mirror of https://github.com/arendst/Tasmota.git
994 lines
42 KiB
C++
994 lines
42 KiB
C++
// I2Cdev library collection - MPU6050 I2C device class
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// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
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// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
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// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
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//
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// Adapted for Tasmota by Oliver Welter <contact@verbotene.zone> 02-04-2018
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//
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// Changelog:
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// ... - ongoing debug release
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// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
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// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
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// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2012 Jeff Rowberg
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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===============================================
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*/
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#ifndef _MPU6050_H_
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#define _MPU6050_H_
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#include "I2Cdev.h"
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//#include <avr/pgmspace.h>
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#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
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#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
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#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
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#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
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#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
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#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
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#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
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#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
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#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
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#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
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#define MPU6050_RA_XA_OFFS_L_TC 0x07
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#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
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#define MPU6050_RA_YA_OFFS_L_TC 0x09
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#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
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#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
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#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
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#define MPU6050_RA_XG_OFFS_USRL 0x14
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#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
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#define MPU6050_RA_YG_OFFS_USRL 0x16
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#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
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#define MPU6050_RA_ZG_OFFS_USRL 0x18
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#define MPU6050_RA_SMPLRT_DIV 0x19
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#define MPU6050_RA_CONFIG 0x1A
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#define MPU6050_RA_GYRO_CONFIG 0x1B
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#define MPU6050_RA_ACCEL_CONFIG 0x1C
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#define MPU6050_RA_FF_THR 0x1D
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#define MPU6050_RA_FF_DUR 0x1E
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#define MPU6050_RA_MOT_THR 0x1F
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#define MPU6050_RA_MOT_DUR 0x20
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#define MPU6050_RA_ZRMOT_THR 0x21
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#define MPU6050_RA_ZRMOT_DUR 0x22
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#define MPU6050_RA_FIFO_EN 0x23
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#define MPU6050_RA_I2C_MST_CTRL 0x24
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#define MPU6050_RA_I2C_SLV0_ADDR 0x25
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#define MPU6050_RA_I2C_SLV0_REG 0x26
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#define MPU6050_RA_I2C_SLV0_CTRL 0x27
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#define MPU6050_RA_I2C_SLV1_ADDR 0x28
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#define MPU6050_RA_I2C_SLV1_REG 0x29
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#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
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#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
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#define MPU6050_RA_I2C_SLV2_REG 0x2C
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#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
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#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
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#define MPU6050_RA_I2C_SLV3_REG 0x2F
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#define MPU6050_RA_I2C_SLV3_CTRL 0x30
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#define MPU6050_RA_I2C_SLV4_ADDR 0x31
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#define MPU6050_RA_I2C_SLV4_REG 0x32
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#define MPU6050_RA_I2C_SLV4_DO 0x33
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#define MPU6050_RA_I2C_SLV4_CTRL 0x34
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#define MPU6050_RA_I2C_SLV4_DI 0x35
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#define MPU6050_RA_I2C_MST_STATUS 0x36
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#define MPU6050_RA_INT_PIN_CFG 0x37
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#define MPU6050_RA_INT_ENABLE 0x38
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#define MPU6050_RA_DMP_INT_STATUS 0x39
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#define MPU6050_RA_INT_STATUS 0x3A
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#define MPU6050_RA_ACCEL_XOUT_H 0x3B
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#define MPU6050_RA_ACCEL_XOUT_L 0x3C
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#define MPU6050_RA_ACCEL_YOUT_H 0x3D
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#define MPU6050_RA_ACCEL_YOUT_L 0x3E
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#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
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#define MPU6050_RA_ACCEL_ZOUT_L 0x40
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#define MPU6050_RA_TEMP_OUT_H 0x41
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#define MPU6050_RA_TEMP_OUT_L 0x42
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#define MPU6050_RA_GYRO_XOUT_H 0x43
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#define MPU6050_RA_GYRO_XOUT_L 0x44
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#define MPU6050_RA_GYRO_YOUT_H 0x45
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#define MPU6050_RA_GYRO_YOUT_L 0x46
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#define MPU6050_RA_GYRO_ZOUT_H 0x47
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#define MPU6050_RA_GYRO_ZOUT_L 0x48
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#define MPU6050_RA_EXT_SENS_DATA_00 0x49
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#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
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#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
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#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
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#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
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#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
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#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
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#define MPU6050_RA_EXT_SENS_DATA_07 0x50
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#define MPU6050_RA_EXT_SENS_DATA_08 0x51
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#define MPU6050_RA_EXT_SENS_DATA_09 0x52
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#define MPU6050_RA_EXT_SENS_DATA_10 0x53
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#define MPU6050_RA_EXT_SENS_DATA_11 0x54
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#define MPU6050_RA_EXT_SENS_DATA_12 0x55
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#define MPU6050_RA_EXT_SENS_DATA_13 0x56
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#define MPU6050_RA_EXT_SENS_DATA_14 0x57
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#define MPU6050_RA_EXT_SENS_DATA_15 0x58
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#define MPU6050_RA_EXT_SENS_DATA_16 0x59
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#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
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#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
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#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
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#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
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#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
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#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
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#define MPU6050_RA_EXT_SENS_DATA_23 0x60
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#define MPU6050_RA_MOT_DETECT_STATUS 0x61
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#define MPU6050_RA_I2C_SLV0_DO 0x63
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#define MPU6050_RA_I2C_SLV1_DO 0x64
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#define MPU6050_RA_I2C_SLV2_DO 0x65
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#define MPU6050_RA_I2C_SLV3_DO 0x66
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#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
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#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
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#define MPU6050_RA_MOT_DETECT_CTRL 0x69
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#define MPU6050_RA_USER_CTRL 0x6A
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#define MPU6050_RA_PWR_MGMT_1 0x6B
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#define MPU6050_RA_PWR_MGMT_2 0x6C
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#define MPU6050_RA_BANK_SEL 0x6D
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#define MPU6050_RA_MEM_START_ADDR 0x6E
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#define MPU6050_RA_MEM_R_W 0x6F
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#define MPU6050_RA_DMP_CFG_1 0x70
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#define MPU6050_RA_DMP_CFG_2 0x71
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#define MPU6050_RA_FIFO_COUNTH 0x72
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#define MPU6050_RA_FIFO_COUNTL 0x73
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#define MPU6050_RA_FIFO_R_W 0x74
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#define MPU6050_RA_WHO_AM_I 0x75
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#define MPU6050_TC_PWR_MODE_BIT 7
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#define MPU6050_TC_OFFSET_BIT 6
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#define MPU6050_TC_OFFSET_LENGTH 6
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#define MPU6050_TC_OTP_BNK_VLD_BIT 0
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#define MPU6050_VDDIO_LEVEL_VLOGIC 0
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#define MPU6050_VDDIO_LEVEL_VDD 1
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#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
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#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
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#define MPU6050_CFG_DLPF_CFG_BIT 2
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#define MPU6050_CFG_DLPF_CFG_LENGTH 3
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#define MPU6050_EXT_SYNC_DISABLED 0x0
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#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
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#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
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#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
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#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
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#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
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#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
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#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
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#define MPU6050_DLPF_BW_256 0x00
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#define MPU6050_DLPF_BW_188 0x01
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#define MPU6050_DLPF_BW_98 0x02
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#define MPU6050_DLPF_BW_42 0x03
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#define MPU6050_DLPF_BW_20 0x04
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#define MPU6050_DLPF_BW_10 0x05
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#define MPU6050_DLPF_BW_5 0x06
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#define MPU6050_GCONFIG_FS_SEL_BIT 4
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#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
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#define MPU6050_GYRO_FS_250 0x00
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#define MPU6050_GYRO_FS_500 0x01
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#define MPU6050_GYRO_FS_1000 0x02
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#define MPU6050_GYRO_FS_2000 0x03
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#define MPU6050_ACONFIG_XA_ST_BIT 7
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#define MPU6050_ACONFIG_YA_ST_BIT 6
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#define MPU6050_ACONFIG_ZA_ST_BIT 5
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#define MPU6050_ACONFIG_AFS_SEL_BIT 4
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#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
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#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
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#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
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#define MPU6050_ACCEL_FS_2 0x00
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#define MPU6050_ACCEL_FS_4 0x01
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#define MPU6050_ACCEL_FS_8 0x02
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#define MPU6050_ACCEL_FS_16 0x03
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#define MPU6050_DHPF_RESET 0x00
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#define MPU6050_DHPF_5 0x01
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#define MPU6050_DHPF_2P5 0x02
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#define MPU6050_DHPF_1P25 0x03
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#define MPU6050_DHPF_0P63 0x04
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#define MPU6050_DHPF_HOLD 0x07
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#define MPU6050_TEMP_FIFO_EN_BIT 7
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#define MPU6050_XG_FIFO_EN_BIT 6
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#define MPU6050_YG_FIFO_EN_BIT 5
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#define MPU6050_ZG_FIFO_EN_BIT 4
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#define MPU6050_ACCEL_FIFO_EN_BIT 3
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#define MPU6050_SLV2_FIFO_EN_BIT 2
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#define MPU6050_SLV1_FIFO_EN_BIT 1
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#define MPU6050_SLV0_FIFO_EN_BIT 0
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#define MPU6050_MULT_MST_EN_BIT 7
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#define MPU6050_WAIT_FOR_ES_BIT 6
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#define MPU6050_SLV_3_FIFO_EN_BIT 5
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#define MPU6050_I2C_MST_P_NSR_BIT 4
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#define MPU6050_I2C_MST_CLK_BIT 3
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#define MPU6050_I2C_MST_CLK_LENGTH 4
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#define MPU6050_CLOCK_DIV_348 0x0
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#define MPU6050_CLOCK_DIV_333 0x1
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#define MPU6050_CLOCK_DIV_320 0x2
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#define MPU6050_CLOCK_DIV_308 0x3
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#define MPU6050_CLOCK_DIV_296 0x4
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#define MPU6050_CLOCK_DIV_286 0x5
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#define MPU6050_CLOCK_DIV_276 0x6
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#define MPU6050_CLOCK_DIV_267 0x7
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#define MPU6050_CLOCK_DIV_258 0x8
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#define MPU6050_CLOCK_DIV_500 0x9
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#define MPU6050_CLOCK_DIV_471 0xA
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#define MPU6050_CLOCK_DIV_444 0xB
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#define MPU6050_CLOCK_DIV_421 0xC
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#define MPU6050_CLOCK_DIV_400 0xD
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#define MPU6050_CLOCK_DIV_381 0xE
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#define MPU6050_CLOCK_DIV_364 0xF
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#define MPU6050_I2C_SLV_RW_BIT 7
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#define MPU6050_I2C_SLV_ADDR_BIT 6
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#define MPU6050_I2C_SLV_ADDR_LENGTH 7
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#define MPU6050_I2C_SLV_EN_BIT 7
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#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
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#define MPU6050_I2C_SLV_REG_DIS_BIT 5
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#define MPU6050_I2C_SLV_GRP_BIT 4
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#define MPU6050_I2C_SLV_LEN_BIT 3
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#define MPU6050_I2C_SLV_LEN_LENGTH 4
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#define MPU6050_I2C_SLV4_RW_BIT 7
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#define MPU6050_I2C_SLV4_ADDR_BIT 6
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#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
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#define MPU6050_I2C_SLV4_EN_BIT 7
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#define MPU6050_I2C_SLV4_INT_EN_BIT 6
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#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
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#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
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#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
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#define MPU6050_MST_PASS_THROUGH_BIT 7
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#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
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#define MPU6050_MST_I2C_LOST_ARB_BIT 5
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#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
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#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
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#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
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#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
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#define MPU6050_MST_I2C_SLV0_NACK_BIT 0
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#define MPU6050_INTCFG_INT_LEVEL_BIT 7
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#define MPU6050_INTCFG_INT_OPEN_BIT 6
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#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
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#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
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#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
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#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
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#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
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#define MPU6050_INTCFG_CLKOUT_EN_BIT 0
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#define MPU6050_INTMODE_ACTIVEHIGH 0x00
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#define MPU6050_INTMODE_ACTIVELOW 0x01
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#define MPU6050_INTDRV_PUSHPULL 0x00
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#define MPU6050_INTDRV_OPENDRAIN 0x01
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#define MPU6050_INTLATCH_50USPULSE 0x00
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#define MPU6050_INTLATCH_WAITCLEAR 0x01
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#define MPU6050_INTCLEAR_STATUSREAD 0x00
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#define MPU6050_INTCLEAR_ANYREAD 0x01
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#define MPU6050_INTERRUPT_FF_BIT 7
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#define MPU6050_INTERRUPT_MOT_BIT 6
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#define MPU6050_INTERRUPT_ZMOT_BIT 5
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#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
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#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
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#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
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#define MPU6050_INTERRUPT_DMP_INT_BIT 1
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#define MPU6050_INTERRUPT_DATA_RDY_BIT 0
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// TODO: figure out what these actually do
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// UMPL source code is not very obivous
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#define MPU6050_DMPINT_5_BIT 5
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#define MPU6050_DMPINT_4_BIT 4
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#define MPU6050_DMPINT_3_BIT 3
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#define MPU6050_DMPINT_2_BIT 2
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#define MPU6050_DMPINT_1_BIT 1
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#define MPU6050_DMPINT_0_BIT 0
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#define MPU6050_MOTION_MOT_XNEG_BIT 7
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#define MPU6050_MOTION_MOT_XPOS_BIT 6
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#define MPU6050_MOTION_MOT_YNEG_BIT 5
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#define MPU6050_MOTION_MOT_YPOS_BIT 4
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#define MPU6050_MOTION_MOT_ZNEG_BIT 3
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#define MPU6050_MOTION_MOT_ZPOS_BIT 2
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#define MPU6050_MOTION_MOT_ZRMOT_BIT 0
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#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
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#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
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#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
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#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
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#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
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#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
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#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
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#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
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#define MPU6050_PATHRESET_TEMP_RESET_BIT 0
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#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
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#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
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#define MPU6050_DETECT_FF_COUNT_BIT 3
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#define MPU6050_DETECT_FF_COUNT_LENGTH 2
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#define MPU6050_DETECT_MOT_COUNT_BIT 1
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#define MPU6050_DETECT_MOT_COUNT_LENGTH 2
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#define MPU6050_DETECT_DECREMENT_RESET 0x0
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#define MPU6050_DETECT_DECREMENT_1 0x1
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#define MPU6050_DETECT_DECREMENT_2 0x2
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#define MPU6050_DETECT_DECREMENT_4 0x3
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#define MPU6050_USERCTRL_DMP_EN_BIT 7
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#define MPU6050_USERCTRL_FIFO_EN_BIT 6
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#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
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#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
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#define MPU6050_USERCTRL_DMP_RESET_BIT 3
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#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
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#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
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#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
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#define MPU6050_PWR1_DEVICE_RESET_BIT 7
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#define MPU6050_PWR1_SLEEP_BIT 6
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#define MPU6050_PWR1_CYCLE_BIT 5
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#define MPU6050_PWR1_TEMP_DIS_BIT 3
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#define MPU6050_PWR1_CLKSEL_BIT 2
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#define MPU6050_PWR1_CLKSEL_LENGTH 3
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#define MPU6050_CLOCK_INTERNAL 0x00
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#define MPU6050_CLOCK_PLL_XGYRO 0x01
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#define MPU6050_CLOCK_PLL_YGYRO 0x02
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#define MPU6050_CLOCK_PLL_ZGYRO 0x03
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#define MPU6050_CLOCK_PLL_EXT32K 0x04
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#define MPU6050_CLOCK_PLL_EXT19M 0x05
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#define MPU6050_CLOCK_KEEP_RESET 0x07
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#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
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#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
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#define MPU6050_PWR2_STBY_XA_BIT 5
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#define MPU6050_PWR2_STBY_YA_BIT 4
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#define MPU6050_PWR2_STBY_ZA_BIT 3
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#define MPU6050_PWR2_STBY_XG_BIT 2
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#define MPU6050_PWR2_STBY_YG_BIT 1
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#define MPU6050_PWR2_STBY_ZG_BIT 0
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#define MPU6050_WAKE_FREQ_1P25 0x0
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#define MPU6050_WAKE_FREQ_2P5 0x1
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#define MPU6050_WAKE_FREQ_5 0x2
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#define MPU6050_WAKE_FREQ_10 0x3
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#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
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#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
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#define MPU6050_BANKSEL_MEM_SEL_BIT 4
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#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
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#define MPU6050_WHO_AM_I_BIT 6
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#define MPU6050_WHO_AM_I_LENGTH 6
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#define MPU6050_DMP_MEMORY_BANKS 8
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#define MPU6050_DMP_MEMORY_BANK_SIZE 256
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#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
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// note: DMP code memory blocks defined at end of header file
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class MPU6050 {
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public:
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MPU6050();
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MPU6050(uint8_t address);
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void initialize();
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bool testConnection();
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// Patch for Tasmota
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void setAddr(uint8_t address);
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// AUX_VDDIO register
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uint8_t getAuxVDDIOLevel();
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void setAuxVDDIOLevel(uint8_t level);
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// SMPLRT_DIV register
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uint8_t getRate();
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void setRate(uint8_t rate);
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// CONFIG register
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uint8_t getExternalFrameSync();
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void setExternalFrameSync(uint8_t sync);
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uint8_t getDLPFMode();
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void setDLPFMode(uint8_t bandwidth);
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// GYRO_CONFIG register
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uint8_t getFullScaleGyroRange();
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void setFullScaleGyroRange(uint8_t range);
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// ACCEL_CONFIG register
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bool getAccelXSelfTest();
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void setAccelXSelfTest(bool enabled);
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bool getAccelYSelfTest();
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void setAccelYSelfTest(bool enabled);
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bool getAccelZSelfTest();
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void setAccelZSelfTest(bool enabled);
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uint8_t getFullScaleAccelRange();
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void setFullScaleAccelRange(uint8_t range);
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uint8_t getDHPFMode();
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void setDHPFMode(uint8_t mode);
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// FF_THR register
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uint8_t getFreefallDetectionThreshold();
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void setFreefallDetectionThreshold(uint8_t threshold);
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// FF_DUR register
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uint8_t getFreefallDetectionDuration();
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void setFreefallDetectionDuration(uint8_t duration);
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// MOT_THR register
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uint8_t getMotionDetectionThreshold();
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void setMotionDetectionThreshold(uint8_t threshold);
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// MOT_DUR register
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uint8_t getMotionDetectionDuration();
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void setMotionDetectionDuration(uint8_t duration);
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// ZRMOT_THR register
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uint8_t getZeroMotionDetectionThreshold();
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void setZeroMotionDetectionThreshold(uint8_t threshold);
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// ZRMOT_DUR register
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uint8_t getZeroMotionDetectionDuration();
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void setZeroMotionDetectionDuration(uint8_t duration);
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// FIFO_EN register
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bool getTempFIFOEnabled();
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void setTempFIFOEnabled(bool enabled);
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bool getXGyroFIFOEnabled();
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void setXGyroFIFOEnabled(bool enabled);
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bool getYGyroFIFOEnabled();
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void setYGyroFIFOEnabled(bool enabled);
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bool getZGyroFIFOEnabled();
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void setZGyroFIFOEnabled(bool enabled);
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bool getAccelFIFOEnabled();
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void setAccelFIFOEnabled(bool enabled);
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bool getSlave2FIFOEnabled();
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void setSlave2FIFOEnabled(bool enabled);
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bool getSlave1FIFOEnabled();
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void setSlave1FIFOEnabled(bool enabled);
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bool getSlave0FIFOEnabled();
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void setSlave0FIFOEnabled(bool enabled);
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// I2C_MST_CTRL register
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bool getMultiMasterEnabled();
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void setMultiMasterEnabled(bool enabled);
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bool getWaitForExternalSensorEnabled();
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void setWaitForExternalSensorEnabled(bool enabled);
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bool getSlave3FIFOEnabled();
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void setSlave3FIFOEnabled(bool enabled);
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bool getSlaveReadWriteTransitionEnabled();
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void setSlaveReadWriteTransitionEnabled(bool enabled);
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uint8_t getMasterClockSpeed();
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void setMasterClockSpeed(uint8_t speed);
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// I2C_SLV* registers (Slave 0-3)
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uint8_t getSlaveAddress(uint8_t num);
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void setSlaveAddress(uint8_t num, uint8_t address);
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uint8_t getSlaveRegister(uint8_t num);
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void setSlaveRegister(uint8_t num, uint8_t reg);
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bool getSlaveEnabled(uint8_t num);
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void setSlaveEnabled(uint8_t num, bool enabled);
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bool getSlaveWordByteSwap(uint8_t num);
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void setSlaveWordByteSwap(uint8_t num, bool enabled);
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bool getSlaveWriteMode(uint8_t num);
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void setSlaveWriteMode(uint8_t num, bool mode);
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bool getSlaveWordGroupOffset(uint8_t num);
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void setSlaveWordGroupOffset(uint8_t num, bool enabled);
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uint8_t getSlaveDataLength(uint8_t num);
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void setSlaveDataLength(uint8_t num, uint8_t length);
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// I2C_SLV* registers (Slave 4)
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uint8_t getSlave4Address();
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void setSlave4Address(uint8_t address);
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uint8_t getSlave4Register();
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void setSlave4Register(uint8_t reg);
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void setSlave4OutputByte(uint8_t data);
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bool getSlave4Enabled();
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void setSlave4Enabled(bool enabled);
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bool getSlave4InterruptEnabled();
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void setSlave4InterruptEnabled(bool enabled);
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bool getSlave4WriteMode();
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void setSlave4WriteMode(bool mode);
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uint8_t getSlave4MasterDelay();
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void setSlave4MasterDelay(uint8_t delay);
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uint8_t getSlate4InputByte();
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// I2C_MST_STATUS register
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bool getPassthroughStatus();
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bool getSlave4IsDone();
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bool getLostArbitration();
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bool getSlave4Nack();
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bool getSlave3Nack();
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bool getSlave2Nack();
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bool getSlave1Nack();
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bool getSlave0Nack();
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// INT_PIN_CFG register
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bool getInterruptMode();
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void setInterruptMode(bool mode);
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bool getInterruptDrive();
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void setInterruptDrive(bool drive);
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bool getInterruptLatch();
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void setInterruptLatch(bool latch);
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bool getInterruptLatchClear();
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|
void setInterruptLatchClear(bool clear);
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|
bool getFSyncInterruptLevel();
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|
void setFSyncInterruptLevel(bool level);
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|
bool getFSyncInterruptEnabled();
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void setFSyncInterruptEnabled(bool enabled);
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bool getI2CBypassEnabled();
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void setI2CBypassEnabled(bool enabled);
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bool getClockOutputEnabled();
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void setClockOutputEnabled(bool enabled);
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// INT_ENABLE register
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uint8_t getIntEnabled();
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void setIntEnabled(uint8_t enabled);
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bool getIntFreefallEnabled();
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void setIntFreefallEnabled(bool enabled);
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bool getIntMotionEnabled();
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void setIntMotionEnabled(bool enabled);
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|
bool getIntZeroMotionEnabled();
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|
void setIntZeroMotionEnabled(bool enabled);
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bool getIntFIFOBufferOverflowEnabled();
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|
void setIntFIFOBufferOverflowEnabled(bool enabled);
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bool getIntI2CMasterEnabled();
|
|
void setIntI2CMasterEnabled(bool enabled);
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|
bool getIntDataReadyEnabled();
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void setIntDataReadyEnabled(bool enabled);
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|
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// INT_STATUS register
|
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uint8_t getIntStatus();
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bool getIntFreefallStatus();
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bool getIntMotionStatus();
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bool getIntZeroMotionStatus();
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|
bool getIntFIFOBufferOverflowStatus();
|
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bool getIntI2CMasterStatus();
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bool getIntDataReadyStatus();
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|
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// ACCEL_*OUT_* registers
|
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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);
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void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
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void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
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int16_t getAccelerationX();
|
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int16_t getAccelerationY();
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int16_t getAccelerationZ();
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// TEMP_OUT_* registers
|
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int16_t getTemperature();
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// GYRO_*OUT_* registers
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void getRotation(int16_t* x, int16_t* y, int16_t* z);
|
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int16_t getRotationX();
|
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int16_t getRotationY();
|
|
int16_t getRotationZ();
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// EXT_SENS_DATA_* registers
|
|
uint8_t getExternalSensorByte(int position);
|
|
uint16_t getExternalSensorWord(int position);
|
|
uint32_t getExternalSensorDWord(int position);
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// MOT_DETECT_STATUS register
|
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bool getXNegMotionDetected();
|
|
bool getXPosMotionDetected();
|
|
bool getYNegMotionDetected();
|
|
bool getYPosMotionDetected();
|
|
bool getZNegMotionDetected();
|
|
bool getZPosMotionDetected();
|
|
bool getZeroMotionDetected();
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|
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// I2C_SLV*_DO register
|
|
void setSlaveOutputByte(uint8_t num, uint8_t data);
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|
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// I2C_MST_DELAY_CTRL register
|
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bool getExternalShadowDelayEnabled();
|
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void setExternalShadowDelayEnabled(bool enabled);
|
|
bool getSlaveDelayEnabled(uint8_t num);
|
|
void setSlaveDelayEnabled(uint8_t num, bool enabled);
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|
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// SIGNAL_PATH_RESET register
|
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void resetGyroscopePath();
|
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void resetAccelerometerPath();
|
|
void resetTemperaturePath();
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|
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// MOT_DETECT_CTRL register
|
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uint8_t getAccelerometerPowerOnDelay();
|
|
void setAccelerometerPowerOnDelay(uint8_t delay);
|
|
uint8_t getFreefallDetectionCounterDecrement();
|
|
void setFreefallDetectionCounterDecrement(uint8_t decrement);
|
|
uint8_t getMotionDetectionCounterDecrement();
|
|
void setMotionDetectionCounterDecrement(uint8_t decrement);
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|
|
// 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();
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|
|
// 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);
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|
|
|
// 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);
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|
|
|
// FIFO_COUNT_* registers
|
|
uint16_t getFIFOCount();
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|
|
|
// FIFO_R_W register
|
|
uint8_t getFIFOByte();
|
|
void setFIFOByte(uint8_t data);
|
|
void getFIFOBytes(uint8_t *data, uint8_t length);
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|
|
|
// WHO_AM_I register
|
|
uint8_t getDeviceID();
|
|
void setDeviceID(uint8_t id);
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|
|
|
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
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|
|
|
// XG_OFFS_TC register
|
|
uint8_t getOTPBankValid();
|
|
void setOTPBankValid(bool enabled);
|
|
int8_t getXGyroOffsetTC();
|
|
void setXGyroOffsetTC(int8_t offset);
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|
|
|
// YG_OFFS_TC register
|
|
int8_t getYGyroOffsetTC();
|
|
void setYGyroOffsetTC(int8_t offset);
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|
|
// ZG_OFFS_TC register
|
|
int8_t getZGyroOffsetTC();
|
|
void setZGyroOffsetTC(int8_t offset);
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|
|
|
// 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 getXGyroOffset();
|
|
void setXGyroOffset(int16_t offset);
|
|
|
|
// YG_OFFS_USR* register
|
|
int16_t getYGyroOffset();
|
|
void setYGyroOffset(int16_t offset);
|
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|
|
// ZG_OFFS_USR* register
|
|
int16_t getZGyroOffset();
|
|
void setZGyroOffset(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);
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|
//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
|
|
uint8_t dmpRunFIFORateProcesses();
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|
|
|
// Setup FIFO for various output
|
|
uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
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|
uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
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|
uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
|
uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
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|
uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
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|
uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
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uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
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|
|
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// Get Fixed Point data from FIFO
|
|
uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
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|
uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
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|
uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
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|
uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
|
|
uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
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|
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);
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|
uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
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|
uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
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|
uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
|
|
uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
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|
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_ */
|