openXsensor/inv_mpu_dmp_motion_driver.h

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