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| // I2Cdev library collection - MPU6050 I2C device class | ||
| // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) | ||
| // 10/3/2011 by Jeff Rowberg <[email protected]> | ||
| // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib | ||
| // | ||
| // Changelog: | ||
| // 2021/09/27 - split implementations out of header files, finally | ||
| // ... - ongoing debug release | ||
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| // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE | ||
| // DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF | ||
| // YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING. | ||
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| /* ============================================ | ||
| I2Cdev device library code is placed under the MIT license | ||
| Copyright (c) 2012 Jeff Rowberg | ||
| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
| The above copyright notice and this permission notice shall be included in | ||
| all copies or substantial portions of the Software. | ||
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
| THE SOFTWARE. | ||
| =============================================== | ||
| */ | ||
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| #ifndef _MPU6050_6AXIS_MOTIONAPPS612_H_ | ||
| #define _MPU6050_6AXIS_MOTIONAPPS612_H_ | ||
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| // take ownership of the "MPU6050" typedef | ||
| #define I2CDEVLIB_MPU6050_TYPEDEF | ||
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| #include "MPU6050.h" | ||
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| class MPU6050_6Axis_MotionApps612 : public MPU6050_Base { | ||
| public: | ||
| MPU6050_6Axis_MotionApps612(uint8_t address=MPU6050_DEFAULT_ADDRESS, void *wireObj=0) : MPU6050_Base(address, wireObj) { } | ||
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| uint8_t dmpInitialize(uint8_t rateDivisor = MPU6050_DMP_FIFO_RATE_DIVISOR, uint8_t mpuAddr = 0x68); | ||
| bool dmpPacketAvailable(); | ||
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| uint8_t dmpSetFIFORate(uint8_t fifoRate); | ||
| uint8_t dmpGetFIFORate(); | ||
| uint8_t dmpGetSampleStepSizeMS(); | ||
| uint8_t dmpGetSampleFrequency(); | ||
| int32_t dmpDecodeTemperature(int8_t tempReg); | ||
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| // Register callbacks after a packet of FIFO data is processed | ||
| //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); | ||
| //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); | ||
| uint8_t dmpRunFIFORateProcesses(); | ||
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| // Setup FIFO for various output | ||
| uint8_t dmpSendQuaternion(uint_fast16_t accuracy); | ||
| uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); | ||
| uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); | ||
| uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); | ||
| uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); | ||
| uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); | ||
| uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); | ||
| uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); | ||
| uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); | ||
| uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); | ||
| uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); | ||
| uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); | ||
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| // Get Fixed Point data from FIFO | ||
| uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); | ||
| uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); | ||
| uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); | ||
| uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); | ||
| uint8_t dmpSetLinearAccelFilterCoefficient(float coef); | ||
| uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); | ||
| uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); | ||
| uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); | ||
| uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); | ||
| uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); | ||
| uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); | ||
| uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); | ||
| uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); | ||
| uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); | ||
| uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); | ||
| uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); | ||
| uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); | ||
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| uint8_t dmpGetEuler(float *data, Quaternion *q); | ||
| uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); | ||
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| // Get Floating Point data from FIFO | ||
| uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); | ||
| uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); | ||
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| uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); | ||
| uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); | ||
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| uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); | ||
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| uint8_t dmpInitFIFOParam(); | ||
| uint8_t dmpCloseFIFO(); | ||
| uint8_t dmpSetGyroDataSource(uint8_t source); | ||
| uint8_t dmpDecodeQuantizedAccel(); | ||
| uint32_t dmpGetGyroSumOfSquare(); | ||
| uint32_t dmpGetAccelSumOfSquare(); | ||
| void dmpOverrideQuaternion(long *q); | ||
| uint16_t dmpGetFIFOPacketSize(); | ||
| uint8_t dmpGetCurrentFIFOPacket(uint8_t *data); // overflow proof | ||
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| private: | ||
| uint8_t *dmpPacketBuffer; | ||
| uint16_t dmpPacketSize; | ||
| }; | ||
|
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| typedef MPU6050_6Axis_MotionApps612 MPU6050; | ||
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| #endif /* _MPU6050_6AXIS_MOTIONAPPS612_H_ */ |
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