Yihui Xiong / Mbed 2 deprecated Seeed_nRF51822_Motion

initial

Dependencies:   mbed

eMPL_MPU/inv_mpu.h@1:9d3b497333c0, 2016-01-11 (annotated)

Committer:
yihui
Date:
Mon Jan 11 02:49:25 2016 +0000
Revision:
1:9d3b497333c0
Parent:
0:638edba3adf6 
use mbed lib

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yihui 0:638edba3adf6 1 /*
yihui 0:638edba3adf6 2 $License:
yihui 0:638edba3adf6 3 Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
yihui 0:638edba3adf6 4 See included License.txt for License information.
yihui 0:638edba3adf6 5 $
yihui 0:638edba3adf6 6 */
yihui 0:638edba3adf6 7 /**
yihui 0:638edba3adf6 8 * @addtogroup DRIVERS Sensor Driver Layer
yihui 0:638edba3adf6 9 * @brief Hardware drivers to communicate with sensors via I2C.
yihui 0:638edba3adf6 10 *
yihui 0:638edba3adf6 11 * @{
yihui 0:638edba3adf6 12 * @file inv_mpu.h
yihui 0:638edba3adf6 13 * @brief An I2C-based driver for Invensense gyroscopes.
yihui 0:638edba3adf6 14 * @details This driver currently works for the following devices:
yihui 0:638edba3adf6 15 * MPU6050
yihui 0:638edba3adf6 16 * MPU6500
yihui 0:638edba3adf6 17 * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
yihui 0:638edba3adf6 18 * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
yihui 0:638edba3adf6 19 */
yihui 0:638edba3adf6 20
yihui 0:638edba3adf6 21 #ifndef _INV_MPU_H_
yihui 0:638edba3adf6 22 #define _INV_MPU_H_
yihui 0:638edba3adf6 23
yihui 0:638edba3adf6 24 #ifdef __cplusplus
yihui 0:638edba3adf6 25 extern "C" {
yihui 0:638edba3adf6 26 #endif
yihui 0:638edba3adf6 27
yihui 0:638edba3adf6 28 #define INV_X_GYRO (0x40)
yihui 0:638edba3adf6 29 #define INV_Y_GYRO (0x20)
yihui 0:638edba3adf6 30 #define INV_Z_GYRO (0x10)
yihui 0:638edba3adf6 31 #define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
yihui 0:638edba3adf6 32 #define INV_XYZ_ACCEL (0x08)
yihui 0:638edba3adf6 33 #define INV_XYZ_COMPASS (0x01)
yihui 0:638edba3adf6 34
yihui 0:638edba3adf6 35 struct int_param_s {
yihui 0:638edba3adf6 36 #if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430
yihui 0:638edba3adf6 37 void (*cb)(void);
yihui 0:638edba3adf6 38 unsigned short pin;
yihui 0:638edba3adf6 39 unsigned char lp_exit;
yihui 0:638edba3adf6 40 unsigned char active_low;
yihui 0:638edba3adf6 41 #elif defined EMPL_TARGET_UC3L0
yihui 0:638edba3adf6 42 unsigned long pin;
yihui 0:638edba3adf6 43 void (*cb)(volatile void*);
yihui 0:638edba3adf6 44 void *arg;
yihui 0:638edba3adf6 45 #endif
yihui 0:638edba3adf6 46 };
yihui 0:638edba3adf6 47
yihui 0:638edba3adf6 48 #define MPU_INT_STATUS_DATA_READY (0x0001)
yihui 0:638edba3adf6 49 #define MPU_INT_STATUS_DMP (0x0002)
yihui 0:638edba3adf6 50 #define MPU_INT_STATUS_PLL_READY (0x0004)
yihui 0:638edba3adf6 51 #define MPU_INT_STATUS_I2C_MST (0x0008)
yihui 0:638edba3adf6 52 #define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010)
yihui 0:638edba3adf6 53 #define MPU_INT_STATUS_ZMOT (0x0020)
yihui 0:638edba3adf6 54 #define MPU_INT_STATUS_MOT (0x0040)
yihui 0:638edba3adf6 55 #define MPU_INT_STATUS_FREE_FALL (0x0080)
yihui 0:638edba3adf6 56 #define MPU_INT_STATUS_DMP_0 (0x0100)
yihui 0:638edba3adf6 57 #define MPU_INT_STATUS_DMP_1 (0x0200)
yihui 0:638edba3adf6 58 #define MPU_INT_STATUS_DMP_2 (0x0400)
yihui 0:638edba3adf6 59 #define MPU_INT_STATUS_DMP_3 (0x0800)
yihui 0:638edba3adf6 60 #define MPU_INT_STATUS_DMP_4 (0x1000)
yihui 0:638edba3adf6 61 #define MPU_INT_STATUS_DMP_5 (0x2000)
yihui 0:638edba3adf6 62
yihui 0:638edba3adf6 63 /* Set up APIs */
yihui 0:638edba3adf6 64 int mpu_init(struct int_param_s *int_param);
yihui 0:638edba3adf6 65 int mpu_init_slave(void);
yihui 0:638edba3adf6 66 int mpu_set_bypass(unsigned char bypass_on);
yihui 0:638edba3adf6 67
yihui 0:638edba3adf6 68 /* Configuration APIs */
yihui 0:638edba3adf6 69 int mpu_lp_accel_mode(unsigned char rate);
yihui 0:638edba3adf6 70 int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
yihui 0:638edba3adf6 71 unsigned char lpa_freq);
yihui 0:638edba3adf6 72 int mpu_set_int_level(unsigned char active_low);
yihui 0:638edba3adf6 73 int mpu_set_int_latched(unsigned char enable);
yihui 0:638edba3adf6 74
yihui 0:638edba3adf6 75 int mpu_set_dmp_state(unsigned char enable);
yihui 0:638edba3adf6 76 int mpu_get_dmp_state(unsigned char *enabled);
yihui 0:638edba3adf6 77
yihui 0:638edba3adf6 78 int mpu_get_lpf(unsigned short *lpf);
yihui 0:638edba3adf6 79 int mpu_set_lpf(unsigned short lpf);
yihui 0:638edba3adf6 80
yihui 0:638edba3adf6 81 int mpu_get_gyro_fsr(unsigned short *fsr);
yihui 0:638edba3adf6 82 int mpu_set_gyro_fsr(unsigned short fsr);
yihui 0:638edba3adf6 83
yihui 0:638edba3adf6 84 int mpu_get_accel_fsr(unsigned char *fsr);
yihui 0:638edba3adf6 85 int mpu_set_accel_fsr(unsigned char fsr);
yihui 0:638edba3adf6 86
yihui 0:638edba3adf6 87 int mpu_get_compass_fsr(unsigned short *fsr);
yihui 0:638edba3adf6 88
yihui 0:638edba3adf6 89 int mpu_get_gyro_sens(float *sens);
yihui 0:638edba3adf6 90 int mpu_get_accel_sens(unsigned short *sens);
yihui 0:638edba3adf6 91
yihui 0:638edba3adf6 92 int mpu_get_sample_rate(unsigned short *rate);
yihui 0:638edba3adf6 93 int mpu_set_sample_rate(unsigned short rate);
yihui 0:638edba3adf6 94 int mpu_get_compass_sample_rate(unsigned short *rate);
yihui 0:638edba3adf6 95 int mpu_set_compass_sample_rate(unsigned short rate);
yihui 0:638edba3adf6 96
yihui 0:638edba3adf6 97 int mpu_get_fifo_config(unsigned char *sensors);
yihui 0:638edba3adf6 98 int mpu_configure_fifo(unsigned char sensors);
yihui 0:638edba3adf6 99
yihui 0:638edba3adf6 100 int mpu_get_power_state(unsigned char *power_on);
yihui 0:638edba3adf6 101 int mpu_set_sensors(unsigned char sensors);
yihui 0:638edba3adf6 102
yihui 0:638edba3adf6 103 int mpu_read_6500_accel_bias(long *accel_bias);
yihui 0:638edba3adf6 104 int mpu_set_gyro_bias_reg(long * gyro_bias);
yihui 0:638edba3adf6 105 int mpu_set_accel_bias_6500_reg(const long *accel_bias);
yihui 0:638edba3adf6 106 int mpu_read_6050_accel_bias(long *accel_bias);
yihui 0:638edba3adf6 107 int mpu_set_accel_bias_6050_reg(const long *accel_bias);
yihui 0:638edba3adf6 108
yihui 0:638edba3adf6 109 /* Data getter/setter APIs */
yihui 0:638edba3adf6 110 int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
yihui 0:638edba3adf6 111 int mpu_get_accel_reg(short *data, unsigned long *timestamp);
yihui 0:638edba3adf6 112 int mpu_get_compass_reg(short *data, unsigned long *timestamp);
yihui 0:638edba3adf6 113 int mpu_get_temperature(long *data, unsigned long *timestamp);
yihui 0:638edba3adf6 114
yihui 0:638edba3adf6 115 int mpu_get_int_status(short *status);
yihui 0:638edba3adf6 116 int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
yihui 0:638edba3adf6 117 unsigned char *sensors, unsigned char *more);
yihui 0:638edba3adf6 118 int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
yihui 0:638edba3adf6 119 unsigned char *more);
yihui 0:638edba3adf6 120 int mpu_reset_fifo(void);
yihui 0:638edba3adf6 121
yihui 0:638edba3adf6 122 int mpu_write_mem(unsigned short mem_addr, unsigned short length,
yihui 0:638edba3adf6 123 unsigned char *data);
yihui 0:638edba3adf6 124 int mpu_read_mem(unsigned short mem_addr, unsigned short length,
yihui 0:638edba3adf6 125 unsigned char *data);
yihui 0:638edba3adf6 126 int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
yihui 0:638edba3adf6 127 unsigned short start_addr, unsigned short sample_rate);
yihui 0:638edba3adf6 128
yihui 0:638edba3adf6 129 int mpu_reg_dump(void);
yihui 0:638edba3adf6 130 int mpu_read_reg(unsigned char reg, unsigned char *data);
yihui 0:638edba3adf6 131 int mpu_run_self_test(long *gyro, long *accel);
yihui 0:638edba3adf6 132 int mpu_run_6500_self_test(long *gyro, long *accel, unsigned char debug);
yihui 0:638edba3adf6 133 int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
yihui 0:638edba3adf6 134
yihui 0:638edba3adf6 135 #ifdef __cplusplus
yihui 0:638edba3adf6 136 }
yihui 0:638edba3adf6 137 #endif
yihui 0:638edba3adf6 138
yihui 0:638edba3adf6 139 #endif /* #ifndef _INV_MPU_H_ */
yihui 0:638edba3adf6 140