Oğuz Özdemir / SparkFunMPU9250-DMP

It is the library published by sparkfun, edited accordingly to make it work under mbed platform.

Dependents:   MPU9250-dmp-bluepill MPU9250-dmp

SparkFunMPU9250-DMP.h@4:2c4e849b8ecf, 2017-08-15 (annotated)

Committer:
mbedoguz
Date:
Tue Aug 15 10:49:44 2017 +0000
Revision:
4:2c4e849b8ecf
Parent:
2:c35f8379f2cb 
computeEulerAngles are corrected to below issue ; https://github.com/sparkfun/SparkFun_MPU-9250-DMP_Arduino_Library/issues/5

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedoguz 0:d1f0ae13f4a7 1 /******************************************************************************
mbedoguz 0:d1f0ae13f4a7 2 SparkFunMPU9250-DMP.h - MPU-9250 Digital Motion Processor Arduino Library
mbedoguz 0:d1f0ae13f4a7 3 Jim Lindblom @ SparkFun Electronics
mbedoguz 0:d1f0ae13f4a7 4 original creation date: November 23, 2016
mbedoguz 0:d1f0ae13f4a7 5 https://github.com/sparkfun/SparkFun_MPU9250_DMP_Arduino_Library
mbedoguz 0:d1f0ae13f4a7 6
mbedoguz 0:d1f0ae13f4a7 7 This library implements motion processing functions of Invensense's MPU-9250.
mbedoguz 0:d1f0ae13f4a7 8 It is based on their Emedded MotionDriver 6.12 library.
mbedoguz 0:d1f0ae13f4a7 9 https://www.invensense.com/developers/software-downloads/
mbedoguz 0:d1f0ae13f4a7 10
mbedoguz 0:d1f0ae13f4a7 11 ******************************************************************************/
mbedoguz 0:d1f0ae13f4a7 12 #ifndef _SPARKFUN_MPU9250_DMP_H_
mbedoguz 0:d1f0ae13f4a7 13 #define _SPARKFUN_MPU9250_DMP_H_
mbedoguz 0:d1f0ae13f4a7 14
mbedoguz 0:d1f0ae13f4a7 15 #include <mdcompat.h>
mbedoguz 0:d1f0ae13f4a7 16 #include <mbed.h>
mbedoguz 0:d1f0ae13f4a7 17
mbedoguz 0:d1f0ae13f4a7 18 // Optimally, these defines would be passed as compiler options, but Arduino
mbedoguz 0:d1f0ae13f4a7 19 // doesn't give us a great way to do that.
mbedoguz 0:d1f0ae13f4a7 20 #ifndef MPU9250
mbedoguz 0:d1f0ae13f4a7 21 #define MPU9250
mbedoguz 0:d1f0ae13f4a7 22 #endif
mbedoguz 0:d1f0ae13f4a7 23 #define AK8963_SECONDARY
mbedoguz 0:d1f0ae13f4a7 24 #define COMPASS_ENABLED
mbedoguz 0:d1f0ae13f4a7 25
mbedoguz 0:d1f0ae13f4a7 26 // Include the Invensense MPU9250 driver and DMP keys:
mbedoguz 0:d1f0ae13f4a7 27 extern "C" {
mbedoguz 0:d1f0ae13f4a7 28 #include "inv_mpu.h"
mbedoguz 0:d1f0ae13f4a7 29 #include "inv_mpu_dmp_motion_driver.h"
mbedoguz 0:d1f0ae13f4a7 30 }
mbedoguz 0:d1f0ae13f4a7 31
mbedoguz 0:d1f0ae13f4a7 32 typedef int inv_error_t;
mbedoguz 0:d1f0ae13f4a7 33 #define INV_SUCCESS 0
mbedoguz 0:d1f0ae13f4a7 34 #define INV_ERROR 0x20
mbedoguz 0:d1f0ae13f4a7 35
mbedoguz 0:d1f0ae13f4a7 36 enum t_axisOrder {
mbedoguz 0:d1f0ae13f4a7 37 X_AXIS, // 0
mbedoguz 0:d1f0ae13f4a7 38 Y_AXIS, // 1
mbedoguz 0:d1f0ae13f4a7 39 Z_AXIS // 2
mbedoguz 0:d1f0ae13f4a7 40 };
mbedoguz 0:d1f0ae13f4a7 41
mbedoguz 0:d1f0ae13f4a7 42 // Define's passed to update(), to request a specific sensor (or multiple):
mbedoguz 0:d1f0ae13f4a7 43 #define UPDATE_ACCEL (1<<1)
mbedoguz 0:d1f0ae13f4a7 44 #define UPDATE_GYRO (1<<2)
mbedoguz 0:d1f0ae13f4a7 45 #define UPDATE_COMPASS (1<<3)
mbedoguz 0:d1f0ae13f4a7 46 #define UPDATE_TEMP (1<<4)
mbedoguz 0:d1f0ae13f4a7 47
mbedoguz 0:d1f0ae13f4a7 48 #define INT_ACTIVE_HIGH 0
mbedoguz 0:d1f0ae13f4a7 49 #define INT_ACTIVE_LOW 1
mbedoguz 0:d1f0ae13f4a7 50 #define INT_LATCHED 1
mbedoguz 0:d1f0ae13f4a7 51 #define INT_50US_PULSE 0
mbedoguz 0:d1f0ae13f4a7 52
mbedoguz 0:d1f0ae13f4a7 53 #define MAX_DMP_SAMPLE_RATE 200 // Maximum sample rate for the DMP FIFO (200Hz)
mbedoguz 0:d1f0ae13f4a7 54 #define FIFO_BUFFER_SIZE 512 // Max FIFO buffer size
mbedoguz 0:d1f0ae13f4a7 55
mbedoguz 0:d1f0ae13f4a7 56 const signed char defaultOrientation[9] = {
mbedoguz 0:d1f0ae13f4a7 57 1, 0, 0,
mbedoguz 0:d1f0ae13f4a7 58 0, 1, 0,
mbedoguz 0:d1f0ae13f4a7 59 0, 0, 1
mbedoguz 0:d1f0ae13f4a7 60 };
mbedoguz 0:d1f0ae13f4a7 61 #define ORIENT_PORTRAIT 0
mbedoguz 0:d1f0ae13f4a7 62 #define ORIENT_LANDSCAPE 1
mbedoguz 0:d1f0ae13f4a7 63 #define ORIENT_REVERSE_PORTRAIT 2
mbedoguz 0:d1f0ae13f4a7 64 #define ORIENT_REVERSE_LANDSCAPE 3
mbedoguz 0:d1f0ae13f4a7 65
mbedoguz 0:d1f0ae13f4a7 66 class MPU9250_DMP
mbedoguz 0:d1f0ae13f4a7 67 {
mbedoguz 0:d1f0ae13f4a7 68 public:
mbedoguz 0:d1f0ae13f4a7 69 int ax, ay, az;
mbedoguz 0:d1f0ae13f4a7 70 int gx, gy, gz;
mbedoguz 0:d1f0ae13f4a7 71 int mx, my, mz;
mbedoguz 0:d1f0ae13f4a7 72 long qw, qx, qy, qz;
mbedoguz 0:d1f0ae13f4a7 73 long temperature;
mbedoguz 0:d1f0ae13f4a7 74 unsigned long time;
mbedoguz 0:d1f0ae13f4a7 75 float pitch, roll, yaw;
mbedoguz 0:d1f0ae13f4a7 76 float heading;
mbedoguz 0:d1f0ae13f4a7 77
mbedoguz 0:d1f0ae13f4a7 78 MPU9250_DMP();
mbedoguz 0:d1f0ae13f4a7 79
mbedoguz 0:d1f0ae13f4a7 80 // begin(void) -- Verifies communication with the MPU-9250 and the AK8963,
mbedoguz 0:d1f0ae13f4a7 81 // and initializes them to the default state:
mbedoguz 0:d1f0ae13f4a7 82 // All sensors enabled
mbedoguz 0:d1f0ae13f4a7 83 // Gyro FSR: +/- 2000 dps
mbedoguz 0:d1f0ae13f4a7 84 // Accel FSR: +/- 2g
mbedoguz 0:d1f0ae13f4a7 85 // LPF: 42 Hz
mbedoguz 0:d1f0ae13f4a7 86 // FIFO: 50 Hz, disabled
mbedoguz 0:d1f0ae13f4a7 87 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 88 inv_error_t begin(void);
mbedoguz 0:d1f0ae13f4a7 89
mbedoguz 0:d1f0ae13f4a7 90 // setSensors(unsigned char) -- Turn on or off MPU-9250 sensors. Any of the
mbedoguz 0:d1f0ae13f4a7 91 // following defines can be combined: INV_XYZ_GYRO, INV_XYZ_ACCEL,
mbedoguz 0:d1f0ae13f4a7 92 // INV_XYZ_COMPASS, INV_X_GYRO, INV_Y_GYRO, or INV_Z_GYRO
mbedoguz 0:d1f0ae13f4a7 93 // Input: Combination of enabled sensors. Unless specified a sensor will be
mbedoguz 0:d1f0ae13f4a7 94 // disabled.
mbedoguz 0:d1f0ae13f4a7 95 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 96 inv_error_t setSensors(unsigned char sensors);
mbedoguz 0:d1f0ae13f4a7 97
mbedoguz 0:d1f0ae13f4a7 98 // setGyroFSR(unsigned short) -- Sets the full-scale range of the gyroscope
mbedoguz 0:d1f0ae13f4a7 99 // Input: Gyro DPS - 250, 500, 1000, or 2000
mbedoguz 0:d1f0ae13f4a7 100 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 101 inv_error_t setGyroFSR(unsigned short fsr);
mbedoguz 0:d1f0ae13f4a7 102 // getGyroFSR -- Returns the current gyroscope FSR
mbedoguz 0:d1f0ae13f4a7 103 // Output: Current Gyro DPS - 250, 500, 1000, or 2000
mbedoguz 0:d1f0ae13f4a7 104 unsigned short getGyroFSR(void);
mbedoguz 0:d1f0ae13f4a7 105 // getGyroSens -- Returns current gyroscope sensitivity. The FSR divided by
mbedoguz 0:d1f0ae13f4a7 106 // the resolution of the sensor (signed 16-bit).
mbedoguz 0:d1f0ae13f4a7 107 // Output: Currently set gyroscope sensitivity (e.g. 131, 65.5, 32.8, 16.4)
mbedoguz 0:d1f0ae13f4a7 108 float getGyroSens(void);
mbedoguz 0:d1f0ae13f4a7 109
mbedoguz 0:d1f0ae13f4a7 110 // setAccelFSR(unsigned short) -- Sets the FSR of the accelerometer
mbedoguz 0:d1f0ae13f4a7 111 //
mbedoguz 0:d1f0ae13f4a7 112 // Input: Accel g range - 2, 4, 8, or 16
mbedoguz 0:d1f0ae13f4a7 113 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 114 inv_error_t setAccelFSR(unsigned char fsr);
mbedoguz 0:d1f0ae13f4a7 115 // getAccelFSR -- Returns the current accelerometer FSR
mbedoguz 0:d1f0ae13f4a7 116 // Output: Current Accel g - 2, 4, 8, or 16
mbedoguz 0:d1f0ae13f4a7 117 unsigned char getAccelFSR(void);
mbedoguz 0:d1f0ae13f4a7 118 // getAccelSens -- Returns current accelerometer sensitivity. The FSR
mbedoguz 0:d1f0ae13f4a7 119 // divided by the resolution of the sensor (signed 16-bit).
mbedoguz 0:d1f0ae13f4a7 120 // Output: Currently set accel sensitivity (e.g. 16384, 8192, 4096, 2048)
mbedoguz 0:d1f0ae13f4a7 121 unsigned short getAccelSens(void);
mbedoguz 0:d1f0ae13f4a7 122
mbedoguz 0:d1f0ae13f4a7 123 // getMagFSR -- Returns the current magnetometer FSR
mbedoguz 0:d1f0ae13f4a7 124 // Output: Current mag uT range - +/-1450 uT
mbedoguz 0:d1f0ae13f4a7 125 unsigned short getMagFSR(void);
mbedoguz 0:d1f0ae13f4a7 126 // getMagSens -- Returns current magnetometer sensitivity. The FSR
mbedoguz 0:d1f0ae13f4a7 127 // divided by the resolution of the sensor (signed 16-bit).
mbedoguz 0:d1f0ae13f4a7 128 // Output: Currently set mag sensitivity (e.g. 0.15)
mbedoguz 0:d1f0ae13f4a7 129 float getMagSens(void);
mbedoguz 0:d1f0ae13f4a7 130
mbedoguz 0:d1f0ae13f4a7 131 // setLPF -- Sets the digital low-pass filter of the accel and gyro.
mbedoguz 0:d1f0ae13f4a7 132 // Can be any of the following: 188, 98, 42, 20, 10, 5 (value in Hz)
mbedoguz 0:d1f0ae13f4a7 133 // Input: 188, 98, 42, 20, 10, or 5 (defaults to 5 if incorrectly set)
mbedoguz 0:d1f0ae13f4a7 134 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 135 inv_error_t setLPF(unsigned short lpf);
mbedoguz 0:d1f0ae13f4a7 136 // getLPF -- Returns the set value of the LPF.
mbedoguz 0:d1f0ae13f4a7 137 //
mbedoguz 0:d1f0ae13f4a7 138 // Output: 5, 10, 20, 42, 98, or 188 if set. 0 if the LPF is disabled.
mbedoguz 0:d1f0ae13f4a7 139 unsigned short getLPF(void);
mbedoguz 0:d1f0ae13f4a7 140
mbedoguz 0:d1f0ae13f4a7 141 // setSampleRate -- Set the gyroscope and accelerometer sample rate to a
mbedoguz 0:d1f0ae13f4a7 142 // value between 4Hz and 1000Hz (1kHz).
mbedoguz 0:d1f0ae13f4a7 143 // The library will make an attempt to get as close as possible to the
mbedoguz 0:d1f0ae13f4a7 144 // requested sample rate.
mbedoguz 0:d1f0ae13f4a7 145 // Input: Value between 4 and 1000, indicating the desired sample rate
mbedoguz 0:d1f0ae13f4a7 146 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 147 inv_error_t setSampleRate(unsigned short rate);
mbedoguz 0:d1f0ae13f4a7 148 // getSampleRate -- Get the currently set sample rate.
mbedoguz 0:d1f0ae13f4a7 149 // May differ slightly from what was set in setSampleRate.
mbedoguz 0:d1f0ae13f4a7 150 // Output: set sample rate of the accel/gyro. A value between 4-1000.
mbedoguz 0:d1f0ae13f4a7 151 unsigned short getSampleRate(void);
mbedoguz 0:d1f0ae13f4a7 152
mbedoguz 0:d1f0ae13f4a7 153 // setCompassSampleRate -- Set the magnetometer sample rate to a value
mbedoguz 0:d1f0ae13f4a7 154 // between 1Hz and 100 Hz.
mbedoguz 0:d1f0ae13f4a7 155 // The library will make an attempt to get as close as possible to the
mbedoguz 0:d1f0ae13f4a7 156 // requested sample rate.
mbedoguz 0:d1f0ae13f4a7 157 // Input: Value between 1 and 100, indicating the desired sample rate
mbedoguz 0:d1f0ae13f4a7 158 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 159 inv_error_t setCompassSampleRate(unsigned short rate);
mbedoguz 0:d1f0ae13f4a7 160 // getCompassSampleRate -- Get the currently set magnetometer sample rate.
mbedoguz 0:d1f0ae13f4a7 161 // May differ slightly from what was set in setCompassSampleRate.
mbedoguz 0:d1f0ae13f4a7 162 //
mbedoguz 0:d1f0ae13f4a7 163 // Output: set sample rate of the magnetometer. A value between 1-100
mbedoguz 0:d1f0ae13f4a7 164 unsigned short getCompassSampleRate(void);
mbedoguz 0:d1f0ae13f4a7 165
mbedoguz 0:d1f0ae13f4a7 166 // dataReady -- checks to see if new accel/gyro data is available.
mbedoguz 0:d1f0ae13f4a7 167 // (New magnetometer data cannot be checked, as the library runs that sensor
mbedoguz 0:d1f0ae13f4a7 168 // in single-conversion mode.)
mbedoguz 0:d1f0ae13f4a7 169 // Output: true if new accel/gyro data is available
mbedoguz 0:d1f0ae13f4a7 170 bool dataReady();
mbedoguz 0:d1f0ae13f4a7 171
mbedoguz 0:d1f0ae13f4a7 172 // update -- Reads latest data from the MPU-9250's data registers.
mbedoguz 0:d1f0ae13f4a7 173 // Sensors to be updated can be set using the [sensors] parameter.
mbedoguz 0:d1f0ae13f4a7 174 // [sensors] can be any combination of UPDATE_ACCEL, UPDATE_GYRO,
mbedoguz 0:d1f0ae13f4a7 175 // UPDATE_COMPASS, and UPDATE_TEMP.
mbedoguz 0:d1f0ae13f4a7 176 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 177 // Note: after a successful update the public sensor variables
mbedoguz 0:d1f0ae13f4a7 178 // (e.g. ax, ay, az, gx, gy, gz) will be updated with new data
mbedoguz 0:d1f0ae13f4a7 179 inv_error_t update(unsigned char sensors =
mbedoguz 0:d1f0ae13f4a7 180 UPDATE_ACCEL | UPDATE_GYRO | UPDATE_COMPASS);
mbedoguz 0:d1f0ae13f4a7 181
mbedoguz 0:d1f0ae13f4a7 182 // updateAccel, updateGyro, updateCompass, and updateTemperature are
mbedoguz 0:d1f0ae13f4a7 183 // called by the update() public method. They read from their respective
mbedoguz 0:d1f0ae13f4a7 184 // sensor and update the class variable (e.g. ax, ay, az)
mbedoguz 0:d1f0ae13f4a7 185 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 186 inv_error_t updateAccel(void);
mbedoguz 0:d1f0ae13f4a7 187 inv_error_t updateGyro(void);
mbedoguz 0:d1f0ae13f4a7 188 inv_error_t updateCompass(void);
mbedoguz 0:d1f0ae13f4a7 189 inv_error_t updateTemperature(void);
mbedoguz 0:d1f0ae13f4a7 190
mbedoguz 0:d1f0ae13f4a7 191 // configureFifo(unsigned char) -- Initialize the FIFO, set it to read from
mbedoguz 0:d1f0ae13f4a7 192 // a select set of sensors.
mbedoguz 0:d1f0ae13f4a7 193 // Any of the following defines can be combined for the [sensors] parameter:
mbedoguz 0:d1f0ae13f4a7 194 // INV_XYZ_GYRO, INV_XYZ_ACCEL, INV_X_GYRO, INV_Y_GYRO, or INV_Z_GYRO
mbedoguz 0:d1f0ae13f4a7 195 // Input: Combination of sensors to be read into FIFO
mbedoguz 0:d1f0ae13f4a7 196 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 197 inv_error_t configureFifo(unsigned char sensors);
mbedoguz 0:d1f0ae13f4a7 198 // getFifoConfig -- Returns the sensors configured to be read into the FIFO
mbedoguz 0:d1f0ae13f4a7 199 // Output: combination of INV_XYZ_GYRO, INV_XYZ_ACCEL, INV_Y_GYRO,
mbedoguz 0:d1f0ae13f4a7 200 // INV_X_GYRO, or INV_Z_GYRO
mbedoguz 0:d1f0ae13f4a7 201 unsigned char getFifoConfig(void);
mbedoguz 0:d1f0ae13f4a7 202 // fifoAvailable -- Returns the number of bytes currently filled in the FIFO
mbedoguz 0:d1f0ae13f4a7 203 // Outputs: Number of bytes filled in the FIFO (up to 512)
mbedoguz 0:d1f0ae13f4a7 204 unsigned short fifoAvailable(void);
mbedoguz 0:d1f0ae13f4a7 205 // updateFifo -- Reads from the top of the FIFO, and stores the new data
mbedoguz 0:d1f0ae13f4a7 206 // in ax, ay, az, gx, gy, or gz (depending on how the FIFO is configured).
mbedoguz 0:d1f0ae13f4a7 207 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 208 inv_error_t updateFifo(void);
mbedoguz 0:d1f0ae13f4a7 209 // resetFifo -- Resets the FIFO's read/write pointers
mbedoguz 0:d1f0ae13f4a7 210 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 211 inv_error_t resetFifo(void);
mbedoguz 0:d1f0ae13f4a7 212
mbedoguz 0:d1f0ae13f4a7 213 // enableInterrupt -- Configure the MPU-9250's interrupt output to indicate
mbedoguz 0:d1f0ae13f4a7 214 // when new data is ready.
mbedoguz 0:d1f0ae13f4a7 215 // Input: 0 to disable, >=1 to enable
mbedoguz 0:d1f0ae13f4a7 216 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 217 inv_error_t enableInterrupt(unsigned char enable = 1);
mbedoguz 0:d1f0ae13f4a7 218 // setIntLevel -- Configure the MPU-9250's interrupt to be either active-
mbedoguz 0:d1f0ae13f4a7 219 // high or active-low.
mbedoguz 0:d1f0ae13f4a7 220 // Input: 0 for active-high, 1 for active-low
mbedoguz 0:d1f0ae13f4a7 221 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 222 inv_error_t setIntLevel(unsigned char active_low);
mbedoguz 0:d1f0ae13f4a7 223 // setIntLatched -- Configure the MPU-9250's interrupt to latch or operate
mbedoguz 0:d1f0ae13f4a7 224 // as a 50us pulse.
mbedoguz 0:d1f0ae13f4a7 225 // Input: 0 for
mbedoguz 0:d1f0ae13f4a7 226 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 227 inv_error_t setIntLatched(unsigned char enable);
mbedoguz 0:d1f0ae13f4a7 228 // getIntStatus -- Reads the MPU-9250's INT_STATUS register, which can
mbedoguz 0:d1f0ae13f4a7 229 // indicate what (if anything) caused an interrupt (e.g. FIFO overflow or
mbedoguz 0:d1f0ae13f4a7 230 // or data read).
mbedoguz 0:d1f0ae13f4a7 231 // Output: contents of the INT_STATUS register
mbedoguz 0:d1f0ae13f4a7 232 short getIntStatus(void);
mbedoguz 0:d1f0ae13f4a7 233
mbedoguz 0:d1f0ae13f4a7 234 // dmpBegin -- Initialize the DMP, enable one or more features, and set the FIFO's sample rate
mbedoguz 0:d1f0ae13f4a7 235 // features can be any one of
mbedoguz 0:d1f0ae13f4a7 236 // DMP_FEATURE_TAP -- Tap detection
mbedoguz 0:d1f0ae13f4a7 237 // DMP_FEATURE_ANDROID_ORIENT -- Orientation (portrait/landscape) detection
mbedoguz 0:d1f0ae13f4a7 238 // DMP_FEATURE_LP_QUAT -- Accelerometer, low-power quaternion calculation
mbedoguz 0:d1f0ae13f4a7 239 // DMP_FEATURE_PEDOMETER -- Pedometer (always enabled)
mbedoguz 0:d1f0ae13f4a7 240 // DMP_FEATURE_6X_LP_QUAT -- 6-axis (accel/gyro) quaternion calculation
mbedoguz 0:d1f0ae13f4a7 241 // DMP_FEATURE_GYRO_CAL -- Gyroscope calibration (0's out after 8 seconds of no motion)
mbedoguz 0:d1f0ae13f4a7 242 // DMP_FEATURE_SEND_RAW_ACCEL -- Send raw accelerometer values to FIFO
mbedoguz 0:d1f0ae13f4a7 243 // DMP_FEATURE_SEND_RAW_GYRO -- Send raw gyroscope values to FIFO
mbedoguz 0:d1f0ae13f4a7 244 // DMP_FEATURE_SEND_CAL_GYRO -- Send calibrated gyroscop values to FIFO
mbedoguz 0:d1f0ae13f4a7 245 // fifoRate can be anywhere between 4 and 200Hz.
mbedoguz 0:d1f0ae13f4a7 246 // Input: OR'd list of features and requested FIFO sampling rate
mbedoguz 0:d1f0ae13f4a7 247 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 248 inv_error_t dmpBegin(unsigned short features = 0, unsigned short fifoRate = MAX_DMP_SAMPLE_RATE);
mbedoguz 0:d1f0ae13f4a7 249
mbedoguz 0:d1f0ae13f4a7 250 // dmpLoad -- Loads the DMP with 3062-byte image memory. Must be called to begin DMP.
mbedoguz 0:d1f0ae13f4a7 251 // This function is called by the dmpBegin function.
mbedoguz 0:d1f0ae13f4a7 252 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 253 inv_error_t dmpLoad(void);
mbedoguz 0:d1f0ae13f4a7 254
mbedoguz 0:d1f0ae13f4a7 255 // dmpGetFifoRate -- Returns the sample rate of the FIFO
mbedoguz 0:d1f0ae13f4a7 256 // Output: Set sample rate, in Hz, of the FIFO
mbedoguz 0:d1f0ae13f4a7 257 unsigned short dmpGetFifoRate(void);
mbedoguz 0:d1f0ae13f4a7 258 // dmpSetFiFoRate -- Sets the rate of the FIFO.
mbedoguz 0:d1f0ae13f4a7 259 // Input: Requested sample rate in Hz (range: 4-200)
mbedoguz 0:d1f0ae13f4a7 260 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 261 inv_error_t dmpSetFifoRate(unsigned short rate);
mbedoguz 0:d1f0ae13f4a7 262
mbedoguz 0:d1f0ae13f4a7 263 // dmpUpdateFifo -- Reads from the top of the FIFO and fills accelerometer, gyroscope,
mbedoguz 0:d1f0ae13f4a7 264 // quaternion, and time public variables (depending on how the DMP is configured).
mbedoguz 0:d1f0ae13f4a7 265 // Should be called whenever an MPU interrupt is detected
mbedoguz 0:d1f0ae13f4a7 266 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 2:c35f8379f2cb 267 inv_error_t dmpUpdateFifo(void);
mbedoguz 0:d1f0ae13f4a7 268
mbedoguz 0:d1f0ae13f4a7 269 // dmpEnableFeatures -- Enable one, or multiple DMP features.
mbedoguz 0:d1f0ae13f4a7 270 // Input: An OR'd list of features (see dmpBegin)
mbedoguz 0:d1f0ae13f4a7 271 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 272 inv_error_t dmpEnableFeatures(unsigned short mask);
mbedoguz 0:d1f0ae13f4a7 273 // dmpGetEnabledFeatures -- Returns the OR'd list of enabled DMP features
mbedoguz 0:d1f0ae13f4a7 274 //
mbedoguz 0:d1f0ae13f4a7 275 // Output: OR'd list of DMP feature's (see dmpBegin for list)
mbedoguz 0:d1f0ae13f4a7 276 unsigned short dmpGetEnabledFeatures(void);
mbedoguz 0:d1f0ae13f4a7 277
mbedoguz 0:d1f0ae13f4a7 278 // dmpSetTap -- Enable tap detection and configure threshold, tap time, and minimum tap count.
mbedoguz 0:d1f0ae13f4a7 279 // Inputs: x/y/zThresh - accelerometer threshold on each axis. Range: 0 to 1600. 0 disables tap
mbedoguz 0:d1f0ae13f4a7 280 // detection on that axis. Units are mg/ms.
mbedoguz 0:d1f0ae13f4a7 281 // taps - minimum number of taps to create a tap event (Range: 1-4)
mbedoguz 0:d1f0ae13f4a7 282 // tapTime - Minimum number of milliseconds between separate taps
mbedoguz 0:d1f0ae13f4a7 283 // tapMulti - Maximum number of milliseconds combined taps
mbedoguz 0:d1f0ae13f4a7 284 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 285 inv_error_t dmpSetTap(unsigned short xThresh = 250,
mbedoguz 0:d1f0ae13f4a7 286 unsigned short yThresh = 250,
mbedoguz 0:d1f0ae13f4a7 287 unsigned short zThresh = 250,
mbedoguz 0:d1f0ae13f4a7 288 unsigned char taps = 1,
mbedoguz 0:d1f0ae13f4a7 289 unsigned short tapTime = 100,
mbedoguz 0:d1f0ae13f4a7 290 unsigned short tapMulti = 500);
mbedoguz 0:d1f0ae13f4a7 291 // tapAvailable -- Returns true if a new tap is available
mbedoguz 0:d1f0ae13f4a7 292 // Output: True if new tap data is available. Cleared on getTapDir or getTapCount.
mbedoguz 0:d1f0ae13f4a7 293 bool tapAvailable(void);
mbedoguz 0:d1f0ae13f4a7 294 // getTapDir -- Returns the tap direction.
mbedoguz 0:d1f0ae13f4a7 295 // Output: One of the following: TAP_X_UP, TAP_X_DOWN, TAP_Y_UP, TAP_Y_DOWN, TAP_Z_UP,
mbedoguz 0:d1f0ae13f4a7 296 // or TAP_Z_DOWN
mbedoguz 0:d1f0ae13f4a7 297 unsigned char getTapDir(void);
mbedoguz 0:d1f0ae13f4a7 298 // getTapCount -- Returns the number of taps in the sensed direction
mbedoguz 0:d1f0ae13f4a7 299 // Output: Value between 1-8 indicating successive number of taps sensed.
mbedoguz 0:d1f0ae13f4a7 300 unsigned char getTapCount(void);
mbedoguz 0:d1f0ae13f4a7 301
mbedoguz 0:d1f0ae13f4a7 302 // dmpSetOrientation -- Set orientation matrix, used for orientation sensing.
mbedoguz 0:d1f0ae13f4a7 303 // Use defaultOrientation matrix as an example input.
mbedoguz 0:d1f0ae13f4a7 304 // Input: Gyro and accel orientation in body frame (9-byte array)
mbedoguz 0:d1f0ae13f4a7 305 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 306 inv_error_t dmpSetOrientation(const signed char * orientationMatrix = defaultOrientation);
mbedoguz 0:d1f0ae13f4a7 307 // dmpGetOrientation -- Get the orientation, if any.
mbedoguz 0:d1f0ae13f4a7 308 // Output: If an orientation is detected, one of ORIENT_LANDSCAPE, ORIENT_PORTRAIT,
mbedoguz 0:d1f0ae13f4a7 309 // ORIENT_REVERSE_LANDSCAPE, or ORIENT_REVERSE_PORTRAIT.
mbedoguz 0:d1f0ae13f4a7 310 unsigned char dmpGetOrientation(void);
mbedoguz 0:d1f0ae13f4a7 311
mbedoguz 0:d1f0ae13f4a7 312 // dmpEnable3Quat -- Enable 3-axis quaternion calculation
mbedoguz 0:d1f0ae13f4a7 313 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 314 inv_error_t dmpEnable3Quat(void);
mbedoguz 0:d1f0ae13f4a7 315
mbedoguz 0:d1f0ae13f4a7 316 // dmpEnable6Quat -- Enable 6-axis quaternion calculation
mbedoguz 0:d1f0ae13f4a7 317 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 318 inv_error_t dmpEnable6Quat(void);
mbedoguz 0:d1f0ae13f4a7 319
mbedoguz 0:d1f0ae13f4a7 320 // dmpGetPedometerSteps -- Get number of steps in pedometer register
mbedoguz 0:d1f0ae13f4a7 321 // Output: Number of steps sensed
mbedoguz 0:d1f0ae13f4a7 322 unsigned long dmpGetPedometerSteps(void);
mbedoguz 0:d1f0ae13f4a7 323 // dmpSetPedometerSteps -- Set number of steps to a value
mbedoguz 0:d1f0ae13f4a7 324 // Input: Desired number of steps to begin incrementing from
mbedoguz 0:d1f0ae13f4a7 325 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 326 inv_error_t dmpSetPedometerSteps(unsigned long steps);
mbedoguz 0:d1f0ae13f4a7 327 // dmpGetPedometerTime -- Get number of milliseconds ellapsed over stepping
mbedoguz 0:d1f0ae13f4a7 328 // Output: Number of milliseconds where steps were detected
mbedoguz 0:d1f0ae13f4a7 329 unsigned long dmpGetPedometerTime(void);
mbedoguz 0:d1f0ae13f4a7 330 // dmpSetPedometerTime -- Set number time to begin incrementing step time counter from
mbedoguz 0:d1f0ae13f4a7 331 // Input: Desired number of milliseconds
mbedoguz 0:d1f0ae13f4a7 332 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 333 inv_error_t dmpSetPedometerTime(unsigned long time);
mbedoguz 0:d1f0ae13f4a7 334
mbedoguz 0:d1f0ae13f4a7 335 // dmpSetInterruptMode --
mbedoguz 0:d1f0ae13f4a7 336 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 337 inv_error_t dmpSetInterruptMode(unsigned char mode);
mbedoguz 0:d1f0ae13f4a7 338 // dmpSetGyroBias --
mbedoguz 0:d1f0ae13f4a7 339 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 340 inv_error_t dmpSetGyroBias(long * bias);
mbedoguz 0:d1f0ae13f4a7 341 // dmpSetAccelBias --
mbedoguz 0:d1f0ae13f4a7 342 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 343 inv_error_t dmpSetAccelBias(long * bias);
mbedoguz 0:d1f0ae13f4a7 344
mbedoguz 0:d1f0ae13f4a7 345 // lowPowerAccel --
mbedoguz 0:d1f0ae13f4a7 346 // Output: INV_SUCCESS (0) on success, otherwise error
mbedoguz 0:d1f0ae13f4a7 347 inv_error_t lowPowerAccel(unsigned short rate);
mbedoguz 0:d1f0ae13f4a7 348
mbedoguz 0:d1f0ae13f4a7 349 // calcAccel -- Convert 16-bit signed acceleration value to g's
mbedoguz 0:d1f0ae13f4a7 350 float calcAccel(int axis);
mbedoguz 0:d1f0ae13f4a7 351 // calcGyro -- Convert 16-bit signed gyroscope value to degree's per second
mbedoguz 0:d1f0ae13f4a7 352 float calcGyro(int axis);
mbedoguz 0:d1f0ae13f4a7 353 // calcMag -- Convert 16-bit signed magnetometer value to microtesla (uT)
mbedoguz 0:d1f0ae13f4a7 354 float calcMag(int axis);
mbedoguz 0:d1f0ae13f4a7 355 // calcQuat -- Convert Q30-format quaternion to a vector between +/- 1
mbedoguz 0:d1f0ae13f4a7 356 float calcQuat(long axis);
mbedoguz 0:d1f0ae13f4a7 357
mbedoguz 0:d1f0ae13f4a7 358 // computeEulerAngles -- Compute euler angles based on most recently read qw, qx, qy, and qz
mbedoguz 0:d1f0ae13f4a7 359 // Input: boolean indicating whether angle results are presented in degrees or radians
mbedoguz 0:d1f0ae13f4a7 360 // Output: class variables roll, pitch, and yaw will be updated on exit.
mbedoguz 0:d1f0ae13f4a7 361 void computeEulerAngles(bool degrees = true);
mbedoguz 0:d1f0ae13f4a7 362
mbedoguz 0:d1f0ae13f4a7 363 // computeCompassHeading -- Compute heading based on most recently read mx, my, and mz values
mbedoguz 0:d1f0ae13f4a7 364 // Output: class variable heading will be updated on exit
mbedoguz 0:d1f0ae13f4a7 365 float computeCompassHeading(void);
mbedoguz 0:d1f0ae13f4a7 366
mbedoguz 0:d1f0ae13f4a7 367 // selfTest -- Run gyro and accel self-test.
mbedoguz 0:d1f0ae13f4a7 368 // Output: Returns bit mask, 1 indicates success. A 0x7 is success on all sensors.
mbedoguz 0:d1f0ae13f4a7 369 // Bit pos 0: gyro
mbedoguz 0:d1f0ae13f4a7 370 // Bit pos 1: accel
mbedoguz 0:d1f0ae13f4a7 371 // Bit pos 2: mag
mbedoguz 0:d1f0ae13f4a7 372 int selfTest(unsigned char debug = 0);
mbedoguz 0:d1f0ae13f4a7 373
mbedoguz 0:d1f0ae13f4a7 374 private:
mbedoguz 0:d1f0ae13f4a7 375 unsigned short _aSense;
mbedoguz 0:d1f0ae13f4a7 376 float _gSense, _mSense;
mbedoguz 0:d1f0ae13f4a7 377
mbedoguz 0:d1f0ae13f4a7 378 // Convert a QN-format number to a float
mbedoguz 0:d1f0ae13f4a7 379 float qToFloat(long number, unsigned char q);
mbedoguz 0:d1f0ae13f4a7 380 unsigned short orientation_row_2_scale(const signed char *row);
mbedoguz 0:d1f0ae13f4a7 381 };
mbedoguz 0:d1f0ae13f4a7 382
mbedoguz 0:d1f0ae13f4a7 383 #endif // _SPARKFUN_MPU9250_DMP_H_