Motion Processing Library adapted to mbed
Dependents: openwear-lifelogger-example
inv_mpu.h@1:6221b0518f94, 2014-09-16 (annotated)
- Committer:
- janekm
- Date:
- Tue Sep 16 22:42:12 2014 +0000
- Revision:
- 1:6221b0518f94
- Parent:
- 0:61a7cadab29e
I forgot
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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.h |
janekm | 0:61a7cadab29e | 13 | * @brief An I2C-based driver for Invensense gyroscopes. |
janekm | 0:61a7cadab29e | 14 | * @details This driver currently works for the following devices: |
janekm | 0:61a7cadab29e | 15 | * MPU6050 |
janekm | 0:61a7cadab29e | 16 | * MPU6500 |
janekm | 0:61a7cadab29e | 17 | * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) |
janekm | 0:61a7cadab29e | 18 | * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) |
janekm | 0:61a7cadab29e | 19 | */ |
janekm | 0:61a7cadab29e | 20 | |
janekm | 0:61a7cadab29e | 21 | #ifndef _INV_MPU_H_ |
janekm | 0:61a7cadab29e | 22 | #define _INV_MPU_H_ |
janekm | 0:61a7cadab29e | 23 | |
janekm | 0:61a7cadab29e | 24 | #define INV_X_GYRO (0x40) |
janekm | 0:61a7cadab29e | 25 | #define INV_Y_GYRO (0x20) |
janekm | 0:61a7cadab29e | 26 | #define INV_Z_GYRO (0x10) |
janekm | 0:61a7cadab29e | 27 | #define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO) |
janekm | 0:61a7cadab29e | 28 | #define INV_XYZ_ACCEL (0x08) |
janekm | 0:61a7cadab29e | 29 | #define INV_XYZ_COMPASS (0x01) |
janekm | 0:61a7cadab29e | 30 | |
janekm | 0:61a7cadab29e | 31 | |
janekm | 0:61a7cadab29e | 32 | struct int_param_s { |
janekm | 0:61a7cadab29e | 33 | void (*cb)(void); |
janekm | 0:61a7cadab29e | 34 | }; |
janekm | 0:61a7cadab29e | 35 | |
janekm | 0:61a7cadab29e | 36 | #define MPU_INT_STATUS_DATA_READY (0x0001) |
janekm | 0:61a7cadab29e | 37 | #define MPU_INT_STATUS_DMP (0x0002) |
janekm | 0:61a7cadab29e | 38 | #define MPU_INT_STATUS_PLL_READY (0x0004) |
janekm | 0:61a7cadab29e | 39 | #define MPU_INT_STATUS_I2C_MST (0x0008) |
janekm | 0:61a7cadab29e | 40 | #define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010) |
janekm | 0:61a7cadab29e | 41 | #define MPU_INT_STATUS_ZMOT (0x0020) |
janekm | 0:61a7cadab29e | 42 | #define MPU_INT_STATUS_MOT (0x0040) |
janekm | 0:61a7cadab29e | 43 | #define MPU_INT_STATUS_FREE_FALL (0x0080) |
janekm | 0:61a7cadab29e | 44 | #define MPU_INT_STATUS_DMP_0 (0x0100) |
janekm | 0:61a7cadab29e | 45 | #define MPU_INT_STATUS_DMP_1 (0x0200) |
janekm | 0:61a7cadab29e | 46 | #define MPU_INT_STATUS_DMP_2 (0x0400) |
janekm | 0:61a7cadab29e | 47 | #define MPU_INT_STATUS_DMP_3 (0x0800) |
janekm | 0:61a7cadab29e | 48 | #define MPU_INT_STATUS_DMP_4 (0x1000) |
janekm | 0:61a7cadab29e | 49 | #define MPU_INT_STATUS_DMP_5 (0x2000) |
janekm | 0:61a7cadab29e | 50 | |
janekm | 0:61a7cadab29e | 51 | /* Set up APIs */ |
janekm | 0:61a7cadab29e | 52 | int mpu_init(struct int_param_s *int_param); |
janekm | 0:61a7cadab29e | 53 | int mpu_init_slave(void); |
janekm | 0:61a7cadab29e | 54 | int mpu_set_bypass(unsigned char bypass_on); |
janekm | 0:61a7cadab29e | 55 | |
janekm | 0:61a7cadab29e | 56 | /* Configuration APIs */ |
janekm | 0:61a7cadab29e | 57 | int mpu_lp_accel_mode(unsigned short rate); |
janekm | 0:61a7cadab29e | 58 | int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, |
janekm | 0:61a7cadab29e | 59 | unsigned short lpa_freq); |
janekm | 0:61a7cadab29e | 60 | int mpu_set_int_level(unsigned char active_low); |
janekm | 0:61a7cadab29e | 61 | int mpu_set_int_latched(unsigned char enable); |
janekm | 0:61a7cadab29e | 62 | |
janekm | 0:61a7cadab29e | 63 | int mpu_set_dmp_state(unsigned char enable); |
janekm | 0:61a7cadab29e | 64 | int mpu_get_dmp_state(unsigned char *enabled); |
janekm | 0:61a7cadab29e | 65 | |
janekm | 0:61a7cadab29e | 66 | int mpu_get_lpf(unsigned short *lpf); |
janekm | 0:61a7cadab29e | 67 | int mpu_set_lpf(unsigned short lpf); |
janekm | 0:61a7cadab29e | 68 | |
janekm | 0:61a7cadab29e | 69 | int mpu_get_gyro_fsr(unsigned short *fsr); |
janekm | 0:61a7cadab29e | 70 | int mpu_set_gyro_fsr(unsigned short fsr); |
janekm | 0:61a7cadab29e | 71 | |
janekm | 0:61a7cadab29e | 72 | int mpu_get_accel_fsr(unsigned char *fsr); |
janekm | 0:61a7cadab29e | 73 | int mpu_set_accel_fsr(unsigned char fsr); |
janekm | 0:61a7cadab29e | 74 | |
janekm | 0:61a7cadab29e | 75 | int mpu_get_compass_fsr(unsigned short *fsr); |
janekm | 0:61a7cadab29e | 76 | |
janekm | 0:61a7cadab29e | 77 | int mpu_get_gyro_sens(float *sens); |
janekm | 0:61a7cadab29e | 78 | int mpu_get_accel_sens(unsigned short *sens); |
janekm | 0:61a7cadab29e | 79 | |
janekm | 0:61a7cadab29e | 80 | int mpu_get_sample_rate(unsigned short *rate); |
janekm | 0:61a7cadab29e | 81 | int mpu_set_sample_rate(unsigned short rate); |
janekm | 0:61a7cadab29e | 82 | int mpu_get_compass_sample_rate(unsigned short *rate); |
janekm | 0:61a7cadab29e | 83 | int mpu_set_compass_sample_rate(unsigned short rate); |
janekm | 0:61a7cadab29e | 84 | |
janekm | 0:61a7cadab29e | 85 | int mpu_get_fifo_config(unsigned char *sensors); |
janekm | 0:61a7cadab29e | 86 | int mpu_configure_fifo(unsigned char sensors); |
janekm | 0:61a7cadab29e | 87 | |
janekm | 0:61a7cadab29e | 88 | int mpu_get_power_state(unsigned char *power_on); |
janekm | 0:61a7cadab29e | 89 | int mpu_set_sensors(unsigned char sensors); |
janekm | 0:61a7cadab29e | 90 | |
janekm | 0:61a7cadab29e | 91 | int mpu_read_6500_accel_bias(long *accel_bias); |
janekm | 0:61a7cadab29e | 92 | int mpu_set_gyro_bias_reg(long * gyro_bias); |
janekm | 0:61a7cadab29e | 93 | int mpu_set_accel_bias_6500_reg(const long *accel_bias); |
janekm | 0:61a7cadab29e | 94 | int mpu_read_6050_accel_bias(long *accel_bias); |
janekm | 0:61a7cadab29e | 95 | int mpu_set_accel_bias_6050_reg(const long *accel_bias); |
janekm | 0:61a7cadab29e | 96 | |
janekm | 0:61a7cadab29e | 97 | /* Data getter/setter APIs */ |
janekm | 0:61a7cadab29e | 98 | int mpu_get_gyro_reg(short *data, unsigned long *timestamp); |
janekm | 0:61a7cadab29e | 99 | int mpu_get_accel_reg(short *data, unsigned long *timestamp); |
janekm | 0:61a7cadab29e | 100 | int mpu_get_compass_reg(short *data, unsigned long *timestamp); |
janekm | 0:61a7cadab29e | 101 | int mpu_get_temperature(long *data, unsigned long *timestamp); |
janekm | 0:61a7cadab29e | 102 | |
janekm | 0:61a7cadab29e | 103 | int mpu_get_int_status(short *status); |
janekm | 0:61a7cadab29e | 104 | int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, |
janekm | 0:61a7cadab29e | 105 | unsigned char *sensors, unsigned char *more); |
janekm | 0:61a7cadab29e | 106 | int mpu_read_fifo_stream(unsigned short length, unsigned char *data, |
janekm | 0:61a7cadab29e | 107 | unsigned char *more); |
janekm | 0:61a7cadab29e | 108 | int mpu_reset_fifo(void); |
janekm | 0:61a7cadab29e | 109 | |
janekm | 0:61a7cadab29e | 110 | int mpu_write_mem(unsigned short mem_addr, unsigned short length, |
janekm | 0:61a7cadab29e | 111 | unsigned char *data); |
janekm | 0:61a7cadab29e | 112 | int mpu_read_mem(unsigned short mem_addr, unsigned short length, |
janekm | 0:61a7cadab29e | 113 | unsigned char *data); |
janekm | 0:61a7cadab29e | 114 | int mpu_load_firmware(unsigned short length, const unsigned char *firmware, |
janekm | 0:61a7cadab29e | 115 | unsigned short start_addr, unsigned short sample_rate); |
janekm | 0:61a7cadab29e | 116 | |
janekm | 0:61a7cadab29e | 117 | int mpu_reg_dump(void); |
janekm | 0:61a7cadab29e | 118 | int mpu_read_reg(unsigned char reg, unsigned char *data); |
janekm | 0:61a7cadab29e | 119 | int mpu_run_self_test(long *gyro, long *accel); |
janekm | 0:61a7cadab29e | 120 | int mpu_run_6500_self_test(long *gyro, long *accel, unsigned char debug); |
janekm | 0:61a7cadab29e | 121 | int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char)); |
janekm | 0:61a7cadab29e | 122 | |
janekm | 0:61a7cadab29e | 123 | #endif /* #ifndef _INV_MPU_H_ */ |
janekm | 0:61a7cadab29e | 124 |