driver_mpu6500.h File Reference

driver mpu6500 header file More...

#include <stdio.h>
#include <stdint.h>
#include <string.h>

Include dependency graph for driver_mpu6500.h:

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Go to the source code of this file.

Data Structures
struct	mpu6500_handle_s
	mpu6500 handle structure definition More...
struct	mpu6500_info_s
	mpu6500 information structure definition More...

Macros
#define	DRIVER_MPU6500_LINK_INIT(HANDLE, STRUCTURE)
	initialize mpu6500_handle_t structure
#define	DRIVER_MPU6500_LINK_IIC_INIT(HANDLE, FUC)
	link iic_init function
#define	DRIVER_MPU6500_LINK_IIC_DEINIT(HANDLE, FUC)
	link iic_deinit function
#define	DRIVER_MPU6500_LINK_IIC_READ(HANDLE, FUC)
	link iic_read function
#define	DRIVER_MPU6500_LINK_IIC_WRITE(HANDLE, FUC)
	link iic_write function
#define	DRIVER_MPU6500_LINK_SPI_INIT(HANDLE, FUC)
	link spi_init function
#define	DRIVER_MPU6500_LINK_SPI_DEINIT(HANDLE, FUC)
	link spi_deinit function
#define	DRIVER_MPU6500_LINK_SPI_READ(HANDLE, FUC)
	link spi_read function
#define	DRIVER_MPU6500_LINK_SPI_WRITE(HANDLE, FUC)
	link spi_write function
#define	DRIVER_MPU6500_LINK_DELAY_MS(HANDLE, FUC)
	link delay_ms function
#define	DRIVER_MPU6500_LINK_DEBUG_PRINT(HANDLE, FUC)
	link debug_print function
#define	DRIVER_MPU6500_LINK_RECEIVE_CALLBACK(HANDLE, FUC)
	link receive_callback function

Typedefs
typedef struct mpu6500_handle_s	mpu6500_handle_t
	mpu6500 handle structure definition
typedef struct mpu6500_info_s	mpu6500_info_t
	mpu6500 information structure definition

Enumerations
enum	mpu6500_interface_t { MPU6500_INTERFACE_IIC = 0x00 , MPU6500_INTERFACE_SPI = 0x01 }
	mpu6500 interface enumeration definition More...
enum	mpu6500_address_t { MPU6500_ADDRESS_AD0_LOW = 0xD0 , MPU6500_ADDRESS_AD0_HIGH = 0xD2 }
	mpu6500 address enumeration definition More...
enum	mpu6500_bool_t { MPU6500_BOOL_FALSE = 0x00 , MPU6500_BOOL_TRUE = 0x01 }
	mpu6500 bool enumeration definition More...
enum	mpu6500_source_t {   MPU6500_SOURCE_ACC_X = 0x05 , MPU6500_SOURCE_ACC_Y = 0x04 , MPU6500_SOURCE_ACC_Z = 0x03 , MPU6500_SOURCE_GYRO_X = 0x02 ,   MPU6500_SOURCE_GYRO_Y = 0x01 , MPU6500_SOURCE_GYRO_Z = 0x00 }
	mpu6500 source enumeration definition More...
enum	mpu6500_clock_source_t { MPU6500_CLOCK_SOURCE_INTERNAL_20MHZ = 0x00 , MPU6500_CLOCK_SOURCE_PLL = 0x01 , MPU6500_CLOCK_SOURCE_STOP_CLOCK = 0x07 }
	mpu6500 clock source enumeration definition More...
enum	mpu6500_signal_path_reset_t { MPU6500_SIGNAL_PATH_RESET_TEMP = 0x00 , MPU6500_SIGNAL_PATH_RESET_ACCEL = 0x01 , MPU6500_SIGNAL_PATH_RESET_GYRO = 0x02 }
	mpu6500 signal path reset enumeration definition More...
enum	mpu6500_extern_sync_t {   MPU6500_EXTERN_SYNC_INPUT_DISABLED = 0x00 , MPU6500_EXTERN_SYNC_TEMP_OUT_L = 0x01 , MPU6500_EXTERN_SYNC_GYRO_XOUT_L = 0x02 , MPU6500_EXTERN_SYNC_GYRO_YOUT_L = 0x03 ,   MPU6500_EXTERN_SYNC_GYRO_ZOUT_L = 0x04 , MPU6500_EXTERN_SYNC_ACCEL_XOUT_L = 0x05 , MPU6500_EXTERN_SYNC_ACCEL_YOUT_L = 0x06 , MPU6500_EXTERN_SYNC_ACCEL_ZOUT_L = 0x07 }
	mpu6500 extern sync enumeration definition More...
enum	mpu6500_low_pass_filter_t {   MPU6500_LOW_PASS_FILTER_0 = 0x00 , MPU6500_LOW_PASS_FILTER_1 = 0x01 , MPU6500_LOW_PASS_FILTER_2 = 0x02 , MPU6500_LOW_PASS_FILTER_3 = 0x03 ,   MPU6500_LOW_PASS_FILTER_4 = 0x04 , MPU6500_LOW_PASS_FILTER_5 = 0x05 , MPU6500_LOW_PASS_FILTER_6 = 0x06 , MPU6500_LOW_PASS_FILTER_7 = 0x07 }
	mpu6500 low pass filter enumeration definition More...
enum	mpu6500_accelerometer_low_pass_filter_t {   MPU6500_ACCELEROMETER_LOW_PASS_FILTER_0 = 0x00 , MPU6500_ACCELEROMETER_LOW_PASS_FILTER_1 = 0x01 , MPU6500_ACCELEROMETER_LOW_PASS_FILTER_2 = 0x02 , MPU6500_ACCELEROMETER_LOW_PASS_FILTER_3 = 0x03 ,   MPU6500_ACCELEROMETER_LOW_PASS_FILTER_4 = 0x04 , MPU6500_ACCELEROMETER_LOW_PASS_FILTER_5 = 0x05 , MPU6500_ACCELEROMETER_LOW_PASS_FILTER_6 = 0x06 , MPU6500_ACCELEROMETER_LOW_PASS_FILTER_7 = 0x07 }
	mpu6500 accelerometer low pass filter enumeration definition More...
enum	mpu6500_low_power_accel_output_rate_t {   MPU6500_LOW_POWER_ACCEL_OUTPUT_RATE_0P24 = 0x00 , MPU6500_LOW_POWER_ACCEL_OUTPUT_RATE_0P49 = 0x01 , MPU6500_LOW_POWER_ACCEL_OUTPUT_RATE_0P98 = 0x02 , MPU6500_LOW_POWER_ACCEL_OUTPUT_RATE_1P95 = 0x03 ,   MPU6500_LOW_POWER_ACCEL_OUTPUT_RATE_3P91 = 0x04 , MPU6500_LOW_POWER_ACCEL_OUTPUT_RATE_7P81 = 0x05 , MPU6500_LOW_POWER_ACCEL_OUTPUT_RATE_15P63 = 0x06 , MPU6500_LOW_POWER_ACCEL_OUTPUT_RATE_31P25 = 0x07 ,   MPU6500_LOW_POWER_ACCEL_OUTPUT_RATE_62P50 = 0x08 , MPU6500_LOW_POWER_ACCEL_OUTPUT_RATE_125 = 0x09 , MPU6500_LOW_POWER_ACCEL_OUTPUT_RATE_250 = 0x0A , MPU6500_LOW_POWER_ACCEL_OUTPUT_RATE_500 = 0x0B }
	mpu6500 low power accel output rate enumeration definition More...
enum	mpu6500_axis_t { MPU6500_AXIS_Z = 0x05 , MPU6500_AXIS_Y = 0x06 , MPU6500_AXIS_X = 0x07 }
	mpu6500 axis enumeration definition More...
enum	mpu6500_gyroscope_range_t { MPU6500_GYROSCOPE_RANGE_250DPS = 0x00 , MPU6500_GYROSCOPE_RANGE_500DPS = 0x01 , MPU6500_GYROSCOPE_RANGE_1000DPS = 0x02 , MPU6500_GYROSCOPE_RANGE_2000DPS = 0x03 }
	mpu6500 gyroscope range enumeration definition More...
enum	mpu6500_accelerometer_range_t { MPU6500_ACCELEROMETER_RANGE_2G = 0x00 , MPU6500_ACCELEROMETER_RANGE_4G = 0x01 , MPU6500_ACCELEROMETER_RANGE_8G = 0x02 , MPU6500_ACCELEROMETER_RANGE_16G = 0x03 }
	mpu6500 accelerometer range enumeration definition More...
enum	mpu6500_fifo_t {   MPU6500_FIFO_TEMP = 0x07 , MPU6500_FIFO_XG = 0x06 , MPU6500_FIFO_YG = 0x05 , MPU6500_FIFO_ZG = 0x04 ,   MPU6500_FIFO_ACCEL = 0x03 }
	mpu6500 fifo enumeration definition More...
enum	mpu6500_fifo_mode { MPU6500_FIFO_MODE_STREAM = 0x00 , MPU6500_FIFO_MODE_NORMAL = 0x01 }
	mpu6500 fifo mode enumeration definition More...
enum	mpu6500_pin_level_t { MPU6500_PIN_LEVEL_HIGH = 0x00 , MPU6500_PIN_LEVEL_LOW = 0x01 }
	mpu6500 pin level enumeration definition More...
enum	mpu6500_pin_type_t { MPU6500_PIN_TYPE_PUSH_PULL = 0x00 , MPU6500_PIN_TYPE_OPEN_DRAIN = 0x01 }
	mpu6500 pin type enumeration definition More...
enum	mpu6500_interrupt_t {   MPU6500_INTERRUPT_MOTION = 6 , MPU6500_INTERRUPT_FIFO_OVERFLOW = 4 , MPU6500_INTERRUPT_FSYNC_INT = 3 , MPU6500_INTERRUPT_DMP = 1 ,   MPU6500_INTERRUPT_DATA_READY = 0 }
	mpu6500 interrupt enumeration definition More...
enum	mpu6500_iic_slave_t {   MPU6500_IIC_SLAVE_0 = 0x00 , MPU6500_IIC_SLAVE_1 = 0x01 , MPU6500_IIC_SLAVE_2 = 0x02 , MPU6500_IIC_SLAVE_3 = 0x03 ,   MPU6500_IIC_SLAVE_4 = 0x04 }
	mpu6500 iic slave enumeration definition More...
enum	mpu6500_iic_clock_t {   MPU6500_IIC_CLOCK_348_KHZ = 0x00 , MPU6500_IIC_CLOCK_333_KHZ = 0x01 , MPU6500_IIC_CLOCK_320_KHZ = 0x02 , MPU6500_IIC_CLOCK_308_KHZ = 0x03 ,   MPU6500_IIC_CLOCK_296_KHZ = 0x04 , MPU6500_IIC_CLOCK_286_KHZ = 0x05 , MPU6500_IIC_CLOCK_276_KHZ = 0x06 , MPU6500_IIC_CLOCK_267_KHZ = 0x07 ,   MPU6500_IIC_CLOCK_258_KHZ = 0x08 , MPU6500_IIC_CLOCK_500_KHZ = 0x09 , MPU6500_IIC_CLOCK_471_KHZ = 0x0A , MPU6500_IIC_CLOCK_444_KHZ = 0x0B ,   MPU6500_IIC_CLOCK_421_KHZ = 0x0C , MPU6500_IIC_CLOCK_400_KHZ = 0x0D , MPU6500_IIC_CLOCK_381_KHZ = 0x0E , MPU6500_IIC_CLOCK_364_KHZ = 0x0F }
	mpu6500 iic clock enumeration definition More...
enum	mpu6500_iic_read_mode_t { MPU6500_IIC_READ_MODE_RESTART = 0x00 , MPU6500_IIC_READ_MODE_STOP_AND_START = 0x01 }
	mpu6500 iic read mode enumeration definition More...
enum	mpu6500_iic_mode_t { MPU6500_IIC_MODE_WRITE = 0x00 , MPU6500_IIC_MODE_READ = 0x01 }
	mpu6500 iic mode enumeration definition More...
enum	mpu6500_iic_transaction_mode_t { MPU6500_IIC_TRANSACTION_MODE_DATA = 0x00 , MPU6500_IIC_TRANSACTION_MODE_REG_DATA = 0x01 }
	mpu6500 iic transaction mode enumeration definition More...
enum	mpu6500_iic4_transaction_mode_t { MPU6500_IIC4_TRANSACTION_MODE_DATA = 0x00 , MPU6500_IIC4_TRANSACTION_MODE_REG = 0x01 }
	mpu6500 iic4 transaction mode enumeration definition More...
enum	mpu6500_iic_group_order_t { MPU6500_IIC_GROUP_ORDER_EVEN = 0x00 , MPU6500_IIC_GROUP_ORDER_ODD = 0x01 }
	mpu6500 iic group order enumeration definition More...
enum	mpu6500_iic_status_t {   MPU6500_IIC_STATUS_PASS_THROUGH = 0x80 , MPU6500_IIC_STATUS_IIC_SLV4_DONE = 0x40 , MPU6500_IIC_STATUS_IIC_LOST_ARB = 0x20 , MPU6500_IIC_STATUS_IIC_SLV4_NACK = 0x10 ,   MPU6500_IIC_STATUS_IIC_SLV3_NACK = 0x08 , MPU6500_IIC_STATUS_IIC_SLV2_NACK = 0x04 , MPU6500_IIC_STATUS_IIC_SLV1_NACK = 0x02 , MPU6500_IIC_STATUS_IIC_SLV0_NACK = 0x01 }
	mpu6500 iic status enumeration definition More...
enum	mpu6500_iic_delay_t {   MPU6500_IIC_DELAY_ES_SHADOW = 7 , MPU6500_IIC_DELAY_SLAVE_4 = 4 , MPU6500_IIC_DELAY_SLAVE_3 = 3 , MPU6500_IIC_DELAY_SLAVE_2 = 2 ,   MPU6500_IIC_DELAY_SLAVE_1 = 1 , MPU6500_IIC_DELAY_SLAVE_0 = 0 }
	mpu6500 iic delay enumeration definition More...
enum	mpu6500_dmp_interrupt_mode_t { MPU6500_DMP_INTERRUPT_MODE_CONTINUOUS = 0x00 , MPU6500_DMP_INTERRUPT_MODE_GESTURE = 0x01 }
	mpu6500 dmp interrupt mode enumeration definition More...
enum	mpu6500_dmp_feature_t {   MPU6500_DMP_FEATURE_TAP = 0x001 , MPU6500_DMP_FEATURE_ORIENT = 0x002 , MPU6500_DMP_FEATURE_3X_QUAT = 0x004 , MPU6500_DMP_FEATURE_PEDOMETER = 0x008 ,   MPU6500_DMP_FEATURE_6X_QUAT = 0x010 , MPU6500_DMP_FEATURE_GYRO_CAL = 0x020 , MPU6500_DMP_FEATURE_SEND_RAW_ACCEL = 0x040 , MPU6500_DMP_FEATURE_SEND_RAW_GYRO = 0x080 ,   MPU6500_DMP_FEATURE_SEND_CAL_GYRO = 0x100 }
	mpu6500 dmp feature enumeration definition More...
enum	mpu6500_dmp_tap_t {   MPU6500_DMP_TAP_X_UP = 0x01 , MPU6500_DMP_TAP_X_DOWN = 0x02 , MPU6500_DMP_TAP_Y_UP = 0x03 , MPU6500_DMP_TAP_Y_DOWN = 0x04 ,   MPU6500_DMP_TAP_Z_UP = 0x05 , MPU6500_DMP_TAP_Z_DOWN = 0x06 }
	mpu6500 dmp tap enumeration definition More...
enum	mpu6500_dmp_orient_t { MPU6500_DMP_ORIENT_PORTRAIT = 0x00 , MPU6500_DMP_ORIENT_LANDSCAPE = 0x01 , MPU6500_DMP_ORIENT_REVERSE_PORTRAIT = 0x02 , MPU6500_DMP_ORIENT_REVERSE_LANDSCAPE = 0x03 }
	mpu6500 dmp orient enumeration definition More...

Functions
uint8_t	mpu6500_info (mpu6500_info_t *info)
	get the chip's information
uint8_t	mpu6500_set_interface (mpu6500_handle_t *handle, mpu6500_interface_t interface)
	set the chip interface
uint8_t	mpu6500_get_interface (mpu6500_handle_t *handle, mpu6500_interface_t *interface)
	get the chip interface
uint8_t	mpu6500_set_addr_pin (mpu6500_handle_t *handle, mpu6500_address_t addr_pin)
	set the chip address pin
uint8_t	mpu6500_get_addr_pin (mpu6500_handle_t *handle, mpu6500_address_t *addr_pin)
	get the chip address pin
uint8_t	mpu6500_irq_handler (mpu6500_handle_t *handle)
	irq handler
uint8_t	mpu6500_init (mpu6500_handle_t *handle)
	initialize the chip
uint8_t	mpu6500_deinit (mpu6500_handle_t *handle)
	close the chip
uint8_t	mpu6500_read (mpu6500_handle_t *handle, int16_t(*accel_raw)[3], float(*accel_g)[3], int16_t(*gyro_raw)[3], float(*gyro_dps)[3], uint16_t *len)
	read the data
uint8_t	mpu6500_read_temperature (mpu6500_handle_t *handle, int16_t(*raw), float *degrees)
	read the temperature
uint8_t	mpu6500_set_fifo (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable fifo
uint8_t	mpu6500_get_fifo (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the fifo status
uint8_t	mpu6500_force_fifo_reset (mpu6500_handle_t *handle)
	force reset the fifo
uint8_t	mpu6500_set_iic_master (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable the iic master mode
uint8_t	mpu6500_get_iic_master (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the iic master status
uint8_t	mpu6500_set_disable_iic_slave (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable the iic slave mode
uint8_t	mpu6500_get_disable_iic_slave (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the iic slave status
uint8_t	mpu6500_fifo_reset (mpu6500_handle_t *handle)
	reset the fifo
uint8_t	mpu6500_get_fifo_reset (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the fifo reset status
uint8_t	mpu6500_iic_master_reset (mpu6500_handle_t *handle)
	reset the iic master controller
uint8_t	mpu6500_get_iic_master_reset (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the iic master reset status
uint8_t	mpu6500_sensor_reset (mpu6500_handle_t *handle)
	reset all sensors
uint8_t	mpu6500_get_sensor_reset (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the sensor reset status
uint8_t	mpu6500_device_reset (mpu6500_handle_t *handle)
	reset the chip
uint8_t	mpu6500_get_device_reset (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the device reset status
uint8_t	mpu6500_set_clock_source (mpu6500_handle_t *handle, mpu6500_clock_source_t clock_source)
	set the chip clock source
uint8_t	mpu6500_get_clock_source (mpu6500_handle_t *handle, mpu6500_clock_source_t *clock_source)
	get the chip clock source
uint8_t	mpu6500_set_ptat (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable the temperature sensor
uint8_t	mpu6500_get_ptat (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the temperature sensor status
uint8_t	mpu6500_set_cycle_wake_up (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable the cycle wake up mode
uint8_t	mpu6500_get_cycle_wake_up (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the cycle wake up mode status
uint8_t	mpu6500_set_sleep (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable the sleep mode
uint8_t	mpu6500_get_sleep (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the sleep status
uint8_t	mpu6500_set_gyro_standby (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable the gyro standby
uint8_t	mpu6500_get_gyro_standby (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the gyro standby status
uint8_t	mpu6500_set_standby_mode (mpu6500_handle_t *handle, mpu6500_source_t source, mpu6500_bool_t enable)
	set source into standby mode
uint8_t	mpu6500_get_standby_mode (mpu6500_handle_t *handle, mpu6500_source_t source, mpu6500_bool_t *enable)
	get the source mode
uint8_t	mpu6500_get_fifo_count (mpu6500_handle_t *handle, uint16_t *count)
	get the fifo counter value
uint8_t	mpu6500_fifo_get (mpu6500_handle_t *handle, uint8_t *buf, uint16_t len)
	fifo read bytes
uint8_t	mpu6500_fifo_set (mpu6500_handle_t *handle, uint8_t *buf, uint16_t len)
	fifo write bytes
uint8_t	mpu6500_set_signal_path_reset (mpu6500_handle_t *handle, mpu6500_signal_path_reset_t path)
	set the signal path reset
uint8_t	mpu6500_set_sample_rate_divider (mpu6500_handle_t *handle, uint8_t d)
	set the sample rate divider
uint8_t	mpu6500_get_sample_rate_divider (mpu6500_handle_t *handle, uint8_t *d)
	get the sample rate divider
uint8_t	mpu6500_set_extern_sync (mpu6500_handle_t *handle, mpu6500_extern_sync_t sync)
	set the extern sync type
uint8_t	mpu6500_get_extern_sync (mpu6500_handle_t *handle, mpu6500_extern_sync_t *sync)
	get the extern sync type
uint8_t	mpu6500_set_low_pass_filter (mpu6500_handle_t *handle, mpu6500_low_pass_filter_t filter)
	set the low pass filter
uint8_t	mpu6500_get_low_pass_filter (mpu6500_handle_t *handle, mpu6500_low_pass_filter_t *filter)
	get the low pass filter
uint8_t	mpu6500_set_fifo_mode (mpu6500_handle_t *handle, mpu6500_fifo_mode mode)
	set the fifo mode
uint8_t	mpu6500_get_fifo_mode (mpu6500_handle_t *handle, mpu6500_fifo_mode *mode)
	get the fifo mode
uint8_t	mpu6500_set_gyroscope_test (mpu6500_handle_t *handle, mpu6500_axis_t axis, mpu6500_bool_t enable)
	set the gyroscope test
uint8_t	mpu6500_get_gyroscope_test (mpu6500_handle_t *handle, mpu6500_axis_t axis, mpu6500_bool_t *enable)
	get the gyroscope test
uint8_t	mpu6500_set_gyroscope_range (mpu6500_handle_t *handle, mpu6500_gyroscope_range_t range)
	set the gyroscope range
uint8_t	mpu6500_get_gyroscope_range (mpu6500_handle_t *handle, mpu6500_gyroscope_range_t *range)
	get the gyroscope range
uint8_t	mpu6500_set_gyroscope_choice (mpu6500_handle_t *handle, uint8_t choice)
	set the gyroscope choice
uint8_t	mpu6500_get_gyroscope_choice (mpu6500_handle_t *handle, uint8_t *choice)
	get the gyroscope choice
uint8_t	mpu6500_set_accelerometer_test (mpu6500_handle_t *handle, mpu6500_axis_t axis, mpu6500_bool_t enable)
	set the accelerometer test
uint8_t	mpu6500_get_accelerometer_test (mpu6500_handle_t *handle, mpu6500_axis_t axis, mpu6500_bool_t *enable)
	get the accelerometer test
uint8_t	mpu6500_set_accelerometer_range (mpu6500_handle_t *handle, mpu6500_accelerometer_range_t range)
	set the accelerometer range
uint8_t	mpu6500_get_accelerometer_range (mpu6500_handle_t *handle, mpu6500_accelerometer_range_t *range)
	get the accelerometer range
uint8_t	mpu6500_set_fifo_1024kb (mpu6500_handle_t *handle)
	set fifo 1024kb
uint8_t	mpu6500_set_accelerometer_choice (mpu6500_handle_t *handle, uint8_t choice)
	set the accelerometer choice
uint8_t	mpu6500_get_accelerometer_choice (mpu6500_handle_t *handle, uint8_t *choice)
	get the accelerometer choice
uint8_t	mpu6500_set_accelerometer_low_pass_filter (mpu6500_handle_t *handle, mpu6500_accelerometer_low_pass_filter_t filter)
	set the accelerometer low pass filter
uint8_t	mpu6500_get_accelerometer_low_pass_filter (mpu6500_handle_t *handle, mpu6500_accelerometer_low_pass_filter_t *filter)
	get the accelerometer low pass filter
uint8_t	mpu6500_set_low_power_accel_output_rate (mpu6500_handle_t *handle, mpu6500_low_power_accel_output_rate_t rate)
	set the low power accel output rate
uint8_t	mpu6500_get_low_power_accel_output_rate (mpu6500_handle_t *handle, mpu6500_low_power_accel_output_rate_t *rate)
	get the low power accel output rate
uint8_t	mpu6500_set_wake_on_motion (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable wake on motion
uint8_t	mpu6500_get_wake_on_motion (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the wake on motion status
uint8_t	mpu6500_set_accel_compare_with_previous_sample (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable accel compare with previous sample
uint8_t	mpu6500_get_accel_compare_with_previous_sample (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the accel compare with previous sample status
uint8_t	mpu6500_set_accelerometer_x_offset (mpu6500_handle_t *handle, int16_t offset)
	set the accelerometer x offset
uint8_t	mpu6500_get_accelerometer_x_offset (mpu6500_handle_t *handle, int16_t *offset)
	get the accelerometer x offset
uint8_t	mpu6500_set_accelerometer_y_offset (mpu6500_handle_t *handle, int16_t offset)
	set the accelerometer y offset
uint8_t	mpu6500_get_accelerometer_y_offset (mpu6500_handle_t *handle, int16_t *offset)
	get the accelerometer y offset
uint8_t	mpu6500_set_accelerometer_z_offset (mpu6500_handle_t *handle, int16_t offset)
	set the accelerometer z offset
uint8_t	mpu6500_get_accelerometer_z_offset (mpu6500_handle_t *handle, int16_t *offset)
	get the accelerometer z offset
uint8_t	mpu6500_accelerometer_offset_convert_to_register (mpu6500_handle_t *handle, float mg, int16_t *reg)
	convert the accelerometer offset to the register raw data
uint8_t	mpu6500_accelerometer_offset_convert_to_data (mpu6500_handle_t *handle, int16_t reg, float *mg)
	convert the register raw data to the accelerometer offset
uint8_t	mpu6500_set_gyro_x_offset (mpu6500_handle_t *handle, int16_t offset)
	set the gyro x offset
uint8_t	mpu6500_get_gyro_x_offset (mpu6500_handle_t *handle, int16_t *offset)
	get the gyro x offset
uint8_t	mpu6500_set_gyro_y_offset (mpu6500_handle_t *handle, int16_t offset)
	set the gyro y offset
uint8_t	mpu6500_get_gyro_y_offset (mpu6500_handle_t *handle, int16_t *offset)
	get the gyro y offset
uint8_t	mpu6500_set_gyro_z_offset (mpu6500_handle_t *handle, int16_t offset)
	set the gyro z offset
uint8_t	mpu6500_get_gyro_z_offset (mpu6500_handle_t *handle, int16_t *offset)
	get the gyro z offset
uint8_t	mpu6500_gyro_offset_convert_to_register (mpu6500_handle_t *handle, float dps, int16_t *reg)
	convert the gyro offset to the register raw data
uint8_t	mpu6500_gyro_offset_convert_to_data (mpu6500_handle_t *handle, int16_t reg, float *dps)
	convert the register raw data to the gyro offset
uint8_t	mpu6500_set_fifo_enable (mpu6500_handle_t *handle, mpu6500_fifo_t fifo, mpu6500_bool_t enable)
	enable or disable the fifo function
uint8_t	mpu6500_get_fifo_enable (mpu6500_handle_t *handle, mpu6500_fifo_t fifo, mpu6500_bool_t *enable)
	get the fifo function status
uint8_t	mpu6500_set_interrupt_level (mpu6500_handle_t *handle, mpu6500_pin_level_t level)
	set the interrupt level
uint8_t	mpu6500_get_interrupt_level (mpu6500_handle_t *handle, mpu6500_pin_level_t *level)
	get the interrupt level
uint8_t	mpu6500_set_interrupt_pin_type (mpu6500_handle_t *handle, mpu6500_pin_type_t type)
	set the interrupt pin type
uint8_t	mpu6500_get_interrupt_pin_type (mpu6500_handle_t *handle, mpu6500_pin_type_t *type)
	get the interrupt pin type
uint8_t	mpu6500_set_interrupt_latch (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable the interrupt latch
uint8_t	mpu6500_get_interrupt_latch (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the interrupt latch status
uint8_t	mpu6500_set_interrupt_read_clear (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable the interrupt reading clear
uint8_t	mpu6500_get_interrupt_read_clear (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the interrupt reading clear status
uint8_t	mpu6500_set_fsync_interrupt_level (mpu6500_handle_t *handle, mpu6500_pin_level_t level)
	set the fsync interrupt level
uint8_t	mpu6500_get_fsync_interrupt_level (mpu6500_handle_t *handle, mpu6500_pin_level_t *level)
	get the fsync interrupt level
uint8_t	mpu6500_set_fsync_interrupt (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable the fsync interrupt
uint8_t	mpu6500_get_fsync_interrupt (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the fsync interrupt status
uint8_t	mpu6500_set_iic_bypass (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable the iic bypass
uint8_t	mpu6500_get_iic_bypass (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the iic bypass status
uint8_t	mpu6500_set_interrupt (mpu6500_handle_t *handle, mpu6500_interrupt_t type, mpu6500_bool_t enable)
	enable or disable the interrupt
uint8_t	mpu6500_get_interrupt (mpu6500_handle_t *handle, mpu6500_interrupt_t type, mpu6500_bool_t *enable)
	get the interrupt status
uint8_t	mpu6500_get_interrupt_status (mpu6500_handle_t *handle, uint8_t *status)
	get the interrupt status
uint8_t	mpu6500_set_gyroscope_x_test (mpu6500_handle_t *handle, uint8_t data)
	set the gyroscope x test
uint8_t	mpu6500_get_gyroscope_x_test (mpu6500_handle_t *handle, uint8_t *data)
	get the gyroscope x test
uint8_t	mpu6500_set_gyroscope_y_test (mpu6500_handle_t *handle, uint8_t data)
	set the gyroscope y test
uint8_t	mpu6500_get_gyroscope_y_test (mpu6500_handle_t *handle, uint8_t *data)
	get the gyroscope y test
uint8_t	mpu6500_set_gyroscope_z_test (mpu6500_handle_t *handle, uint8_t data)
	set the gyroscope z test
uint8_t	mpu6500_get_gyroscope_z_test (mpu6500_handle_t *handle, uint8_t *data)
	get the gyroscope z test
uint8_t	mpu6500_set_accelerometer_x_test (mpu6500_handle_t *handle, uint8_t data)
	set the accelerometer x test
uint8_t	mpu6500_get_accelerometer_x_test (mpu6500_handle_t *handle, uint8_t *data)
	get the accelerometer x test
uint8_t	mpu6500_set_accelerometer_y_test (mpu6500_handle_t *handle, uint8_t data)
	set the accelerometer y test
uint8_t	mpu6500_get_accelerometer_y_test (mpu6500_handle_t *handle, uint8_t *data)
	get the accelerometer y test
uint8_t	mpu6500_set_accelerometer_z_test (mpu6500_handle_t *handle, uint8_t data)
	set the accelerometer z test
uint8_t	mpu6500_get_accelerometer_z_test (mpu6500_handle_t *handle, uint8_t *data)
	get the accelerometer z test
uint8_t	mpu6500_set_motion_threshold (mpu6500_handle_t *handle, uint8_t threshold)
	set the motion_threshold
uint8_t	mpu6500_get_motion_threshold (mpu6500_handle_t *handle, uint8_t *threshold)
	get the motion_threshold
uint8_t	mpu6500_motion_threshold_convert_to_register (mpu6500_handle_t *handle, float mg, uint8_t *reg)
	convert the motion threshold to the register raw data
uint8_t	mpu6500_motion_threshold_convert_to_data (mpu6500_handle_t *handle, uint8_t reg, float *mg)
	convert the register raw data to the motion threshold
uint8_t	mpu6500_self_test (mpu6500_handle_t *handle, int32_t gyro_offset_raw[3], int32_t accel_offset_raw[3])
	run the self test
uint8_t	mpu6500_set_iic_clock (mpu6500_handle_t *handle, mpu6500_iic_clock_t clk)
	set the iic clock
uint8_t	mpu6500_get_iic_clock (mpu6500_handle_t *handle, mpu6500_iic_clock_t *clk)
	get the iic clock
uint8_t	mpu6500_set_iic_multi_master (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable iic multi master
uint8_t	mpu6500_get_iic_multi_master (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the iic multi master status
uint8_t	mpu6500_set_iic_wait_for_external_sensor (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable iic wait for external sensor
uint8_t	mpu6500_get_iic_wait_for_external_sensor (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the iic wait for external sensor status
uint8_t	mpu6500_set_iic_read_mode (mpu6500_handle_t *handle, mpu6500_iic_read_mode_t mode)
	set the iic read mode
uint8_t	mpu6500_get_iic_read_mode (mpu6500_handle_t *handle, mpu6500_iic_read_mode_t *mode)
	get the iic read mode
uint8_t	mpu6500_set_iic_fifo_enable (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, mpu6500_bool_t enable)
	enable or disable the iic fifo
uint8_t	mpu6500_get_iic_fifo_enable (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, mpu6500_bool_t *enable)
	get the iic fifo status
uint8_t	mpu6500_set_iic_mode (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, mpu6500_iic_mode_t mode)
	set the iic mode
uint8_t	mpu6500_get_iic_mode (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, mpu6500_iic_mode_t *mode)
	get the iic mode
uint8_t	mpu6500_set_iic_address (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, uint8_t addr_7bit)
	set the iic address
uint8_t	mpu6500_get_iic_address (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, uint8_t *addr_7bit)
	get the iic address
uint8_t	mpu6500_set_iic_register (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, uint8_t reg)
	set the iic register
uint8_t	mpu6500_get_iic_register (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, uint8_t *reg)
	get the iic register
uint8_t	mpu6500_set_iic_data_out (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, uint8_t data)
	set the iic data out
uint8_t	mpu6500_get_iic_data_out (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, uint8_t *data)
	get the iic data out
uint8_t	mpu6500_set_iic_enable (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, mpu6500_bool_t enable)
	enable or disable the iic
uint8_t	mpu6500_get_iic_enable (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, mpu6500_bool_t *enable)
	get the iic status
uint8_t	mpu6500_set_iic_byte_swap (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, mpu6500_bool_t enable)
	enable or disable the iic byte swap
uint8_t	mpu6500_get_iic_byte_swap (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, mpu6500_bool_t *enable)
	get the iic byte swap status
uint8_t	mpu6500_set_iic_transaction_mode (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, mpu6500_iic_transaction_mode_t mode)
	set the iic transaction mode
uint8_t	mpu6500_get_iic_transaction_mode (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, mpu6500_iic_transaction_mode_t *mode)
	get the iic transaction mode
uint8_t	mpu6500_set_iic_group_order (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, mpu6500_iic_group_order_t order)
	set the iic group order
uint8_t	mpu6500_get_iic_group_order (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, mpu6500_iic_group_order_t *order)
	get the iic group order
uint8_t	mpu6500_set_iic_transferred_len (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, uint8_t len)
	set the iic transferred length
uint8_t	mpu6500_get_iic_transferred_len (mpu6500_handle_t *handle, mpu6500_iic_slave_t slave, uint8_t *len)
	get the iic transferred length
uint8_t	mpu6500_get_iic_status (mpu6500_handle_t *handle, uint8_t *status)
	get the iic status
uint8_t	mpu6500_set_iic_delay_enable (mpu6500_handle_t *handle, mpu6500_iic_delay_t delay, mpu6500_bool_t enable)
	enable or disable the iic delay
uint8_t	mpu6500_get_iic_delay_enable (mpu6500_handle_t *handle, mpu6500_iic_delay_t delay, mpu6500_bool_t *enable)
	get the iic delay status
uint8_t	mpu6500_set_iic4_enable (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable the iic4
uint8_t	mpu6500_get_iic4_enable (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the iic4 status
uint8_t	mpu6500_set_iic4_interrupt (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable the iic4 interrupt
uint8_t	mpu6500_get_iic4_interrupt (mpu6500_handle_t *handle, mpu6500_bool_t *enable)
	get the iic4 interrupt status
uint8_t	mpu6500_set_iic4_transaction_mode (mpu6500_handle_t *handle, mpu6500_iic4_transaction_mode_t mode)
	set the iic4 transaction mode
uint8_t	mpu6500_get_iic4_transaction_mode (mpu6500_handle_t *handle, mpu6500_iic4_transaction_mode_t *mode)
	get the iic4 transaction mode
uint8_t	mpu6500_set_iic_delay (mpu6500_handle_t *handle, uint8_t delay)
	set the iic delay
uint8_t	mpu6500_get_iic_delay (mpu6500_handle_t *handle, uint8_t *delay)
	get the iic delay
uint8_t	mpu6500_set_iic4_data_out (mpu6500_handle_t *handle, uint8_t data)
	set the iic4 data out
uint8_t	mpu6500_get_iic4_data_out (mpu6500_handle_t *handle, uint8_t *data)
	get the iic4 data out
uint8_t	mpu6500_set_iic4_data_in (mpu6500_handle_t *handle, uint8_t data)
	set the iic4 data in
uint8_t	mpu6500_get_iic4_data_in (mpu6500_handle_t *handle, uint8_t *data)
	get the iic4 data in
uint8_t	mpu6500_read_extern_sensor_data (mpu6500_handle_t *handle, uint8_t *data, uint8_t len)
	read the extern sensor data
uint8_t	mpu6500_dmp_load_firmware (mpu6500_handle_t *handle)
	load the dmp firmware
uint8_t	mpu6500_dmp_set_pedometer_walk_time (mpu6500_handle_t *handle, uint32_t ms)
	dmp set the pedometer walk time
uint8_t	mpu6500_dmp_get_pedometer_walk_time (mpu6500_handle_t *handle, uint32_t *ms)
	dmp get the pedometer walk time
uint8_t	mpu6500_dmp_set_pedometer_step_count (mpu6500_handle_t *handle, uint32_t count)
	dmp set the pedometer step count
uint8_t	mpu6500_dmp_get_pedometer_step_count (mpu6500_handle_t *handle, uint32_t *count)
	dmp get the pedometer step count
uint8_t	mpu6500_dmp_set_shake_reject_timeout (mpu6500_handle_t *handle, uint16_t ms)
	dmp set the shake reject timeout
uint8_t	mpu6500_dmp_get_shake_reject_timeout (mpu6500_handle_t *handle, uint16_t *ms)
	dmp get the shake reject timeout
uint8_t	mpu6500_dmp_set_shake_reject_time (mpu6500_handle_t *handle, uint16_t ms)
	dmp set the shake reject time
uint8_t	mpu6500_dmp_get_shake_reject_time (mpu6500_handle_t *handle, uint16_t *ms)
	dmp get the shake reject time
uint8_t	mpu6500_dmp_set_shake_reject_thresh (mpu6500_handle_t *handle, uint16_t dps)
	dmp set the shake reject thresh
uint8_t	mpu6500_dmp_get_shake_reject_thresh (mpu6500_handle_t *handle, uint16_t *dps)
	dmp get the shake reject thresh
uint8_t	mpu6500_dmp_set_tap_time_multi (mpu6500_handle_t *handle, uint16_t ms)
	dmp set max time between taps to register as a multi tap
uint8_t	mpu6500_dmp_get_tap_time_multi (mpu6500_handle_t *handle, uint16_t *ms)
	dmp get max time between taps to register as a multi tap
uint8_t	mpu6500_dmp_set_tap_time (mpu6500_handle_t *handle, uint16_t ms)
	dmp set the tap time
uint8_t	mpu6500_dmp_get_tap_time (mpu6500_handle_t *handle, uint16_t *ms)
	dmp get the tap time
uint8_t	mpu6500_dmp_set_min_tap_count (mpu6500_handle_t *handle, uint8_t cnt)
	dmp set the min tap count
uint8_t	mpu6500_dmp_get_min_tap_count (mpu6500_handle_t *handle, uint8_t *cnt)
	dmp get the min tap count
uint8_t	mpu6500_dmp_set_gyro_calibrate (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	dmp enable or disable gyro calibrate
uint8_t	mpu6500_dmp_set_3x_quaternion (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	dmp enable or disable generate 3 axis quaternions from dmp
uint8_t	mpu6500_dmp_set_6x_quaternion (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	dmp enable or disable generate 6 axis quaternions from dmp
uint8_t	mpu6500_dmp_set_interrupt_mode (mpu6500_handle_t *handle, mpu6500_dmp_interrupt_mode_t mode)
	dmp set the interrupt mode
uint8_t	mpu6500_dmp_set_gyro_bias (mpu6500_handle_t *handle, int32_t bias[3])
	dmp set the gyro bias
uint8_t	mpu6500_dmp_set_accel_bias (mpu6500_handle_t *handle, int32_t bias[3])
	dmp set the accel bias
uint8_t	mpu6500_dmp_set_orientation (mpu6500_handle_t *handle, int8_t mat[9])
	dmp set the orientation
uint8_t	mpu6500_dmp_set_feature (mpu6500_handle_t *handle, uint16_t mask)
	dmp enable or disable the dmp feature
uint8_t	mpu6500_dmp_set_fifo_rate (mpu6500_handle_t *handle, uint16_t rate)
	dmp set the fifo rate
uint8_t	mpu6500_dmp_get_fifo_rate (mpu6500_handle_t *handle, uint16_t *rate)
	dmp get the fifo rate
uint8_t	mpu6500_dmp_set_tap_axes (mpu6500_handle_t *handle, mpu6500_axis_t axis, mpu6500_bool_t enable)
	dmp enable or disable the tap axes
uint8_t	mpu6500_dmp_get_tap_axes (mpu6500_handle_t *handle, mpu6500_axis_t axis, mpu6500_bool_t *enable)
	dmp get the tap axes status
uint8_t	mpu6500_dmp_set_tap_thresh (mpu6500_handle_t *handle, mpu6500_axis_t axis, uint16_t mg_ms)
	dmp set the tap thresh
uint8_t	mpu6500_dmp_get_tap_thresh (mpu6500_handle_t *handle, mpu6500_axis_t axis, uint16_t *mg_ms)
	dmp get the tap thresh
uint8_t	mpu6500_dmp_read (mpu6500_handle_t *handle, int16_t(*accel_raw)[3], float(*accel_g)[3], int16_t(*gyro_raw)[3], float(*gyro_dps)[3], int32_t(*quat)[4], float *pitch, float *roll, float *yaw, uint16_t *l)
	dmp read the data
uint8_t	mpu6500_dmp_set_tap_callback (mpu6500_handle_t *handle, void(*callback)(uint8_t count, uint8_t direction))
	dmp set the tap callback
uint8_t	mpu6500_dmp_set_orient_callback (mpu6500_handle_t *handle, void(*callback)(uint8_t orientation))
	dmp set the orient callback
uint8_t	mpu6500_dmp_set_enable (mpu6500_handle_t *handle, mpu6500_bool_t enable)
	enable or disable the dmp
uint8_t	mpu6500_dmp_gyro_accel_raw_offset_convert (mpu6500_handle_t *handle, int32_t gyro_offset_raw[3], int32_t accel_offset_raw[3], int32_t gyro_offset[3], int32_t accel_offset[3])
	dmp gyro accel raw offset convert
uint8_t	mpu6500_set_reg (mpu6500_handle_t *handle, uint8_t reg, uint8_t *buf, uint16_t len)
	set the chip register
uint8_t	mpu6500_get_reg (mpu6500_handle_t *handle, uint8_t reg, uint8_t *buf, uint16_t len)
	get the chip register

Detailed Description

driver mpu6500 header file

Copyright (c) 2015 - present LibDriver All rights reserved

The MIT License (MIT)

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.

Version

1.0.0

Author

Shifeng Li

Date

2024-07-30

history

Date	Version	Author	Description
2024/07/30	1.0	Shifeng Li	first upload

Definition in file driver_mpu6500.h.