<trclass="memdesc:ga3a4fea75686ab7d2e68634e81ccac04c"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Enter low-power accel-only mode. In low-power accel mode, the chip goes to sleep and only wakes up to sample the accelerometer at one of the following frequencies: <br/>
If the requested rate is not one listed above, the device will be set to the next highest rate. Requesting a rate above the maximum supported frequency will result in an error. <br/>
To select a fractional wake-up frequency, round down the value passed to <em>rate</em>. <ahref="group___d_r_i_v_e_r_s.html#ga3a4fea75686ab7d2e68634e81ccac04c">更多...</a><br/></td></tr>
<trclass="memitem:ga7d0b3259346898ccd1ba6ef78bf7df97"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga7d0b3259346898ccd1ba6ef78bf7df97">mpu_lp_motion_interrupt</a> (unsigned short thresh, unsigned char time, unsigned char lpa_freq)</td></tr>
<trclass="memdesc:ga7d0b3259346898ccd1ba6ef78bf7df97"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Enters LP accel motion interrupt mode. The behavior of this feature is very different between the MPU6050 and the MPU6500. Each chip's version of this feature is explained below. <ahref="group___d_r_i_v_e_r_s.html#ga7d0b3259346898ccd1ba6ef78bf7df97">更多...</a><br/></td></tr>
<trclass="memdesc:ga653cb855300bff9285ce4b8dca6a503b"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Enable latched interrupts. Any MPU register will clear the interrupt. <ahref="group___d_r_i_v_e_r_s.html#ga653cb855300bff9285ce4b8dca6a503b">更多...</a><br/></td></tr>
<trclass="memitem:gaa95c7e216dcb2d888e9796001ca555f8"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#gaa95c7e216dcb2d888e9796001ca555f8">mpu_get_lpf</a> (unsigned short *lpf)</td></tr>
<trclass="memdesc:gaa95c7e216dcb2d888e9796001ca555f8"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Get the current DLPF setting. <ahref="group___d_r_i_v_e_r_s.html#gaa95c7e216dcb2d888e9796001ca555f8">更多...</a><br/></td></tr>
<trclass="memitem:ga5661a9dee25152166769910767a2a93d"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga5661a9dee25152166769910767a2a93d">mpu_set_lpf</a> (unsigned short lpf)</td></tr>
<trclass="memdesc:ga5661a9dee25152166769910767a2a93d"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Set digital low pass filter. The following LPF settings are supported: 188, 98, 42, 20, 10, 5. <ahref="group___d_r_i_v_e_r_s.html#ga5661a9dee25152166769910767a2a93d">更多...</a><br/></td></tr>
<trclass="memitem:gaf973c32c73ba912ff512aab948fc31ca"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#gaf973c32c73ba912ff512aab948fc31ca">mpu_get_gyro_fsr</a> (unsigned short *fsr)</td></tr>
<trclass="memdesc:gaf973c32c73ba912ff512aab948fc31ca"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Get the gyro full-scale range. <ahref="group___d_r_i_v_e_r_s.html#gaf973c32c73ba912ff512aab948fc31ca">更多...</a><br/></td></tr>
<trclass="memitem:gad09e6031c8677adc0b8a39b6deea8e27"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#gad09e6031c8677adc0b8a39b6deea8e27">mpu_set_gyro_fsr</a> (unsigned short fsr)</td></tr>
<trclass="memdesc:gad09e6031c8677adc0b8a39b6deea8e27"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Set the gyro full-scale range. <ahref="group___d_r_i_v_e_r_s.html#gad09e6031c8677adc0b8a39b6deea8e27">更多...</a><br/></td></tr>
<trclass="memitem:gade8589573d09e0f14b84130428f286df"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#gade8589573d09e0f14b84130428f286df">mpu_get_compass_fsr</a> (unsigned short *fsr)</td></tr>
<trclass="memdesc:gade8589573d09e0f14b84130428f286df"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Get the compass full-scale range. <ahref="group___d_r_i_v_e_r_s.html#gade8589573d09e0f14b84130428f286df">更多...</a><br/></td></tr>
<trclass="memitem:ga620408949052b96e856cad920f856583"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga620408949052b96e856cad920f856583">mpu_get_accel_sens</a> (unsigned short *sens)</td></tr>
<trclass="memitem:ga2487dd551b701c1c7ed4d6335f02b2f1"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga2487dd551b701c1c7ed4d6335f02b2f1">mpu_get_sample_rate</a> (unsigned short *rate)</td></tr>
<trclass="memitem:ga0144d666a67a82888b8580002afe8b55"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga0144d666a67a82888b8580002afe8b55">mpu_set_sample_rate</a> (unsigned short rate)</td></tr>
<trclass="memdesc:ga0144d666a67a82888b8580002afe8b55"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Set sampling rate. Sampling rate must be between 4Hz and 1kHz. <ahref="group___d_r_i_v_e_r_s.html#ga0144d666a67a82888b8580002afe8b55">更多...</a><br/></td></tr>
<trclass="memitem:gab5a45cd7783f6937788c0decb0b18b16"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#gab5a45cd7783f6937788c0decb0b18b16">mpu_get_compass_sample_rate</a> (unsigned short *rate)</td></tr>
<trclass="memitem:ga78da3828de0ef9d080c4d03e7bc45e7b"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga78da3828de0ef9d080c4d03e7bc45e7b">mpu_set_compass_sample_rate</a> (unsigned short rate)</td></tr>
<trclass="memdesc:ga78da3828de0ef9d080c4d03e7bc45e7b"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Set compass sampling rate. The compass on the auxiliary I2C bus is read by the MPU hardware at a maximum of 100Hz. The actual rate can be set to a fraction of the gyro sampling rate. <ahref="group___d_r_i_v_e_r_s.html#ga78da3828de0ef9d080c4d03e7bc45e7b">更多...</a><br/></td></tr>
<trclass="memdesc:ga093f11eb10b2639a4b9fe344ea348c54"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Get current FIFO configuration. <em>sensors</em> can contain a combination of the following flags: <br/>
<trclass="memdesc:gababbdda287e1f19323489f90a0889dd7"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Select which sensors are pushed to FIFO. <em>sensors</em> can contain a combination of the following flags: <br/>
<trclass="memdesc:gaec8fa7a067988d174516bb735a4a0bc9"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Get current power state. <ahref="group___d_r_i_v_e_r_s.html#gaec8fa7a067988d174516bb735a4a0bc9">更多...</a><br/></td></tr>
<trclass="memdesc:ga6e77e7cc1cf6be5e8fdf617c5b4586d1"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Turn specific sensors on/off. <em>sensors</em> can contain a combination of the following flags: <br/>
<trclass="memitem:ga4968cc2ec80f0da0d72436551c81f134"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga4968cc2ec80f0da0d72436551c81f134">mpu_set_accel_bias</a> (const long *accel_bias)</td></tr>
<trclass="memdesc:ga4968cc2ec80f0da0d72436551c81f134"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Push biases to the accel bias registers. This function expects biases relative to the current sensor output, and these biases will be added to the factory-supplied values. <ahref="group___d_r_i_v_e_r_s.html#ga4968cc2ec80f0da0d72436551c81f134">更多...</a><br/></td></tr>
<trclass="memitem:ga5555854590ad11495c0e30401294bae2"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga5555854590ad11495c0e30401294bae2">mpu_get_gyro_reg</a> (short *data, unsigned long *timestamp)</td></tr>
<trclass="memdesc:ga5555854590ad11495c0e30401294bae2"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Read raw gyro data directly from the registers. <ahref="group___d_r_i_v_e_r_s.html#ga5555854590ad11495c0e30401294bae2">更多...</a><br/></td></tr>
<trclass="memitem:gae4ae960e5df78049ece2647772a3d809"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#gae4ae960e5df78049ece2647772a3d809">mpu_get_accel_reg</a> (short *data, unsigned long *timestamp)</td></tr>
<trclass="memdesc:gae4ae960e5df78049ece2647772a3d809"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Read raw accel data directly from the registers. <ahref="group___d_r_i_v_e_r_s.html#gae4ae960e5df78049ece2647772a3d809">更多...</a><br/></td></tr>
<trclass="memitem:ga65e6b0ce980b8c0255d7be9b55c88c08"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga65e6b0ce980b8c0255d7be9b55c88c08">mpu_get_compass_reg</a> (short *data, unsigned long *timestamp)</td></tr>
<trclass="memdesc:ga65e6b0ce980b8c0255d7be9b55c88c08"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Read raw compass data. <ahref="group___d_r_i_v_e_r_s.html#ga65e6b0ce980b8c0255d7be9b55c88c08">更多...</a><br/></td></tr>
<trclass="memitem:gaa449b565a157b4b8ca0f491b7ed46018"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#gaa449b565a157b4b8ca0f491b7ed46018">mpu_get_temperature</a> (long *data, unsigned long *timestamp)</td></tr>
<trclass="memdesc:gaa449b565a157b4b8ca0f491b7ed46018"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Read temperature data directly from the registers. <ahref="group___d_r_i_v_e_r_s.html#gaa449b565a157b4b8ca0f491b7ed46018">更多...</a><br/></td></tr>
<trclass="memdesc:ga0afd02d8c76d3278b488ef7038c26e3e"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Read the MPU interrupt status registers. <ahref="group___d_r_i_v_e_r_s.html#ga0afd02d8c76d3278b488ef7038c26e3e">更多...</a><br/></td></tr>
<trclass="memitem:ga2da20453aafbbba4a0f6fb9fbdd25572"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga2da20453aafbbba4a0f6fb9fbdd25572">mpu_read_fifo</a> (short *gyro, short *accel, unsigned long *timestamp, unsigned char *sensors, unsigned char *more)</td></tr>
<trclass="memdesc:ga2da20453aafbbba4a0f6fb9fbdd25572"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Get one packet from the FIFO. If <em>sensors</em> does not contain a particular sensor, disregard the data returned to that pointer. <br/>
<em>sensors</em> can contain a combination of the following flags: <br/>
INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO <br/>
INV_XYZ_GYRO <br/>
INV_XYZ_ACCEL <br/>
If the FIFO has no new data, <em>sensors</em> will be zero. <br/>
If the FIFO is disabled, <em>sensors</em> will be zero and this function will return a non-zero error code. <ahref="group___d_r_i_v_e_r_s.html#ga2da20453aafbbba4a0f6fb9fbdd25572">更多...</a><br/></td></tr>
<trclass="memitem:ga13593044949b460e9f571eb57e9a0788"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga13593044949b460e9f571eb57e9a0788">mpu_read_fifo_stream</a> (unsigned short length, unsigned char *data, unsigned char *more)</td></tr>
<trclass="memdesc:ga13593044949b460e9f571eb57e9a0788"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Get one unparsed packet from the FIFO. This function should be used if the packet is to be parsed elsewhere. <ahref="group___d_r_i_v_e_r_s.html#ga13593044949b460e9f571eb57e9a0788">更多...</a><br/></td></tr>
<trclass="memitem:gafea59910bc3dd30ba3356b1c75213a5f"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#gafea59910bc3dd30ba3356b1c75213a5f">mpu_write_mem</a> (unsigned short mem_addr, unsigned short length, unsigned char *data)</td></tr>
<trclass="memdesc:gafea59910bc3dd30ba3356b1c75213a5f"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Write to the DMP memory. This function prevents I2C writes past the bank boundaries. The DMP memory is only accessible when the chip is awake. <ahref="group___d_r_i_v_e_r_s.html#gafea59910bc3dd30ba3356b1c75213a5f">更多...</a><br/></td></tr>
<trclass="memitem:ga3374bececb6743893c9eab27645c1182"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga3374bececb6743893c9eab27645c1182">mpu_read_mem</a> (unsigned short mem_addr, unsigned short length, unsigned char *data)</td></tr>
<trclass="memdesc:ga3374bececb6743893c9eab27645c1182"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Read from the DMP memory. This function prevents I2C reads past the bank boundaries. The DMP memory is only accessible when the chip is awake. <ahref="group___d_r_i_v_e_r_s.html#ga3374bececb6743893c9eab27645c1182">更多...</a><br/></td></tr>
<trclass="memitem:ga8fbdfe1a50285d4ab438e29c2efc70f5"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga8fbdfe1a50285d4ab438e29c2efc70f5">mpu_load_firmware</a> (unsigned short length, const unsigned char *firmware, unsigned short start_addr, unsigned short sample_rate)</td></tr>
<trclass="memdesc:ga8fbdfe1a50285d4ab438e29c2efc70f5"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Load and verify DMP image. <ahref="group___d_r_i_v_e_r_s.html#ga8fbdfe1a50285d4ab438e29c2efc70f5">更多...</a><br/></td></tr>
<trclass="memdesc:ga0e1201ecfd8453f1d89e4299528baaf6"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Register dump for testing. <ahref="group___d_r_i_v_e_r_s.html#ga0e1201ecfd8453f1d89e4299528baaf6">更多...</a><br/></td></tr>
<trclass="memdesc:ga5c35a3363337014e11769a0ea7c0dfa9"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Read from a single register. NOTE: The memory and FIFO read/write registers cannot be accessed. <ahref="group___d_r_i_v_e_r_s.html#ga5c35a3363337014e11769a0ea7c0dfa9">更多...</a><br/></td></tr>
<trclass="memitem:ga3773dc98eb1ba15da0091ae75abcf62f"><tdclass="memItemLeft"align="right"valign="top">int </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#ga3773dc98eb1ba15da0091ae75abcf62f">mpu_run_self_test</a> (long *gyro, long *accel)</td></tr>
<trclass="memdesc:ga3773dc98eb1ba15da0091ae75abcf62f"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Trigger gyro/accel/compass self-test. On success/error, the self-test returns a mask representing the sensor(s) that failed. For each bit, a one (1) represents a "pass" case; conversely, a zero (0) indicates a failure. <ahref="group___d_r_i_v_e_r_s.html#ga3773dc98eb1ba15da0091ae75abcf62f">更多...</a><br/></td></tr>
<trclass="memitem:gafa3071c8321f6e8dd2036be8a1e57ad0"><tdclass="memItemLeft"align="right"valign="top">void </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="group___d_r_i_v_e_r_s.html#gafa3071c8321f6e8dd2036be8a1e57ad0">mget_ms</a> (unsigned long *time)</td></tr>
<divclass="textblock"><p>An I2C-based driver for Invensense gyroscopes. </p>
<p>This driver currently works for the following devices: MPU6050 MPU6500 MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) </p>
