147 lines
7.8 KiB
C
147 lines
7.8 KiB
C
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// I2Cdev library collection - MPU9250 I2C device class, 9-axis MotionApps 4.1 implementation
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// Based on InvenSense MPU-9250 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
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// 6/18/2012 by Jeff Rowberg <jeff@rowberg.net>
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// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
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//
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// Changelog:
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// ... - ongoing debug release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2012 Jeff Rowberg
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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===============================================
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*/
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#ifndef _MPU9250_9AXIS_MOTIONAPPS41_H_
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#define _MPU9250_9AXIS_MOTIONAPPS41_H_
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#define I2CDEVLIB_MPU9250_TYPDEF
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#include "MPU9250.h"
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class MPU9250_9Axis_MotionApps41 : public MPU9250_Base {
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public:
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MPU9250_9Axis_MotionApps41() : MPU9250_Base() { }
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uint8_t dmpInitialize();
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bool dmpPacketAvailable();
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uint8_t dmpSetFIFORate(uint8_t fifoRate);
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uint8_t dmpGetFIFORate();
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uint8_t dmpGetSampleStepSizeMS();
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uint8_t dmpGetSampleFrequency();
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int32_t dmpDecodeTemperature(int8_t tempReg);
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// Register callbacks after a packet of FIFO data is processed
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//uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
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//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
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uint8_t dmpRunFIFORateProcesses();
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// Setup FIFO for various output
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uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
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uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
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uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
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uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
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// Get Fixed Point data from FIFO
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uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
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uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
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uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
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uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
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uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
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uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
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uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
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uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
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uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
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uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
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uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
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uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
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uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
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uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
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uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
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uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
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uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
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uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
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uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
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uint8_t dmpGetEuler(float *data, Quaternion *q);
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uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
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// Get Floating Point data from FIFO
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uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
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uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
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uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
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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();
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uint8_t dmpCloseFIFO();
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uint8_t dmpSetGyroDataSource(uint8_t source);
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uint8_t dmpDecodeQuantizedAccel();
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uint32_t dmpGetGyroSumOfSquare();
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uint32_t dmpGetAccelSumOfSquare();
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void dmpOverrideQuaternion(long *q);
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uint16_t dmpGetFIFOPacketSize();
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private:
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uint8_t *dmpPacketBuffer;
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uint16_t dmpPacketSize;
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};
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typedef MPU9250_9Axis_MotionApps41 MPU9250;
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#endif /* _MPU9250_9AXIS_MOTIONAPPS41_H_ */
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