned char *data);
oprospero 0:5fa30cf392c3 129 int mpu_run_self_test(long *gyro, long *accel);
oprospero 0:5fa30cf392c3 130 int mpu_run_6500_self_test(long *gyro, long *accel, unsigned char debug);
oprospero 0:5fa30cf392c3 131 int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
oprospero 0:5fa30cf392c3 132
oprospero 0:5fa30cf392c3 133 #endif /* #ifndef _INV_MPU_H_ */
oprospero 0:5fa30cf392c3 134
oprospero 0:5fa30cf392c3 135