driver_mpu9250_fifo.h

Go to the documentation of this file.

 
#ifndef DRIVER_MPU9250_FIFO_H
#define DRIVER_MPU9250_FIFO_H
 
#include "driver_mpu9250_interface.h"
 
#ifdef __cplusplus
extern "C"{
#endif


#define MPU9250_FIFO_DEFAULT_CLOCK_SOURCE                   MPU9250_CLOCK_SOURCE_PLL                  
#define MPU9250_FIFO_DEFAULT_RATE                           50                                        
#define MPU9250_FIFO_DEFAULT_ACCELEROMETER_RANGE            MPU9250_ACCELEROMETER_RANGE_2G            
#define MPU9250_FIFO_DEFAULT_GYROSCOPE_RANGE                MPU9250_GYROSCOPE_RANGE_2000DPS           
#define MPU9250_FIFO_DEFAULT_LOW_PASS_FILTER                MPU9250_LOW_PASS_FILTER_3                 
#define MPU9250_FIFO_DEFAULT_CYCLE_WAKE_UP                  MPU9250_BOOL_FALSE                        
#define MPU9250_FIFO_DEFAULT_INTERRUPT_PIN_LEVEL            MPU9250_PIN_LEVEL_LOW                     
#define MPU9250_FIFO_DEFAULT_INTERRUPT_PIN_TYPE             MPU9250_PIN_TYPE_PUSH_PULL                
#define MPU9250_FIFO_DEFAULT_INTERRUPT_MOTION               MPU9250_BOOL_FALSE                        
#define MPU9250_FIFO_DEFAULT_INTERRUPT_FIFO_OVERFLOW        MPU9250_BOOL_TRUE                         
#define MPU9250_FIFO_DEFAULT_INTERRUPT_DMP                  MPU9250_BOOL_FALSE                        
#define MPU9250_FIFO_DEFAULT_INTERRUPT_FSYNC_INT            MPU9250_BOOL_FALSE                        
#define MPU9250_FIFO_DEFAULT_INTERRUPT_DATA_READY           MPU9250_BOOL_FALSE                        
#define MPU9250_FIFO_DEFAULT_INTERRUPT_LATCH                MPU9250_BOOL_TRUE                         
#define MPU9250_FIFO_DEFAULT_INTERRUPT_READ_CLEAR           MPU9250_BOOL_TRUE                         
#define MPU9250_FIFO_DEFAULT_EXTERN_SYNC                    MPU9250_EXTERN_SYNC_INPUT_DISABLED        
#define MPU9250_FIFO_DEFAULT_FSYNC_INTERRUPT                MPU9250_BOOL_FALSE                        
#define MPU9250_FIFO_DEFAULT_FSYNC_INTERRUPT_LEVEL          MPU9250_PIN_LEVEL_LOW                     
#define MPU9250_FIFO_DEFAULT_IIC_MASTER                     MPU9250_BOOL_FALSE                        
#define MPU9250_FIFO_DEFAULT_IIC_BYPASS                     MPU9250_BOOL_FALSE                        
#define MPU9250_FIFO_DEFAULT_GYROSCOPE_STANDBY              MPU9250_BOOL_FALSE                        
#define MPU9250_FIFO_DEFAULT_FIFO_MODE                      MPU9250_FIFO_MODE_NORMAL                  
#define MPU9250_FIFO_DEFAULT_GYROSCOPE_CHOICE               0                                         
#define MPU9250_FIFO_DEFAULT_ACCELEROMETER_CHOICE           0                                         
#define MPU9250_FIFO_DEFAULT_ACCELEROMETER_LOW_PASS_FILTER  MPU9250_ACCELEROMETER_LOW_PASS_FILTER_3   
#define MPU9250_FIFO_DEFAULT_LOW_POWER_ACCEL_OUTPUT_RATE    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_62P50 
#define MPU9250_FIFO_DEFAULT_WAKE_ON_MOTION                 MPU9250_BOOL_FALSE                        
#define MPU9250_FIFO_DEFAULT_ACCELEROMETER_COMPARE          MPU9250_BOOL_TRUE                         
#define MPU9250_FIFO_DEFAULT_MAGNETOMETER_MODE              MPU9250_MAGNETOMETER_MODE_CONTINUOUS2     
#define MPU9250_FIFO_DEFAULT_MAGNETOMETER_BITS              MPU9250_MAGNETOMETER_BITS_16              
#define MPU9250_FIFO_DEFAULT_IIC_CLOCK                      MPU9250_IIC_CLOCK_400_KHZ                 
#define MPU9250_FIFO_DEFAULT_IIC_MULTI_MASTER               MPU9250_BOOL_TRUE                         
#define MPU9250_FIFO_DEFAULT_IIC_WAIT_FOR_EXTERNAL_SENSOR   MPU9250_BOOL_FALSE                        
#define MPU9250_FIFO_DEFAULT_IIC_READ_MODE                  MPU9250_IIC_READ_MODE_RESTART             
#define MPU9250_FIFO_DEFAULT_IIC_DELAY                      MPU9250_BOOL_FALSE                        

uint8_t mpu9250_fifo_irq_handler(void);

uint8_t mpu9250_fifo_init(mpu9250_interface_t interface, mpu9250_address_t addr_pin);

uint8_t mpu9250_fifo_read(int16_t (*accel_raw)[3], float (*accel_g)[3],
                          int16_t (*gyro_raw)[3], float (*gyro_dps)[3],
                          int16_t (*mag_raw)[3], float (*mag_ut)[3],
                          uint16_t *len
                         );

uint8_t mpu9250_fifo_deinit(void);

 
#ifdef __cplusplus
}
#endif
 
#endif