Yifei Teng
MPU6050 FreeIMU library
Dependents: FreeIMU FreeIMU_external_magnetometer
Fork of
MPU6050_tmp
by 
Aloïs Wolff
Embed:
(wiki syntax)
Show/hide line numbers
MPU6050.h
00001 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 00002 //written by szymon gaertig (email: szymon@gaertig.com.pl) 00003 // 00004 //Changelog: 00005 //2013-01-08 - first beta release 00006 00007 // I2Cdev library collection - MPU6050 I2C device class 00008 // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) 00009 // 10/3/2011 by Jeff Rowberg <jeff@rowberg.net> 00010 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib 00011 // 00012 // Changelog: 00013 // ... - ongoing debug release 00014 00015 // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE 00016 // DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF 00017 // YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING. 00018 00019 /* ============================================ 00020 I2Cdev device library code is placed under the MIT license 00021 Copyright (c) 2012 Jeff Rowberg 00022 00023 Permission is hereby granted, free of charge, to any person obtaining a copy 00024 of this software and associated documentation files (the "Software"), to deal 00025 in the Software without restriction, including without limitation the rights 00026 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00027 copies of the Software, and to permit persons to whom the Software is 00028 furnished to do so, subject to the following conditions: 00029 00030 The above copyright notice and this permission notice shall be included in 00031 all copies or substantial portions of the Software. 00032 00033 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00034 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00035 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00036 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00037 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00038 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00039 THE SOFTWARE. 00040 =============================================== 00041 */ 00042 00043 #ifndef _MPU6050_H_ 00044 #define _MPU6050_H_ 00045 00046 #include "I2Cdev.h" 00047 #include "helper_3dmath.h" 00048 00049 #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board 00050 #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) 00051 #define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW 00052 00053 #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD 00054 #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD 00055 #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD 00056 #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN 00057 #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN 00058 #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN 00059 #define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS 00060 #define MPU6050_RA_XA_OFFS_L_TC 0x07 00061 #define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS 00062 #define MPU6050_RA_YA_OFFS_L_TC 0x09 00063 #define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS 00064 #define MPU6050_RA_ZA_OFFS_L_TC 0x0B 00065 #define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR 00066 #define MPU6050_RA_XG_OFFS_USRL 0x14 00067 #define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR 00068 #define MPU6050_RA_YG_OFFS_USRL 0x16 00069 #define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR 00070 #define MPU6050_RA_ZG_OFFS_USRL 0x18 00071 #define MPU6050_RA_SMPLRT_DIV 0x19 00072 #define MPU6050_RA_CONFIG 0x1A 00073 #define MPU6050_RA_GYRO_CONFIG 0x1B 00074 #define MPU6050_RA_ACCEL_CONFIG 0x1C 00075 #define MPU6050_RA_FF_THR 0x1D 00076 #define MPU6050_RA_FF_DUR 0x1E 00077 #define MPU6050_RA_MOT_THR 0x1F 00078 #define MPU6050_RA_MOT_DUR 0x20 00079 #define MPU6050_RA_ZRMOT_THR 0x21 00080 #define MPU6050_RA_ZRMOT_DUR 0x22 00081 #define MPU6050_RA_FIFO_EN 0x23 00082 #define MPU6050_RA_I2C_MST_CTRL 0x24 00083 #define MPU6050_RA_I2C_SLV0_ADDR 0x25 00084 #define MPU6050_RA_I2C_SLV0_REG 0x26 00085 #define MPU6050_RA_I2C_SLV0_CTRL 0x27 00086 #define MPU6050_RA_I2C_SLV1_ADDR 0x28 00087 #define MPU6050_RA_I2C_SLV1_REG 0x29 00088 #define MPU6050_RA_I2C_SLV1_CTRL 0x2A 00089 #define MPU6050_RA_I2C_SLV2_ADDR 0x2B 00090 #define MPU6050_RA_I2C_SLV2_REG 0x2C 00091 #define MPU6050_RA_I2C_SLV2_CTRL 0x2D 00092 #define MPU6050_RA_I2C_SLV3_ADDR 0x2E 00093 #define MPU6050_RA_I2C_SLV3_REG 0x2F 00094 #define MPU6050_RA_I2C_SLV3_CTRL 0x30 00095 #define MPU6050_RA_I2C_SLV4_ADDR 0x31 00096 #define MPU6050_RA_I2C_SLV4_REG 0x32 00097 #define MPU6050_RA_I2C_SLV4_DO 0x33 00098 #define MPU6050_RA_I2C_SLV4_CTRL 0x34 00099 #define MPU6050_RA_I2C_SLV4_DI 0x35 00100 #define MPU6050_RA_I2C_MST_STATUS 0x36 00101 #define MPU6050_RA_INT_PIN_CFG 0x37 00102 #define MPU6050_RA_INT_ENABLE 0x38 00103 #define MPU6050_RA_DMP_INT_STATUS 0x39 00104 #define MPU6050_RA_INT_STATUS 0x3A 00105 #define MPU6050_RA_ACCEL_XOUT_H 0x3B 00106 #define MPU6050_RA_ACCEL_XOUT_L 0x3C 00107 #define MPU6050_RA_ACCEL_YOUT_H 0x3D 00108 #define MPU6050_RA_ACCEL_YOUT_L 0x3E 00109 #define MPU6050_RA_ACCEL_ZOUT_H 0x3F 00110 #define MPU6050_RA_ACCEL_ZOUT_L 0x40 00111 #define MPU6050_RA_TEMP_OUT_H 0x41 00112 #define MPU6050_RA_TEMP_OUT_L 0x42 00113 #define MPU6050_RA_GYRO_XOUT_H 0x43 00114 #define MPU6050_RA_GYRO_XOUT_L 0x44 00115 #define MPU6050_RA_GYRO_YOUT_H 0x45 00116 #define MPU6050_RA_GYRO_YOUT_L 0x46 00117 #define MPU6050_RA_GYRO_ZOUT_H 0x47 00118 #define MPU6050_RA_GYRO_ZOUT_L 0x48 00119 #define MPU6050_RA_EXT_SENS_DATA_00 0x49 00120 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A 00121 #define MPU6050_RA_EXT_SENS_DATA_02 0x4B 00122 #define MPU6050_RA_EXT_SENS_DATA_03 0x4C 00123 #define MPU6050_RA_EXT_SENS_DATA_04 0x4D 00124 #define MPU6050_RA_EXT_SENS_DATA_05 0x4E 00125 #define MPU6050_RA_EXT_SENS_DATA_06 0x4F 00126 #define MPU6050_RA_EXT_SENS_DATA_07 0x50 00127 #define MPU6050_RA_EXT_SENS_DATA_08 0x51 00128 #define MPU6050_RA_EXT_SENS_DATA_09 0x52 00129 #define MPU6050_RA_EXT_SENS_DATA_10 0x53 00130 #define MPU6050_RA_EXT_SENS_DATA_11 0x54 00131 #define MPU6050_RA_EXT_SENS_DATA_12 0x55 00132 #define MPU6050_RA_EXT_SENS_DATA_13 0x56 00133 #define MPU6050_RA_EXT_SENS_DATA_14 0x57 00134 #define MPU6050_RA_EXT_SENS_DATA_15 0x58 00135 #define MPU6050_RA_EXT_SENS_DATA_16 0x59 00136 #define MPU6050_RA_EXT_SENS_DATA_17 0x5A 00137 #define MPU6050_RA_EXT_SENS_DATA_18 0x5B 00138 #define MPU6050_RA_EXT_SENS_DATA_19 0x5C 00139 #define MPU6050_RA_EXT_SENS_DATA_20 0x5D 00140 #define MPU6050_RA_EXT_SENS_DATA_21 0x5E 00141 #define MPU6050_RA_EXT_SENS_DATA_22 0x5F 00142 #define MPU6050_RA_EXT_SENS_DATA_23 0x60 00143 #define MPU6050_RA_MOT_DETECT_STATUS 0x61 00144 #define MPU6050_RA_I2C_SLV0_DO 0x63 00145 #define MPU6050_RA_I2C_SLV1_DO 0x64 00146 #define MPU6050_RA_I2C_SLV2_DO 0x65 00147 #define MPU6050_RA_I2C_SLV3_DO 0x66 00148 #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 00149 #define MPU6050_RA_SIGNAL_PATH_RESET 0x68 00150 #define MPU6050_RA_MOT_DETECT_CTRL 0x69 00151 #define MPU6050_RA_USER_CTRL 0x6A 00152 #define MPU6050_RA_PWR_MGMT_1 0x6B 00153 #define MPU6050_RA_PWR_MGMT_2 0x6C 00154 #define MPU6050_RA_BANK_SEL 0x6D 00155 #define MPU6050_RA_MEM_START_ADDR 0x6E 00156 #define MPU6050_RA_MEM_R_W 0x6F 00157 #define MPU6050_RA_DMP_CFG_1 0x70 00158 #define MPU6050_RA_DMP_CFG_2 0x71 00159 #define MPU6050_RA_FIFO_COUNTH 0x72 00160 #define MPU6050_RA_FIFO_COUNTL 0x73 00161 #define MPU6050_RA_FIFO_R_W 0x74 00162 #define MPU6050_RA_WHO_AM_I 0x75 00163 00164 #define MPU6050_TC_PWR_MODE_BIT 7 00165 #define MPU6050_TC_OFFSET_BIT 6 00166 #define MPU6050_TC_OFFSET_LENGTH 6 00167 #define MPU6050_TC_OTP_BNK_VLD_BIT 0 00168 00169 #define MPU6050_VDDIO_LEVEL_VLOGIC 0 00170 #define MPU6050_VDDIO_LEVEL_VDD 1 00171 00172 #define MPU6050_CFG_EXT_SYNC_SET_BIT 5 00173 #define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3 00174 #define MPU6050_CFG_DLPF_CFG_BIT 2 00175 #define MPU6050_CFG_DLPF_CFG_LENGTH 3 00176 00177 #define MPU6050_EXT_SYNC_DISABLED 0x0 00178 #define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1 00179 #define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2 00180 #define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3 00181 #define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4 00182 #define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5 00183 #define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6 00184 #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7 00185 00186 #define MPU6050_DLPF_BW_256 0x00 00187 #define MPU6050_DLPF_BW_188 0x01 00188 #define MPU6050_DLPF_BW_98 0x02 00189 #define MPU6050_DLPF_BW_42 0x03 00190 #define MPU6050_DLPF_BW_20 0x04 00191 #define MPU6050_DLPF_BW_10 0x05 00192 #define MPU6050_DLPF_BW_5 0x06 00193 00194 #define MPU6050_GCONFIG_FS_SEL_BIT 4 00195 #define MPU6050_GCONFIG_FS_SEL_LENGTH 2 00196 00197 #define MPU6050_GYRO_FS_250 0x00 00198 #define MPU6050_GYRO_FS_500 0x01 00199 #define MPU6050_GYRO_FS_1000 0x02 00200 #define MPU6050_GYRO_FS_2000 0x03 00201 00202 #define MPU6050_ACONFIG_XA_ST_BIT 7 00203 #define MPU6050_ACONFIG_YA_ST_BIT 6 00204 #define MPU6050_ACONFIG_ZA_ST_BIT 5 00205 #define MPU6050_ACONFIG_AFS_SEL_BIT 4 00206 #define MPU6050_ACONFIG_AFS_SEL_LENGTH 2 00207 #define MPU6050_ACONFIG_ACCEL_HPF_BIT 2 00208 #define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3 00209 00210 #define MPU6050_ACCEL_FS_2 0x00 00211 #define MPU6050_ACCEL_FS_4 0x01 00212 #define MPU6050_ACCEL_FS_8 0x02 00213 #define MPU6050_ACCEL_FS_16 0x03 00214 00215 #define MPU6050_DHPF_RESET 0x00 00216 #define MPU6050_DHPF_5 0x01 00217 #define MPU6050_DHPF_2P5 0x02 00218 #define MPU6050_DHPF_1P25 0x03 00219 #define MPU6050_DHPF_0P63 0x04 00220 #define MPU6050_DHPF_HOLD 0x07 00221 00222 #define MPU6050_TEMP_FIFO_EN_BIT 7 00223 #define MPU6050_XG_FIFO_EN_BIT 6 00224 #define MPU6050_YG_FIFO_EN_BIT 5 00225 #define MPU6050_ZG_FIFO_EN_BIT 4 00226 #define MPU6050_ACCEL_FIFO_EN_BIT 3 00227 #define MPU6050_SLV2_FIFO_EN_BIT 2 00228 #define MPU6050_SLV1_FIFO_EN_BIT 1 00229 #define MPU6050_SLV0_FIFO_EN_BIT 0 00230 00231 #define MPU6050_MULT_MST_EN_BIT 7 00232 #define MPU6050_WAIT_FOR_ES_BIT 6 00233 #define MPU6050_SLV_3_FIFO_EN_BIT 5 00234 #define MPU6050_I2C_MST_P_NSR_BIT 4 00235 #define MPU6050_I2C_MST_CLK_BIT 3 00236 #define MPU6050_I2C_MST_CLK_LENGTH 4 00237 00238 #define MPU6050_CLOCK_DIV_348 0x0 00239 #define MPU6050_CLOCK_DIV_333 0x1 00240 #define MPU6050_CLOCK_DIV_320 0x2 00241 #define MPU6050_CLOCK_DIV_308 0x3 00242 #define MPU6050_CLOCK_DIV_296 0x4 00243 #define MPU6050_CLOCK_DIV_286 0x5 00244 #define MPU6050_CLOCK_DIV_276 0x6 00245 #define MPU6050_CLOCK_DIV_267 0x7 00246 #define MPU6050_CLOCK_DIV_258 0x8 00247 #define MPU6050_CLOCK_DIV_500 0x9 00248 #define MPU6050_CLOCK_DIV_471 0xA 00249 #define MPU6050_CLOCK_DIV_444 0xB 00250 #define MPU6050_CLOCK_DIV_421 0xC 00251 #define MPU6050_CLOCK_DIV_400 0xD 00252 #define MPU6050_CLOCK_DIV_381 0xE 00253 #define MPU6050_CLOCK_DIV_364 0xF 00254 00255 #define MPU6050_I2C_SLV_RW_BIT 7 00256 #define MPU6050_I2C_SLV_ADDR_BIT 6 00257 #define MPU6050_I2C_SLV_ADDR_LENGTH 7 00258 #define MPU6050_I2C_SLV_EN_BIT 7 00259 #define MPU6050_I2C_SLV_BYTE_SW_BIT 6 00260 #define MPU6050_I2C_SLV_REG_DIS_BIT 5 00261 #define MPU6050_I2C_SLV_GRP_BIT 4 00262 #define MPU6050_I2C_SLV_LEN_BIT 3 00263 #define MPU6050_I2C_SLV_LEN_LENGTH 4 00264 00265 #define MPU6050_I2C_SLV4_RW_BIT 7 00266 #define MPU6050_I2C_SLV4_ADDR_BIT 6 00267 #define MPU6050_I2C_SLV4_ADDR_LENGTH 7 00268 #define MPU6050_I2C_SLV4_EN_BIT 7 00269 #define MPU6050_I2C_SLV4_INT_EN_BIT 6 00270 #define MPU6050_I2C_SLV4_REG_DIS_BIT 5 00271 #define MPU6050_I2C_SLV4_MST_DLY_BIT 4 00272 #define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5 00273 00274 #define MPU6050_MST_PASS_THROUGH_BIT 7 00275 #define MPU6050_MST_I2C_SLV4_DONE_BIT 6 00276 #define MPU6050_MST_I2C_LOST_ARB_BIT 5 00277 #define MPU6050_MST_I2C_SLV4_NACK_BIT 4 00278 #define MPU6050_MST_I2C_SLV3_NACK_BIT 3 00279 #define MPU6050_MST_I2C_SLV2_NACK_BIT 2 00280 #define MPU6050_MST_I2C_SLV1_NACK_BIT 1 00281 #define MPU6050_MST_I2C_SLV0_NACK_BIT 0 00282 00283 #define MPU6050_INTCFG_INT_LEVEL_BIT 7 00284 #define MPU6050_INTCFG_INT_OPEN_BIT 6 00285 #define MPU6050_INTCFG_LATCH_INT_EN_BIT 5 00286 #define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4 00287 #define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3 00288 #define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2 00289 #define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1 00290 #define MPU6050_INTCFG_CLKOUT_EN_BIT 0 00291 00292 #define MPU6050_INTMODE_ACTIVEHIGH 0x00 00293 #define MPU6050_INTMODE_ACTIVELOW 0x01 00294 00295 #define MPU6050_INTDRV_PUSHPULL 0x00 00296 #define MPU6050_INTDRV_OPENDRAIN 0x01 00297 00298 #define MPU6050_INTLATCH_50USPULSE 0x00 00299 #define MPU6050_INTLATCH_WAITCLEAR 0x01 00300 00301 #define MPU6050_INTCLEAR_STATUSREAD 0x00 00302 #define MPU6050_INTCLEAR_ANYREAD 0x01 00303 00304 #define MPU6050_INTERRUPT_FF_BIT 7 00305 #define MPU6050_INTERRUPT_MOT_BIT 6 00306 #define MPU6050_INTERRUPT_ZMOT_BIT 5 00307 #define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4 00308 #define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3 00309 #define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2 00310 #define MPU6050_INTERRUPT_DMP_INT_BIT 1 00311 #define MPU6050_INTERRUPT_DATA_RDY_BIT 0 00312 00313 // TODO: figure out what these actually do 00314 // UMPL source code is not very obivous 00315 #define MPU6050_DMPINT_5_BIT 5 00316 #define MPU6050_DMPINT_4_BIT 4 00317 #define MPU6050_DMPINT_3_BIT 3 00318 #define MPU6050_DMPINT_2_BIT 2 00319 #define MPU6050_DMPINT_1_BIT 1 00320 #define MPU6050_DMPINT_0_BIT 0 00321 00322 #define MPU6050_MOTION_MOT_XNEG_BIT 7 00323 #define MPU6050_MOTION_MOT_XPOS_BIT 6 00324 #define MPU6050_MOTION_MOT_YNEG_BIT 5 00325 #define MPU6050_MOTION_MOT_YPOS_BIT 4 00326 #define MPU6050_MOTION_MOT_ZNEG_BIT 3 00327 #define MPU6050_MOTION_MOT_ZPOS_BIT 2 00328 #define MPU6050_MOTION_MOT_ZRMOT_BIT 0 00329 00330 #define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7 00331 #define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4 00332 #define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3 00333 #define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2 00334 #define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1 00335 #define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0 00336 00337 #define MPU6050_PATHRESET_GYRO_RESET_BIT 2 00338 #define MPU6050_PATHRESET_ACCEL_RESET_BIT 1 00339 #define MPU6050_PATHRESET_TEMP_RESET_BIT 0 00340 00341 #define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5 00342 #define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2 00343 #define MPU6050_DETECT_FF_COUNT_BIT 3 00344 #define MPU6050_DETECT_FF_COUNT_LENGTH 2 00345 #define MPU6050_DETECT_MOT_COUNT_BIT 1 00346 #define MPU6050_DETECT_MOT_COUNT_LENGTH 2 00347 00348 #define MPU6050_DETECT_DECREMENT_RESET 0x0 00349 #define MPU6050_DETECT_DECREMENT_1 0x1 00350 #define MPU6050_DETECT_DECREMENT_2 0x2 00351 #define MPU6050_DETECT_DECREMENT_4 0x3 00352 00353 #define MPU6050_USERCTRL_DMP_EN_BIT 7 00354 #define MPU6050_USERCTRL_FIFO_EN_BIT 6 00355 #define MPU6050_USERCTRL_I2C_MST_EN_BIT 5 00356 #define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4 00357 #define MPU6050_USERCTRL_DMP_RESET_BIT 3 00358 #define MPU6050_USERCTRL_FIFO_RESET_BIT 2 00359 #define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1 00360 #define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0 00361 00362 #define MPU6050_PWR1_DEVICE_RESET_BIT 7 00363 #define MPU6050_PWR1_SLEEP_BIT 6 00364 #define MPU6050_PWR1_CYCLE_BIT 5 00365 #define MPU6050_PWR1_TEMP_DIS_BIT 3 00366 #define MPU6050_PWR1_CLKSEL_BIT 2 00367 #define MPU6050_PWR1_CLKSEL_LENGTH 3 00368 00369 #define MPU6050_CLOCK_INTERNAL 0x00 00370 #define MPU6050_CLOCK_PLL_XGYRO 0x01 00371 #define MPU6050_CLOCK_PLL_YGYRO 0x02 00372 #define MPU6050_CLOCK_PLL_ZGYRO 0x03 00373 #define MPU6050_CLOCK_PLL_EXT32K 0x04 00374 #define MPU6050_CLOCK_PLL_EXT19M 0x05 00375 #define MPU6050_CLOCK_KEEP_RESET 0x07 00376 00377 #define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7 00378 #define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2 00379 #define MPU6050_PWR2_STBY_XA_BIT 5 00380 #define MPU6050_PWR2_STBY_YA_BIT 4 00381 #define MPU6050_PWR2_STBY_ZA_BIT 3 00382 #define MPU6050_PWR2_STBY_XG_BIT 2 00383 #define MPU6050_PWR2_STBY_YG_BIT 1 00384 #define MPU6050_PWR2_STBY_ZG_BIT 0 00385 00386 #define MPU6050_WAKE_FREQ_1P25 0x0 00387 #define MPU6050_WAKE_FREQ_2P5 0x1 00388 #define MPU6050_WAKE_FREQ_5 0x2 00389 #define MPU6050_WAKE_FREQ_10 0x3 00390 00391 #define MPU6050_BANKSEL_PRFTCH_EN_BIT 6 00392 #define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5 00393 #define MPU6050_BANKSEL_MEM_SEL_BIT 4 00394 #define MPU6050_BANKSEL_MEM_SEL_LENGTH 5 00395 00396 #define MPU6050_WHO_AM_I_BIT 6 00397 #define MPU6050_WHO_AM_I_LENGTH 6 00398 00399 #define MPU6050_DMP_MEMORY_BANKS 8 00400 #define MPU6050_DMP_MEMORY_BANK_SIZE 256 00401 #define MPU6050_DMP_MEMORY_CHUNK_SIZE 16 00402 00403 // note: DMP code memory blocks defined at end of header file 00404 00405 class MPU6050 { 00406 private: 00407 I2Cdev i2Cdev; 00408 Serial debugSerial; 00409 bool sampling; // flag to indicate whether sampling ticker is running 00410 00411 public: 00412 MPU6050(); 00413 MPU6050(MODI2C i2c); 00414 MPU6050(uint8_t address); 00415 00416 void mpu_sample_func(); 00417 volatile int16_t ax_cache, ay_cache, az_cache, gx_cache, gy_cache, gz_cache; 00418 00419 Ticker mpu_sampling; 00420 char mpu_cmd; 00421 uint8_t mpu_buffer[14]; 00422 00423 void start_sampling(); 00424 00425 void initialize(); 00426 bool testConnection(); 00427 00428 // AUX_VDDIO register 00429 uint8_t getAuxVDDIOLevel(); 00430 void setAuxVDDIOLevel(uint8_t level); 00431 00432 // SMPLRT_DIV register 00433 uint8_t getRate(); 00434 void setRate(uint8_t rate); 00435 00436 // turn sampling on or off 00437 void sample(bool sampling); 00438 00439 // CONFIG register 00440 uint8_t getExternalFrameSync(); 00441 void setExternalFrameSync(uint8_t sync); 00442 uint8_t getDLPFMode(); 00443 void setDLPFMode(uint8_t bandwidth); 00444 00445 // GYRO_CONFIG register 00446 uint8_t getFullScaleGyroRange(); 00447 void setFullScaleGyroRange(uint8_t range); 00448 00449 // ACCEL_CONFIG register 00450 bool getAccelXSelfTest(); 00451 void setAccelXSelfTest(bool enabled); 00452 bool getAccelYSelfTest(); 00453 void setAccelYSelfTest(bool enabled); 00454 bool getAccelZSelfTest(); 00455 void setAccelZSelfTest(bool enabled); 00456 uint8_t getFullScaleAccelRange(); 00457 void setFullScaleAccelRange(uint8_t range); 00458 uint8_t getDHPFMode(); 00459 void setDHPFMode(uint8_t mode); 00460 00461 // FF_THR register 00462 uint8_t getFreefallDetectionThreshold(); 00463 void setFreefallDetectionThreshold(uint8_t threshold); 00464 00465 // FF_DUR register 00466 uint8_t getFreefallDetectionDuration(); 00467 void setFreefallDetectionDuration(uint8_t duration); 00468 00469 // MOT_THR register 00470 uint8_t getMotionDetectionThreshold(); 00471 void setMotionDetectionThreshold(uint8_t threshold); 00472 00473 // MOT_DUR register 00474 uint8_t getMotionDetectionDuration(); 00475 void setMotionDetectionDuration(uint8_t duration); 00476 00477 // ZRMOT_THR register 00478 uint8_t getZeroMotionDetectionThreshold(); 00479 void setZeroMotionDetectionThreshold(uint8_t threshold); 00480 00481 // ZRMOT_DUR register 00482 uint8_t getZeroMotionDetectionDuration(); 00483 void setZeroMotionDetectionDuration(uint8_t duration); 00484 00485 // FIFO_EN register 00486 bool getTempFIFOEnabled(); 00487 void setTempFIFOEnabled(bool enabled); 00488 bool getXGyroFIFOEnabled(); 00489 void setXGyroFIFOEnabled(bool enabled); 00490 bool getYGyroFIFOEnabled(); 00491 void setYGyroFIFOEnabled(bool enabled); 00492 bool getZGyroFIFOEnabled(); 00493 void setZGyroFIFOEnabled(bool enabled); 00494 bool getAccelFIFOEnabled(); 00495 void setAccelFIFOEnabled(bool enabled); 00496 bool getSlave2FIFOEnabled(); 00497 void setSlave2FIFOEnabled(bool enabled); 00498 bool getSlave1FIFOEnabled(); 00499 void setSlave1FIFOEnabled(bool enabled); 00500 bool getSlave0FIFOEnabled(); 00501 void setSlave0FIFOEnabled(bool enabled); 00502 00503 // I2C_MST_CTRL register 00504 bool getMultiMasterEnabled(); 00505 void setMultiMasterEnabled(bool enabled); 00506 bool getWaitForExternalSensorEnabled(); 00507 void setWaitForExternalSensorEnabled(bool enabled); 00508 bool getSlave3FIFOEnabled(); 00509 void setSlave3FIFOEnabled(bool enabled); 00510 bool getSlaveReadWriteTransitionEnabled(); 00511 void setSlaveReadWriteTransitionEnabled(bool enabled); 00512 uint8_t getMasterClockSpeed(); 00513 void setMasterClockSpeed(uint8_t speed); 00514 00515 // I2C_SLV* registers (Slave 0-3) 00516 uint8_t getSlaveAddress(uint8_t num); 00517 void setSlaveAddress(uint8_t num, uint8_t address); 00518 uint8_t getSlaveRegister(uint8_t num); 00519 void setSlaveRegister(uint8_t num, uint8_t reg); 00520 bool getSlaveEnabled(uint8_t num); 00521 void setSlaveEnabled(uint8_t num, bool enabled); 00522 bool getSlaveWordByteSwap(uint8_t num); 00523 void setSlaveWordByteSwap(uint8_t num, bool enabled); 00524 bool getSlaveWriteMode(uint8_t num); 00525 void setSlaveWriteMode(uint8_t num, bool mode); 00526 bool getSlaveWordGroupOffset(uint8_t num); 00527 void setSlaveWordGroupOffset(uint8_t num, bool enabled); 00528 uint8_t getSlaveDataLength(uint8_t num); 00529 void setSlaveDataLength(uint8_t num, uint8_t length); 00530 00531 // I2C_SLV* registers (Slave 4) 00532 uint8_t getSlave4Address(); 00533 void setSlave4Address(uint8_t address); 00534 uint8_t getSlave4Register(); 00535 void setSlave4Register(uint8_t reg); 00536 void setSlave4OutputByte(uint8_t data); 00537 bool getSlave4Enabled(); 00538 void setSlave4Enabled(bool enabled); 00539 bool getSlave4InterruptEnabled(); 00540 void setSlave4InterruptEnabled(bool enabled); 00541 bool getSlave4WriteMode(); 00542 void setSlave4WriteMode(bool mode); 00543 uint8_t getSlave4MasterDelay(); 00544 void setSlave4MasterDelay(uint8_t delay); 00545 uint8_t getSlate4InputByte(); 00546 00547 // I2C_MST_STATUS register 00548 bool getPassthroughStatus(); 00549 bool getSlave4IsDone(); 00550 bool getLostArbitration(); 00551 bool getSlave4Nack(); 00552 bool getSlave3Nack(); 00553 bool getSlave2Nack(); 00554 bool getSlave1Nack(); 00555 bool getSlave0Nack(); 00556 00557 // INT_PIN_CFG register 00558 bool getInterruptMode(); 00559 void setInterruptMode(bool mode); 00560 bool getInterruptDrive(); 00561 void setInterruptDrive(bool drive); 00562 bool getInterruptLatch(); 00563 void setInterruptLatch(bool latch); 00564 bool getInterruptLatchClear(); 00565 void setInterruptLatchClear(bool clear); 00566 bool getFSyncInterruptLevel(); 00567 void setFSyncInterruptLevel(bool level); 00568 bool getFSyncInterruptEnabled(); 00569 void setFSyncInterruptEnabled(bool enabled); 00570 bool getI2CBypassEnabled(); 00571 void setI2CBypassEnabled(bool enabled); 00572 bool getClockOutputEnabled(); 00573 void setClockOutputEnabled(bool enabled); 00574 00575 // INT_ENABLE register 00576 uint8_t getIntEnabled(); 00577 void setIntEnabled(uint8_t enabled); 00578 bool getIntFreefallEnabled(); 00579 void setIntFreefallEnabled(bool enabled); 00580 bool getIntMotionEnabled(); 00581 void setIntMotionEnabled(bool enabled); 00582 bool getIntZeroMotionEnabled(); 00583 void setIntZeroMotionEnabled(bool enabled); 00584 bool getIntFIFOBufferOverflowEnabled(); 00585 void setIntFIFOBufferOverflowEnabled(bool enabled); 00586 bool getIntI2CMasterEnabled(); 00587 void setIntI2CMasterEnabled(bool enabled); 00588 bool getIntDataReadyEnabled(); 00589 void setIntDataReadyEnabled(bool enabled); 00590 00591 // INT_STATUS register 00592 uint8_t getIntStatus(); 00593 bool getIntFreefallStatus(); 00594 bool getIntMotionStatus(); 00595 bool getIntZeroMotionStatus(); 00596 bool getIntFIFOBufferOverflowStatus(); 00597 bool getIntI2CMasterStatus(); 00598 bool getIntDataReadyStatus(); 00599 00600 // ACCEL_*OUT_* registers 00601 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); 00602 void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz); 00603 void getAcceleration(int16_t* x, int16_t* y, int16_t* z); 00604 int16_t getAccelerationX(); 00605 int16_t getAccelerationY(); 00606 int16_t getAccelerationZ(); 00607 00608 // TEMP_OUT_* registers 00609 int16_t getTemperature(); 00610 00611 // GYRO_*OUT_* registers 00612 void getRotation(int16_t* x, int16_t* y, int16_t* z); 00613 int16_t getRotationX(); 00614 int16_t getRotationY(); 00615 int16_t getRotationZ(); 00616 00617 // EXT_SENS_DATA_* registers 00618 uint8_t getExternalSensorByte(int position); 00619 uint16_t getExternalSensorWord(int position); 00620 uint32_t getExternalSensorDWord(int position); 00621 00622 // MOT_DETECT_STATUS register 00623 bool getXNegMotionDetected(); 00624 bool getXPosMotionDetected(); 00625 bool getYNegMotionDetected(); 00626 bool getYPosMotionDetected(); 00627 bool getZNegMotionDetected(); 00628 bool getZPosMotionDetected(); 00629 bool getZeroMotionDetected(); 00630 00631 // I2C_SLV*_DO register 00632 void setSlaveOutputByte(uint8_t num, uint8_t data); 00633 00634 // I2C_MST_DELAY_CTRL register 00635 bool getExternalShadowDelayEnabled(); 00636 void setExternalShadowDelayEnabled(bool enabled); 00637 bool getSlaveDelayEnabled(uint8_t num); 00638 void setSlaveDelayEnabled(uint8_t num, bool enabled); 00639 00640 // SIGNAL_PATH_RESET register 00641 void resetGyroscopePath(); 00642 void resetAccelerometerPath(); 00643 void resetTemperaturePath(); 00644 00645 // MOT_DETECT_CTRL register 00646 uint8_t getAccelerometerPowerOnDelay(); 00647 void setAccelerometerPowerOnDelay(uint8_t delay); 00648 uint8_t getFreefallDetectionCounterDecrement(); 00649 void setFreefallDetectionCounterDecrement(uint8_t decrement); 00650 uint8_t getMotionDetectionCounterDecrement(); 00651 void setMotionDetectionCounterDecrement(uint8_t decrement); 00652 00653 // USER_CTRL register 00654 bool getFIFOEnabled(); 00655 void setFIFOEnabled(bool enabled); 00656 bool getI2CMasterModeEnabled(); 00657 void setI2CMasterModeEnabled(bool enabled); 00658 void switchSPIEnabled(bool enabled); 00659 void resetFIFO(); 00660 void resetI2CMaster(); 00661 void resetSensors(); 00662 00663 // PWR_MGMT_1 register 00664 void reset(); 00665 bool getSleepEnabled(); 00666 void setSleepEnabled(bool enabled); 00667 bool getWakeCycleEnabled(); 00668 void setWakeCycleEnabled(bool enabled); 00669 bool getTempSensorEnabled(); 00670 void setTempSensorEnabled(bool enabled); 00671 uint8_t getClockSource(); 00672 void setClockSource(uint8_t source); 00673 00674 // PWR_MGMT_2 register 00675 uint8_t getWakeFrequency(); 00676 void setWakeFrequency(uint8_t frequency); 00677 bool getStandbyXAccelEnabled(); 00678 void setStandbyXAccelEnabled(bool enabled); 00679 bool getStandbyYAccelEnabled(); 00680 void setStandbyYAccelEnabled(bool enabled); 00681 bool getStandbyZAccelEnabled(); 00682 void setStandbyZAccelEnabled(bool enabled); 00683 bool getStandbyXGyroEnabled(); 00684 void setStandbyXGyroEnabled(bool enabled); 00685 bool getStandbyYGyroEnabled(); 00686 void setStandbyYGyroEnabled(bool enabled); 00687 bool getStandbyZGyroEnabled(); 00688 void setStandbyZGyroEnabled(bool enabled); 00689 00690 // FIFO_COUNT_* registers 00691 uint16_t getFIFOCount(); 00692 00693 // FIFO_R_W register 00694 uint8_t getFIFOByte(); 00695 void setFIFOByte(uint8_t data); 00696 void getFIFOBytes(uint8_t *data, uint8_t length); 00697 00698 // WHO_AM_I register 00699 uint8_t getDeviceID(); 00700 void setDeviceID(uint8_t id); 00701 00702 // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ======== 00703 00704 // XG_OFFS_TC register 00705 uint8_t getOTPBankValid(); 00706 void setOTPBankValid(bool enabled); 00707 int8_t getXGyroOffset(); 00708 void setXGyroOffset(int8_t offset); 00709 00710 // YG_OFFS_TC register 00711 int8_t getYGyroOffset(); 00712 void setYGyroOffset(int8_t offset); 00713 00714 // ZG_OFFS_TC register 00715 int8_t getZGyroOffset(); 00716 void setZGyroOffset(int8_t offset); 00717 00718 // X_FINE_GAIN register 00719 int8_t getXFineGain(); 00720 void setXFineGain(int8_t gain); 00721 00722 // Y_FINE_GAIN register 00723 int8_t getYFineGain(); 00724 void setYFineGain(int8_t gain); 00725 00726 // Z_FINE_GAIN register 00727 int8_t getZFineGain(); 00728 void setZFineGain(int8_t gain); 00729 00730 // XA_OFFS_* registers 00731 int16_t getXAccelOffset(); 00732 void setXAccelOffset(int16_t offset); 00733 00734 // YA_OFFS_* register 00735 int16_t getYAccelOffset(); 00736 void setYAccelOffset(int16_t offset); 00737 00738 // ZA_OFFS_* register 00739 int16_t getZAccelOffset(); 00740 void setZAccelOffset(int16_t offset); 00741 00742 // XG_OFFS_USR* registers 00743 int16_t getXGyroOffsetUser(); 00744 void setXGyroOffsetUser(int16_t offset); 00745 00746 // YG_OFFS_USR* register 00747 int16_t getYGyroOffsetUser(); 00748 void setYGyroOffsetUser(int16_t offset); 00749 00750 // ZG_OFFS_USR* register 00751 int16_t getZGyroOffsetUser(); 00752 void setZGyroOffsetUser(int16_t offset); 00753 00754 // INT_ENABLE register (DMP functions) 00755 bool getIntPLLReadyEnabled(); 00756 void setIntPLLReadyEnabled(bool enabled); 00757 bool getIntDMPEnabled(); 00758 void setIntDMPEnabled(bool enabled); 00759 00760 // DMP_INT_STATUS 00761 bool getDMPInt5Status(); 00762 bool getDMPInt4Status(); 00763 bool getDMPInt3Status(); 00764 bool getDMPInt2Status(); 00765 bool getDMPInt1Status(); 00766 bool getDMPInt0Status(); 00767 00768 // INT_STATUS register (DMP functions) 00769 bool getIntPLLReadyStatus(); 00770 bool getIntDMPStatus(); 00771 00772 // USER_CTRL register (DMP functions) 00773 bool getDMPEnabled(); 00774 void setDMPEnabled(bool enabled); 00775 void resetDMP(); 00776 00777 // BANK_SEL register 00778 void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false); 00779 00780 // MEM_START_ADDR register 00781 void setMemoryStartAddress(uint8_t address); 00782 00783 // MEM_R_W register 00784 uint8_t readMemoryByte(); 00785 void writeMemoryByte(uint8_t data); 00786 void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0); 00787 bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false); 00788 bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true); 00789 00790 bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false); 00791 bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize); 00792 00793 // DMP_CFG_1 register 00794 uint8_t getDMPConfig1(); 00795 void setDMPConfig1(uint8_t config); 00796 00797 // DMP_CFG_2 register 00798 uint8_t getDMPConfig2(); 00799 void setDMPConfig2(uint8_t config); 00800 00801 // special methods for MotionApps 2.0 implementation 00802 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20 00803 uint8_t *dmpPacketBuffer; 00804 uint16_t dmpPacketSize; 00805 00806 uint8_t dmpInitialize(); 00807 bool dmpPacketAvailable(); 00808 00809 uint8_t dmpSetFIFORate(uint8_t fifoRate); 00810 uint8_t dmpGetFIFORate(); 00811 uint8_t dmpGetSampleStepSizeMS(); 00812 uint8_t dmpGetSampleFrequency(); 00813 int32_t dmpDecodeTemperature(int8_t tempReg); 00814 00815 // Register callbacks after a packet of FIFO data is processed 00816 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); 00817 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); 00818 uint8_t dmpRunFIFORateProcesses(); 00819 00820 // Setup FIFO for various output 00821 uint8_t dmpSendQuaternion(uint_fast16_t accuracy); 00822 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); 00823 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00824 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00825 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); 00826 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); 00827 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00828 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00829 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); 00830 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); 00831 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00832 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); 00833 00834 // Get Fixed Point data from FIFO 00835 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); 00836 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); 00837 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); 00838 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); 00839 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); 00840 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); 00841 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); 00842 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); 00843 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); 00844 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); 00845 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); 00846 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); 00847 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); 00848 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); 00849 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); 00850 uint8_t dmpSetLinearAccelFilterCoefficient(float coef); 00851 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); 00852 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); 00853 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); 00854 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); 00855 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); 00856 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); 00857 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); 00858 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); 00859 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); 00860 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); 00861 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); 00862 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); 00863 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); 00864 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); 00865 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); 00866 uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); 00867 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); 00868 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); 00869 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); 00870 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); 00871 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); 00872 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); 00873 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00874 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); 00875 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); 00876 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00877 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); 00878 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); 00879 00880 uint8_t dmpGetEuler(float *data, Quaternion *q); 00881 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); 00882 00883 // Get Floating Point data from FIFO 00884 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); 00885 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); 00886 00887 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); 00888 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); 00889 00890 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); 00891 00892 uint8_t dmpInitFIFOParam(); 00893 uint8_t dmpCloseFIFO(); 00894 uint8_t dmpSetGyroDataSource(uint8_t source); 00895 uint8_t dmpDecodeQuantizedAccel(); 00896 uint32_t dmpGetGyroSumOfSquare(); 00897 uint32_t dmpGetAccelSumOfSquare(); 00898 void dmpOverrideQuaternion(long *q); 00899 uint16_t dmpGetFIFOPacketSize(); 00900 #endif 00901 00902 // special methods for MotionApps 4.1 implementation 00903 #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41 00904 uint8_t *dmpPacketBuffer; 00905 uint16_t dmpPacketSize; 00906 00907 uint8_t dmpInitialize(); 00908 bool dmpPacketAvailable(); 00909 00910 uint8_t dmpSetFIFORate(uint8_t fifoRate); 00911 uint8_t dmpGetFIFORate(); 00912 uint8_t dmpGetSampleStepSizeMS(); 00913 uint8_t dmpGetSampleFrequency(); 00914 int32_t dmpDecodeTemperature(int8_t tempReg); 00915 00916 // Register callbacks after a packet of FIFO data is processed 00917 //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); 00918 //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); 00919 uint8_t dmpRunFIFORateProcesses(); 00920 00921 // Setup FIFO for various output 00922 uint8_t dmpSendQuaternion(uint_fast16_t accuracy); 00923 uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); 00924 uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00925 uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00926 uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); 00927 uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); 00928 uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00929 uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); 00930 uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); 00931 uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); 00932 uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); 00933 uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); 00934 00935 // Get Fixed Point data from FIFO 00936 uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); 00937 uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); 00938 uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); 00939 uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); 00940 uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); 00941 uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); 00942 uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); 00943 uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); 00944 uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); 00945 uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); 00946 uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); 00947 uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); 00948 uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); 00949 uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); 00950 uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); 00951 uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0); 00952 uint8_t dmpSetLinearAccelFilterCoefficient(float coef); 00953 uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); 00954 uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); 00955 uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); 00956 uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); 00957 uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); 00958 uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); 00959 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); 00960 uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); 00961 uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); 00962 uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); 00963 uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); 00964 uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); 00965 uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); 00966 uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); 00967 uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); 00968 uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); 00969 uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); 00970 uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); 00971 uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); 00972 uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); 00973 uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); 00974 uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); 00975 uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00976 uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); 00977 uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); 00978 uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); 00979 uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); 00980 uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); 00981 00982 uint8_t dmpGetEuler(float *data, Quaternion *q); 00983 uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); 00984 00985 // Get Floating Point data from FIFO 00986 uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); 00987 uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); 00988 00989 uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); 00990 uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); 00991 00992 uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); 00993 00994 uint8_t dmpInitFIFOParam(); 00995 uint8_t dmpCloseFIFO(); 00996 uint8_t dmpSetGyroDataSource(uint8_t source); 00997 uint8_t dmpDecodeQuantizedAccel(); 00998 uint32_t dmpGetGyroSumOfSquare(); 00999 uint32_t dmpGetAccelSumOfSquare(); 01000 void dmpOverrideQuaternion(long *q); 01001 uint16_t dmpGetFIFOPacketSize(); 01002 #endif 01003 01004 private: 01005 uint8_t devAddr; 01006 uint8_t buffer[14]; 01007 }; 01008 01009 #endif /* _MPU6050_H_ */
Generated on Sat Jul 16 2022 02:18:11 by
1.7.2