File content as of revision 4:2cb380415dc7:

#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)

#include "inv_mpu.h"
#include "helper_3dmath.h"

class DMP_Motion_Driver : public InvMpu
{
    public:
    DMP_Motion_Driver();
    
    unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx);
    int dmp_get_packet_length();
    int dmpGetGravity(VectorFloat *v, Quaternion *q) ;
    int dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) ;
    void reset();
//    static
    int decode_gesture(unsigned char *gesture);
    
    /* 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));
    
    
    /* 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);
    
    
    /* 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);
        
    private:
    /* DMP gyro calibration functions. */
    int dmp_enable_gyro_cal(unsigned char enable);
    
    /* LP quaternion functions. */
    int dmp_enable_lp_quat(unsigned char enable);
    int dmp_enable_6x_lp_quat(unsigned char enable);
};

#endif