Prosper Van / MotionDriver_6_1

Embedded MotionDriver 6.1 Sourced from InvenSense

inv_mpu_dmp_motion_driver.h@0:5fa30cf392c3, 2014-08-24 (annotated)

Committer:
oprospero
Date:
Sun Aug 24 00:52:07 2014 +0000
Revision:
0:5fa30cf392c3
Initial commit, copied from Motion Driver 6.1 no edits

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oprospero 0:5fa30cf392c3 1 /*
oprospero 0:5fa30cf392c3 2 $License:
oprospero 0:5fa30cf392c3 3 Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
oprospero 0:5fa30cf392c3 4 See included License.txt for License information.
oprospero 0:5fa30cf392c3 5 $
oprospero 0:5fa30cf392c3 6 */
oprospero 0:5fa30cf392c3 7 /**
oprospero 0:5fa30cf392c3 8 * @addtogroup DRIVERS Sensor Driver Layer
oprospero 0:5fa30cf392c3 9 * @brief Hardware drivers to communicate with sensors via I2C.
oprospero 0:5fa30cf392c3 10 *
oprospero 0:5fa30cf392c3 11 * @{
oprospero 0:5fa30cf392c3 12 * @file inv_mpu_dmp_motion_driver.h
oprospero 0:5fa30cf392c3 13 * @brief DMP image and interface functions.
oprospero 0:5fa30cf392c3 14 * @details All functions are preceded by the dmp_ prefix to
oprospero 0:5fa30cf392c3 15 * differentiate among MPL and general driver function calls.
oprospero 0:5fa30cf392c3 16 */
oprospero 0:5fa30cf392c3 17 #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_
oprospero 0:5fa30cf392c3 18 #define _INV_MPU_DMP_MOTION_DRIVER_H_
oprospero 0:5fa30cf392c3 19
oprospero 0:5fa30cf392c3 20 #define TAP_X (0x01)
oprospero 0:5fa30cf392c3 21 #define TAP_Y (0x02)
oprospero 0:5fa30cf392c3 22 #define TAP_Z (0x04)
oprospero 0:5fa30cf392c3 23 #define TAP_XYZ (0x07)
oprospero 0:5fa30cf392c3 24
oprospero 0:5fa30cf392c3 25 #define TAP_X_UP (0x01)
oprospero 0:5fa30cf392c3 26 #define TAP_X_DOWN (0x02)
oprospero 0:5fa30cf392c3 27 #define TAP_Y_UP (0x03)
oprospero 0:5fa30cf392c3 28 #define TAP_Y_DOWN (0x04)
oprospero 0:5fa30cf392c3 29 #define TAP_Z_UP (0x05)
oprospero 0:5fa30cf392c3 30 #define TAP_Z_DOWN (0x06)
oprospero 0:5fa30cf392c3 31
oprospero 0:5fa30cf392c3 32 #define ANDROID_ORIENT_PORTRAIT (0x00)
oprospero 0:5fa30cf392c3 33 #define ANDROID_ORIENT_LANDSCAPE (0x01)
oprospero 0:5fa30cf392c3 34 #define ANDROID_ORIENT_REVERSE_PORTRAIT (0x02)
oprospero 0:5fa30cf392c3 35 #define ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03)
oprospero 0:5fa30cf392c3 36
oprospero 0:5fa30cf392c3 37 #define DMP_INT_GESTURE (0x01)
oprospero 0:5fa30cf392c3 38 #define DMP_INT_CONTINUOUS (0x02)
oprospero 0:5fa30cf392c3 39
oprospero 0:5fa30cf392c3 40 #define DMP_FEATURE_TAP (0x001)
oprospero 0:5fa30cf392c3 41 #define DMP_FEATURE_ANDROID_ORIENT (0x002)
oprospero 0:5fa30cf392c3 42 #define DMP_FEATURE_LP_QUAT (0x004)
oprospero 0:5fa30cf392c3 43 #define DMP_FEATURE_PEDOMETER (0x008)
oprospero 0:5fa30cf392c3 44 #define DMP_FEATURE_6X_LP_QUAT (0x010)
oprospero 0:5fa30cf392c3 45 #define DMP_FEATURE_GYRO_CAL (0x020)
oprospero 0:5fa30cf392c3 46 #define DMP_FEATURE_SEND_RAW_ACCEL (0x040)
oprospero 0:5fa30cf392c3 47 #define DMP_FEATURE_SEND_RAW_GYRO (0x080)
oprospero 0:5fa30cf392c3 48 #define DMP_FEATURE_SEND_CAL_GYRO (0x100)
oprospero 0:5fa30cf392c3 49
oprospero 0:5fa30cf392c3 50 #define INV_WXYZ_QUAT (0x100)
oprospero 0:5fa30cf392c3 51
oprospero 0:5fa30cf392c3 52 /* Set up functions. */
oprospero 0:5fa30cf392c3 53 int dmp_load_motion_driver_firmware(void);
oprospero 0:5fa30cf392c3 54 int dmp_set_fifo_rate(unsigned short rate);
oprospero 0:5fa30cf392c3 55 int dmp_get_fifo_rate(unsigned short *rate);
oprospero 0:5fa30cf392c3 56 int dmp_enable_feature(unsigned short mask);
oprospero 0:5fa30cf392c3 57 int dmp_get_enabled_features(unsigned short *mask);
oprospero 0:5fa30cf392c3 58 int dmp_set_interrupt_mode(unsigned char mode);
oprospero 0:5fa30cf392c3 59 int dmp_set_orientation(unsigned short orient);
oprospero 0:5fa30cf392c3 60 int dmp_set_gyro_bias(long *bias);
oprospero 0:5fa30cf392c3 61 int dmp_set_accel_bias(long *bias);
oprospero 0:5fa30cf392c3 62
oprospero 0:5fa30cf392c3 63 /* Tap functions. */
oprospero 0:5fa30cf392c3 64 int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char));
oprospero 0:5fa30cf392c3 65 int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh);
oprospero 0:5fa30cf392c3 66 int dmp_set_tap_axes(unsigned char axis);
oprospero 0:5fa30cf392c3 67 int dmp_set_tap_count(unsigned char min_taps);
oprospero 0:5fa30cf392c3 68 int dmp_set_tap_time(unsigned short time);
oprospero 0:5fa30cf392c3 69 int dmp_set_tap_time_multi(unsigned short time);
oprospero 0:5fa30cf392c3 70 int dmp_set_shake_reject_thresh(long sf, unsigned short thresh);
oprospero 0:5fa30cf392c3 71 int dmp_set_shake_reject_time(unsigned short time);
oprospero 0:5fa30cf392c3 72 int dmp_set_shake_reject_timeout(unsigned short time);
oprospero 0:5fa30cf392c3 73
oprospero 0:5fa30cf392c3 74 /* Android orientation functions. */
oprospero 0:5fa30cf392c3 75 int dmp_register_android_orient_cb(void (*func)(unsigned char));
oprospero 0:5fa30cf392c3 76
oprospero 0:5fa30cf392c3 77 /* LP quaternion functions. */
oprospero 0:5fa30cf392c3 78 int dmp_enable_lp_quat(unsigned char enable);
oprospero 0:5fa30cf392c3 79 int dmp_enable_6x_lp_quat(unsigned char enable);
oprospero 0:5fa30cf392c3 80
oprospero 0:5fa30cf392c3 81 /* Pedometer functions. */
oprospero 0:5fa30cf392c3 82 int dmp_get_pedometer_step_count(unsigned long *count);
oprospero 0:5fa30cf392c3 83 int dmp_set_pedometer_step_count(unsigned long count);
oprospero 0:5fa30cf392c3 84 int dmp_get_pedometer_walk_time(unsigned long *time);
oprospero 0:5fa30cf392c3 85 int dmp_set_pedometer_walk_time(unsigned long time);
oprospero 0:5fa30cf392c3 86
oprospero 0:5fa30cf392c3 87 /* DMP gyro calibration functions. */
oprospero 0:5fa30cf392c3 88 int dmp_enable_gyro_cal(unsigned char enable);
oprospero 0:5fa30cf392c3 89
oprospero 0:5fa30cf392c3 90 /* Read function. This function should be called whenever the MPU interrupt is
oprospero 0:5fa30cf392c3 91 * detected.
oprospero 0:5fa30cf392c3 92 */
oprospero 0:5fa30cf392c3 93 int dmp_read_fifo(short *gyro, short *accel, long *quat,
oprospero 0:5fa30cf392c3 94 unsigned long *timestamp, short *sensors, unsigned char *more);
oprospero 0:5fa30cf392c3 95
oprospero 0:5fa30cf392c3 96 #endif /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */
oprospero 0:5fa30cf392c3 97
oprospero 0:5fa30cf392c3 98