#include <stdio.h>#include <stdint.h>#include <stdlib.h>#include <string.h>#include <math.h>#include "inv_mpu.h"#include "inv_mpu_dmp_motion_driver.h"#include "dmpKey.h"#include "dmpmap.h"
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Classes | |
| struct | dmp_s |
Defines | |
| #define | CFG_15 (2727) |
| #define | CFG_16 (2746) |
| #define | CFG_20 (2224) |
| #define | CFG_23 (2745) |
| #define | CFG_27 (2742) |
| #define | CFG_6 (2753) |
| #define | CFG_7 (1205) |
| #define | CFG_8 (2718) |
| #define | CFG_ANDROID_ORIENT_INT (1853) |
| #define | CFG_AUTH (1035) |
| #define | CFG_DR_INT (1029) |
| #define | CFG_EXT_GYRO_BIAS (1189) |
| #define | CFG_FIFO_ON_EVENT (2690) |
| #define | CFG_FLICK_IN (2573) |
| #define | CFG_GYRO_RAW_DATA (2722) |
| #define | CFG_LP_QUAT (2712) |
| #define | CFG_MOTION_BIAS (1208) |
| #define | CGNOTICE_INTR (2620) |
| #define | CPASS_BIAS_X (35 * 16 + 4) |
| #define | CPASS_BIAS_Y (35 * 16 + 8) |
| #define | CPASS_BIAS_Z (35 * 16 + 12) |
| #define | CPASS_MTX_00 (36 * 16) |
| #define | CPASS_MTX_01 (36 * 16 + 4) |
| #define | CPASS_MTX_02 (36 * 16 + 8) |
| #define | CPASS_MTX_10 (36 * 16 + 12) |
| #define | CPASS_MTX_11 (37 * 16) |
| #define | CPASS_MTX_12 (37 * 16 + 4) |
| #define | CPASS_MTX_20 (37 * 16 + 8) |
| #define | CPASS_MTX_21 (37 * 16 + 12) |
| #define | CPASS_MTX_22 (43 * 16 + 12) |
| #define | D_0_104 (104) |
| #define | D_0_108 (108) |
| #define | D_0_163 (163) |
| #define | D_0_188 (188) |
| #define | D_0_192 (192) |
| #define | D_0_22 (22+512) |
| #define | D_0_224 (224) |
| #define | D_0_228 (228) |
| #define | D_0_232 (232) |
| #define | D_0_236 (236) |
| #define | D_0_24 (24+512) |
| #define | D_0_36 (36) |
| #define | D_0_52 (52) |
| #define | D_0_96 (96) |
| #define | D_1_10 (256 + 10) |
| #define | D_1_106 (256 + 106) |
| #define | D_1_108 (256 + 108) |
| #define | D_1_112 (256 + 112) |
| #define | D_1_128 (256 + 144) |
| #define | D_1_152 (256 + 12) |
| #define | D_1_160 (256 + 160) |
| #define | D_1_176 (256 + 176) |
| #define | D_1_178 (256 + 178) |
| #define | D_1_2 (256 + 2) |
| #define | D_1_218 (256 + 218) |
| #define | D_1_232 (256 + 232) |
| #define | D_1_236 (256 + 236) |
| #define | D_1_24 (256 + 24) |
| #define | D_1_240 (256 + 240) |
| #define | D_1_244 (256 + 244) |
| #define | D_1_250 (256 + 250) |
| #define | D_1_252 (256 + 252) |
| #define | D_1_28 (256 + 28) |
| #define | D_1_36 (256 + 36) |
| #define | D_1_4 (256 + 4) |
| #define | D_1_40 (256 + 40) |
| #define | D_1_44 (256 + 44) |
| #define | D_1_72 (256 + 72) |
| #define | D_1_74 (256 + 74) |
| #define | D_1_79 (256 + 79) |
| #define | D_1_8 (256 + 8) |
| #define | D_1_88 (256 + 88) |
| #define | D_1_90 (256 + 90) |
| #define | D_1_92 (256 + 92) |
| #define | D_1_96 (256 + 96) |
| #define | D_1_98 (256 + 98) |
| #define | D_2_108 (512 + 108) |
| #define | D_2_12 (512 + 12) |
| #define | D_2_208 (512 + 208) |
| #define | D_2_224 (512 + 224) |
| #define | D_2_236 (512 + 236) |
| #define | D_2_244 (512 + 244) |
| #define | D_2_248 (512 + 248) |
| #define | D_2_252 (512 + 252) |
| #define | D_2_96 (512 + 96) |
| #define | D_ACCEL_BIAS (660) |
| #define | D_ACSX (40 * 16 + 4) |
| #define | D_ACSY (40 * 16 + 8) |
| #define | D_ACSZ (40 * 16 + 12) |
| #define | D_ACT0 (40 * 16) |
| #define | D_AUTH_A (1000) |
| #define | D_AUTH_B (1004) |
| #define | D_AUTH_IN (996) |
| #define | D_AUTH_OUT (992) |
| #define | D_EXT_GYRO_BIAS_X (61 * 16) |
| #define | D_EXT_GYRO_BIAS_Y (61 * 16) + 4 |
| #define | D_EXT_GYRO_BIAS_Z (61 * 16) + 8 |
| #define | D_HOST_NO_MOT (976) |
| #define | D_ORIENT_GAP (76) |
| #define | D_PEDSTD_BP_A1 (768 + 0x4C) |
| #define | D_PEDSTD_BP_A2 (768 + 0x48) |
| #define | D_PEDSTD_BP_A3 (768 + 0x44) |
| #define | D_PEDSTD_BP_A4 (768 + 0x40) |
| #define | D_PEDSTD_BP_B (768 + 0x1C) |
| #define | D_PEDSTD_CLIP (768 + 0x6C) |
| #define | D_PEDSTD_DECI (768 + 0xA0) |
| #define | D_PEDSTD_HP_A (768 + 0x78) |
| #define | D_PEDSTD_HP_B (768 + 0x7C) |
| #define | D_PEDSTD_INT_THRSH (768 + 0x68) |
| #define | D_PEDSTD_PEAK (768 + 0X94) |
| #define | D_PEDSTD_PEAKTHRSH (768 + 0x98) |
| #define | D_PEDSTD_SB (768 + 0x28) |
| #define | D_PEDSTD_SB_TIME (768 + 0x2C) |
| #define | D_PEDSTD_STEPCTR (768 + 0x60) |
| #define | D_PEDSTD_TIMECTR (964) |
| #define | D_PEDSTD_TIMH (768 + 0x2E) |
| #define | D_PEDSTD_TIML (768 + 0x2A) |
| #define | D_TILT0_H (48) |
| #define | D_TILT0_L (50) |
| #define | D_TILT1_H (52) |
| #define | D_TILT1_L (54) |
| #define | D_TILT2_H (56) |
| #define | D_TILT2_L (58) |
| #define | D_TILT3_H (60) |
| #define | D_TILT3_L (62) |
| #define | delay_ms delay |
| #define | DMP_CODE_SIZE (3062) |
| #define | DMP_FEATURE_SEND_ANY_GYRO |
| #define | DMP_SAMPLE_RATE (200) |
| #define | DO_NOT_UPDATE_PROP_ROT (1839) |
| #define | END_COMPARE_Y_X (1484) |
| #define | END_COMPARE_Y_X_TMP (1407) |
| #define | END_COMPARE_Y_X_TMP2 (1455) |
| #define | END_COMPARE_Y_X_TMP3 (1434) |
| #define | END_ORIENT (1884) |
| #define | END_ORIENT_TEMP (1866) |
| #define | END_PREDICTION_UPDATE (1761) |
| #define | FCFG_1 (1062) |
| #define | FCFG_2 (1066) |
| #define | FCFG_3 (1088) |
| #define | FCFG_6 (1106) |
| #define | FCFG_7 (1073) |
| #define | FIFO_CORRUPTION_CHECK |
| #define | FLAT_STATE_END (1713) |
| #define | FLAT_STATE_END_TEMP (1683) |
| #define | FLICK_COUNTER (45 * 16 + 8) |
| #define | FLICK_LOWER (45 * 16 + 12) |
| #define | FLICK_MSG (45 * 16 + 4) |
| #define | FLICK_UPPER (46 * 16 + 12) |
| #define | GYRO_SF (46850825LL * 200 / DMP_SAMPLE_RATE) |
| #define | INT_SRC_ANDROID_ORIENT (0x08) |
| #define | INT_SRC_TAP (0x01) |
| #define | log_e(...) do {} while (0) |
| #define | log_i(...) do {} while (0) |
| #define | MAX_PACKET_LENGTH (32) |
| #define | QUAT_ERROR_THRESH (1L<<24) |
| #define | QUAT_MAG_SQ_MAX (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH) |
| #define | QUAT_MAG_SQ_MIN (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH) |
| #define | QUAT_MAG_SQ_NORMALIZED (1L<<28) |
| #define | SKIP_END_COMPARE (1435) |
| #define | SKIP_SWING_END_1 (1551) |
| #define | SKIP_SWING_END_2 (1566) |
| #define | SKIP_SWING_END_3 (1588) |
| #define | SKIP_X_GRT_Y_TMP (1359) |
| #define | SWING_END_1 (1550) |
| #define | SWING_END_2 (1565) |
| #define | SWING_END_3 (1587) |
| #define | SWING_END_4 (1616) |
| #define | TEMPLABEL (2324) |
| #define | TILTG75_START (1672) |
| #define | TILTL75_END (1669) |
| #define | TILTL75_START (1643) |
| #define | UPDATE_PROP_ROT (1835) |
| #define | X_GRT_Y (1408) |
| #define | X_GRT_Y_TMP (1358) |
| #define | X_GRT_Y_TMP2 (1379) |
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. | |
Variables | |
| static int | deviceIndex = 0 |
| struct dmp_s * | dmp |
| struct dmp_s | dmpArray [MPU_MAX_DEVICES] |
| const unsigned char dmp_memory[DMP_CODE_SIZE] | PROGMEM |
| static const unsigned short | sStartAddress = 0x0400 |