DMP image and interface functions. More...
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Defines | |
| #define | ANDROID_ORIENT_LANDSCAPE (0x01) |
| #define | ANDROID_ORIENT_PORTRAIT (0x00) |
| #define | ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03) |
| #define | ANDROID_ORIENT_REVERSE_PORTRAIT (0x02) |
| #define | DMP_FEATURE_6X_LP_QUAT (0x010) |
| #define | DMP_FEATURE_ANDROID_ORIENT (0x002) |
| #define | DMP_FEATURE_GYRO_CAL (0x020) |
| #define | DMP_FEATURE_LP_QUAT (0x004) |
| #define | DMP_FEATURE_PEDOMETER (0x008) |
| #define | DMP_FEATURE_SEND_CAL_GYRO (0x100) |
| #define | DMP_FEATURE_SEND_RAW_ACCEL (0x040) |
| #define | DMP_FEATURE_SEND_RAW_GYRO (0x080) |
| #define | DMP_FEATURE_TAP (0x001) |
| #define | DMP_INT_CONTINUOUS (0x02) |
| #define | DMP_INT_GESTURE (0x01) |
| #define | INV_WXYZ_QUAT (0x100) |
| #define | TAP_X (0x01) |
| #define | TAP_X_DOWN (0x02) |
| #define | TAP_X_UP (0x01) |
| #define | TAP_XYZ (0x07) |
| #define | TAP_Y (0x02) |
| #define | TAP_Y_DOWN (0x04) |
| #define | TAP_Y_UP (0x03) |
| #define | TAP_Z (0x04) |
| #define | TAP_Z_DOWN (0x06) |
| #define | TAP_Z_UP (0x05) |
Functions | |
| int | dmp_enable_6x_lp_quat (unsigned char enable) |
| Generate 6-axis quaternions from the dmp-> In this driver, the 3-axis and 6-axis DMP quaternion features are mutually exclusive. | |
| int | dmp_enable_feature (unsigned short mask) |
| Enable DMP features. The following #define's are used in the input mask: DMP_FEATURE_TAP DMP_FEATURE_ANDROID_ORIENT DMP_FEATURE_LP_QUAT DMP_FEATURE_6X_LP_QUAT DMP_FEATURE_GYRO_CAL DMP_FEATURE_SEND_RAW_ACCEL DMP_FEATURE_SEND_RAW_GYRO NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually exclusive. NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also mutually exclusive. | |
| int | dmp_enable_gyro_cal (unsigned char enable) |
| Calibrate the gyro data in the dmp-> After eight seconds of no motion, the DMP will compute gyro biases and subtract them from the quaternion output. If dmp_enable_feature is called with DMP_FEATURE_SEND_CAL_GYRO, the biases will also be subtracted from the gyro output. | |
| int | dmp_enable_lp_quat (unsigned char enable) |
| Generate 3-axis quaternions from the dmp-> In this driver, the 3-axis and 6-axis DMP quaternion features are mutually exclusive. | |
| int | dmp_get_enabled_features (unsigned short *mask) |
| Get list of currently enabled DMP features. | |
| int | dmp_get_fifo_rate (unsigned short *rate) |
| Get DMP output rate. | |
| void | dmp_init_structures () |
| int | dmp_load_motion_driver_firmware (void) |
| Load the DMP with this image. | |
| int | dmp_read_fifo (short *gyro, short *accel, long *quat, unsigned long *timestamp, short *sensors, unsigned char *more) |
| Get one packet from the FIFO. If sensors does not contain a particular sensor, disregard the data returned to that pointer. sensors can contain a combination of the following flags: INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO INV_XYZ_GYRO INV_XYZ_ACCEL INV_WXYZ_QUAT If the FIFO has no new data, sensors will be zero. If the FIFO is disabled, sensors will be zero and this function will return a non-zero error code. | |
| int | dmp_select_device (int device) |
| int | dmp_set_accel_bias (long *bias) |
| Push accel biases to the dmp-> These biases will be removed from the DMP 6-axis quaternion. | |
| int | dmp_set_fifo_rate (unsigned short rate) |
| Set DMP output rate. Only used when DMP is on. | |
| int | dmp_set_gyro_bias (long *bias) |
| Push gyro biases to the dmp-> Because the gyro integration is handled in the DMP, any gyro biases calculated by the MPL should be pushed down to DMP memory to remove 3-axis quaternion drift. NOTE: If the DMP-based gyro calibration is enabled, the DMP will overwrite the biases written to this location once a new one is computed. | |
| int | dmp_set_interrupt_mode (unsigned char mode) |
| Specify when a DMP interrupt should occur. A DMP interrupt can be configured to trigger on either of the two conditions below: a. One FIFO period has elapsed (set by mpu_set_sample_rate). b. A tap event has been detected. | |
| int | dmp_set_orientation (unsigned short orient) |
| Push gyro and accel orientation to the dmp-> The orientation is represented here as the output of inv_orientation_matrix_to_scalar. | |
Detailed Description
DMP image and interface functions.
All functions are preceded by the dmp_ prefix to differentiate among MPL and general driver function calls.
Definition in file inv_mpu_dmp_motion_driver.h.