93 lines
3.2 KiB
C
93 lines
3.2 KiB
C
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/**
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* @addtogroup DRIVERS Sensor Driver Layer
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* @brief Hardware drivers to communicate with sensors via I2C.
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*
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* @{
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* @file inv_mpu_dmp_motion_driver.h
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* @brief DMP image and interface functions.
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* @details All functions are preceded by the dmp_ prefix to
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* differentiate among MPL and general driver function calls.
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*/
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#ifndef _INV_MPU_DMP_MOTION_DRIVER_H_
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#define _INV_MPU_DMP_MOTION_DRIVER_H_
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#define TAP_X (0x01)
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#define TAP_Y (0x02)
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#define TAP_Z (0x04)
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#define TAP_XYZ (0x07)
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#define TAP_X_UP (0x01)
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#define TAP_X_DOWN (0x02)
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#define TAP_Y_UP (0x03)
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#define TAP_Y_DOWN (0x04)
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#define TAP_Z_UP (0x05)
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#define TAP_Z_DOWN (0x06)
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#define ANDROID_ORIENT_PORTRAIT (0x00)
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#define ANDROID_ORIENT_LANDSCAPE (0x01)
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#define ANDROID_ORIENT_REVERSE_PORTRAIT (0x02)
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#define ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03)
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#define DMP_INT_GESTURE (0x01)
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#define DMP_INT_CONTINUOUS (0x02)
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#define DMP_FEATURE_TAP (0x001)
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#define DMP_FEATURE_ANDROID_ORIENT (0x002)
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#define DMP_FEATURE_LP_QUAT (0x004)
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#define DMP_FEATURE_PEDOMETER (0x008)
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#define DMP_FEATURE_6X_LP_QUAT (0x010)
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#define DMP_FEATURE_GYRO_CAL (0x020)
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#define DMP_FEATURE_SEND_RAW_ACCEL (0x040)
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#define DMP_FEATURE_SEND_RAW_GYRO (0x080)
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#define DMP_FEATURE_SEND_CAL_GYRO (0x100)
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#define INV_WXYZ_QUAT (0x100)
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/* Set up functions. */
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int dmp_load_motion_driver_firmware(void);
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int dmp_set_fifo_rate(unsigned short rate);
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int dmp_get_fifo_rate(unsigned short *rate);
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int dmp_enable_feature(unsigned short mask);
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int dmp_get_enabled_features(unsigned short *mask);
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int dmp_set_interrupt_mode(unsigned char mode);
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int dmp_set_orientation(unsigned short orient);
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int dmp_set_gyro_bias(long *bias);
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int dmp_set_accel_bias(long *bias);
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/* Tap functions. */
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int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char));
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int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh);
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int dmp_set_tap_axes(unsigned char axis);
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int dmp_set_tap_count(unsigned char min_taps);
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int dmp_set_tap_time(unsigned short time);
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int dmp_set_tap_time_multi(unsigned short time);
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int dmp_set_shake_reject_thresh(long sf, unsigned short thresh);
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int dmp_set_shake_reject_time(unsigned short time);
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int dmp_set_shake_reject_timeout(unsigned short time);
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/* Android orientation functions. */
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int dmp_register_android_orient_cb(void (*func)(unsigned char));
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/* LP quaternion functions. */
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int dmp_enable_lp_quat(unsigned char enable);
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int dmp_enable_6x_lp_quat(unsigned char enable);
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/* Pedometer functions. */
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int dmp_get_pedometer_step_count(unsigned long *count);
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int dmp_set_pedometer_step_count(unsigned long count);
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int dmp_get_pedometer_walk_time(unsigned long *time);
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int dmp_set_pedometer_walk_time(unsigned long time);
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/* DMP gyro calibration functions. */
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int dmp_enable_gyro_cal(unsigned char enable);
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/* Read function. This function should be called whenever the MPU interrupt is
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* detected.
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*/
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int dmp_read_fifo(short *gyro, short *accel, long *quat,
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unsigned long *timestamp, short *sensors, unsigned char *more);
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#endif /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */
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