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Diffstat (limited to 'libraries/MPU9150/MPU9150.h')
| -rw-r--r-- | libraries/MPU9150/MPU9150.h | 1002 |
1 files changed, 0 insertions, 1002 deletions
diff --git a/libraries/MPU9150/MPU9150.h b/libraries/MPU9150/MPU9150.h deleted file mode 100644 index e0d015f..0000000 --- a/libraries/MPU9150/MPU9150.h +++ /dev/null @@ -1,1002 +0,0 @@ -// 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 <avr/pgmspace.h> - -//Magnetometer Registers -#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_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 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 { - 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); - - uint8_t checkMagStatus(); - - // 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(); - - // MAG_*OUT_* registers - void getMag(int16_t* x, int16_t* y, int16_t* z); - - // 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 dmpGetMag (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 dmpGetMag(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 - - private: - uint8_t devAddr; - uint8_t buffer[14]; -}; - -#endif /* _MPU6050_H_ */ - |