Embedded MotionDriver 6.1 Sourced from InvenSense
inv_mpu.h
- Committer:
- oprospero
- Date:
- 2014-08-24
- Revision:
- 0:5fa30cf392c3
File content as of revision 0:5fa30cf392c3:
/* $License: Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. See included License.txt for License information. $ */ /** * @addtogroup DRIVERS Sensor Driver Layer * @brief Hardware drivers to communicate with sensors via I2C. * * @{ * @file inv_mpu.h * @brief An I2C-based driver for Invensense gyroscopes. * @details This driver currently works for the following devices: * MPU6050 * MPU6500 * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) */ #ifndef _INV_MPU_H_ #define _INV_MPU_H_ #define INV_X_GYRO (0x40) #define INV_Y_GYRO (0x20) #define INV_Z_GYRO (0x10) #define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO) #define INV_XYZ_ACCEL (0x08) #define INV_XYZ_COMPASS (0x01) struct int_param_s { #if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 void (*cb)(void); unsigned short pin; unsigned char lp_exit; unsigned char active_low; #elif defined EMPL_TARGET_UC3L0 unsigned long pin; void (*cb)(volatile void*); void *arg; #elif defined EMPL_TARGET_STM32F4 void (*cb)(void); #endif }; #define MPU_INT_STATUS_DATA_READY (0x0001) #define MPU_INT_STATUS_DMP (0x0002) #define MPU_INT_STATUS_PLL_READY (0x0004) #define MPU_INT_STATUS_I2C_MST (0x0008) #define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010) #define MPU_INT_STATUS_ZMOT (0x0020) #define MPU_INT_STATUS_MOT (0x0040) #define MPU_INT_STATUS_FREE_FALL (0x0080) #define MPU_INT_STATUS_DMP_0 (0x0100) #define MPU_INT_STATUS_DMP_1 (0x0200) #define MPU_INT_STATUS_DMP_2 (0x0400) #define MPU_INT_STATUS_DMP_3 (0x0800) #define MPU_INT_STATUS_DMP_4 (0x1000) #define MPU_INT_STATUS_DMP_5 (0x2000) /* Set up APIs */ int mpu_init(struct int_param_s *int_param); int mpu_init_slave(void); int mpu_set_bypass(unsigned char bypass_on); /* Configuration APIs */ int mpu_lp_accel_mode(unsigned short rate); int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, unsigned short lpa_freq); int mpu_set_int_level(unsigned char active_low); int mpu_set_int_latched(unsigned char enable); int mpu_set_dmp_state(unsigned char enable); int mpu_get_dmp_state(unsigned char *enabled); int mpu_get_lpf(unsigned short *lpf); int mpu_set_lpf(unsigned short lpf); int mpu_get_gyro_fsr(unsigned short *fsr); int mpu_set_gyro_fsr(unsigned short fsr); int mpu_get_accel_fsr(unsigned char *fsr); int mpu_set_accel_fsr(unsigned char fsr); int mpu_get_compass_fsr(unsigned short *fsr); int mpu_get_gyro_sens(float *sens); int mpu_get_accel_sens(unsigned short *sens); int mpu_get_sample_rate(unsigned short *rate); int mpu_set_sample_rate(unsigned short rate); int mpu_get_compass_sample_rate(unsigned short *rate); int mpu_set_compass_sample_rate(unsigned short rate); int mpu_get_fifo_config(unsigned char *sensors); int mpu_configure_fifo(unsigned char sensors); int mpu_get_power_state(unsigned char *power_on); int mpu_set_sensors(unsigned char sensors); int mpu_read_6500_accel_bias(long *accel_bias); int mpu_set_gyro_bias_reg(long * gyro_bias); int mpu_set_accel_bias_6500_reg(const long *accel_bias); int mpu_read_6050_accel_bias(long *accel_bias); int mpu_set_accel_bias_6050_reg(const long *accel_bias); /* Data getter/setter APIs */ int mpu_get_gyro_reg(short *data, unsigned long *timestamp); int mpu_get_accel_reg(short *data, unsigned long *timestamp); int mpu_get_compass_reg(short *data, unsigned long *timestamp); int mpu_get_temperature(long *data, unsigned long *timestamp); int mpu_get_int_status(short *status); int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, unsigned char *sensors, unsigned char *more); int mpu_read_fifo_stream(unsigned short length, unsigned char *data, unsigned char *more); int mpu_reset_fifo(void); int mpu_write_mem(unsigned short mem_addr, unsigned short length, unsigned char *data); int mpu_read_mem(unsigned short mem_addr, unsigned short length, unsigned char *data); int mpu_load_firmware(unsigned short length, const unsigned char *firmware, unsigned short start_addr, unsigned short sample_rate); int mpu_reg_dump(void); int mpu_read_reg(unsigned char reg, unsigned char *data); int mpu_run_self_test(long *gyro, long *accel); int mpu_run_6500_self_test(long *gyro, long *accel, unsigned char debug); int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char)); #endif /* #ifndef _INV_MPU_H_ */