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| // 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_ */ | |