openXsensor/inv_mpu.h

   1 /*
   2  $License:
   3     Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
   4     See included License.txt for License information.
   5  *      @file       inv_mpu.h
   6  *      @brief      An I2C-based driver for Invensense gyroscopes.
   7  *      @details    This driver currently works for the following devices:
   8  *                  MPU6050 (code for other has been removed)
   9  */
  10
  11 #ifndef _INV_MPU_H_
  12 #define _INV_MPU_H_
  13
  14
  15
  16 #define INV_X_GYRO      (0x40)
  17 #define INV_Y_GYRO      (0x20)
  18 #define INV_Z_GYRO      (0x10)
  19 #define INV_XYZ_GYRO    (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
  20 #define INV_XYZ_ACCEL   (0x08)
  21 #define INV_XYZ_COMPASS (0x01)
  22
  23 /*
  24 struct int_param_s {          //used for  EMPL_TARGET_ATMEGA328
  25     void (*cb)(void);
  26     unsigned short pin;
  27 };
  28 */
  29
  30 #define MPU_INT_STATUS_DATA_READY       (0x0001)
  31 #define MPU_INT_STATUS_DMP              (0x0002)
  32 #define MPU_INT_STATUS_PLL_READY        (0x0004)
  33 #define MPU_INT_STATUS_I2C_MST          (0x0008)
  34 #define MPU_INT_STATUS_FIFO_OVERFLOW    (0x0010)
  35 #define MPU_INT_STATUS_ZMOT             (0x0020)
  36 #define MPU_INT_STATUS_MOT              (0x0040)
  37 #define MPU_INT_STATUS_FREE_FALL        (0x0080)
  38 #define MPU_INT_STATUS_DMP_0            (0x0100)
  39 #define MPU_INT_STATUS_DMP_1            (0x0200)
  40 #define MPU_INT_STATUS_DMP_2            (0x0400)
  41 #define MPU_INT_STATUS_DMP_3            (0x0800)
  42 #define MPU_INT_STATUS_DMP_4            (0x1000)
  43 #define MPU_INT_STATUS_DMP_5            (0x2000)
  44
  45
  46 void mpu_enable_pwm_mgnt() ;
  47 //int getDataFromMpu() ;
  48 unsigned short mpu_getfifo_count_debug() ;
  49
  50 /* Set up APIs */
  51 int mpu_init();
  52 int mpu_init_slave(void);
  53 int mpu_set_bypass(unsigned char bypass_on);
  54 void mpu_force_reset();
  55
  56 /* Configuration APIs */
  57 int mpu_lp_accel_mode(unsigned char rate);
  58 int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
  59     unsigned char lpa_freq);
  60 int mpu_set_int_level(unsigned char active_low);
  61 int mpu_set_int_latched(unsigned char enable);
  62
  63 int mpu_set_dmp_state(unsigned char enable);
  64 int mpu_set_dmp_state_on();
  65 int mpu_get_dmp_state(unsigned char *enabled);
  66
  67 int mpu_get_lpf(unsigned short *lpf);
  68 int mpu_set_lpf(unsigned short lpf);
  69
  70 int mpu_get_gyro_fsr(unsigned short *fsr);
  71 int mpu_set_gyro_fsr(unsigned short fsr);
  72
  73 int mpu_get_accel_fsr(unsigned char *fsr);
  74 int mpu_set_accel_fsr(unsigned char fsr);
  75
  76 int mpu_get_compass_fsr(unsigned short *fsr);
  77
  78 int mpu_get_gyro_sens(float *sens);
  79 int mpu_get_accel_sens(unsigned short *sens);
  80
  81 int mpu_get_sample_rate(unsigned short *rate);
  82 int mpu_set_sample_rate(unsigned short rate);
  83 int mpu_set_sample_rate200hz();
  84 int mpu_get_compass_sample_rate(unsigned short *rate);
  85 int mpu_set_compass_sample_rate(unsigned short rate);
  86
  87 int mpu_get_fifo_config(unsigned char *sensors);
  88 int mpu_configure_fifo(unsigned char sensors);
  89
  90 int mpu_get_power_state(unsigned char *power_on);
  91 int mpu_set_sensors(unsigned char sensors);
  92
  93 int mpu_set_accel_bias(const long *accel_bias);
  94
  95 /* Data getter/setter APIs */
  96 int mpu_get_gyro_reg(short *data);
  97 int mpu_get_accel_reg(short *data);
  98 int mpu_get_compass_reg(short *data);
  99 int mpu_get_temperature(long *data);
 100
 101 int mpu_get_int_status(short *status);
 102 int mpu_read_fifo(short *gyro, short *accel, unsigned char *sensors, unsigned char *more);
 103 int mpu_read_fifo_stream(unsigned short length, unsigned char *data, unsigned char *more);
 104 int mpu_reset_fifo(void);
 105
 106 int mpu_write_mem(unsigned short mem_addr, unsigned short length,
 107     unsigned char *data);
 108 int mpu_read_mem(unsigned short mem_addr, unsigned short length,
 109     unsigned char *data);
 110 int mpu_load_firmware(unsigned short length, const unsigned char *firmware, unsigned short start_addr );
 111
 112 int mpu_reg_dump(void);
 113 int mpu_read_reg(unsigned char reg, unsigned char *data);
 114 int mpu_run_self_test(long *gyro, long *accel);
 115 int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
 116
 117 int get_st_biases(long *gyro, long *accel, unsigned char hw_test)  ; // added by MS
 118
 119 #endif  /* #ifndef _INV_MPU_H_ */
 120