Prosper Van
Embedded MotionDriver 6.1 Sourced from InvenSense
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inv_mpu.c File Reference
An I2C-based driver for Invensense gyroscopes. More...
Go to the source code of this file.
Functions | |
| static int | set_int_enable (unsigned char enable) |
| Enable/disable data ready interrupt. | |
| int | mpu_reg_dump (void) |
| Register dump for testing. | |
| int | mpu_read_reg (unsigned char reg, unsigned char *data) |
| Read from a single register. | |
| int | mpu_init (struct int_param_s *int_param) |
| Initialize hardware. | |
| int | mpu_lp_accel_mode (unsigned short rate) |
| Enter low-power accel-only mode. | |
| int | mpu_get_gyro_reg (short *data, unsigned long *timestamp) |
| Read raw gyro data directly from the registers. | |
| int | mpu_get_accel_reg (short *data, unsigned long *timestamp) |
| Read raw accel data directly from the registers. | |
| int | mpu_get_temperature (long *data, unsigned long *timestamp) |
| Read temperature data directly from the registers. | |
| int | mpu_read_6500_accel_bias (long *accel_bias) |
| Read biases to the accel bias 6500 registers. | |
| int | mpu_read_6050_accel_bias (long *accel_bias) |
| Read biases to the accel bias 6050 registers. | |
| int | mpu_set_gyro_bias_reg (long *gyro_bias) |
| Push biases to the gyro bias 6500/6050 registers. | |
| int | mpu_set_accel_bias_6050_reg (const long *accel_bias) |
| Push biases to the accel bias 6050 registers. | |
| int | mpu_set_accel_bias_6500_reg (const long *accel_bias) |
| Push biases to the accel bias 6500 registers. | |
| int | mpu_reset_fifo (void) |
| Reset FIFO read/write pointers. | |
| int | mpu_get_gyro_fsr (unsigned short *fsr) |
| Get the gyro full-scale range. | |
| int | mpu_set_gyro_fsr (unsigned short fsr) |
| Set the gyro full-scale range. | |
| int | mpu_get_accel_fsr (unsigned char *fsr) |
| Get the accel full-scale range. | |
| int | mpu_set_accel_fsr (unsigned char fsr) |
| Set the accel full-scale range. | |
| int | mpu_get_lpf (unsigned short *lpf) |
| Get the current DLPF setting. | |
| int | mpu_set_lpf (unsigned short lpf) |
| Set digital low pass filter. | |
| int | mpu_get_sample_rate (unsigned short *rate) |
| Get sampling rate. | |
| int | mpu_set_sample_rate (unsigned short rate) |
| Set sampling rate. | |
| int | mpu_get_compass_sample_rate (unsigned short *rate) |
| Get compass sampling rate. | |
| int | mpu_set_compass_sample_rate (unsigned short rate) |
| Set compass sampling rate. | |
| int | mpu_get_gyro_sens (float *sens) |
| Get gyro sensitivity scale factor. | |
| int | mpu_get_accel_sens (unsigned short *sens) |
| Get accel sensitivity scale factor. | |
| int | mpu_get_fifo_config (unsigned char *sensors) |
| Get current FIFO configuration. | |
| int | mpu_configure_fifo (unsigned char sensors) |
| Select which sensors are pushed to FIFO. | |
| int | mpu_get_power_state (unsigned char *power_on) |
| Get current power state. | |
| int | mpu_set_sensors (unsigned char sensors) |
| Turn specific sensors on/off. | |
| int | mpu_get_int_status (short *status) |
| Read the MPU interrupt status registers. | |
| int | mpu_read_fifo (short *gyro, short *accel, unsigned long *timestamp, unsigned char *sensors, unsigned char *more) |
| Get one packet from the FIFO. | |
| int | mpu_read_fifo_stream (unsigned short length, unsigned char *data, unsigned char *more) |
| Get one unparsed packet from the FIFO. | |
| int | mpu_set_bypass (unsigned char bypass_on) |
| Set device to bypass mode. | |
| int | mpu_set_int_level (unsigned char active_low) |
| Set interrupt level. | |
| int | mpu_set_int_latched (unsigned char enable) |
| Enable latched interrupts. | |
| int | mpu_run_6500_self_test (long *gyro, long *accel, unsigned char debug) |
| Trigger gyro/accel/compass self-test for MPU6500/MPU9250 On success/error, the self-test returns a mask representing the sensor(s) that failed. | |
| int | mpu_write_mem (unsigned short mem_addr, unsigned short length, unsigned char *data) |
| Write to the DMP memory. | |
| int | mpu_read_mem (unsigned short mem_addr, unsigned short length, unsigned char *data) |
| Read from the DMP memory. | |
| int | mpu_load_firmware (unsigned short length, const unsigned char *firmware, unsigned short start_addr, unsigned short sample_rate) |
| Load and verify DMP image. | |
| int | mpu_set_dmp_state (unsigned char enable) |
| Enable/disable DMP support. | |
| int | mpu_get_dmp_state (unsigned char *enabled) |
| Get DMP state. | |
| int | mpu_get_compass_reg (short *data, unsigned long *timestamp) |
| Read raw compass data. | |
| int | mpu_get_compass_fsr (unsigned short *fsr) |
| Get the compass full-scale range. | |
| int | mpu_lp_motion_interrupt (unsigned short thresh, unsigned char time, unsigned short lpa_freq) |
| Enters LP accel motion interrupt mode. | |
Detailed Description
An I2C-based driver for Invensense gyroscopes.
This driver currently works for the following devices: MPU6050 MPU6500 MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
Definition in file inv_mpu.c.
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