765 lines
17 KiB
Groff
765 lines
17 KiB
Groff
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.TH "D:/gitt/MicrochipFor32/bsp_MPU6050/inv_mpu_dmp_motion_driver.c" 3 "2022年 十一月 22日 星期二" "Version 1.0.0" "Bscpp" \" -*- nroff -*-
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.ad l
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.nh
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.SH NAME
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D:/gitt/MicrochipFor32/bsp_MPU6050/inv_mpu_dmp_motion_driver.c \- DMP image and interface functions\&.
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.SH SYNOPSIS
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.br
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.PP
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\fC#include <stdio\&.h>\fP
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.br
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\fC#include <stdint\&.h>\fP
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.br
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\fC#include <stdlib\&.h>\fP
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.br
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\fC#include <string\&.h>\fP
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.br
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\fC#include <math\&.h>\fP
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.br
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\fC#include 'inv_mpu\&.h'\fP
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.br
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\fC#include 'inv_mpu_dmp_motion_driver\&.h'\fP
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.br
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\fC#include 'dmpKey\&.h'\fP
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.br
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\fC#include 'dmpmap\&.h'\fP
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.br
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\fC#include 'usart\&.h'\fP
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.SS "类"
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.in +1c
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.ti -1c
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.RI "struct \fBdmp_s\fP"
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.br
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.in -1c
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.SS "宏定义"
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.in +1c
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.ti -1c
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.RI "#define \fBMOTION_DRIVER_TARGET_MSP430\fP"
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.br
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.RI "#define \fBdelay_ms\fP HAL_Delay"
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.RI "#define \fBget_ms\fP \fBmget_ms\fP"
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.RI "#define \fBlog_i\fP printf"
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.RI "#define \fBlog_e\fP printf"
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.RI "#define \fBCFG_LP_QUAT\fP (2712)"
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.br
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.RI "#define \fBEND_ORIENT_TEMP\fP (1866)"
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.br
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.RI "#define \fBCFG_27\fP (2742)"
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.ti -1c
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.RI "#define \fBCFG_20\fP (2224)"
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.RI "#define \fBCFG_23\fP (2745)"
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.RI "#define \fBCFG_FIFO_ON_EVENT\fP (2690)"
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.RI "#define \fBEND_PREDICTION_UPDATE\fP (1761)"
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.br
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.RI "#define \fBCGNOTICE_INTR\fP (2620)"
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.br
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.RI "#define \fBX_GRT_Y_TMP\fP (1358)"
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.RI "#define \fBCFG_DR_INT\fP (1029)"
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.RI "#define \fBCFG_AUTH\fP (1035)"
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.RI "#define \fBUPDATE_PROP_ROT\fP (1835)"
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.RI "#define \fBEND_COMPARE_Y_X_TMP2\fP (1455)"
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.RI "#define \fBSKIP_X_GRT_Y_TMP\fP (1359)"
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.RI "#define \fBSKIP_END_COMPARE\fP (1435)"
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.RI "#define \fBFCFG_3\fP (1088)"
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.RI "#define \fBFCFG_2\fP (1066)"
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.RI "#define \fBFCFG_1\fP (1062)"
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.RI "#define \fBEND_COMPARE_Y_X_TMP3\fP (1434)"
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.RI "#define \fBFCFG_7\fP (1073)"
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.RI "#define \fBFCFG_6\fP (1106)"
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.RI "#define \fBFLAT_STATE_END\fP (1713)"
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.RI "#define \fBSWING_END_4\fP (1616)"
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.RI "#define \fBSWING_END_2\fP (1565)"
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.RI "#define \fBSWING_END_3\fP (1587)"
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.RI "#define \fBSWING_END_1\fP (1550)"
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.RI "#define \fBCFG_8\fP (2718)"
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.RI "#define \fBCFG_15\fP (2727)"
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.RI "#define \fBCFG_16\fP (2746)"
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.RI "#define \fBCFG_EXT_GYRO_BIAS\fP (1189)"
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.RI "#define \fBEND_COMPARE_Y_X_TMP\fP (1407)"
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.RI "#define \fBCFG_7\fP (1205)"
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.RI "#define \fBFLAT_STATE_END_TEMP\fP (1683)"
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.RI "#define \fBEND_COMPARE_Y_X\fP (1484)"
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.RI "#define \fBSKIP_SWING_END_1\fP (1551)"
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.RI "#define \fBSKIP_SWING_END_3\fP (1588)"
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.RI "#define \fBSKIP_SWING_END_2\fP (1566)"
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.RI "#define \fBTILTG75_START\fP (1672)"
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.RI "#define \fBCFG_6\fP (2753)"
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.RI "#define \fBTILTL75_END\fP (1669)"
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.RI "#define \fBEND_ORIENT\fP (1884)"
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.RI "#define \fBCFG_FLICK_IN\fP (2573)"
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.RI "#define \fBTILTL75_START\fP (1643)"
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.RI "#define \fBCFG_MOTION_BIAS\fP (1208)"
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.ti -1c
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.RI "#define \fBX_GRT_Y\fP (1408)"
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.RI "#define \fBTEMPLABEL\fP (2324)"
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.RI "#define \fBCFG_ANDROID_ORIENT_INT\fP (1853)"
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.RI "#define \fBCFG_GYRO_RAW_DATA\fP (2722)"
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.RI "#define \fBX_GRT_Y_TMP2\fP (1379)"
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.RI "#define \fBD_0_22\fP (22+512)"
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.RI "#define \fBD_0_24\fP (24+512)"
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.RI "#define \fBD_0_36\fP (36)"
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.RI "#define \fBD_0_52\fP (52)"
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.RI "#define \fBD_0_96\fP (96)"
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.RI "#define \fBD_0_108\fP (108)"
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.RI "#define \fBD_0_163\fP (163)"
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.RI "#define \fBD_0_188\fP (188)"
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.RI "#define \fBD_0_192\fP (192)"
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.RI "#define \fBD_0_224\fP (224)"
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.RI "#define \fBD_0_232\fP (232)"
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.RI "#define \fBD_1_2\fP (256 + 2)"
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.RI "#define \fBD_1_4\fP (256 + 4)"
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.RI "#define \fBD_1_28\fP (256 + 28)"
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.RI "#define \fBD_1_36\fP (256 + 36)"
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.RI "#define \fBD_1_160\fP (256 + 160)"
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.RI "#define \fBD_1_240\fP (256 + 240)"
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.RI "#define \fBD_1_244\fP (256 + 244)"
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.RI "#define \fBD_1_250\fP (256 + 250)"
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.RI "#define \fBD_2_12\fP (512 + 12)"
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.RI "#define \fBD_2_96\fP (512 + 96)"
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.RI "#define \fBD_2_108\fP (512 + 108)"
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.RI "#define \fBD_2_208\fP (512 + 208)"
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.ti -1c
|
||
|
|
.RI "#define \fBD_2_236\fP (512 + 236)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_2_244\fP (512 + 244)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_2_248\fP (512 + 248)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_2_252\fP (512 + 252)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBCPASS_BIAS_X\fP (35 * 16 + 4)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBCPASS_BIAS_Y\fP (35 * 16 + 8)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBCPASS_BIAS_Z\fP (35 * 16 + 12)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBCPASS_MTX_00\fP (36 * 16)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBCPASS_MTX_01\fP (36 * 16 + 4)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBCPASS_MTX_02\fP (36 * 16 + 8)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBCPASS_MTX_10\fP (36 * 16 + 12)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBCPASS_MTX_11\fP (37 * 16)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBCPASS_MTX_12\fP (37 * 16 + 4)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBCPASS_MTX_20\fP (37 * 16 + 8)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBCPASS_MTX_21\fP (37 * 16 + 12)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBCPASS_MTX_22\fP (43 * 16 + 12)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_EXT_GYRO_BIAS_X\fP (61 * 16)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_EXT_GYRO_BIAS_Y\fP (61 * 16) + 4"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_EXT_GYRO_BIAS_Z\fP (61 * 16) + 8"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_ACT0\fP (40 * 16)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_ACSX\fP (40 * 16 + 4)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_ACSY\fP (40 * 16 + 8)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_ACSZ\fP (40 * 16 + 12)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBFLICK_MSG\fP (45 * 16 + 4)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBFLICK_COUNTER\fP (45 * 16 + 8)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBFLICK_LOWER\fP (45 * 16 + 12)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBFLICK_UPPER\fP (46 * 16 + 12)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_AUTH_OUT\fP (992)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_AUTH_IN\fP (996)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_AUTH_A\fP (1000)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_AUTH_B\fP (1004)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_BP_B\fP (768 + 0x1C)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_HP_A\fP (768 + 0x78)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_HP_B\fP (768 + 0x7C)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_BP_A4\fP (768 + 0x40)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_BP_A3\fP (768 + 0x44)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_BP_A2\fP (768 + 0x48)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_BP_A1\fP (768 + 0x4C)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_INT_THRSH\fP (768 + 0x68)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_CLIP\fP (768 + 0x6C)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_SB\fP (768 + 0x28)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_SB_TIME\fP (768 + 0x2C)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_PEAKTHRSH\fP (768 + 0x98)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_TIML\fP (768 + 0x2A)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_TIMH\fP (768 + 0x2E)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_PEAK\fP (768 + 0X94)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_STEPCTR\fP (768 + 0x60)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_TIMECTR\fP (964)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_PEDSTD_DECI\fP (768 + 0xA0)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_HOST_NO_MOT\fP (976)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_ACCEL_BIAS\fP (660)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_ORIENT_GAP\fP (76)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_TILT0_H\fP (48)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_TILT0_L\fP (50)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_TILT1_H\fP (52)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_TILT1_L\fP (54)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_TILT2_H\fP (56)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_TILT2_L\fP (58)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_TILT3_H\fP (60)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBD_TILT3_L\fP (62)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBDMP_CODE_SIZE\fP (3062)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBINT_SRC_TAP\fP (0x01)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBINT_SRC_ANDROID_ORIENT\fP (0x08)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBDMP_FEATURE_SEND_ANY_GYRO\fP"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBMAX_PACKET_LENGTH\fP (32)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBDMP_SAMPLE_RATE\fP (200)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBGYRO_SF\fP (46850825LL * 200 / \fBDMP_SAMPLE_RATE\fP)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBFIFO_CORRUPTION_CHECK\fP"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBQUAT_ERROR_THRESH\fP (1L<<24)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBQUAT_MAG_SQ_NORMALIZED\fP (1L<<28)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBQUAT_MAG_SQ_MIN\fP (\fBQUAT_MAG_SQ_NORMALIZED\fP \- \fBQUAT_ERROR_THRESH\fP)"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "#define \fBQUAT_MAG_SQ_MAX\fP (\fBQUAT_MAG_SQ_NORMALIZED\fP + \fBQUAT_ERROR_THRESH\fP)"
|
||
|
|
.br
|
||
|
|
.in -1c
|
||
|
|
.SS "函数"
|
||
|
|
|
||
|
|
.in +1c
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_load_motion_driver_firmware\fP (void)"
|
||
|
|
.br
|
||
|
|
.RI "Load the DMP with this image\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_orientation\fP (unsigned short orient)"
|
||
|
|
.br
|
||
|
|
.RI "Push gyro and accel orientation to the DMP\&. The orientation is represented here as the output of \fIinv_orientation_matrix_to_scalar\fP\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_gyro_bias\fP (long *bias)"
|
||
|
|
.br
|
||
|
|
.RI "Push gyro biases to the DMP\&. Because the gyro integration is handled in the DMP, any gyro biases calculated by the MPL should be pushed down to DMP memory to remove 3-axis quaternion drift\&.
|
||
|
|
.br
|
||
|
|
NOTE: If the DMP-based gyro calibration is enabled, the DMP will overwrite the biases written to this location once a new one is computed\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_accel_bias\fP (long *bias)"
|
||
|
|
.br
|
||
|
|
.RI "Push accel biases to the DMP\&. These biases will be removed from the DMP 6-axis quaternion\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_fifo_rate\fP (unsigned short rate)"
|
||
|
|
.br
|
||
|
|
.RI "Set DMP output rate\&. Only used when DMP is on\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_get_fifo_rate\fP (unsigned short *rate)"
|
||
|
|
.br
|
||
|
|
.RI "Get DMP output rate\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_tap_thresh\fP (unsigned char axis, unsigned short thresh)"
|
||
|
|
.br
|
||
|
|
.RI "Set tap threshold for a specific axis\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_tap_axes\fP (unsigned char axis)"
|
||
|
|
.br
|
||
|
|
.RI "Set which axes will register a tap\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_tap_count\fP (unsigned char min_taps)"
|
||
|
|
.br
|
||
|
|
.RI "Set minimum number of taps needed for an interrupt\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_tap_time\fP (unsigned short time)"
|
||
|
|
.br
|
||
|
|
.RI "Set length between valid taps\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_tap_time_multi\fP (unsigned short time)"
|
||
|
|
.br
|
||
|
|
.RI "Set max time between taps to register as a multi-tap\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_shake_reject_thresh\fP (long sf, unsigned short thresh)"
|
||
|
|
.br
|
||
|
|
.RI "Set shake rejection threshold\&. If the DMP detects a gyro sample larger than \fIthresh\fP, taps are rejected\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_shake_reject_time\fP (unsigned short time)"
|
||
|
|
.br
|
||
|
|
.RI "Set shake rejection time\&. Sets the length of time that the gyro must be outside of the threshold set by \fIgyro_set_shake_reject_thresh\fP before taps are rejected\&. A mandatory 60 ms is added to this parameter\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_shake_reject_timeout\fP (unsigned short time)"
|
||
|
|
.br
|
||
|
|
.RI "Set shake rejection timeout\&. Sets the length of time after a shake rejection that the gyro must stay inside of the threshold before taps can be detected again\&. A mandatory 60 ms is added to this parameter\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_get_pedometer_step_count\fP (unsigned long *count)"
|
||
|
|
.br
|
||
|
|
.RI "Get current step count\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_pedometer_step_count\fP (unsigned long count)"
|
||
|
|
.br
|
||
|
|
.RI "Overwrite current step count\&. WARNING: This function writes to DMP memory and could potentially encounter a race condition if called while the pedometer is enabled\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_get_pedometer_walk_time\fP (unsigned long *time)"
|
||
|
|
.br
|
||
|
|
.RI "Get duration of walking time\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_pedometer_walk_time\fP (unsigned long time)"
|
||
|
|
.br
|
||
|
|
.RI "Overwrite current walk time\&. WARNING: This function writes to DMP memory and could potentially encounter a race condition if called while the pedometer is enabled\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_enable_feature\fP (unsigned short mask)"
|
||
|
|
.br
|
||
|
|
.RI "Enable DMP features\&. The following #define's are used in the input mask:
|
||
|
|
.br
|
||
|
|
DMP_FEATURE_TAP
|
||
|
|
.br
|
||
|
|
DMP_FEATURE_ANDROID_ORIENT
|
||
|
|
.br
|
||
|
|
DMP_FEATURE_LP_QUAT
|
||
|
|
.br
|
||
|
|
DMP_FEATURE_6X_LP_QUAT
|
||
|
|
.br
|
||
|
|
DMP_FEATURE_GYRO_CAL
|
||
|
|
.br
|
||
|
|
DMP_FEATURE_SEND_RAW_ACCEL
|
||
|
|
.br
|
||
|
|
DMP_FEATURE_SEND_RAW_GYRO
|
||
|
|
.br
|
||
|
|
NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually exclusive\&.
|
||
|
|
.br
|
||
|
|
NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also mutually exclusive\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_get_enabled_features\fP (unsigned short *mask)"
|
||
|
|
.br
|
||
|
|
.RI "Get list of currently enabled DMP features\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_enable_gyro_cal\fP (unsigned char enable)"
|
||
|
|
.br
|
||
|
|
.RI "Calibrate the gyro data in the DMP\&. After eight seconds of no motion, the DMP will compute gyro biases and subtract them from the quaternion output\&. If \fIdmp_enable_feature\fP is called with \fIDMP_FEATURE_SEND_CAL_GYRO\fP, the biases will also be subtracted from the gyro output\&. "
|
||
|
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.ti -1c
|
||
|
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.RI "int \fBdmp_enable_lp_quat\fP (unsigned char enable)"
|
||
|
|
.br
|
||
|
|
.RI "Generate 3-axis quaternions from the DMP\&. In this driver, the 3-axis and 6-axis DMP quaternion features are mutually exclusive\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_enable_6x_lp_quat\fP (unsigned char enable)"
|
||
|
|
.br
|
||
|
|
.RI "Generate 6-axis quaternions from the DMP\&. In this driver, the 3-axis and 6-axis DMP quaternion features are mutually exclusive\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "static int \fBdecode_gesture\fP (unsigned char *gesture)"
|
||
|
|
.br
|
||
|
|
.RI "Decode the four-byte gesture data and execute any callbacks\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_set_interrupt_mode\fP (unsigned char mode)"
|
||
|
|
.br
|
||
|
|
.RI "Specify when a DMP interrupt should occur\&. A DMP interrupt can be configured to trigger on either of the two conditions below:
|
||
|
|
.br
|
||
|
|
a\&. One FIFO period has elapsed (set by \fImpu_set_sample_rate\fP)\&.
|
||
|
|
.br
|
||
|
|
b\&. A tap event has been detected\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_read_fifo\fP (short *gyro, short *accel, long *quat, unsigned long *timestamp, short *sensors, unsigned char *more)"
|
||
|
|
.br
|
||
|
|
.RI "Get one packet from the FIFO\&. If \fIsensors\fP does not contain a particular sensor, disregard the data returned to that pointer\&.
|
||
|
|
.br
|
||
|
|
\fIsensors\fP 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
|
||
|
|
INV_WXYZ_QUAT
|
||
|
|
.br
|
||
|
|
If the FIFO has no new data, \fIsensors\fP will be zero\&.
|
||
|
|
.br
|
||
|
|
If the FIFO is disabled, \fIsensors\fP will be zero and this function will return a non-zero error code\&. "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_register_tap_cb\fP (void(*func)(unsigned char, unsigned char))"
|
||
|
|
.br
|
||
|
|
.RI "Register a function to be executed on a tap event\&. The tap direction is represented by one of the following:
|
||
|
|
.br
|
||
|
|
TAP_X_UP
|
||
|
|
.br
|
||
|
|
TAP_X_DOWN
|
||
|
|
.br
|
||
|
|
TAP_Y_UP
|
||
|
|
.br
|
||
|
|
TAP_Y_DOWN
|
||
|
|
.br
|
||
|
|
TAP_Z_UP
|
||
|
|
.br
|
||
|
|
TAP_Z_DOWN "
|
||
|
|
.ti -1c
|
||
|
|
.RI "int \fBdmp_register_android_orient_cb\fP (void(*func)(unsigned char))"
|
||
|
|
.br
|
||
|
|
.RI "Register a function to be executed on a android orientation event\&. "
|
||
|
|
.in -1c
|
||
|
|
.SS "变量"
|
||
|
|
|
||
|
|
.in +1c
|
||
|
|
.ti -1c
|
||
|
|
.RI "static const unsigned char \fBdmp_memory\fP [\fBDMP_CODE_SIZE\fP]"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "static const unsigned short \fBsStartAddress\fP = 0x0400"
|
||
|
|
.br
|
||
|
|
.ti -1c
|
||
|
|
.RI "static struct \fBdmp_s\fP \fBdmp\fP"
|
||
|
|
.br
|
||
|
|
.in -1c
|
||
|
|
.SH "详细描述"
|
||
|
|
.PP
|
||
|
|
DMP image and interface functions\&.
|
||
|
|
|
||
|
|
All functions are preceded by the dmp_ prefix to differentiate among MPL and general driver function calls\&.
|
||
|
|
.PP
|
||
|
|
在文件 \fBinv_mpu_dmp_motion_driver\&.c\fP 中定义\&.
|
||
|
|
.SH "作者"
|
||
|
|
.PP
|
||
|
|
由 Doyxgen 通过分析 Bscpp 的 源代码自动生成\&.
|