mpu.h File Reference

#include <stdint.h>
#include <pthread.h>

Go to the source code of this file.

Data Structures
struct	rc_mpu_config_t
	configuration of the mpu sensor More...
struct	rc_mpu_data_t
	data struct populated with new sensor data More...

Macros
#define	RC_MPU_DEFAULT_I2C_ADDR   0x68
	default i2c address if AD0 is left low More...
#define	RC_MPU_ALT_I2C_ADDR   0x69
	alternate i2c address if AD0 pin pulled high More...
#define	TB_PITCH_X   0
	Index of the dmp_TaitBryan[] array corresponding to the Pitch (X) axis. More...
#define	TB_ROLL_Y   1
	Index of the dmp_TaitBryan[] array corresponding to the Roll (Y) axis. More...
#define	TB_YAW_Z   2
	Index of the dmp_TaitBryan[] array corresponding to the Yaw (Z) axis. More...
#define	QUAT_W   0
	First index of the dmp_quat[] quaternion vector. More...
#define	QUAT_X   1
	Second index of the dmp_quat[] quaternion vector. More...
#define	QUAT_Y   2
	Third index of the dmp_quat[] quaternion vector. More...
#define	QUAT_Z   3
	Fourth index of the dmp_quat[] quaternion vector. More...
#define	DEG_TO_RAD   0.0174532925199
	multiply to convert degrees to radians More...
#define	RAD_TO_DEG   57.295779513
	multiply to convert radians to degrees More...
#define	MS2_TO_G   0.10197162129
	multiply to convert m/s^2 to G More...
#define	G_TO_MS2   9.80665
	multiply to convert G to m/s^2, standard gravity definition More...

Typedefs
typedef enum rc_mpu_accel_fsr_t	rc_mpu_accel_fsr_t
	accelerometer full scale range options More...
typedef enum rc_mpu_gyro_fsr_t	rc_mpu_gyro_fsr_t
	gyroscope full scale range options More...
typedef enum rc_mpu_accel_dlpf_t	rc_mpu_accel_dlpf_t
	accelerometer digital low-pass filter options More...
typedef enum rc_mpu_gyro_dlpf_t	rc_mpu_gyro_dlpf_t
	gyroscope digital low-pass filter options More...
typedef enum rc_mpu_orientation_t	rc_mpu_orientation_t
	Orientation of the sensor. More...
typedef struct rc_mpu_config_t	rc_mpu_config_t
	configuration of the mpu sensor More...
typedef struct rc_mpu_data_t	rc_mpu_data_t
	data struct populated with new sensor data More...

Enumerations
enum	rc_mpu_accel_fsr_t {   ACCEL_FSR_2G,   ACCEL_FSR_4G,   ACCEL_FSR_8G,   ACCEL_FSR_16G }
	accelerometer full scale range options More...
enum	rc_mpu_gyro_fsr_t {   GYRO_FSR_250DPS,   GYRO_FSR_500DPS,   GYRO_FSR_1000DPS,   GYRO_FSR_2000DPS }
	gyroscope full scale range options More...
enum	rc_mpu_accel_dlpf_t {   ACCEL_DLPF_OFF,   ACCEL_DLPF_460,   ACCEL_DLPF_184,   ACCEL_DLPF_92,   ACCEL_DLPF_41,   ACCEL_DLPF_20,   ACCEL_DLPF_10,   ACCEL_DLPF_5 }
	accelerometer digital low-pass filter options More...
enum	rc_mpu_gyro_dlpf_t {   GYRO_DLPF_OFF,   GYRO_DLPF_250,   GYRO_DLPF_184,   GYRO_DLPF_92,   GYRO_DLPF_41,   GYRO_DLPF_20,   GYRO_DLPF_10,   GYRO_DLPF_5 }
	gyroscope digital low-pass filter options More...
enum	rc_mpu_orientation_t {   ORIENTATION_Z_UP = 136,   ORIENTATION_Z_DOWN = 396,   ORIENTATION_X_UP = 14,   ORIENTATION_X_DOWN = 266,   ORIENTATION_Y_UP = 112,   ORIENTATION_Y_DOWN = 336,   ORIENTATION_X_FORWARD = 133,   ORIENTATION_X_BACK = 161 }
	Orientation of the sensor. More...

Functions
common functions
rc_mpu_config_t	rc_mpu_default_config (void)
	Returns an rc_mpu_config_t struct with default settings. More...
int	rc_mpu_set_config_to_default (rc_mpu_config_t *conf)
	Resets a config struct to defaults. More...
int	rc_mpu_power_off (void)
	Powers off the MPU. More...
normal one-shot sampling functions
int	rc_mpu_initialize (rc_mpu_data_t *data, rc_mpu_config_t conf)
	Sets up the MPU in normal one-shot sampling mode. More...
int	rc_mpu_read_accel (rc_mpu_data_t *data)
	Reads accelerometer data from the MPU. More...
int	rc_mpu_read_gyro (rc_mpu_data_t *data)
	Reads gyroscope data from the MPU. More...
int	rc_mpu_read_temp (rc_mpu_data_t *data)
	Reads thermometer data from the MPU. More...
int	rc_mpu_read_mag (rc_mpu_data_t *data)
	Reads magnetometer data from the MPU. More...
interrupt-driven DMP mode functions
int	rc_mpu_initialize_dmp (rc_mpu_data_t *data, rc_mpu_config_t conf)
	Initializes the MPU in DMP mode, see rc_test_dmp example. More...
int	rc_mpu_set_dmp_callback (void(*func)(void))
	Sets the callback function that will be triggered when new DMP data is ready. More...
int	rc_mpu_block_until_dmp_data (void)
	blocking function that returns once new DMP data is available More...
int64_t	rc_mpu_nanos_since_last_dmp_interrupt (void)
	calculates number of nanoseconds since the last DMP interrupt More...
int	rc_mpu_set_tap_callback (void(*func)(int direction, int counter))
	sets the callback function triggered when a tap is detected More...
int	rc_mpu_block_until_tap (void)
	blocking function that returns when a tap is detected More...
int64_t	rc_mpu_nanos_since_last_tap (void)
	calculates nanoseconds since last tap was detected More...
calibration functions
int	rc_mpu_calibrate_gyro_routine (rc_mpu_config_t conf)
	Runs gyroscope calibration routine. More...
int	rc_mpu_calibrate_mag_routine (rc_mpu_config_t conf)
	Runs magnetometer calibration routine. More...
int	rc_mpu_calibrate_accel_routine (rc_mpu_config_t conf)
	Runs accelerometer calibration routine. More...
int	rc_mpu_is_gyro_calibrated (void)
	Checks if a gyro calibration file is saved to disk. More...
int	rc_mpu_is_mag_calibrated (void)
	Checks if a magnetometer calibration file is saved to disk. More...
int	rc_mpu_is_accel_calibrated (void)
	Checks if an accelerometer calibration file is saved to disk. More...