driver_mpu6500_dmp.h

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#ifndef DRIVER_MPU6500_DMP_H
#define DRIVER_MPU6500_DMP_H
 
#include "driver_mpu6500_interface.h"
 
#ifdef __cplusplus
extern "C"{
#endif


#define MPU6500_DMP_DEFAULT_CLOCK_SOURCE                   MPU6500_CLOCK_SOURCE_PLL                  
#define MPU6500_DMP_DEFAULT_RATE                           50                                        
#define MPU6500_DMP_DEFAULT_ACCELEROMETER_RANGE            MPU6500_ACCELEROMETER_RANGE_2G            
#define MPU6500_DMP_DEFAULT_GYROSCOPE_RANGE                MPU6500_GYROSCOPE_RANGE_2000DPS           
#define MPU6500_DMP_DEFAULT_LOW_PASS_FILTER                MPU6500_LOW_PASS_FILTER_3                 
#define MPU6500_DMP_DEFAULT_CYCLE_WAKE_UP                  MPU6500_BOOL_FALSE                        
#define MPU6500_DMP_DEFAULT_INTERRUPT_PIN_LEVEL            MPU6500_PIN_LEVEL_LOW                     
#define MPU6500_DMP_DEFAULT_INTERRUPT_PIN_TYPE             MPU6500_PIN_TYPE_PUSH_PULL                
#define MPU6500_DMP_DEFAULT_INTERRUPT_MOTION               MPU6500_BOOL_TRUE                         
#define MPU6500_DMP_DEFAULT_INTERRUPT_FIFO_OVERFLOW        MPU6500_BOOL_TRUE                         
#define MPU6500_DMP_DEFAULT_INTERRUPT_DMP                  MPU6500_BOOL_FALSE                        
#define MPU6500_DMP_DEFAULT_INTERRUPT_FSYNC_INT            MPU6500_BOOL_FALSE                        
#define MPU6500_DMP_DEFAULT_INTERRUPT_DATA_READY           MPU6500_BOOL_FALSE                        
#define MPU6500_DMP_DEFAULT_INTERRUPT_LATCH                MPU6500_BOOL_TRUE                         
#define MPU6500_DMP_DEFAULT_INTERRUPT_READ_CLEAR           MPU6500_BOOL_TRUE                         
#define MPU6500_DMP_DEFAULT_EXTERN_SYNC                    MPU6500_EXTERN_SYNC_INPUT_DISABLED        
#define MPU6500_DMP_DEFAULT_FSYNC_INTERRUPT                MPU6500_BOOL_FALSE                        
#define MPU6500_DMP_DEFAULT_FSYNC_INTERRUPT_LEVEL          MPU6500_PIN_LEVEL_LOW                     
#define MPU6500_DMP_DEFAULT_IIC_MASTER                     MPU6500_BOOL_FALSE                        
#define MPU6500_DMP_DEFAULT_IIC_BYPASS                     MPU6500_BOOL_FALSE                        
#define MPU6500_DMP_DEFAULT_PEOMETER_WALK_TIME             200                                       
#define MPU6500_DMP_DEFAULT_PEOMETER_STEP_COUNT            0                                         
#define MPU6500_DMP_DEFAULT_SHAKE_REJECT_TIMEOUT           10                                        
#define MPU6500_DMP_DEFAULT_SHAKE_REJECT_TIME              40                                        
#define MPU6500_DMP_DEFAULT_SHAKE_REJECT_THRESH            200                                       
#define MPU6500_DMP_DEFAULT_TAP_TIME_MULTI                 200                                       
#define MPU6500_DMP_DEFAULT_TAP_TIME                       100                                       
#define MPU6500_DMP_DEFAULT_MIN_TAP_COUNT                  1                                         
#define MPU6500_DMP_DEFAULT_TAP_X_THRESH                   250                                       
#define MPU6500_DMP_DEFAULT_TAP_Y_THRESH                   250                                       
#define MPU6500_DMP_DEFAULT_TAP_Z_THRESH                   250                                       
#define MPU6500_DMP_DEFAULT_INTERRUPT_MODE                 MPU6500_DMP_INTERRUPT_MODE_CONTINUOUS     
#define MPU6500_DMP_DEFAULT_MOTION_THRESHOLD               200                                       
#define MPU6500_DMP_DEFAULT_GYROSCOPE_STANDBY              MPU6500_BOOL_FALSE                        
#define MPU6500_DMP_DEFAULT_FIFO_MODE                      MPU6500_FIFO_MODE_NORMAL                  
#define MPU6500_DMP_DEFAULT_GYROSCOPE_CHOICE               0                                         
#define MPU6500_DMP_DEFAULT_ACCELEROMETER_CHOICE           0                                         
#define MPU6500_DMP_DEFAULT_ACCELEROMETER_LOW_PASS_FILTER  MPU6500_ACCELEROMETER_LOW_PASS_FILTER_3   
#define MPU6500_DMP_DEFAULT_LOW_POWER_ACCEL_OUTPUT_RATE    MPU6500_LOW_POWER_ACCEL_OUTPUT_RATE_62P50 
#define MPU6500_DMP_DEFAULT_ACCELEROMETER_COMPARE          MPU6500_BOOL_TRUE                         
#define MPU6500_DMP_DEFAULT_MAGNETOMETER_MODE              MPU6500_MAGNETOMETER_MODE_CONTINUOUS2     
#define MPU6500_DMP_DEFAULT_MAGNETOMETER_BITS              MPU6500_MAGNETOMETER_BITS_16              
#define MPU6500_DMP_DEFAULT_IIC_CLOCK                      MPU6500_IIC_CLOCK_400_KHZ                 
#define MPU6500_DMP_DEFAULT_IIC_MULTI_MASTER               MPU6500_BOOL_TRUE                         
#define MPU6500_DMP_DEFAULT_IIC_WAIT_FOR_EXTERNAL_SENSOR   MPU6500_BOOL_FALSE                        
#define MPU6500_DMP_DEFAULT_IIC_READ_MODE                  MPU6500_IIC_READ_MODE_RESTART             
#define MPU6500_DMP_DEFAULT_IIC_DELAY                      MPU6500_BOOL_FALSE                        

uint8_t mpu6500_dmp_irq_handler(void);

uint8_t mpu6500_dmp_init(mpu6500_interface_t interface, mpu6500_address_t addr_pin,
                         void (*receive_callback)(uint8_t type),
                         void (*tap_callback)(uint8_t count, uint8_t direction),
                         void (*orient_callback)(uint8_t orientation)
                        );

uint8_t mpu6500_dmp_deinit(void);

uint8_t mpu6500_dmp_read_all(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
                            );

uint8_t mpu6500_dmp_get_pedometer_counter(uint32_t *cnt);

 
#ifdef __cplusplus
}
#endif
 
#endif