driver_mpu9250_dmp.h

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#ifndef DRIVER_MPU9250_DMP_H
#define DRIVER_MPU9250_DMP_H
 
#include "driver_mpu9250_interface.h"
 
#ifdef __cplusplus
extern "C"{
#endif


#define MPU9250_DMP_DEFAULT_CLOCK_SOURCE                   MPU9250_CLOCK_SOURCE_PLL                  
#define MPU9250_DMP_DEFAULT_RATE                           50                                        
#define MPU9250_DMP_DEFAULT_ACCELEROMETER_RANGE            MPU9250_ACCELEROMETER_RANGE_2G            
#define MPU9250_DMP_DEFAULT_GYROSCOPE_RANGE                MPU9250_GYROSCOPE_RANGE_2000DPS           
#define MPU9250_DMP_DEFAULT_LOW_PASS_FILTER                MPU9250_LOW_PASS_FILTER_3                 
#define MPU9250_DMP_DEFAULT_CYCLE_WAKE_UP                  MPU9250_BOOL_FALSE                        
#define MPU9250_DMP_DEFAULT_INTERRUPT_PIN_LEVEL            MPU9250_PIN_LEVEL_LOW                     
#define MPU9250_DMP_DEFAULT_INTERRUPT_PIN_TYPE             MPU9250_PIN_TYPE_PUSH_PULL                
#define MPU9250_DMP_DEFAULT_INTERRUPT_MOTION               MPU9250_BOOL_TRUE                         
#define MPU9250_DMP_DEFAULT_INTERRUPT_FIFO_OVERFLOW        MPU9250_BOOL_TRUE                         
#define MPU9250_DMP_DEFAULT_INTERRUPT_DMP                  MPU9250_BOOL_FALSE                        
#define MPU9250_DMP_DEFAULT_INTERRUPT_FSYNC_INT            MPU9250_BOOL_FALSE                        
#define MPU9250_DMP_DEFAULT_INTERRUPT_DATA_READY           MPU9250_BOOL_FALSE                        
#define MPU9250_DMP_DEFAULT_INTERRUPT_LATCH                MPU9250_BOOL_TRUE                         
#define MPU9250_DMP_DEFAULT_INTERRUPT_READ_CLEAR           MPU9250_BOOL_TRUE                         
#define MPU9250_DMP_DEFAULT_EXTERN_SYNC                    MPU9250_EXTERN_SYNC_INPUT_DISABLED        
#define MPU9250_DMP_DEFAULT_FSYNC_INTERRUPT                MPU9250_BOOL_FALSE                        
#define MPU9250_DMP_DEFAULT_FSYNC_INTERRUPT_LEVEL          MPU9250_PIN_LEVEL_LOW                     
#define MPU9250_DMP_DEFAULT_IIC_MASTER                     MPU9250_BOOL_FALSE                        
#define MPU9250_DMP_DEFAULT_IIC_BYPASS                     MPU9250_BOOL_FALSE                        
#define MPU9250_DMP_DEFAULT_PEOMETER_WALK_TIME             200                                       
#define MPU9250_DMP_DEFAULT_PEOMETER_STEP_COUNT            0                                         
#define MPU9250_DMP_DEFAULT_SHAKE_REJECT_TIMEOUT           10                                        
#define MPU9250_DMP_DEFAULT_SHAKE_REJECT_TIME              40                                        
#define MPU9250_DMP_DEFAULT_SHAKE_REJECT_THRESH            200                                       
#define MPU9250_DMP_DEFAULT_TAP_TIME_MULTI                 200                                       
#define MPU9250_DMP_DEFAULT_TAP_TIME                       100                                       
#define MPU9250_DMP_DEFAULT_MIN_TAP_COUNT                  1                                         
#define MPU9250_DMP_DEFAULT_TAP_X_THRESH                   250                                       
#define MPU9250_DMP_DEFAULT_TAP_Y_THRESH                   250                                       
#define MPU9250_DMP_DEFAULT_TAP_Z_THRESH                   250                                       
#define MPU9250_DMP_DEFAULT_INTERRUPT_MODE                 MPU9250_DMP_INTERRUPT_MODE_CONTINUOUS     
#define MPU9250_DMP_DEFAULT_MOTION_THRESHOLD               200                                       
#define MPU9250_DMP_DEFAULT_GYROSCOPE_STANDBY              MPU9250_BOOL_FALSE                        
#define MPU9250_DMP_DEFAULT_FIFO_MODE                      MPU9250_FIFO_MODE_NORMAL                  
#define MPU9250_DMP_DEFAULT_GYROSCOPE_CHOICE               0                                         
#define MPU9250_DMP_DEFAULT_ACCELEROMETER_CHOICE           0                                         
#define MPU9250_DMP_DEFAULT_ACCELEROMETER_LOW_PASS_FILTER  MPU9250_ACCELEROMETER_LOW_PASS_FILTER_3   
#define MPU9250_DMP_DEFAULT_LOW_POWER_ACCEL_OUTPUT_RATE    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_62P50 
#define MPU9250_DMP_DEFAULT_ACCELEROMETER_COMPARE          MPU9250_BOOL_TRUE                         
#define MPU9250_DMP_DEFAULT_MAGNETOMETER_MODE              MPU9250_MAGNETOMETER_MODE_CONTINUOUS2     
#define MPU9250_DMP_DEFAULT_MAGNETOMETER_BITS              MPU9250_MAGNETOMETER_BITS_16              
#define MPU9250_DMP_DEFAULT_IIC_CLOCK                      MPU9250_IIC_CLOCK_400_KHZ                 
#define MPU9250_DMP_DEFAULT_IIC_MULTI_MASTER               MPU9250_BOOL_TRUE                         
#define MPU9250_DMP_DEFAULT_IIC_WAIT_FOR_EXTERNAL_SENSOR   MPU9250_BOOL_FALSE                        
#define MPU9250_DMP_DEFAULT_IIC_READ_MODE                  MPU9250_IIC_READ_MODE_RESTART             
#define MPU9250_DMP_DEFAULT_IIC_DELAY                      MPU9250_BOOL_FALSE                        

uint8_t mpu9250_dmp_irq_handler(void);

uint8_t mpu9250_dmp_init(mpu9250_interface_t interface, mpu9250_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 mpu9250_dmp_deinit(void);

uint8_t mpu9250_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 mpu9250_dmp_get_pedometer_counter(uint32_t *cnt);

 
#ifdef __cplusplus
}
#endif
 
#endif