Embedded MotionDriver 6.1 Sourced from InvenSense
inv_mpu_dmp_motion_driver.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_dmp_motion_driver.h * @brief DMP image and interface functions. * @details All functions are preceded by the dmp_ prefix to * differentiate among MPL and general driver function calls. */ #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ #define _INV_MPU_DMP_MOTION_DRIVER_H_ #define TAP_X (0x01) #define TAP_Y (0x02) #define TAP_Z (0x04) #define TAP_XYZ (0x07) #define TAP_X_UP (0x01) #define TAP_X_DOWN (0x02) #define TAP_Y_UP (0x03) #define TAP_Y_DOWN (0x04) #define TAP_Z_UP (0x05) #define TAP_Z_DOWN (0x06) #define ANDROID_ORIENT_PORTRAIT (0x00) #define ANDROID_ORIENT_LANDSCAPE (0x01) #define ANDROID_ORIENT_REVERSE_PORTRAIT (0x02) #define ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03) #define DMP_INT_GESTURE (0x01) #define DMP_INT_CONTINUOUS (0x02) #define DMP_FEATURE_TAP (0x001) #define DMP_FEATURE_ANDROID_ORIENT (0x002) #define DMP_FEATURE_LP_QUAT (0x004) #define DMP_FEATURE_PEDOMETER (0x008) #define DMP_FEATURE_6X_LP_QUAT (0x010) #define DMP_FEATURE_GYRO_CAL (0x020) #define DMP_FEATURE_SEND_RAW_ACCEL (0x040) #define DMP_FEATURE_SEND_RAW_GYRO (0x080) #define DMP_FEATURE_SEND_CAL_GYRO (0x100) #define INV_WXYZ_QUAT (0x100) /* Set up functions. */ int dmp_load_motion_driver_firmware(void); int dmp_set_fifo_rate(unsigned short rate); int dmp_get_fifo_rate(unsigned short *rate); int dmp_enable_feature(unsigned short mask); int dmp_get_enabled_features(unsigned short *mask); int dmp_set_interrupt_mode(unsigned char mode); int dmp_set_orientation(unsigned short orient); int dmp_set_gyro_bias(long *bias); int dmp_set_accel_bias(long *bias); /* Tap functions. */ int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)); int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh); int dmp_set_tap_axes(unsigned char axis); int dmp_set_tap_count(unsigned char min_taps); int dmp_set_tap_time(unsigned short time); int dmp_set_tap_time_multi(unsigned short time); int dmp_set_shake_reject_thresh(long sf, unsigned short thresh); int dmp_set_shake_reject_time(unsigned short time); int dmp_set_shake_reject_timeout(unsigned short time); /* Android orientation functions. */ int dmp_register_android_orient_cb(void (*func)(unsigned char)); /* LP quaternion functions. */ int dmp_enable_lp_quat(unsigned char enable); int dmp_enable_6x_lp_quat(unsigned char enable); /* Pedometer functions. */ int dmp_get_pedometer_step_count(unsigned long *count); int dmp_set_pedometer_step_count(unsigned long count); int dmp_get_pedometer_walk_time(unsigned long *time); int dmp_set_pedometer_walk_time(unsigned long time); /* DMP gyro calibration functions. */ int dmp_enable_gyro_cal(unsigned char enable); /* Read function. This function should be called whenever the MPU interrupt is * detected. */ int dmp_read_fifo(short *gyro, short *accel, long *quat, unsigned long *timestamp, short *sensors, unsigned char *more); #endif /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */