Janek Mann / MPL6_1

Motion Processing Library adapted to mbed

Dependents:   openwear-lifelogger-example

inv_mpu_dmp_motion_driver.h@0:61a7cadab29e, 2014-09-08 (annotated)

Committer:
janekm
Date:
Mon Sep 08 23:16:52 2014 +0000
Revision:
0:61a7cadab29e
mbed porting

Who changed what in which revision?

UserRevisionLine numberNew contents of line
janekm 0:61a7cadab29e 1 /*
janekm 0:61a7cadab29e 2 $License:
janekm 0:61a7cadab29e 3 Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
janekm 0:61a7cadab29e 4 See included License.txt for License information.
janekm 0:61a7cadab29e 5 $
janekm 0:61a7cadab29e 6 */
janekm 0:61a7cadab29e 7 /**
janekm 0:61a7cadab29e 8 * @addtogroup DRIVERS Sensor Driver Layer
janekm 0:61a7cadab29e 9 * @brief Hardware drivers to communicate with sensors via I2C.
janekm 0:61a7cadab29e 10 *
janekm 0:61a7cadab29e 11 * @{
janekm 0:61a7cadab29e 12 * @file inv_mpu_dmp_motion_driver.h
janekm 0:61a7cadab29e 13 * @brief DMP image and interface functions.
janekm 0:61a7cadab29e 14 * @details All functions are preceded by the dmp_ prefix to
janekm 0:61a7cadab29e 15 * differentiate among MPL and general driver function calls.
janekm 0:61a7cadab29e 16 */
janekm 0:61a7cadab29e 17 #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_
janekm 0:61a7cadab29e 18 #define _INV_MPU_DMP_MOTION_DRIVER_H_
janekm 0:61a7cadab29e 19
janekm 0:61a7cadab29e 20 #define TAP_X (0x01)
janekm 0:61a7cadab29e 21 #define TAP_Y (0x02)
janekm 0:61a7cadab29e 22 #define TAP_Z (0x04)
janekm 0:61a7cadab29e 23 #define TAP_XYZ (0x07)
janekm 0:61a7cadab29e 24
janekm 0:61a7cadab29e 25 #define TAP_X_UP (0x01)
janekm 0:61a7cadab29e 26 #define TAP_X_DOWN (0x02)
janekm 0:61a7cadab29e 27 #define TAP_Y_UP (0x03)
janekm 0:61a7cadab29e 28 #define TAP_Y_DOWN (0x04)
janekm 0:61a7cadab29e 29 #define TAP_Z_UP (0x05)
janekm 0:61a7cadab29e 30 #define TAP_Z_DOWN (0x06)
janekm 0:61a7cadab29e 31
janekm 0:61a7cadab29e 32 #define ANDROID_ORIENT_PORTRAIT (0x00)
janekm 0:61a7cadab29e 33 #define ANDROID_ORIENT_LANDSCAPE (0x01)
janekm 0:61a7cadab29e 34 #define ANDROID_ORIENT_REVERSE_PORTRAIT (0x02)
janekm 0:61a7cadab29e 35 #define ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03)
janekm 0:61a7cadab29e 36
janekm 0:61a7cadab29e 37 #define DMP_INT_GESTURE (0x01)
janekm 0:61a7cadab29e 38 #define DMP_INT_CONTINUOUS (0x02)
janekm 0:61a7cadab29e 39
janekm 0:61a7cadab29e 40 #define DMP_FEATURE_TAP (0x001)
janekm 0:61a7cadab29e 41 #define DMP_FEATURE_ANDROID_ORIENT (0x002)
janekm 0:61a7cadab29e 42 #define DMP_FEATURE_LP_QUAT (0x004)
janekm 0:61a7cadab29e 43 #define DMP_FEATURE_PEDOMETER (0x008)
janekm 0:61a7cadab29e 44 #define DMP_FEATURE_6X_LP_QUAT (0x010)
janekm 0:61a7cadab29e 45 #define DMP_FEATURE_GYRO_CAL (0x020)
janekm 0:61a7cadab29e 46 #define DMP_FEATURE_SEND_RAW_ACCEL (0x040)
janekm 0:61a7cadab29e 47 #define DMP_FEATURE_SEND_RAW_GYRO (0x080)
janekm 0:61a7cadab29e 48 #define DMP_FEATURE_SEND_CAL_GYRO (0x100)
janekm 0:61a7cadab29e 49
janekm 0:61a7cadab29e 50 #define INV_WXYZ_QUAT (0x100)
janekm 0:61a7cadab29e 51
janekm 0:61a7cadab29e 52 /* Set up functions. */
janekm 0:61a7cadab29e 53 int dmp_load_motion_driver_firmware(void);
janekm 0:61a7cadab29e 54 int dmp_set_fifo_rate(unsigned short rate);
janekm 0:61a7cadab29e 55 int dmp_get_fifo_rate(unsigned short *rate);
janekm 0:61a7cadab29e 56 int dmp_enable_feature(unsigned short mask);
janekm 0:61a7cadab29e 57 int dmp_get_enabled_features(unsigned short *mask);
janekm 0:61a7cadab29e 58 int dmp_set_interrupt_mode(unsigned char mode);
janekm 0:61a7cadab29e 59 int dmp_set_orientation(unsigned short orient);
janekm 0:61a7cadab29e 60 int dmp_set_gyro_bias(long *bias);
janekm 0:61a7cadab29e 61 int dmp_set_accel_bias(long *bias);
janekm 0:61a7cadab29e 62
janekm 0:61a7cadab29e 63 /* Tap functions. */
janekm 0:61a7cadab29e 64 int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char));
janekm 0:61a7cadab29e 65 int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh);
janekm 0:61a7cadab29e 66 int dmp_set_tap_axes(unsigned char axis);
janekm 0:61a7cadab29e 67 int dmp_set_tap_count(unsigned char min_taps);
janekm 0:61a7cadab29e 68 int dmp_set_tap_time(unsigned short time);
janekm 0:61a7cadab29e 69 int dmp_set_tap_time_multi(unsigned short time);
janekm 0:61a7cadab29e 70 int dmp_set_shake_reject_thresh(long sf, unsigned short thresh);
janekm 0:61a7cadab29e 71 int dmp_set_shake_reject_time(unsigned short time);
janekm 0:61a7cadab29e 72 int dmp_set_shake_reject_timeout(unsigned short time);
janekm 0:61a7cadab29e 73
janekm 0:61a7cadab29e 74 /* Android orientation functions. */
janekm 0:61a7cadab29e 75 int dmp_register_android_orient_cb(void (*func)(unsigned char));
janekm 0:61a7cadab29e 76
janekm 0:61a7cadab29e 77 /* LP quaternion functions. */
janekm 0:61a7cadab29e 78 int dmp_enable_lp_quat(unsigned char enable);
janekm 0:61a7cadab29e 79 int dmp_enable_6x_lp_quat(unsigned char enable);
janekm 0:61a7cadab29e 80
janekm 0:61a7cadab29e 81 /* Pedometer functions. */
janekm 0:61a7cadab29e 82 int dmp_get_pedometer_step_count(unsigned long *count);
janekm 0:61a7cadab29e 83 int dmp_set_pedometer_step_count(unsigned long count);
janekm 0:61a7cadab29e 84 int dmp_get_pedometer_walk_time(unsigned long *time);
janekm 0:61a7cadab29e 85 int dmp_set_pedometer_walk_time(unsigned long time);
janekm 0:61a7cadab29e 86
janekm 0:61a7cadab29e 87 /* DMP gyro calibration functions. */
janekm 0:61a7cadab29e 88 int dmp_enable_gyro_cal(unsigned char enable);
janekm 0:61a7cadab29e 89
janekm 0:61a7cadab29e 90 /* Read function. This function should be called whenever the MPU interrupt is
janekm 0:61a7cadab29e 91 * detected.
janekm 0:61a7cadab29e 92 */
janekm 0:61a7cadab29e 93 int dmp_read_fifo(short *gyro, short *accel, long *quat,
janekm 0:61a7cadab29e 94 unsigned long *timestamp, short *sensors, unsigned char *more);
janekm 0:61a7cadab29e 95
janekm 0:61a7cadab29e 96 #endif /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */
janekm 0:61a7cadab29e 97