Chengwei Zhang
/
MPU6050-DMP
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Dependents: MPU6050-DMP_test_JJ
Fork of
MPU6050-DMP-Ian
by 
Ian Hua
Diff: MPU6050.h
- Revision:
- 6:2dc23167c8d8
- Parent:
- 5:7d1bf3ce0053
- Child:
- 7:4619a083f289
--- a/MPU6050.h Sat Nov 23 16:47:00 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1006 +0,0 @@
-//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
-//written by szymon gaertig (email: szymon@gaertig.com.pl)
-//
-//Changelog:
-//2013-01-08 - first beta release
-
-// I2Cdev library collection - MPU6050 I2C device class
-// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
-// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
-// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
-//
-// Changelog:
-// ... - ongoing debug release
-
-// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
-// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
-// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
-#ifndef _MPU6050_H_
-#define _MPU6050_H_
-
-#include "I2Cdev.h"
-#include "helper_3dmath.h"
-
-#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
-#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
-#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
-
-#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
-#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
-#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
-#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
-#define MPU6050_RA_XA_OFFS_L_TC 0x07
-#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
-#define MPU6050_RA_YA_OFFS_L_TC 0x09
-#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
-#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
-#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
-#define MPU6050_RA_XG_OFFS_USRL 0x14
-#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
-#define MPU6050_RA_YG_OFFS_USRL 0x16
-#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
-#define MPU6050_RA_ZG_OFFS_USRL 0x18
-#define MPU6050_RA_SMPLRT_DIV 0x19
-#define MPU6050_RA_CONFIG 0x1A
-#define MPU6050_RA_GYRO_CONFIG 0x1B
-#define MPU6050_RA_ACCEL_CONFIG 0x1C
-#define MPU6050_RA_FF_THR 0x1D
-#define MPU6050_RA_FF_DUR 0x1E
-#define MPU6050_RA_MOT_THR 0x1F
-#define MPU6050_RA_MOT_DUR 0x20
-#define MPU6050_RA_ZRMOT_THR 0x21
-#define MPU6050_RA_ZRMOT_DUR 0x22
-#define MPU6050_RA_FIFO_EN 0x23
-#define MPU6050_RA_I2C_MST_CTRL 0x24
-#define MPU6050_RA_I2C_SLV0_ADDR 0x25
-#define MPU6050_RA_I2C_SLV0_REG 0x26
-#define MPU6050_RA_I2C_SLV0_CTRL 0x27
-#define MPU6050_RA_I2C_SLV1_ADDR 0x28
-#define MPU6050_RA_I2C_SLV1_REG 0x29
-#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
-#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
-#define MPU6050_RA_I2C_SLV2_REG 0x2C
-#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
-#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
-#define MPU6050_RA_I2C_SLV3_REG 0x2F
-#define MPU6050_RA_I2C_SLV3_CTRL 0x30
-#define MPU6050_RA_I2C_SLV4_ADDR 0x31
-#define MPU6050_RA_I2C_SLV4_REG 0x32
-#define MPU6050_RA_I2C_SLV4_DO 0x33
-#define MPU6050_RA_I2C_SLV4_CTRL 0x34
-#define MPU6050_RA_I2C_SLV4_DI 0x35
-#define MPU6050_RA_I2C_MST_STATUS 0x36
-#define MPU6050_RA_INT_PIN_CFG 0x37
-#define MPU6050_RA_INT_ENABLE 0x38
-#define MPU6050_RA_DMP_INT_STATUS 0x39
-#define MPU6050_RA_INT_STATUS 0x3A
-
-#define MPU6050_RA_ACCEL_XOUT_H 0x3B
-#define MPU6050_RA_ACCEL_XOUT_L 0x3C
-#define MPU6050_RA_ACCEL_YOUT_H 0x3D
-#define MPU6050_RA_ACCEL_YOUT_L 0x3E
-#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
-#define MPU6050_RA_ACCEL_ZOUT_L 0x40
-
-#define MPU6050_RA_TEMP_OUT_H 0x41
-#define MPU6050_RA_TEMP_OUT_L 0x42
-
-#define MPU6050_RA_GYRO_XOUT_H 0x43
-#define MPU6050_RA_GYRO_XOUT_L 0x44
-#define MPU6050_RA_GYRO_YOUT_H 0x45
-#define MPU6050_RA_GYRO_YOUT_L 0x46
-#define MPU6050_RA_GYRO_ZOUT_H 0x47
-#define MPU6050_RA_GYRO_ZOUT_L 0x48
-
-#define MPU9150_RA_MAG_ADDRESS 0x0C
-#define MPU9150_RA_MAG_XOUT_L 0x03
-#define MPU9150_RA_MAG_XOUT_H 0x04
-#define MPU9150_RA_MAG_YOUT_L 0x05
-#define MPU9150_RA_MAG_YOUT_H 0x06
-#define MPU9150_RA_MAG_ZOUT_L 0x07
-#define MPU9150_RA_MAG_ZOUT_H 0x08
-
-#define MPU6050_RA_EXT_SENS_DATA_00 0x49
-#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
-#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
-#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
-#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
-#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
-#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
-#define MPU6050_RA_EXT_SENS_DATA_07 0x50
-#define MPU6050_RA_EXT_SENS_DATA_08 0x51
-#define MPU6050_RA_EXT_SENS_DATA_09 0x52
-#define MPU6050_RA_EXT_SENS_DATA_10 0x53
-#define MPU6050_RA_EXT_SENS_DATA_11 0x54
-#define MPU6050_RA_EXT_SENS_DATA_12 0x55
-#define MPU6050_RA_EXT_SENS_DATA_13 0x56
-#define MPU6050_RA_EXT_SENS_DATA_14 0x57
-#define MPU6050_RA_EXT_SENS_DATA_15 0x58
-#define MPU6050_RA_EXT_SENS_DATA_16 0x59
-#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
-#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
-#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
-#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
-#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
-#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
-#define MPU6050_RA_EXT_SENS_DATA_23 0x60
-#define MPU6050_RA_MOT_DETECT_STATUS 0x61
-#define MPU6050_RA_I2C_SLV0_DO 0x63
-#define MPU6050_RA_I2C_SLV1_DO 0x64
-#define MPU6050_RA_I2C_SLV2_DO 0x65
-#define MPU6050_RA_I2C_SLV3_DO 0x66
-#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
-#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
-#define MPU6050_RA_MOT_DETECT_CTRL 0x69
-#define MPU6050_RA_USER_CTRL 0x6A
-#define MPU6050_RA_PWR_MGMT_1 0x6B
-#define MPU6050_RA_PWR_MGMT_2 0x6C
-#define MPU6050_RA_BANK_SEL 0x6D
-#define MPU6050_RA_MEM_START_ADDR 0x6E
-#define MPU6050_RA_MEM_R_W 0x6F
-#define MPU6050_RA_DMP_CFG_1 0x70
-#define MPU6050_RA_DMP_CFG_2 0x71
-#define MPU6050_RA_FIFO_COUNTH 0x72
-#define MPU6050_RA_FIFO_COUNTL 0x73
-#define MPU6050_RA_FIFO_R_W 0x74
-#define MPU6050_RA_WHO_AM_I 0x75
-
-#define MPU6050_TC_PWR_MODE_BIT 7
-#define MPU6050_TC_OFFSET_BIT 6
-#define MPU6050_TC_OFFSET_LENGTH 6
-#define MPU6050_TC_OTP_BNK_VLD_BIT 0
-
-#define MPU6050_VDDIO_LEVEL_VLOGIC 0
-#define MPU6050_VDDIO_LEVEL_VDD 1
-
-#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
-#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
-#define MPU6050_CFG_DLPF_CFG_BIT 2
-#define MPU6050_CFG_DLPF_CFG_LENGTH 3
-
-#define MPU6050_EXT_SYNC_DISABLED 0x0
-#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
-#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
-#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
-#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
-#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
-#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
-#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
-
-#define MPU6050_DLPF_BW_256 0x00
-#define MPU6050_DLPF_BW_188 0x01
-#define MPU6050_DLPF_BW_98 0x02
-#define MPU6050_DLPF_BW_42 0x03
-#define MPU6050_DLPF_BW_20 0x04
-#define MPU6050_DLPF_BW_10 0x05
-#define MPU6050_DLPF_BW_5 0x06
-
-#define MPU6050_GCONFIG_FS_SEL_BIT 4
-#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
-
-#define MPU6050_GYRO_FS_250 0x00
-#define MPU6050_GYRO_FS_500 0x01
-#define MPU6050_GYRO_FS_1000 0x02
-#define MPU6050_GYRO_FS_2000 0x03
-
-#define MPU6050_ACONFIG_XA_ST_BIT 7
-#define MPU6050_ACONFIG_YA_ST_BIT 6
-#define MPU6050_ACONFIG_ZA_ST_BIT 5
-#define MPU6050_ACONFIG_AFS_SEL_BIT 4
-#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
-#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
-#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
-
-#define MPU6050_ACCEL_FS_2 0x00
-#define MPU6050_ACCEL_FS_4 0x01
-#define MPU6050_ACCEL_FS_8 0x02
-#define MPU6050_ACCEL_FS_16 0x03
-
-#define MPU6050_DHPF_RESET 0x00
-#define MPU6050_DHPF_5 0x01
-#define MPU6050_DHPF_2P5 0x02
-#define MPU6050_DHPF_1P25 0x03
-#define MPU6050_DHPF_0P63 0x04
-#define MPU6050_DHPF_HOLD 0x07
-
-#define MPU6050_TEMP_FIFO_EN_BIT 7
-#define MPU6050_XG_FIFO_EN_BIT 6
-#define MPU6050_YG_FIFO_EN_BIT 5
-#define MPU6050_ZG_FIFO_EN_BIT 4
-#define MPU6050_ACCEL_FIFO_EN_BIT 3
-#define MPU6050_SLV2_FIFO_EN_BIT 2
-#define MPU6050_SLV1_FIFO_EN_BIT 1
-#define MPU6050_SLV0_FIFO_EN_BIT 0
-
-#define MPU6050_MULT_MST_EN_BIT 7
-#define MPU6050_WAIT_FOR_ES_BIT 6
-#define MPU6050_SLV_3_FIFO_EN_BIT 5
-#define MPU6050_I2C_MST_P_NSR_BIT 4
-#define MPU6050_I2C_MST_CLK_BIT 3
-#define MPU6050_I2C_MST_CLK_LENGTH 4
-
-#define MPU6050_CLOCK_DIV_348 0x0
-#define MPU6050_CLOCK_DIV_333 0x1
-#define MPU6050_CLOCK_DIV_320 0x2
-#define MPU6050_CLOCK_DIV_308 0x3
-#define MPU6050_CLOCK_DIV_296 0x4
-#define MPU6050_CLOCK_DIV_286 0x5
-#define MPU6050_CLOCK_DIV_276 0x6
-#define MPU6050_CLOCK_DIV_267 0x7
-#define MPU6050_CLOCK_DIV_258 0x8
-#define MPU6050_CLOCK_DIV_500 0x9
-#define MPU6050_CLOCK_DIV_471 0xA
-#define MPU6050_CLOCK_DIV_444 0xB
-#define MPU6050_CLOCK_DIV_421 0xC
-#define MPU6050_CLOCK_DIV_400 0xD
-#define MPU6050_CLOCK_DIV_381 0xE
-#define MPU6050_CLOCK_DIV_364 0xF
-
-#define MPU6050_I2C_SLV_RW_BIT 7
-#define MPU6050_I2C_SLV_ADDR_BIT 6
-#define MPU6050_I2C_SLV_ADDR_LENGTH 7
-#define MPU6050_I2C_SLV_EN_BIT 7
-#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
-#define MPU6050_I2C_SLV_REG_DIS_BIT 5
-#define MPU6050_I2C_SLV_GRP_BIT 4
-#define MPU6050_I2C_SLV_LEN_BIT 3
-#define MPU6050_I2C_SLV_LEN_LENGTH 4
-
-#define MPU6050_I2C_SLV4_RW_BIT 7
-#define MPU6050_I2C_SLV4_ADDR_BIT 6
-#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
-#define MPU6050_I2C_SLV4_EN_BIT 7
-#define MPU6050_I2C_SLV4_INT_EN_BIT 6
-#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
-#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
-#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
-
-#define MPU6050_MST_PASS_THROUGH_BIT 7
-#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
-#define MPU6050_MST_I2C_LOST_ARB_BIT 5
-#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
-#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
-#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
-#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
-#define MPU6050_MST_I2C_SLV0_NACK_BIT 0
-
-#define MPU6050_INTCFG_INT_LEVEL_BIT 7
-#define MPU6050_INTCFG_INT_OPEN_BIT 6
-#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
-#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
-#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
-#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
-#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
-#define MPU6050_INTCFG_CLKOUT_EN_BIT 0
-
-#define MPU6050_INTMODE_ACTIVEHIGH 0x00
-#define MPU6050_INTMODE_ACTIVELOW 0x01
-
-#define MPU6050_INTDRV_PUSHPULL 0x00
-#define MPU6050_INTDRV_OPENDRAIN 0x01
-
-#define MPU6050_INTLATCH_50USPULSE 0x00
-#define MPU6050_INTLATCH_WAITCLEAR 0x01
-
-#define MPU6050_INTCLEAR_STATUSREAD 0x00
-#define MPU6050_INTCLEAR_ANYREAD 0x01
-
-#define MPU6050_INTERRUPT_FF_BIT 7
-#define MPU6050_INTERRUPT_MOT_BIT 6
-#define MPU6050_INTERRUPT_ZMOT_BIT 5
-#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
-#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
-#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
-#define MPU6050_INTERRUPT_DMP_INT_BIT 1
-#define MPU6050_INTERRUPT_DATA_RDY_BIT 0
-
-// TODO: figure out what these actually do
-// UMPL source code is not very obivous
-#define MPU6050_DMPINT_5_BIT 5
-#define MPU6050_DMPINT_4_BIT 4
-#define MPU6050_DMPINT_3_BIT 3
-#define MPU6050_DMPINT_2_BIT 2
-#define MPU6050_DMPINT_1_BIT 1
-#define MPU6050_DMPINT_0_BIT 0
-
-#define MPU6050_MOTION_MOT_XNEG_BIT 7
-#define MPU6050_MOTION_MOT_XPOS_BIT 6
-#define MPU6050_MOTION_MOT_YNEG_BIT 5
-#define MPU6050_MOTION_MOT_YPOS_BIT 4
-#define MPU6050_MOTION_MOT_ZNEG_BIT 3
-#define MPU6050_MOTION_MOT_ZPOS_BIT 2
-#define MPU6050_MOTION_MOT_ZRMOT_BIT 0
-
-#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
-#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
-#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
-#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
-#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
-#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
-
-#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
-#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
-#define MPU6050_PATHRESET_TEMP_RESET_BIT 0
-
-#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
-#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
-#define MPU6050_DETECT_FF_COUNT_BIT 3
-#define MPU6050_DETECT_FF_COUNT_LENGTH 2
-#define MPU6050_DETECT_MOT_COUNT_BIT 1
-#define MPU6050_DETECT_MOT_COUNT_LENGTH 2
-
-#define MPU6050_DETECT_DECREMENT_RESET 0x0
-#define MPU6050_DETECT_DECREMENT_1 0x1
-#define MPU6050_DETECT_DECREMENT_2 0x2
-#define MPU6050_DETECT_DECREMENT_4 0x3
-
-#define MPU6050_USERCTRL_DMP_EN_BIT 7
-#define MPU6050_USERCTRL_FIFO_EN_BIT 6
-#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
-#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
-#define MPU6050_USERCTRL_DMP_RESET_BIT 3
-#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
-#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
-#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
-
-#define MPU6050_PWR1_DEVICE_RESET_BIT 7
-#define MPU6050_PWR1_SLEEP_BIT 6
-#define MPU6050_PWR1_CYCLE_BIT 5
-#define MPU6050_PWR1_TEMP_DIS_BIT 3
-#define MPU6050_PWR1_CLKSEL_BIT 2
-#define MPU6050_PWR1_CLKSEL_LENGTH 3
-
-#define MPU6050_CLOCK_INTERNAL 0x00
-#define MPU6050_CLOCK_PLL_XGYRO 0x01
-#define MPU6050_CLOCK_PLL_YGYRO 0x02
-#define MPU6050_CLOCK_PLL_ZGYRO 0x03
-#define MPU6050_CLOCK_PLL_EXT32K 0x04
-#define MPU6050_CLOCK_PLL_EXT19M 0x05
-#define MPU6050_CLOCK_KEEP_RESET 0x07
-
-#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
-#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
-#define MPU6050_PWR2_STBY_XA_BIT 5
-#define MPU6050_PWR2_STBY_YA_BIT 4
-#define MPU6050_PWR2_STBY_ZA_BIT 3
-#define MPU6050_PWR2_STBY_XG_BIT 2
-#define MPU6050_PWR2_STBY_YG_BIT 1
-#define MPU6050_PWR2_STBY_ZG_BIT 0
-
-#define MPU6050_WAKE_FREQ_1P25 0x0
-#define MPU6050_WAKE_FREQ_2P5 0x1
-#define MPU6050_WAKE_FREQ_5 0x2
-#define MPU6050_WAKE_FREQ_10 0x3
-
-#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
-#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
-#define MPU6050_BANKSEL_MEM_SEL_BIT 4
-#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
-
-#define MPU6050_WHO_AM_I_BIT 6
-#define MPU6050_WHO_AM_I_LENGTH 6
-
-#define MPU6050_DMP_MEMORY_BANKS 8
-#define MPU6050_DMP_MEMORY_BANK_SIZE 256
-#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
-
-// note: DMP code memory blocks defined at end of header file
-
-class MPU6050 {
- private:
- I2Cdev i2Cdev;
- Serial debugSerial;
- public:
- MPU6050();
- MPU6050(uint8_t address);
-
- void initialize();
- bool testConnection();
-
- // AUX_VDDIO register
- uint8_t getAuxVDDIOLevel();
- void setAuxVDDIOLevel(uint8_t level);
-
- // SMPLRT_DIV register
- uint8_t getRate();
- void setRate(uint8_t rate);
-
- // CONFIG register
- uint8_t getExternalFrameSync();
- void setExternalFrameSync(uint8_t sync);
- uint8_t getDLPFMode();
- void setDLPFMode(uint8_t bandwidth);
-
- // GYRO_CONFIG register
- uint8_t getFullScaleGyroRange();
- void setFullScaleGyroRange(uint8_t range);
-
- // ACCEL_CONFIG register
- bool getAccelXSelfTest();
- void setAccelXSelfTest(bool enabled);
- bool getAccelYSelfTest();
- void setAccelYSelfTest(bool enabled);
- bool getAccelZSelfTest();
- void setAccelZSelfTest(bool enabled);
- uint8_t getFullScaleAccelRange();
- void setFullScaleAccelRange(uint8_t range);
- uint8_t getDHPFMode();
- void setDHPFMode(uint8_t mode);
-
- // FF_THR register
- uint8_t getFreefallDetectionThreshold();
- void setFreefallDetectionThreshold(uint8_t threshold);
-
- // FF_DUR register
- uint8_t getFreefallDetectionDuration();
- void setFreefallDetectionDuration(uint8_t duration);
-
- // MOT_THR register
- uint8_t getMotionDetectionThreshold();
- void setMotionDetectionThreshold(uint8_t threshold);
-
- // MOT_DUR register
- uint8_t getMotionDetectionDuration();
- void setMotionDetectionDuration(uint8_t duration);
-
- // ZRMOT_THR register
- uint8_t getZeroMotionDetectionThreshold();
- void setZeroMotionDetectionThreshold(uint8_t threshold);
-
- // ZRMOT_DUR register
- uint8_t getZeroMotionDetectionDuration();
- void setZeroMotionDetectionDuration(uint8_t duration);
-
- // FIFO_EN register
- bool getTempFIFOEnabled();
- void setTempFIFOEnabled(bool enabled);
- bool getXGyroFIFOEnabled();
- void setXGyroFIFOEnabled(bool enabled);
- bool getYGyroFIFOEnabled();
- void setYGyroFIFOEnabled(bool enabled);
- bool getZGyroFIFOEnabled();
- void setZGyroFIFOEnabled(bool enabled);
- bool getAccelFIFOEnabled();
- void setAccelFIFOEnabled(bool enabled);
- bool getSlave2FIFOEnabled();
- void setSlave2FIFOEnabled(bool enabled);
- bool getSlave1FIFOEnabled();
- void setSlave1FIFOEnabled(bool enabled);
- bool getSlave0FIFOEnabled();
- void setSlave0FIFOEnabled(bool enabled);
-
- // I2C_MST_CTRL register
- bool getMultiMasterEnabled();
- void setMultiMasterEnabled(bool enabled);
- bool getWaitForExternalSensorEnabled();
- void setWaitForExternalSensorEnabled(bool enabled);
- bool getSlave3FIFOEnabled();
- void setSlave3FIFOEnabled(bool enabled);
- bool getSlaveReadWriteTransitionEnabled();
- void setSlaveReadWriteTransitionEnabled(bool enabled);
- uint8_t getMasterClockSpeed();
- void setMasterClockSpeed(uint8_t speed);
-
- // I2C_SLV* registers (Slave 0-3)
- uint8_t getSlaveAddress(uint8_t num);
- void setSlaveAddress(uint8_t num, uint8_t address);
- uint8_t getSlaveRegister(uint8_t num);
- void setSlaveRegister(uint8_t num, uint8_t reg);
- bool getSlaveEnabled(uint8_t num);
- void setSlaveEnabled(uint8_t num, bool enabled);
- bool getSlaveWordByteSwap(uint8_t num);
- void setSlaveWordByteSwap(uint8_t num, bool enabled);
- bool getSlaveWriteMode(uint8_t num);
- void setSlaveWriteMode(uint8_t num, bool mode);
- bool getSlaveWordGroupOffset(uint8_t num);
- void setSlaveWordGroupOffset(uint8_t num, bool enabled);
- uint8_t getSlaveDataLength(uint8_t num);
- void setSlaveDataLength(uint8_t num, uint8_t length);
-
- // I2C_SLV* registers (Slave 4)
- uint8_t getSlave4Address();
- void setSlave4Address(uint8_t address);
- uint8_t getSlave4Register();
- void setSlave4Register(uint8_t reg);
- void setSlave4OutputByte(uint8_t data);
- bool getSlave4Enabled();
- void setSlave4Enabled(bool enabled);
- bool getSlave4InterruptEnabled();
- void setSlave4InterruptEnabled(bool enabled);
- bool getSlave4WriteMode();
- void setSlave4WriteMode(bool mode);
- uint8_t getSlave4MasterDelay();
- void setSlave4MasterDelay(uint8_t delay);
- uint8_t getSlate4InputByte();
-
- // I2C_MST_STATUS register
- bool getPassthroughStatus();
- bool getSlave4IsDone();
- bool getLostArbitration();
- bool getSlave4Nack();
- bool getSlave3Nack();
- bool getSlave2Nack();
- bool getSlave1Nack();
- bool getSlave0Nack();
-
- // INT_PIN_CFG register
- bool getInterruptMode();
- void setInterruptMode(bool mode);
- bool getInterruptDrive();
- void setInterruptDrive(bool drive);
- bool getInterruptLatch();
- void setInterruptLatch(bool latch);
- bool getInterruptLatchClear();
- void setInterruptLatchClear(bool clear);
- bool getFSyncInterruptLevel();
- void setFSyncInterruptLevel(bool level);
- bool getFSyncInterruptEnabled();
- void setFSyncInterruptEnabled(bool enabled);
- bool getI2CBypassEnabled();
- void setI2CBypassEnabled(bool enabled);
- bool getClockOutputEnabled();
- void setClockOutputEnabled(bool enabled);
-
- // INT_ENABLE register
- uint8_t getIntEnabled();
- void setIntEnabled(uint8_t enabled);
- bool getIntFreefallEnabled();
- void setIntFreefallEnabled(bool enabled);
- bool getIntMotionEnabled();
- void setIntMotionEnabled(bool enabled);
- bool getIntZeroMotionEnabled();
- void setIntZeroMotionEnabled(bool enabled);
- bool getIntFIFOBufferOverflowEnabled();
- void setIntFIFOBufferOverflowEnabled(bool enabled);
- bool getIntI2CMasterEnabled();
- void setIntI2CMasterEnabled(bool enabled);
- bool getIntDataReadyEnabled();
- void setIntDataReadyEnabled(bool enabled);
-
- // INT_STATUS register
- uint8_t getIntStatus();
- bool getIntFreefallStatus();
- bool getIntMotionStatus();
- bool getIntZeroMotionStatus();
- bool getIntFIFOBufferOverflowStatus();
- bool getIntI2CMasterStatus();
- bool getIntDataReadyStatus();
-
- // ACCEL_*OUT_* registers
- 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);
- void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
- void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
- int16_t getAccelerationX();
- int16_t getAccelerationY();
- int16_t getAccelerationZ();
-
- // TEMP_OUT_* registers
- int16_t getTemperature();
-
- // GYRO_*OUT_* registers
- void getRotation(int16_t* x, int16_t* y, int16_t* z);
- int16_t getRotationX();
- int16_t getRotationY();
- int16_t getRotationZ();
-
- // EXT_SENS_DATA_* registers
- uint8_t getExternalSensorByte(int position);
- uint16_t getExternalSensorWord(int position);
- uint32_t getExternalSensorDWord(int position);
-
- // MOT_DETECT_STATUS register
- bool getXNegMotionDetected();
- bool getXPosMotionDetected();
- bool getYNegMotionDetected();
- bool getYPosMotionDetected();
- bool getZNegMotionDetected();
- bool getZPosMotionDetected();
- bool getZeroMotionDetected();
-
- // I2C_SLV*_DO register
- void setSlaveOutputByte(uint8_t num, uint8_t data);
-
- // I2C_MST_DELAY_CTRL register
- bool getExternalShadowDelayEnabled();
- void setExternalShadowDelayEnabled(bool enabled);
- bool getSlaveDelayEnabled(uint8_t num);
- void setSlaveDelayEnabled(uint8_t num, bool enabled);
-
- // SIGNAL_PATH_RESET register
- void resetGyroscopePath();
- void resetAccelerometerPath();
- void resetTemperaturePath();
-
- // MOT_DETECT_CTRL register
- uint8_t getAccelerometerPowerOnDelay();
- void setAccelerometerPowerOnDelay(uint8_t delay);
- uint8_t getFreefallDetectionCounterDecrement();
- void setFreefallDetectionCounterDecrement(uint8_t decrement);
- uint8_t getMotionDetectionCounterDecrement();
- void setMotionDetectionCounterDecrement(uint8_t decrement);
-
- // USER_CTRL register
- bool getFIFOEnabled();
- void setFIFOEnabled(bool enabled);
- bool getI2CMasterModeEnabled();
- void setI2CMasterModeEnabled(bool enabled);
- void switchSPIEnabled(bool enabled);
- void resetFIFO();
- void resetI2CMaster();
- void resetSensors();
-
- // PWR_MGMT_1 register
- void reset();
- bool getSleepEnabled();
- void setSleepEnabled(bool enabled);
- bool getWakeCycleEnabled();
- void setWakeCycleEnabled(bool enabled);
- bool getTempSensorEnabled();
- void setTempSensorEnabled(bool enabled);
- uint8_t getClockSource();
- void setClockSource(uint8_t source);
-
- // PWR_MGMT_2 register
- uint8_t getWakeFrequency();
- void setWakeFrequency(uint8_t frequency);
- bool getStandbyXAccelEnabled();
- void setStandbyXAccelEnabled(bool enabled);
- bool getStandbyYAccelEnabled();
- void setStandbyYAccelEnabled(bool enabled);
- bool getStandbyZAccelEnabled();
- void setStandbyZAccelEnabled(bool enabled);
- bool getStandbyXGyroEnabled();
- void setStandbyXGyroEnabled(bool enabled);
- bool getStandbyYGyroEnabled();
- void setStandbyYGyroEnabled(bool enabled);
- bool getStandbyZGyroEnabled();
- void setStandbyZGyroEnabled(bool enabled);
-
- // FIFO_COUNT_* registers
- uint16_t getFIFOCount();
-
- // FIFO_R_W register
- uint8_t getFIFOByte();
- void setFIFOByte(uint8_t data);
- void getFIFOBytes(uint8_t *data, uint8_t length);
-
- // WHO_AM_I register
- uint8_t getDeviceID();
- void setDeviceID(uint8_t id);
-
- // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
-
- // XG_OFFS_TC register
- uint8_t getOTPBankValid();
- void setOTPBankValid(bool enabled);
- int8_t getXGyroOffset();
- void setXGyroOffset(int8_t offset);
-
- // YG_OFFS_TC register
- int8_t getYGyroOffset();
- void setYGyroOffset(int8_t offset);
-
- // ZG_OFFS_TC register
- int8_t getZGyroOffset();
- void setZGyroOffset(int8_t offset);
-
- // X_FINE_GAIN register
- int8_t getXFineGain();
- void setXFineGain(int8_t gain);
-
- // Y_FINE_GAIN register
- int8_t getYFineGain();
- void setYFineGain(int8_t gain);
-
- // Z_FINE_GAIN register
- int8_t getZFineGain();
- void setZFineGain(int8_t gain);
-
- // XA_OFFS_* registers
- int16_t getXAccelOffset();
- void setXAccelOffset(int16_t offset);
-
- // YA_OFFS_* register
- int16_t getYAccelOffset();
- void setYAccelOffset(int16_t offset);
-
- // ZA_OFFS_* register
- int16_t getZAccelOffset();
- void setZAccelOffset(int16_t offset);
-
- // XG_OFFS_USR* registers
- int16_t getXGyroOffsetUser();
- void setXGyroOffsetUser(int16_t offset);
-
- // YG_OFFS_USR* register
- int16_t getYGyroOffsetUser();
- void setYGyroOffsetUser(int16_t offset);
-
- // ZG_OFFS_USR* register
- int16_t getZGyroOffsetUser();
- void setZGyroOffsetUser(int16_t offset);
-
- // INT_ENABLE register (DMP functions)
- bool getIntPLLReadyEnabled();
- void setIntPLLReadyEnabled(bool enabled);
- bool getIntDMPEnabled();
- void setIntDMPEnabled(bool enabled);
-
- // DMP_INT_STATUS
- bool getDMPInt5Status();
- bool getDMPInt4Status();
- bool getDMPInt3Status();
- bool getDMPInt2Status();
- bool getDMPInt1Status();
- bool getDMPInt0Status();
-
- // INT_STATUS register (DMP functions)
- bool getIntPLLReadyStatus();
- bool getIntDMPStatus();
-
- // USER_CTRL register (DMP functions)
- bool getDMPEnabled();
- void setDMPEnabled(bool enabled);
- void resetDMP();
-
- // BANK_SEL register
- void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
-
- // MEM_START_ADDR register
- void setMemoryStartAddress(uint8_t address);
-
- // MEM_R_W register
- uint8_t readMemoryByte();
- void writeMemoryByte(uint8_t data);
- void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
- bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
- bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
-
- bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false);
- bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
-
- // DMP_CFG_1 register
- uint8_t getDMPConfig1();
- void setDMPConfig1(uint8_t config);
-
- // DMP_CFG_2 register
- uint8_t getDMPConfig2();
- void setDMPConfig2(uint8_t config);
-
- // special methods for MotionApps 2.0 implementation
- #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
- uint8_t *dmpPacketBuffer;
- uint16_t dmpPacketSize;
-
- uint8_t dmpInitialize();
- bool dmpPacketAvailable();
-
- uint8_t dmpSetFIFORate(uint8_t fifoRate);
- uint8_t dmpGetFIFORate();
- uint8_t dmpGetSampleStepSizeMS();
- uint8_t dmpGetSampleFrequency();
- int32_t dmpDecodeTemperature(int8_t tempReg);
-
- // Register callbacks after a packet of FIFO data is processed
- //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
- //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
- uint8_t dmpRunFIFORateProcesses();
-
- // Setup FIFO for various output
- uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
- uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
- uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
-
- // Get Fixed Point data from FIFO
- uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
- uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
- uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
- uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
- uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
- uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
- uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
- uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
- uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
- uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
-
- uint8_t dmpGetEuler(float *data, Quaternion *q);
- uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
-
- // Get Floating Point data from FIFO
- uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
- uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
-
- uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
- uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
-
- uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
-
- uint8_t dmpInitFIFOParam();
- uint8_t dmpCloseFIFO();
- uint8_t dmpSetGyroDataSource(uint8_t source);
- uint8_t dmpDecodeQuantizedAccel();
- uint32_t dmpGetGyroSumOfSquare();
- uint32_t dmpGetAccelSumOfSquare();
- void dmpOverrideQuaternion(long *q);
- uint16_t dmpGetFIFOPacketSize();
- #endif
-
- // special methods for MotionApps 4.1 implementation
- #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
- uint8_t *dmpPacketBuffer;
- uint16_t dmpPacketSize;
-
- uint8_t dmpInitialize();
- bool dmpPacketAvailable();
-
- uint8_t dmpSetFIFORate(uint8_t fifoRate);
- uint8_t dmpGetFIFORate();
- uint8_t dmpGetSampleStepSizeMS();
- uint8_t dmpGetSampleFrequency();
- int32_t dmpDecodeTemperature(int8_t tempReg);
-
- // Register callbacks after a packet of FIFO data is processed
- //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
- //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
- uint8_t dmpRunFIFORateProcesses();
-
- // Setup FIFO for various output
- uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
- uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
- uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
-
- // Get Fixed Point data from FIFO
- uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
- uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
- uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
- uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
- uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
- uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
- uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
- uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
- uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
- uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
-
- uint8_t dmpGetEuler(float *data, Quaternion *q);
- uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
-
- // Get Floating Point data from FIFO
- uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
- uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
-
- uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
- uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
-
- uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
-
- uint8_t dmpInitFIFOParam();
- uint8_t dmpCloseFIFO();
- uint8_t dmpSetGyroDataSource(uint8_t source);
- uint8_t dmpDecodeQuantizedAccel();
- uint32_t dmpGetGyroSumOfSquare();
- uint32_t dmpGetAccelSumOfSquare();
- void dmpOverrideQuaternion(long *q);
- uint16_t dmpGetFIFOPacketSize();
- #endif
-
- private:
- uint8_t devAddr;
- uint8_t buffer[14];
-};
-
-#endif /* _MPU6050_H_ */
\ No newline at end of file