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MPU6050.h
00001 00002 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 00003 //written by szymon gaertig (email: szymon@gaertig.com.pl) 00004 // 00005 //Changelog: 00006 //2013-01-08 - first beta release 00007 00008 // I2Cdev library collection - MPU6050 I2C device class 00009 // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) 00010 // 10/3/2011 by Jeff Rowberg <jeff@rowberg.net> 00011 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib 00012 // 00013 // Changelog: 00014 // ... - ongoing debug release 00015 00016 // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE 00017 // DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF 00018 // YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING. 00019 00020 /* ============================================ 00021 I2Cdev device library code is placed under the MIT license 00022 Copyright (c) 2012 Jeff Rowberg 00023 00024 Permission is hereby granted, free of charge, to any person obtaining a copy 00025 of this software and associated documentation files (the "Software"), to deal 00026 in the Software without restriction, including without limitation the rights 00027 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00028 copies of the Software, and to permit persons to whom the Software is 00029 furnished to do so, subject to the following conditions: 00030 00031 The above copyright notice and this permission notice shall be included in 00032 all copies or substantial portions of the Software. 00033 00034 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00035 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00036 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00037 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00038 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00039 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00040 THE SOFTWARE. 00041 =============================================== 00042 */ 00043 00044 #ifndef _MPU6050_H_ 00045 #define _MPU6050_H_ 00046 00047 #include "I2Cdev.h" 00048 #include "helper_3dmath.h" 00049 00050 #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board 00051 #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) 00052 #define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW 00053 00054 00055 //#define ADO 0 00056 //#if ADO 00057 //#define MPU6050_DEFAULT_ADDRESS 0x69<<1 // Device address when ADO = 1 00058 //#else 00059 //#define MPU6050_DEFAULT_ADDRESS 0x68<<1 // Device address when ADO = 0 00060 //#endif 00061 00062 00063 00064 00065 00066 #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD 00067 #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD 00068 #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD 00069 #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN 00070 #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN 00071 #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN 00072 #define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS 00073 #define MPU6050_RA_XA_OFFS_L_TC 0x07 00074 #define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS 00075 #define MPU6050_RA_YA_OFFS_L_TC 0x09 00076 #define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS 00077 #define MPU6050_RA_ZA_OFFS_L_TC 0x0B 00078 #define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR 00079 #define MPU6050_RA_XG_OFFS_USRL 0x14 00080 #define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR 00081 #define MPU6050_RA_YG_OFFS_USRL 0x16 00082 #define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR 00083 #define MPU6050_RA_ZG_OFFS_USRL 0x18 00084 #define MPU6050_RA_SMPLRT_DIV 0x19 00085 #define MPU6050_RA_CONFIG 0x1A 00086 #define MPU6050_RA_GYRO_CONFIG 0x1B 00087 #define MPU6050_RA_ACCEL_CONFIG 0x1C 00088 #define MPU6050_RA_FF_THR 0x1D 00089 #define MPU6050_RA_FF_DUR 0x1E 00090 #define MPU6050_RA_MOT_THR 0x1F 00091 #define MPU6050_RA_MOT_DUR 0x20 00092 #define MPU6050_RA_ZRMOT_THR 0x21 00093 #define MPU6050_RA_ZRMOT_DUR 0x22 00094 #define MPU6050_RA_FIFO_EN 0x23 00095 #define MPU6050_RA_I2C_MST_CTRL 0x24 00096 #define MPU6050_RA_I2C_SLV0_ADDR 0x25 00097 #define MPU6050_RA_I2C_SLV0_REG 0x26 00098 #define MPU6050_RA_I2C_SLV0_CTRL 0x27 00099 #define MPU6050_RA_I2C_SLV1_ADDR 0x28 00100 #define MPU6050_RA_I2C_SLV1_REG 0x29 00101 #define MPU6050_RA_I2C_SLV1_CTRL 0x2A 00102 #define MPU6050_RA_I2C_SLV2_ADDR 0x2B 00103 #define MPU6050_RA_I2C_SLV2_REG 0x2C 00104 #define MPU6050_RA_I2C_SLV2_CTRL 0x2D 00105 #define MPU6050_RA_I2C_SLV3_ADDR 0x2E 00106 #define MPU6050_RA_I2C_SLV3_REG 0x2F 00107 #define MPU6050_RA_I2C_SLV3_CTRL 0x30 00108 #define MPU6050_RA_I2C_SLV4_ADDR 0x31 00109 #define MPU6050_RA_I2C_SLV4_REG 0x32 00110 #define MPU6050_RA_I2C_SLV4_DO 0x33 00111 #define MPU6050_RA_I2C_SLV4_CTRL 0x34 00112 #define MPU6050_RA_I2C_SLV4_DI 0x35 00113 #define MPU6050_RA_I2C_MST_STATUS 0x36 00114 #define MPU6050_RA_INT_PIN_CFG 0x37 00115 #define MPU6050_RA_INT_ENABLE 0x38 00116 #define MPU6050_RA_DMP_INT_STATUS 0x39 00117 #define MPU6050_RA_INT_STATUS 0x3A 00118 #define MPU6050_RA_ACCEL_XOUT_H 0x3B 00119 #define MPU6050_RA_ACCEL_XOUT_L 0x3C 00120 #define MPU6050_RA_ACCEL_YOUT_H 0x3D 00121 #define MPU6050_RA_ACCEL_YOUT_L 0x3E 00122 #define MPU6050_RA_ACCEL_ZOUT_H 0x3F 00123 #define MPU6050_RA_ACCEL_ZOUT_L 0x40 00124 #define MPU6050_RA_TEMP_OUT_H 0x41 00125 #define MPU6050_RA_TEMP_OUT_L 0x42 00126 #define MPU6050_RA_GYRO_XOUT_H 0x43 00127 #define MPU6050_RA_GYRO_XOUT_L 0x44 00128 #define MPU6050_RA_GYRO_YOUT_H 0x45 00129 #define MPU6050_RA_GYRO_YOUT_L 0x46 00130 #define MPU6050_RA_GYRO_ZOUT_H 0x47 00131 #define MPU6050_RA_GYRO_ZOUT_L 0x48 00132 #define MPU6050_RA_EXT_SENS_DATA_00 0x49 00133 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A 00134 #define MPU6050_RA_EXT_SENS_DATA_02 0x4B 00135 #define MPU6050_RA_EXT_SENS_DATA_03 0x4C 00136 #define MPU6050_RA_EXT_SENS_DATA_04 0x4D 00137 #define MPU6050_RA_EXT_SENS_DATA_05 0x4E 00138 #define MPU6050_RA_EXT_SENS_DATA_06 0x4F 00139 #define MPU6050_RA_EXT_SENS_DATA_07 0x50 00140 #define MPU6050_RA_EXT_SENS_DATA_08 0x51 00141 #define MPU6050_RA_EXT_SENS_DATA_09 0x52 00142 #define MPU6050_RA_EXT_SENS_DATA_10 0x53 00143 #define MPU6050_RA_EXT_SENS_DATA_11 0x54 00144 #define MPU6050_RA_EXT_SENS_DATA_12 0x55 00145 #define MPU6050_RA_EXT_SENS_DATA_13 0x56 00146 #define MPU6050_RA_EXT_SENS_DATA_14 0x57 00147 #define MPU6050_RA_EXT_SENS_DATA_15 0x58 00148 #define MPU6050_RA_EXT_SENS_DATA_16 0x59 00149 #define MPU6050_RA_EXT_SENS_DATA_17 0x5A 00150 #define MPU6050_RA_EXT_SENS_DATA_18 0x5B 00151 #define MPU6050_RA_EXT_SENS_DATA_19 0x5C 00152 #define MPU6050_RA_EXT_SENS_DATA_20 0x5D 00153 #define MPU6050_RA_EXT_SENS_DATA_21 0x5E 00154 #define MPU6050_RA_EXT_SENS_DATA_22 0x5F 00155 #define MPU6050_RA_EXT_SENS_DATA_23 0x60 00156 #define MPU6050_RA_MOT_DETECT_STATUS 0x61 00157 #define MPU6050_RA_I2C_SLV0_DO 0x63 00158 #define MPU6050_RA_I2C_SLV1_DO 0x64 00159 #define MPU6050_RA_I2C_SLV2_DO 0x65 00160 #define MPU6050_RA_I2C_SLV3_DO 0x66 00161 #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 00162 #define MPU6050_RA_SIGNAL_PATH_RESET 0x68 00163 #define MPU6050_RA_MOT_DETECT_CTRL 0x69 00164 #define MPU6050_RA_USER_CTRL 0x6A 00165 #define MPU6050_RA_PWR_MGMT_1 0x6B 00166 #define MPU6050_RA_PWR_MGMT_2 0x6C 00167 #define MPU6050_RA_BANK_SEL 0x6D 00168 #define MPU6050_RA_MEM_START_ADDR 0x6E 00169 #define MPU6050_RA_MEM_R_W 0x6F 00170 #define MPU6050_RA_DMP_CFG_1 0x70 00171 #define MPU6050_RA_DMP_CFG_2 0x71 00172 #define MPU6050_RA_FIFO_COUNTH 0x72 00173 #define MPU6050_RA_FIFO_COUNTL 0x73 00174 #define MPU6050_RA_FIFO_R_W 0x74 00175 #define MPU6050_RA_WHO_AM_I 0x75 00176 00177 #define MPU6050_TC_PWR_MODE_BIT 7 00178 #define MPU6050_TC_OFFSET_BIT 6 00179 #define MPU6050_TC_OFFSET_LENGTH 6 00180 #define MPU6050_TC_OTP_BNK_VLD_BIT 0 00181 00182 #define MPU6050_VDDIO_LEVEL_VLOGIC 0 00183 #define MPU6050_VDDIO_LEVEL_VDD 1 00184 00185 #define MPU6050_CFG_EXT_SYNC_SET_BIT 5 00186 #define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3 00187 #define MPU6050_CFG_DLPF_CFG_BIT 2 00188 #define MPU6050_CFG_DLPF_CFG_LENGTH 3 00189 00190 #define MPU6050_EXT_SYNC_DISABLED 0x0 00191 #define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1 00192 #define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2 00193 #define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3 00194 #define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4 00195 #define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5 00196 #define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6 00197 #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7 00198 00199 #define MPU6050_DLPF_BW_256 0x00 00200 #define MPU6050_DLPF_BW_188 0x01 00201 #define MPU6050_DLPF_BW_98 0x02 00202 #define MPU6050_DLPF_BW_42 0x03 00203 #define MPU6050_DLPF_BW_20 0x04 00204 #define MPU6050_DLPF_BW_10 0x05 00205 #define MPU6050_DLPF_BW_5 0x06 00206 00207 #define MPU6050_GCONFIG_FS_SEL_BIT 4 00208 #define MPU6050_GCONFIG_FS_SEL_LENGTH 2 00209 00210 #define MPU6050_GYRO_FS_250 0x00 00211 #define MPU6050_GYRO_FS_500 0x01 00212 #define MPU6050_GYRO_FS_1000 0x02 00213 #define MPU6050_GYRO_FS_2000 0x03 00214 00215 #define MPU6050_ACONFIG_XA_ST_BIT 7 00216 #define MPU6050_ACONFIG_YA_ST_BIT 6 00217 #define MPU6050_ACONFIG_ZA_ST_BIT 5 00218 #define MPU6050_ACONFIG_AFS_SEL_BIT 4 00219 #define MPU6050_ACONFIG_AFS_SEL_LENGTH 2 00220 #define MPU6050_ACONFIG_ACCEL_HPF_BIT 2 00221 #define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3 00222 00223 #define MPU6050_ACCEL_FS_2 0x00 00224 #define MPU6050_ACCEL_FS_4 0x01 00225 #define MPU6050_ACCEL_FS_8 0x02 00226 #define MPU6050_ACCEL_FS_16 0x03 00227 00228 #define MPU6050_DHPF_RESET 0x00 00229 #define MPU6050_DHPF_5 0x01 00230 #define MPU6050_DHPF_2P5 0x02 00231 #define MPU6050_DHPF_1P25 0x03 00232 #define MPU6050_DHPF_0P63 0x04 00233 #define MPU6050_DHPF_HOLD 0x07 00234 00235 #define MPU6050_TEMP_FIFO_EN_BIT 7 00236 #define MPU6050_XG_FIFO_EN_BIT 6 00237 #define MPU6050_YG_FIFO_EN_BIT 5 00238 #define MPU6050_ZG_FIFO_EN_BIT 4 00239 #define MPU6050_ACCEL_FIFO_EN_BIT 3 00240 #define MPU6050_SLV2_FIFO_EN_BIT 2 00241 #define MPU6050_SLV1_FIFO_EN_BIT 1 00242 #define MPU6050_SLV0_FIFO_EN_BIT 0 00243 00244 #define MPU6050_MULT_MST_EN_BIT 7 00245 #define MPU6050_WAIT_FOR_ES_BIT 6 00246 #define MPU6050_SLV_3_FIFO_EN_BIT 5 00247 #define MPU6050_I2C_MST_P_NSR_BIT 4 00248 #define MPU6050_I2C_MST_CLK_BIT 3 00249 #define MPU6050_I2C_MST_CLK_LENGTH 4 00250 00251 #define MPU6050_CLOCK_DIV_348 0x0 00252 #define MPU6050_CLOCK_DIV_333 0x1 00253 #define MPU6050_CLOCK_DIV_320 0x2 00254 #define MPU6050_CLOCK_DIV_308 0x3 00255 #define MPU6050_CLOCK_DIV_296 0x4 00256 #define MPU6050_CLOCK_DIV_286 0x5 00257 #define MPU6050_CLOCK_DIV_276 0x6 00258 #define MPU6050_CLOCK_DIV_267 0x7 00259 #define MPU6050_CLOCK_DIV_258 0x8 00260 #define MPU6050_CLOCK_DIV_500 0x9 00261 #define MPU6050_CLOCK_DIV_471 0xA 00262 #define MPU6050_CLOCK_DIV_444 0xB 00263 #define MPU6050_CLOCK_DIV_421 0xC 00264 #define MPU6050_CLOCK_DIV_400 0xD 00265 #define MPU6050_CLOCK_DIV_381 0xE 00266 #define MPU6050_CLOCK_DIV_364 0xF 00267 00268 #define MPU6050_I2C_SLV_RW_BIT 7 00269 #define MPU6050_I2C_SLV_ADDR_BIT 6 00270 #define MPU6050_I2C_SLV_ADDR_LENGTH 7 00271 #define MPU6050_I2C_SLV_EN_BIT 7 00272 #define MPU6050_I2C_SLV_BYTE_SW_BIT 6 00273 #define MPU6050_I2C_SLV_REG_DIS_BIT 5 00274 #define MPU6050_I2C_SLV_GRP_BIT 4 00275 #define MPU6050_I2C_SLV_LEN_BIT 3 00276 #define MPU6050_I2C_SLV_LEN_LENGTH 4 00277 00278 #define MPU6050_I2C_SLV4_RW_BIT 7 00279 #define MPU6050_I2C_SLV4_ADDR_BIT 6 00280 #define MPU6050_I2C_SLV4_ADDR_LENGTH 7 00281 #define MPU6050_I2C_SLV4_EN_BIT 7 00282 #define MPU6050_I2C_SLV4_INT_EN_BIT 6 00283 #define MPU6050_I2C_SLV4_REG_DIS_BIT 5 00284 #define MPU6050_I2C_SLV4_MST_DLY_BIT 4 00285 #define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5 00286 00287 #define MPU6050_MST_PASS_THROUGH_BIT 7 00288 #define MPU6050_MST_I2C_SLV4_DONE_BIT 6 00289 #define MPU6050_MST_I2C_LOST_ARB_BIT 5 00290 #define MPU6050_MST_I2C_SLV4_NACK_BIT 4 00291 #define MPU6050_MST_I2C_SLV3_NACK_BIT 3 00292 #define MPU6050_MST_I2C_SLV2_NACK_BIT 2 00293 #define MPU6050_MST_I2C_SLV1_NACK_BIT 1 00294 #define MPU6050_MST_I2C_SLV0_NACK_BIT 0 00295 00296 #define MPU6050_INTCFG_INT_LEVEL_BIT 7 00297 #define MPU6050_INTCFG_INT_OPEN_BIT 6 00298 #define MPU6050_INTCFG_LATCH_INT_EN_BIT 5 00299 #define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4 00300 #define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3 00301 #define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2 00302 #define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1 00303 #define MPU6050_INTCFG_CLKOUT_EN_BIT 0 00304 00305 #define MPU6050_INTMODE_ACTIVEHIGH 0x00 00306 #define MPU6050_INTMODE_ACTIVELOW 0x01 00307 00308 #define MPU6050_INTDRV_PUSHPULL 0x00 00309 #define MPU6050_INTDRV_OPENDRAIN 0x01 00310 00311 #define MPU6050_INTLATCH_50USPULSE 0x00 00312 #define MPU6050_INTLATCH_WAITCLEAR 0x01 00313 00314 #define MPU6050_INTCLEAR_STATUSREAD 0x00 00315 #define MPU6050_INTCLEAR_ANYREAD 0x01 00316 00317 #define MPU6050_INTERRUPT_FF_BIT 7 00318 #define MPU6050_INTERRUPT_MOT_BIT 6 00319 #define MPU6050_INTERRUPT_ZMOT_BIT 5 00320 #define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4 00321 #define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3 00322 #define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2 00323 #define MPU6050_INTERRUPT_DMP_INT_BIT 1 00324 #define MPU6050_INTERRUPT_DATA_RDY_BIT 0 00325 00326 // TODO: figure out what these actually do 00327 // UMPL source code is not very obivous 00328 #define MPU6050_DMPINT_5_BIT 5 00329 #define MPU6050_DMPINT_4_BIT 4 00330 #define MPU6050_DMPINT_3_BIT 3 00331 #define MPU6050_DMPINT_2_BIT 2 00332 #define MPU6050_DMPINT_1_BIT 1 00333 #define MPU6050_DMPINT_0_BIT 0 00334 00335 #define MPU6050_MOTION_MOT_XNEG_BIT 7 00336 #define MPU6050_MOTION_MOT_XPOS_BIT 6 00337 #define MPU6050_MOTION_MOT_YNEG_BIT 5 00338 #define MPU6050_MOTION_MOT_YPOS_BIT 4 00339 #define MPU6050_MOTION_MOT_ZNEG_BIT 3 00340 #define MPU6050_MOTION_MOT_ZPOS_BIT 2 00341 #define MPU6050_MOTION_MOT_ZRMOT_BIT 0 00342 00343 #define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7 00344 #define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4 00345 #define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3 00346 #define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2 00347 #define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1 00348 #define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0 00349 00350 #define MPU6050_PATHRESET_GYRO_RESET_BIT 2 00351 #define MPU6050_PATHRESET_ACCEL_RESET_BIT 1 00352 #define MPU6050_PATHRESET_TEMP_RESET_BIT 0 00353 00354 #define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5 00355 #define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2 00356 #define MPU6050_DETECT_FF_COUNT_BIT 3 00357 #define MPU6050_DETECT_FF_COUNT_LENGTH 2 00358 #define MPU6050_DETECT_MOT_COUNT_BIT 1 00359 #define MPU6050_DETECT_MOT_COUNT_LENGTH 2 00360 00361 #define MPU6050_DETECT_DECREMENT_RESET 0x0 00362 #define MPU6050_DETECT_DECREMENT_1 0x1 00363 #define MPU6050_DETECT_DECREMENT_2 0x2 00364 #define MPU6050_DETECT_DECREMENT_4 0x3 00365 00366 #define MPU6050_USERCTRL_DMP_EN_BIT 7 00367 #define MPU6050_USERCTRL_FIFO_EN_BIT 6 00368 #define MPU6050_USERCTRL_I2C_MST_EN_BIT 5 00369 #define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4 00370 #define MPU6050_USERCTRL_DMP_RESET_BIT 3 00371 #define MPU6050_USERCTRL_FIFO_RESET_BIT 2 00372 #define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1 00373 #define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0 00374 00375 #define MPU6050_PWR1_DEVICE_RESET_BIT 7 00376 #define MPU6050_PWR1_SLEEP_BIT 6 00377 #define MPU6050_PWR1_CYCLE_BIT 5 00378 #define MPU6050_PWR1_TEMP_DIS_BIT 3 00379 #define MPU6050_PWR1_CLKSEL_BIT 2 00380 #define MPU6050_PWR1_CLKSEL_LENGTH 3 00381 00382 #define MPU6050_CLOCK_INTERNAL 0x00 00383 #define MPU6050_CLOCK_PLL_XGYRO 0x01 00384 #define MPU6050_CLOCK_PLL_YGYRO 0x02 00385 #define MPU6050_CLOCK_PLL_ZGYRO 0x03 00386 #define MPU6050_CLOCK_PLL_EXT32K 0x04 00387 #define MPU6050_CLOCK_PLL_EXT19M 0x05 00388 #define MPU6050_CLOCK_KEEP_RESET 0x07 00389 00390 #define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7 00391 #define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2 00392 #define MPU6050_PWR2_STBY_XA_BIT 5 00393 #define MPU6050_PWR2_STBY_YA_BIT 4 00394 #define MPU6050_PWR2_STBY_ZA_BIT 3 00395 #define MPU6050_PWR2_STBY_XG_BIT 2 00396 #define MPU6050_PWR2_STBY_YG_BIT 1 00397 #define MPU6050_PWR2_STBY_ZG_BIT 0 00398 00399 #define MPU6050_WAKE_FREQ_1P25 0x0 00400 #define MPU6050_WAKE_FREQ_2P5 0x1 00401 #define MPU6050_WAKE_FREQ_5 0x2 00402 #define MPU6050_WAKE_FREQ_10 0x3 00403 00404 #define MPU6050_BANKSEL_PRFTCH_EN_BIT 6 00405 #define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5 00406 #define MPU6050_BANKSEL_MEM_SEL_BIT 4 00407 #define MPU6050_BANKSEL_MEM_SEL_LENGTH 5 00408 00409 #define MPU6050_WHO_AM_I_BIT 6 00410 #define MPU6050_WHO_AM_I_LENGTH 6 00411 00412 #define MPU6050_DMP_MEMORY_BANKS 8 00413 #define MPU6050_DMP_MEMORY_BANK_SIZE 256 00414 #define MPU6050_DMP_MEMORY_CHUNK_SIZE 16 00415 extern float aRes, gRes; 00416 00417 //extern DigitalOut LED2; 00418 00419 /* Sensor datas to be used in program */ 00420 00421 //extern int16_t ax,ay,az; 00422 //extern int16_t gx,gy,gz; 00423 00424 extern float ax,ay,az; 00425 extern float gx,gy,gz; 00426 00427 extern Serial pc; 00428 extern int16_t accelData[3],gyroData[3],tempData; 00429 extern float accelBias[3], gyroBias[3]; 00430 // note: DMP code memory blocks defined at end of header file 00431 00432 class MPU6050 { 00433 private: 00434 I2Cdev i2Cdev; 00435 //Serial debugSerial; 00436 public: 00437 MPU6050(); 00438 MPU6050(uint8_t address); 00439 00440 void initialize(); 00441 bool testConnection(); 00442 void calibrate(float* dest1, float* dest2); 00443 void getAres(); 00444 void readAccelData(int16_t* dest); 00445 void getGres(); 00446 void readGyroData(int16_t* dest); 00447 uint8_t readThisByte(uint8_t address); 00448 // AUX_VDDIO register 00449 uint8_t getAuxVDDIOLevel(); 00450 void setAuxVDDIOLevel(uint8_t level); 00451 00452 // SMPLRT_DIV register 00453 uint8_t getRate(); 00454 void setRate(uint8_t rate); 00455 00456 // CONFIG register 00457 uint8_t getExternalFrameSync(); 00458 void setExternalFrameSync(uint8_t sync); 00459 uint8_t getDLPFMode(); 00460 void setDLPFMode(uint8_t bandwidth); 00461 00462 // GYRO_CONFIG register 00463 uint8_t getFullScaleGyroRange(); 00464 void setFullScaleGyroRange(uint8_t range); 00465 00466 // ACCEL_CONFIG register 00467 bool getAccelXSelfTest(); 00468 void setAccelXSelfTest(bool enabled); 00469 bool getAccelYSelfTest(); 00470 void setAccelYSelfTest(bool enabled); 00471 bool getAccelZSelfTest(); 00472 void setAccelZSelfTest(bool enabled); 00473 uint8_t getFullScaleAccelRange(); 00474 void setFullScaleAccelRange(uint8_t range); 00475 uint8_t getDHPFMode(); 00476 void setDHPFMode(uint8_t mode); 00477 00478 // FF_THR register 00479 uint8_t getFreefallDetectionThreshold(); 00480 void setFreefallDetectionThreshold(uint8_t threshold); 00481 00482 // FF_DUR register 00483 uint8_t getFreefallDetectionDuration(); 00484 void setFreefallDetectionDuration(uint8_t duration); 00485 00486 // MOT_THR register 00487 uint8_t getMotionDetectionThreshold(); 00488 void setMotionDetectionThreshold(uint8_t threshold); 00489 00490 // MOT_DUR register 00491 uint8_t getMotionDetectionDuration(); 00492 void setMotionDetectionDuration(uint8_t duration); 00493 00494 // ZRMOT_THR register 00495 uint8_t getZeroMotionDetectionThreshold(); 00496 void setZeroMotionDetectionThreshold(uint8_t threshold); 00497 00498 // ZRMOT_DUR register 00499 uint8_t getZeroMotionDetectionDuration(); 00500 void setZeroMotionDetectionDuration(uint8_t duration); 00501 00502 // FIFO_EN register 00503 bool getTempFIFOEnabled(); 00504 void setTempFIFOEnabled(bool enabled); 00505 bool getXGyroFIFOEnabled(); 00506 void setXGyroFIFOEnabled(bool enabled); 00507 bool getYGyroFIFOEnabled(); 00508 void setYGyroFIFOEnabled(bool enabled); 00509 bool getZGyroFIFOEnabled(); 00510 void setZGyroFIFOEnabled(bool enabled); 00511 bool getAccelFIFOEnabled(); 00512 void setAccelFIFOEnabled(bool enabled); 00513 bool getSlave2FIFOEnabled(); 00514 void setSlave2FIFOEnabled(bool enabled); 00515 bool getSlave1FIFOEnabled(); 00516 void setSlave1FIFOEnabled(bool enabled); 00517 bool getSlave0FIFOEnabled(); 00518 void setSlave0FIFOEnabled(bool enabled); 00519 00520 // I2C_MST_CTRL register 00521 bool getMultiMasterEnabled(); 00522 void setMultiMasterEnabled(bool enabled); 00523 bool getWaitForExternalSensorEnabled(); 00524 void setWaitForExternalSensorEnabled(bool enabled); 00525 bool getSlave3FIFOEnabled(); 00526 void setSlave3FIFOEnabled(bool enabled); 00527 bool getSlaveReadWriteTransitionEnabled(); 00528 void setSlaveReadWriteTransitionEnabled(bool enabled); 00529 uint8_t getMasterClockSpeed(); 00530 void setMasterClockSpeed(uint8_t speed); 00531 00532 // I2C_SLV* registers (Slave 0-3) 00533 uint8_t getSlaveAddress(uint8_t num); 00534 void setSlaveAddress(uint8_t num, uint8_t address); 00535 uint8_t getSlaveRegister(uint8_t num); 00536 void setSlaveRegister(uint8_t num, uint8_t reg); 00537 bool getSlaveEnabled(uint8_t num); 00538 void setSlaveEnabled(uint8_t num, bool enabled); 00539 bool getSlaveWordByteSwap(uint8_t num); 00540 void setSlaveWordByteSwap(uint8_t num, bool enabled); 00541 bool getSlaveWriteMode(uint8_t num); 00542 void setSlaveWriteMode(uint8_t num, bool mode); 00543 bool getSlaveWordGroupOffset(uint8_t num); 00544 void setSlaveWordGroupOffset(uint8_t num, bool enabled); 00545 uint8_t getSlaveDataLength(uint8_t num); 00546 void setSlaveDataLength(uint8_t num, uint8_t length); 00547 00548 // I2C_SLV* registers (Slave 4) 00549 uint8_t getSlave4Address(); 00550 void setSlave4Address(uint8_t address); 00551 uint8_t getSlave4Register(); 00552 void setSlave4Register(uint8_t reg); 00553 void setSlave4OutputByte(uint8_t data); 00554 bool getSlave4Enabled(); 00555 void setSlave4Enabled(bool enabled); 00556 bool getSlave4InterruptEnabled(); 00557 void setSlave4InterruptEnabled(bool enabled); 00558 bool getSlave4WriteMode(); 00559 void setSlave4WriteMode(bool mode); 00560 uint8_t getSlave4MasterDelay(); 00561 void setSlave4MasterDelay(uint8_t delay); 00562 uint8_t getSlate4InputByte(); 00563 00564 // I2C_MST_STATUS register 00565 bool getPassthroughStatus(); 00566 bool getSlave4IsDone(); 00567 bool getLostArbitration(); 00568 bool getSlave4Nack(); 00569 bool getSlave3Nack(); 00570 bool getSlave2Nack(); 00571 bool getSlave1Nack(); 00572 bool getSlave0Nack(); 00573 00574 // INT_PIN_CFG register 00575 bool getInterruptMode(); 00576 void setInterruptMode(bool mode); 00577 bool getInterruptDrive(); 00578 void setInterruptDrive(bool drive); 00579 bool getInterruptLatch(); 00580 void setInterruptLatch(bool latch); 00581 bool getInterruptLatchClear(); 00582 void setInterruptLatchClear(bool clear); 00583 bool getFSyncInterruptLevel(); 00584 void setFSyncInterruptLevel(bool level); 00585 bool getFSyncInterruptEnabled(); 00586 void setFSyncInterruptEnabled(bool enabled); 00587 bool getI2CBypassEnabled(); 00588 void setI2CBypassEnabled(bool enabled); 00589 bool getClockOutputEnabled(); 00590 void setClockOutputEnabled(bool enabled); 00591 00592 // INT_ENABLE register 00593 uint8_t getIntEnabled(); 00594 void setIntEnabled(uint8_t enabled); 00595 bool getIntFreefallEnabled(); 00596 void setIntFreefallEnabled(bool enabled); 00597 bool getIntMotionEnabled(); 00598 void setIntMotionEnabled(bool enabled); 00599 bool getIntZeroMotionEnabled(); 00600 void setIntZeroMotionEnabled(bool enabled); 00601 bool getIntFIFOBufferOverflowEnabled(); 00602 void setIntFIFOBufferOverflowEnabled(bool enabled); 00603 bool getIntI2CMasterEnabled(); 00604 void setIntI2CMasterEnabled(bool enabled); 00605 bool getIntDataReadyEnabled(); 00606 void setIntDataReadyEnabled(bool enabled); 00607 00608 // INT_STATUS register 00609 uint8_t getIntStatus(); 00610 bool getIntFreefallStatus(); 00611 bool getIntMotionStatus(); 00612 bool getIntZeroMotionStatus(); 00613 bool getIntFIFOBufferOverflowStatus(); 00614 bool getIntI2CMasterStatus(); 00615 bool getIntDataReadyStatus(); 00616 00617 // ACCEL_*OUT_* registers 00618 void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz); 00619 void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz); 00620 void getAcceleration(int16_t* x, int16_t* y, int16_t* z); 00621 int16_t getAccelerationX(); 00622 int16_t getAccelerationY(); 00623 int16_t getAccelerationZ(); 00624 00625 // TEMP_OUT_* registers 00626 int16_t getTemperature(); 00627 00628 // GYRO_*OUT_* registers 00629 void getRotation(int16_t* x, int16_t* y, int16_t* z); 00630 int16_t getRotationX(); 00631 int16_t getRotationY(); 00632 int16_t getRotationZ(); 00633 00634 // EXT_SENS_DATA_* registers 00635 uint8_t getExternalSensorByte(int position); 00636 uint16_t getExternalSensorWord(int position); 00637 uint32_t getExternalSensorDWord(int position); 00638 00639 // MOT_DETECT_STATUS register 00640 bool getXNegMotionDetected(); 00641 bool getXPosMotionDetected(); 00642 bool getYNegMotionDetected(); 00643 bool getYPosMotionDetected(); 00644 bool getZNegMotionDetected(); 00645 bool getZPosMotionDetected(); 00646 bool getZeroMotionDetected(); 00647 00648 // I2C_SLV*_DO register 00649 void setSlaveOutputByte(uint8_t num, uint8_t data); 00650 00651 // I2C_MST_DELAY_CTRL register 00652 bool getExternalShadowDelayEnabled(); 00653 void setExternalShadowDelayEnabled(bool enabled); 00654 bool getSlaveDelayEnabled(uint8_t num); 00655 void setSlaveDelayEnabled(uint8_t num, bool enabled); 00656 00657 // SIGNAL_PATH_RESET register 00658 void resetGyroscopePath(); 00659 void resetAccelerometerPath(); 00660 void resetTemperaturePath(); 00661 00662 // MOT_DETECT_CTRL register 00663 uint8_t getAccelerometerPowerOnDelay(); 00664 void setAccelerometerPowerOnDelay(uint8_t delay); 00665 uint8_t getFreefallDetectionCounterDecrement(); 00666 void setFreefallDetectionCounterDecrement(uint8_t decrement); 00667 uint8_t getMotionDetectionCounterDecrement(); 00668 void setMotionDetectionCounterDecrement(uint8_t decrement); 00669 00670 // USER_CTRL register 00671 bool getFIFOEnabled(); 00672 void setFIFOEnabled(bool enabled); 00673 bool getI2CMasterModeEnabled(); 00674 void setI2CMasterModeEnabled(bool enabled); 00675 void switchSPIEnabled(bool enabled); 00676 void resetFIFO(); 00677 void resetI2CMaster(); 00678 void resetSensors(); 00679 00680 // PWR_MGMT_1 register 00681 void reset(); 00682 bool getSleepEnabled(); 00683 void setSleepEnabled(bool enabled); 00684 bool getWakeCycleEnabled(); 00685 void setWakeCycleEnabled(bool enabled); 00686 bool getTempSensorEnabled(); 00687 void setTempSensorEnabled(bool enabled); 00688 uint8_t getClockSource(); 00689 void setClockSource(uint8_t source); 00690 00691 // PWR_MGMT_2 register 00692 uint8_t getWakeFrequency(); 00693 void setWakeFrequency(uint8_t frequency); 00694 bool getStandbyXAccelEnabled(); 00695 void setStandbyXAccelEnabled(bool enabled); 00696 bool getStandbyYAccelEnabled(); 00697 void setStandbyYAccelEnabled(bool enabled); 00698 bool getStandbyZAccelEnabled(); 00699 void setStandbyZAccelEnabled(bool enabled); 00700 bool getStandbyXGyroEnabled(); 00701 void setStandbyXGyroEnabled(bool enabled); 00702 bool getStandbyYGyroEnabled(); 00703 void setStandbyYGyroEnabled(bool enabled); 00704 bool getStandbyZGyroEnabled(); 00705 void setStandbyZGyroEnabled(bool enabled); 00706 00707 // FIFO_COUNT_* registers 00708 uint16_t getFIFOCount(); 00709 00710 // FIFO_R_W register 00711 uint8_t getFIFOByte(); 00712 void setFIFOByte(uint8_t data); 00713 void getFIFOBytes(uint8_t *data, uint8_t length); 00714 00715 // WHO_AM_I register 00716 uint8_t getDeviceID(); 00717 void setDeviceID(uint8_t id); 00718 00719 // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ======== 00720 00721 // XG_OFFS_TC register 00722 uint8_t getOTPBankValid(); 00723 void setOTPBankValid(bool enabled); 00724 int8_t getXGyroOffset(); 00725 void setXGyroOffset(int8_t offset); 00726 00727 // YG_OFFS_TC register 00728 int8_t getYGyroOffset(); 00729 void setYGyroOffset(int8_t offset); 00730 00731 // ZG_OFFS_TC register 00732 int8_t getZGyroOffset(); 00733 void setZGyroOffset(int8_t offset); 00734 00735 // X_FINE_GAIN register 00736 int8_t getXFineGain(); 00737 void setXFineGain(int8_t gain); 00738 00739 // Y_FINE_GAIN register 00740 int8_t getYFineGain(); 00741 void setYFineGain(int8_t gain); 00742 00743 // Z_FINE_GAIN register 00744 int8_t getZFineGain(); 00745 void setZFineGain(int8_t gain); 00746 00747 // XA_OFFS_* registers 00748 int16_t getXAccelOffset(); 00749 void setXAccelOffset(int16_t offset); 00750 00751 // YA_OFFS_* register 00752 int16_t getYAccelOffset(); 00753 void setYAccelOffset(int16_t offset); 00754 00755 // ZA_OFFS_* register 00756 int16_t getZAccelOffset(); 00757 void setZAccelOffset(int16_t offset); 00758 00759 // XG_OFFS_USR* registers 00760 int16_t getXGyroOffsetUser(); 00761 void setXGyroOffsetUser(int16_t offset); 00762 00763 // YG_OFFS_USR* register 00764 int16_t getYGyroOffsetUser(); 00765 void setYGyroOffsetUser(int16_t offset); 00766 00767 // ZG_OFFS_USR* register 00768 int16_t getZGyroOffsetUser(); 00769 void setZGyroOffsetUser(int16_t offset); 00770 00771 // INT_ENABLE register (DMP functions) 00772 bool getIntPLLReadyEnabled(); 00773 void setIntPLLReadyEnabled(bool enabled); 00774 bool getIntDMPEnabled(); 00775 void setIntDMPEnabled(bool enabled); 00776 00777 // DMP_INT_STATUS 00778 bool getDMPInt5Status(); 00779 bool getDMPInt4Status(); 00780 bool getDMPInt3Status(); 00781 bool getDMPInt2Status(); 00782 bool getDMPInt1Status(); 00783 bool getDMPInt0Status(); 00784 00785 // INT_STATUS register (DMP functions) 00786 bool getIntPLLReadyStatus(); 00787 bool getIntDMPStatus(); 00788 00789 // USER_CTRL register (DMP functions) 00790 bool getDMPEnabled(); 00791 void setDMPEnabled(bool enabled); 00792 void resetDMP(); 00793 00794 // BANK_SEL register 00795 void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false); 00796 00797 // MEM_START_ADDR register 00798 void setMemoryStartAddress(uint8_t address); 00799 00800 // MEM_R_W register 00801 uint8_t readMemoryByte(); 00802 void writeMemoryByte(uint8_t data); 00803 void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0); 00804 bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false); 00805 bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true); 00806 00807 bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false); 00808 bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize); 00809 00810 // DMP_CFG_1 register 00811 uint8_t getDMPConfig1(); 00812 void setDMPConfig1(uint8_t config); 00813 00814 // DMP_CFG_2 register 00815 uint8_t getDMPConfig2(); 00816 void setDMPConfig2(uint8_t config); 00817 00818 // special methods for MotionApps 2.0 implementation 00819 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20 00820 uint8_t *dmpPacketBuffer; 00821 uint16_t dmpPacketSize; 00822 00823 uint8_t dmpInitialize(); 00824 bool dmpPacketAvailable(); 00825 00826 uint8_t dmpSetFIFORate(uint8_t fifoRate); 00827 uint8_t dmpGetFIFORate(); 00828 uint8_t dmpGetSampleStepSizeMS(); 00829 uint8_t dmpGetSampleFrequency(); 00830 int32_t dmpDecodeTemperature(int8_t tempReg); 00831 00832 // Register callbacks after a packet of FIFO data is processed 00833 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); 00834 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); 00835 uint8_t dmpRunFIFORateProcesses(); 00836 00837 // Setup FIFO for various output 00838 uint8_t dmpSendQuaternion(uint_fast16_t accuracy); 00839 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); 00840 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00841 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00842 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); 00843 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); 00844 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00845 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00846 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); 00847 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); 00848 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00849 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); 00850 00851 // Get Fixed Point data from FIFO 00852 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); 00853 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); 00854 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); 00855 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); 00856 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); 00857 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); 00858 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); 00859 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); 00860 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); 00861 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); 00862 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); 00863 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); 00864 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); 00865 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); 00866 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); 00867 uint8_t dmpSetLinearAccelFilterCoefficient(float coef); 00868 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); 00869 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); 00870 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); 00871 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); 00872 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); 00873 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); 00874 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); 00875 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); 00876 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); 00877 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); 00878 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); 00879 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); 00880 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); 00881 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); 00882 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); 00883 uint8_t dm pGetTemperature(int32_t *data, const uint8_t* packet=0); 00884 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); 00885 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); 00886 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); 00887 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); 00888 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); 00889 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); 00890 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00891 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); 00892 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); 00893 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00894 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); 00895 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); 00896 00897 uint8_t dmpGetEuler(float *data, Quaternion *q); 00898 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); 00899 00900 // Get Floating Point data from FIFO 00901 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); 00902 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); 00903 00904 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); 00905 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); 00906 00907 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); 00908 00909 uint8_t dmpInitFIFOParam(); 00910 uint8_t dmpCloseFIFO(); 00911 uint8_t dmpSetGyroDataSource(uint8_t source); 00912 uint8_t dmpDecodeQuantizedAccel(); 00913 uint32_t dmpGetGyroSumOfSquare(); 00914 uint32_t dmpGetAccelSumOfSquare(); 00915 void dmpOverrideQuaternion(long *q); 00916 uint16_t dmpGetFIFOPacketSize(); 00917 #endif 00918 00919 // special methods for MotionApps 4.1 implementation 00920 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41 00921 uint8_t *dmpPacketBuffer; 00922 uint16_t dmpPacketSize; 00923 00924 uint8_t dmpInitialize(); 00925 bool dmpPacketAvailable(); 00926 00927 uint8_t dmpSetFIFORate(uint8_t fifoRate); 00928 uint8_t dmpGetFIFORate(); 00929 uint8_t dmpGetSampleStepSizeMS(); 00930 uint8_t dmpGetSampleFrequency(); 00931 int32_t dmpDecodeTemperature(int8_t tempReg); 00932 00933 // Register callbacks after a packet of FIFO data is processed 00934 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); 00935 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); 00936 uint8_t dmpRunFIFORateProcesses(); 00937 00938 // Setup FIFO for various output 00939 uint8_t dmpSendQuaternion(uint_fast16_t accuracy); 00940 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); 00941 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00942 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00943 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); 00944 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); 00945 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00946 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00947 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); 00948 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); 00949 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00950 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); 00951 00952 // Get Fixed Point data from FIFO 00953 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); 00954 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); 00955 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); 00956 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); 00957 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); 00958 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); 00959 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); 00960 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); 00961 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); 00962 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); 00963 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); 00964 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); 00965 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); 00966 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); 00967 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); 00968 uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0); 00969 uint8_t dmpSetLinearAccelFilterCoefficient(float coef); 00970 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); 00971 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); 00972 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); 00973 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); 00974 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); 00975 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); 00976 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); 00977 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); 00978 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); 00979 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); 00980 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); 00981 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); 00982 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); 00983 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); 00984 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); 00985 uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); 00986 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); 00987 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); 00988 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); 00989 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); 00990 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); 00991 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); 00992 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00993 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); 00994 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); 00995 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00996 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); 00997 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); 00998 00999 uint8_t dmpGetEuler(float *data, Quaternion *q); 01000 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); 01001 01002 // Get Floating Point data from FIFO 01003 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); 01004 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); 01005 01006 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); 01007 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); 01008 01009 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); 01010 01011 uint8_t dmpInitFIFOParam(); 01012 uint8_t dmpCloseFIFO(); 01013 uint8_t dmpSetGyroDataSource(uint8_t source); 01014 uint8_t dmpDecodeQuantizedAccel(); 01015 uint32_t dmpGetGyroSumOfSquare(); 01016 uint32_t dmpGetAccelSumOfSquare(); 01017 void dmpOverrideQuaternion(long *q); 01018 uint16_t dmpGetFIFOPacketSize(); 01019 #endif 01020 01021 private: 01022 uint8_t devAddr; 01023 uint8_t buffer[14]; 01024 }; 01025 01026 #endif /* _MPU6050_H_ */
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