DMP image and interface functions. 更多...
#include <stdio.h>#include <stdint.h>#include <stdlib.h>#include <string.h>#include <math.h>#include "inv_mpu.h"#include "inv_mpu_dmp_motion_driver.h"#include "dmpKey.h"#include "dmpmap.h"#include "usart.h"
inv_mpu_dmp_motion_driver.c 的引用(Include)关系图:
类 | |
| struct | dmp_s |
宏定义 | |
| #define | MOTION_DRIVER_TARGET_MSP430 |
| #define | delay_ms HAL_Delay |
| #define | get_ms mget_ms |
| #define | log_i printf |
| #define | log_e printf |
| #define | CFG_LP_QUAT (2712) |
| #define | END_ORIENT_TEMP (1866) |
| #define | CFG_27 (2742) |
| #define | CFG_20 (2224) |
| #define | CFG_23 (2745) |
| #define | CFG_FIFO_ON_EVENT (2690) |
| #define | END_PREDICTION_UPDATE (1761) |
| #define | CGNOTICE_INTR (2620) |
| #define | X_GRT_Y_TMP (1358) |
| #define | CFG_DR_INT (1029) |
| #define | CFG_AUTH (1035) |
| #define | UPDATE_PROP_ROT (1835) |
| #define | END_COMPARE_Y_X_TMP2 (1455) |
| #define | SKIP_X_GRT_Y_TMP (1359) |
| #define | SKIP_END_COMPARE (1435) |
| #define | FCFG_3 (1088) |
| #define | FCFG_2 (1066) |
| #define | FCFG_1 (1062) |
| #define | END_COMPARE_Y_X_TMP3 (1434) |
| #define | FCFG_7 (1073) |
| #define | FCFG_6 (1106) |
| #define | FLAT_STATE_END (1713) |
| #define | SWING_END_4 (1616) |
| #define | SWING_END_2 (1565) |
| #define | SWING_END_3 (1587) |
| #define | SWING_END_1 (1550) |
| #define | CFG_8 (2718) |
| #define | CFG_15 (2727) |
| #define | CFG_16 (2746) |
| #define | CFG_EXT_GYRO_BIAS (1189) |
| #define | END_COMPARE_Y_X_TMP (1407) |
| #define | DO_NOT_UPDATE_PROP_ROT (1839) |
| #define | CFG_7 (1205) |
| #define | FLAT_STATE_END_TEMP (1683) |
| #define | END_COMPARE_Y_X (1484) |
| #define | SKIP_SWING_END_1 (1551) |
| #define | SKIP_SWING_END_3 (1588) |
| #define | SKIP_SWING_END_2 (1566) |
| #define | TILTG75_START (1672) |
| #define | CFG_6 (2753) |
| #define | TILTL75_END (1669) |
| #define | END_ORIENT (1884) |
| #define | CFG_FLICK_IN (2573) |
| #define | TILTL75_START (1643) |
| #define | CFG_MOTION_BIAS (1208) |
| #define | X_GRT_Y (1408) |
| #define | TEMPLABEL (2324) |
| #define | CFG_ANDROID_ORIENT_INT (1853) |
| #define | CFG_GYRO_RAW_DATA (2722) |
| #define | X_GRT_Y_TMP2 (1379) |
| #define | D_0_22 (22+512) |
| #define | D_0_24 (24+512) |
| #define | D_0_36 (36) |
| #define | D_0_52 (52) |
| #define | D_0_96 (96) |
| #define | D_0_104 (104) |
| #define | D_0_108 (108) |
| #define | D_0_163 (163) |
| #define | D_0_188 (188) |
| #define | D_0_192 (192) |
| #define | D_0_224 (224) |
| #define | D_0_228 (228) |
| #define | D_0_232 (232) |
| #define | D_0_236 (236) |
| #define | D_1_2 (256 + 2) |
| #define | D_1_4 (256 + 4) |
| #define | D_1_8 (256 + 8) |
| #define | D_1_10 (256 + 10) |
| #define | D_1_24 (256 + 24) |
| #define | D_1_28 (256 + 28) |
| #define | D_1_36 (256 + 36) |
| #define | D_1_40 (256 + 40) |
| #define | D_1_44 (256 + 44) |
| #define | D_1_72 (256 + 72) |
| #define | D_1_74 (256 + 74) |
| #define | D_1_79 (256 + 79) |
| #define | D_1_88 (256 + 88) |
| #define | D_1_90 (256 + 90) |
| #define | D_1_92 (256 + 92) |
| #define | D_1_96 (256 + 96) |
| #define | D_1_98 (256 + 98) |
| #define | D_1_106 (256 + 106) |
| #define | D_1_108 (256 + 108) |
| #define | D_1_112 (256 + 112) |
| #define | D_1_128 (256 + 144) |
| #define | D_1_152 (256 + 12) |
| #define | D_1_160 (256 + 160) |
| #define | D_1_176 (256 + 176) |
| #define | D_1_178 (256 + 178) |
| #define | D_1_218 (256 + 218) |
| #define | D_1_232 (256 + 232) |
| #define | D_1_236 (256 + 236) |
| #define | D_1_240 (256 + 240) |
| #define | D_1_244 (256 + 244) |
| #define | D_1_250 (256 + 250) |
| #define | D_1_252 (256 + 252) |
| #define | D_2_12 (512 + 12) |
| #define | D_2_96 (512 + 96) |
| #define | D_2_108 (512 + 108) |
| #define | D_2_208 (512 + 208) |
| #define | D_2_224 (512 + 224) |
| #define | D_2_236 (512 + 236) |
| #define | D_2_244 (512 + 244) |
| #define | D_2_248 (512 + 248) |
| #define | D_2_252 (512 + 252) |
| #define | CPASS_BIAS_X (35 * 16 + 4) |
| #define | CPASS_BIAS_Y (35 * 16 + 8) |
| #define | CPASS_BIAS_Z (35 * 16 + 12) |
| #define | CPASS_MTX_00 (36 * 16) |
| #define | CPASS_MTX_01 (36 * 16 + 4) |
| #define | CPASS_MTX_02 (36 * 16 + 8) |
| #define | CPASS_MTX_10 (36 * 16 + 12) |
| #define | CPASS_MTX_11 (37 * 16) |
| #define | CPASS_MTX_12 (37 * 16 + 4) |
| #define | CPASS_MTX_20 (37 * 16 + 8) |
| #define | CPASS_MTX_21 (37 * 16 + 12) |
| #define | CPASS_MTX_22 (43 * 16 + 12) |
| #define | D_EXT_GYRO_BIAS_X (61 * 16) |
| #define | D_EXT_GYRO_BIAS_Y (61 * 16) + 4 |
| #define | D_EXT_GYRO_BIAS_Z (61 * 16) + 8 |
| #define | D_ACT0 (40 * 16) |
| #define | D_ACSX (40 * 16 + 4) |
| #define | D_ACSY (40 * 16 + 8) |
| #define | D_ACSZ (40 * 16 + 12) |
| #define | FLICK_MSG (45 * 16 + 4) |
| #define | FLICK_COUNTER (45 * 16 + 8) |
| #define | FLICK_LOWER (45 * 16 + 12) |
| #define | FLICK_UPPER (46 * 16 + 12) |
| #define | D_AUTH_OUT (992) |
| #define | D_AUTH_IN (996) |
| #define | D_AUTH_A (1000) |
| #define | D_AUTH_B (1004) |
| #define | D_PEDSTD_BP_B (768 + 0x1C) |
| #define | D_PEDSTD_HP_A (768 + 0x78) |
| #define | D_PEDSTD_HP_B (768 + 0x7C) |
| #define | D_PEDSTD_BP_A4 (768 + 0x40) |
| #define | D_PEDSTD_BP_A3 (768 + 0x44) |
| #define | D_PEDSTD_BP_A2 (768 + 0x48) |
| #define | D_PEDSTD_BP_A1 (768 + 0x4C) |
| #define | D_PEDSTD_INT_THRSH (768 + 0x68) |
| #define | D_PEDSTD_CLIP (768 + 0x6C) |
| #define | D_PEDSTD_SB (768 + 0x28) |
| #define | D_PEDSTD_SB_TIME (768 + 0x2C) |
| #define | D_PEDSTD_PEAKTHRSH (768 + 0x98) |
| #define | D_PEDSTD_TIML (768 + 0x2A) |
| #define | D_PEDSTD_TIMH (768 + 0x2E) |
| #define | D_PEDSTD_PEAK (768 + 0X94) |
| #define | D_PEDSTD_STEPCTR (768 + 0x60) |
| #define | D_PEDSTD_TIMECTR (964) |
| #define | D_PEDSTD_DECI (768 + 0xA0) |
| #define | D_HOST_NO_MOT (976) |
| #define | D_ACCEL_BIAS (660) |
| #define | D_ORIENT_GAP (76) |
| #define | D_TILT0_H (48) |
| #define | D_TILT0_L (50) |
| #define | D_TILT1_H (52) |
| #define | D_TILT1_L (54) |
| #define | D_TILT2_H (56) |
| #define | D_TILT2_L (58) |
| #define | D_TILT3_H (60) |
| #define | D_TILT3_L (62) |
| #define | DMP_CODE_SIZE (3062) |
| #define | INT_SRC_TAP (0x01) |
| #define | INT_SRC_ANDROID_ORIENT (0x08) |
| #define | DMP_FEATURE_SEND_ANY_GYRO |
| #define | MAX_PACKET_LENGTH (32) |
| #define | DMP_SAMPLE_RATE (200) |
| #define | GYRO_SF (46850825LL * 200 / DMP_SAMPLE_RATE) |
| #define | FIFO_CORRUPTION_CHECK |
| #define | QUAT_ERROR_THRESH (1L<<24) |
| #define | QUAT_MAG_SQ_NORMALIZED (1L<<28) |
| #define | QUAT_MAG_SQ_MIN (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH) |
| #define | QUAT_MAG_SQ_MAX (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH) |
函数 | |
| int | dmp_load_motion_driver_firmware (void) |
| Load the DMP with this image. 更多... | |
| int | dmp_set_orientation (unsigned short orient) |
| Push gyro and accel orientation to the DMP. The orientation is represented here as the output of inv_orientation_matrix_to_scalar. 更多... | |
| int | dmp_set_gyro_bias (long *bias) |
| 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. 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. 更多... | |
| int | dmp_set_accel_bias (long *bias) |
| Push accel biases to the DMP. These biases will be removed from the DMP 6-axis quaternion. 更多... | |
| int | dmp_set_fifo_rate (unsigned short rate) |
| Set DMP output rate. Only used when DMP is on. 更多... | |
| int | dmp_get_fifo_rate (unsigned short *rate) |
| Get DMP output rate. 更多... | |
| int | dmp_set_tap_thresh (unsigned char axis, unsigned short thresh) |
| Set tap threshold for a specific axis. 更多... | |
| int | dmp_set_tap_axes (unsigned char axis) |
| Set which axes will register a tap. 更多... | |
| int | dmp_set_tap_count (unsigned char min_taps) |
| Set minimum number of taps needed for an interrupt. 更多... | |
| int | dmp_set_tap_time (unsigned short time) |
| Set length between valid taps. 更多... | |
| int | dmp_set_tap_time_multi (unsigned short time) |
| Set max time between taps to register as a multi-tap. 更多... | |
| int | dmp_set_shake_reject_thresh (long sf, unsigned short thresh) |
| Set shake rejection threshold. If the DMP detects a gyro sample larger than thresh, taps are rejected. 更多... | |
| int | dmp_set_shake_reject_time (unsigned short time) |
| Set shake rejection time. Sets the length of time that the gyro must be outside of the threshold set by gyro_set_shake_reject_thresh before taps are rejected. A mandatory 60 ms is added to this parameter. 更多... | |
| int | dmp_set_shake_reject_timeout (unsigned short time) |
| 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. 更多... | |
| int | dmp_get_pedometer_step_count (unsigned long *count) |
| Get current step count. 更多... | |
| int | dmp_set_pedometer_step_count (unsigned long count) |
| 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. 更多... | |
| int | dmp_get_pedometer_walk_time (unsigned long *time) |
| Get duration of walking time. 更多... | |
| int | dmp_set_pedometer_walk_time (unsigned long time) |
| 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. 更多... | |
| int | dmp_enable_feature (unsigned short mask) |
| Enable DMP features. The following #define's are used in the input mask: DMP_FEATURE_TAP DMP_FEATURE_ANDROID_ORIENT DMP_FEATURE_LP_QUAT DMP_FEATURE_6X_LP_QUAT DMP_FEATURE_GYRO_CAL DMP_FEATURE_SEND_RAW_ACCEL DMP_FEATURE_SEND_RAW_GYRO NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually exclusive. NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also mutually exclusive. 更多... | |
| int | dmp_get_enabled_features (unsigned short *mask) |
| Get list of currently enabled DMP features. 更多... | |
| int | dmp_enable_gyro_cal (unsigned char enable) |
| 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 dmp_enable_feature is called with DMP_FEATURE_SEND_CAL_GYRO, the biases will also be subtracted from the gyro output. 更多... | |
| int | dmp_enable_lp_quat (unsigned char enable) |
| Generate 3-axis quaternions from the DMP. In this driver, the 3-axis and 6-axis DMP quaternion features are mutually exclusive. 更多... | |
| int | dmp_enable_6x_lp_quat (unsigned char enable) |
| Generate 6-axis quaternions from the DMP. In this driver, the 3-axis and 6-axis DMP quaternion features are mutually exclusive. 更多... | |
| static int | decode_gesture (unsigned char *gesture) |
| Decode the four-byte gesture data and execute any callbacks. 更多... | |
| int | dmp_set_interrupt_mode (unsigned char mode) |
| Specify when a DMP interrupt should occur. A DMP interrupt can be configured to trigger on either of the two conditions below: a. One FIFO period has elapsed (set by mpu_set_sample_rate). b. A tap event has been detected. 更多... | |
| int | dmp_read_fifo (short *gyro, short *accel, long *quat, unsigned long *timestamp, short *sensors, unsigned char *more) |
| Get one packet from the FIFO. If sensors does not contain a particular sensor, disregard the data returned to that pointer. sensors can contain a combination of the following flags: INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO INV_XYZ_GYRO INV_XYZ_ACCEL INV_WXYZ_QUAT If the FIFO has no new data, sensors will be zero. If the FIFO is disabled, sensors will be zero and this function will return a non-zero error code. 更多... | |
| int | dmp_register_tap_cb (void(*func)(unsigned char, unsigned char)) |
| Register a function to be executed on a tap event. The tap direction is represented by one of the following: TAP_X_UP TAP_X_DOWN TAP_Y_UP TAP_Y_DOWN TAP_Z_UP TAP_Z_DOWN 更多... | |
| int | dmp_register_android_orient_cb (void(*func)(unsigned char)) |
| Register a function to be executed on a android orientation event. 更多... | |
变量 | |
| static const unsigned char | dmp_memory [DMP_CODE_SIZE] |
| static const unsigned short | sStartAddress = 0x0400 |
| static struct dmp_s | dmp |
详细描述
DMP image and interface functions.
All functions are preceded by the dmp_ prefix to differentiate among MPL and general driver function calls.
在文件 inv_mpu_dmp_motion_driver.c 中定义.
