Oğuz Özdemir / MotionDriver_6_1

It is modified accordingly to work with sparkfun dmp library under mbed platform

Dependents:   MPU9250-dmp-bluepill MPU9250-dmp

Fork of MotionDriver_6_1 by Prosper Van

inv_mpu.h@1:a6c3f8680fe0, 2017-08-07 (annotated)

Committer:
mbedoguz
Date:
Mon Aug 07 13:49:51 2017 +0000
Revision:
1:a6c3f8680fe0
Parent:
0:5fa30cf392c3 
It is modified to work wirh mbed platform. Now compiles but fifo is not available (Using sparkfun dmp library)

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 */
mbedoguz 1:a6c3f8680fe0 62 int set_int_enable(unsigned char enable);
oprospero 0:5fa30cf392c3 63 int mpu_init(struct int_param_s *int_param);
oprospero 0:5fa30cf392c3 64 int mpu_init_slave(void);
oprospero 0:5fa30cf392c3 65 int mpu_set_bypass(unsigned char bypass_on);
oprospero 0:5fa30cf392c3 66
oprospero 0:5fa30cf392c3 67 /* Configuration APIs */
oprospero 0:5fa30cf392c3 68 int mpu_lp_accel_mode(unsigned short rate);
oprospero 0:5fa30cf392c3 69 int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
oprospero 0:5fa30cf392c3 70 unsigned short lpa_freq);
oprospero 0:5fa30cf392c3 71 int mpu_set_int_level(unsigned char active_low);
oprospero 0:5fa30cf392c3 72 int mpu_set_int_latched(unsigned char enable);
oprospero 0:5fa30cf392c3 73
oprospero 0:5fa30cf392c3 74 int mpu_set_dmp_state(unsigned char enable);
oprospero 0:5fa30cf392c3 75 int mpu_get_dmp_state(unsigned char *enabled);
oprospero 0:5fa30cf392c3 76
oprospero 0:5fa30cf392c3 77 int mpu_get_lpf(unsigned short *lpf);
oprospero 0:5fa30cf392c3 78 int mpu_set_lpf(unsigned short lpf);
oprospero 0:5fa30cf392c3 79
oprospero 0:5fa30cf392c3 80 int mpu_get_gyro_fsr(unsigned short *fsr);
oprospero 0:5fa30cf392c3 81 int mpu_set_gyro_fsr(unsigned short fsr);
oprospero 0:5fa30cf392c3 82
oprospero 0:5fa30cf392c3 83 int mpu_get_accel_fsr(unsigned char *fsr);
oprospero 0:5fa30cf392c3 84 int mpu_set_accel_fsr(unsigned char fsr);
oprospero 0:5fa30cf392c3 85
oprospero 0:5fa30cf392c3 86 int mpu_get_compass_fsr(unsigned short *fsr);
oprospero 0:5fa30cf392c3 87
oprospero 0:5fa30cf392c3 88 int mpu_get_gyro_sens(float *sens);
oprospero 0:5fa30cf392c3 89 int mpu_get_accel_sens(unsigned short *sens);
oprospero 0:5fa30cf392c3 90
oprospero 0:5fa30cf392c3 91 int mpu_get_sample_rate(unsigned short *rate);
oprospero 0:5fa30cf392c3 92 int mpu_set_sample_rate(unsigned short rate);
oprospero 0:5fa30cf392c3 93 int mpu_get_compass_sample_rate(unsigned short *rate);
oprospero 0:5fa30cf392c3 94 int mpu_set_compass_sample_rate(unsigned short rate);
oprospero 0:5fa30cf392c3 95
oprospero 0:5fa30cf392c3 96 int mpu_get_fifo_config(unsigned char *sensors);
oprospero 0:5fa30cf392c3 97 int mpu_configure_fifo(unsigned char sensors);
oprospero 0:5fa30cf392c3 98
oprospero 0:5fa30cf392c3 99 int mpu_get_power_state(unsigned char *power_on);
oprospero 0:5fa30cf392c3 100 int mpu_set_sensors(unsigned char sensors);
oprospero 0:5fa30cf392c3 101
oprospero 0:5fa30cf392c3 102 int mpu_read_6500_accel_bias(long *accel_bias);
oprospero 0:5fa30cf392c3 103 int mpu_set_gyro_bias_reg(long * gyro_bias);
oprospero 0:5fa30cf392c3 104 int mpu_set_accel_bias_6500_reg(const long *accel_bias);
oprospero 0:5fa30cf392c3 105 int mpu_read_6050_accel_bias(long *accel_bias);
oprospero 0:5fa30cf392c3 106 int mpu_set_accel_bias_6050_reg(const long *accel_bias);
oprospero 0:5fa30cf392c3 107
oprospero 0:5fa30cf392c3 108 /* Data getter/setter APIs */
oprospero 0:5fa30cf392c3 109 int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
oprospero 0:5fa30cf392c3 110 int mpu_get_accel_reg(short *data, unsigned long *timestamp);
oprospero 0:5fa30cf392c3 111 int mpu_get_compass_reg(short *data, unsigned long *timestamp);
oprospero 0:5fa30cf392c3 112 int mpu_get_temperature(long *data, unsigned long *timestamp);
oprospero 0:5fa30cf392c3 113
oprospero 0:5fa30cf392c3 114 int mpu_get_int_status(short *status);
oprospero 0:5fa30cf392c3 115 int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
oprospero 0:5fa30cf392c3 116 unsigned char *sensors, unsigned char *more);
oprospero 0:5fa30cf392c3 117 int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
oprospero 0:5fa30cf392c3 118 unsigned char *more);
oprospero 0:5fa30cf392c3 119 int mpu_reset_fifo(void);
oprospero 0:5fa30cf392c3 120
oprospero 0:5fa30cf392c3 121 int mpu_write_mem(unsigned short mem_addr, unsigned short length,
oprospero 0:5fa30cf392c3 122 unsigned char *data);
oprospero 0:5fa30cf392c3 123 int mpu_read_mem(unsigned short mem_addr, unsigned short length,
oprospero 0:5fa30cf392c3 124 unsigned char *data);
oprospero 0:5fa30cf392c3 125 int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
oprospero 0:5fa30cf392c3 126 unsigned short start_addr, unsigned short sample_rate);
oprospero 0:5fa30cf392c3 127
oprospero 0:5fa30cf392c3 128 int mpu_reg_dump(void);
oprospero 0:5fa30cf392c3 129 int mpu_read_reg(unsigned char reg, unsigned char *data);
oprospero 0:5fa30cf392c3 130 int mpu_run_self_test(long *gyro, long *accel);
oprospero 0:5fa30cf392c3 131 int mpu_run_6500_self_test(long *gyro, long *accel, unsigned char debug);
oprospero 0:5fa30cf392c3 132 int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
oprospero 0:5fa30cf392c3 133
oprospero 0:5fa30cf392c3 134 #endif /* #ifndef _INV_MPU_H_ */
oprospero 0:5fa30cf392c3 135
oprospero 0:5fa30cf392c3 136