264 lines
8.2 KiB
Groff
264 lines
8.2 KiB
Groff
.TH "D:/gitt/MicrochipFor32/bsp_MPU6050/inv_mpu_dmp_motion_driver.h" 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.h \- 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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.SS "宏定义"
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.in +1c
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.ti -1c
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.RI "#define \fBTAP_X\fP (0x01)"
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.br
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.ti -1c
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.RI "#define \fBTAP_Y\fP (0x02)"
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.br
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.ti -1c
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.RI "#define \fBTAP_Z\fP (0x04)"
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.br
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.ti -1c
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.RI "#define \fBTAP_XYZ\fP (0x07)"
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.br
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.ti -1c
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.RI "#define \fBTAP_X_UP\fP (0x01)"
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.br
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.ti -1c
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.RI "#define \fBTAP_X_DOWN\fP (0x02)"
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.br
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.ti -1c
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.RI "#define \fBTAP_Y_UP\fP (0x03)"
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.br
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.ti -1c
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.RI "#define \fBTAP_Y_DOWN\fP (0x04)"
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.br
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.ti -1c
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.RI "#define \fBTAP_Z_UP\fP (0x05)"
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.br
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.ti -1c
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.RI "#define \fBTAP_Z_DOWN\fP (0x06)"
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.br
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.ti -1c
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.RI "#define \fBANDROID_ORIENT_PORTRAIT\fP (0x00)"
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.br
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.ti -1c
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.RI "#define \fBANDROID_ORIENT_LANDSCAPE\fP (0x01)"
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.br
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.ti -1c
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.RI "#define \fBANDROID_ORIENT_REVERSE_PORTRAIT\fP (0x02)"
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.br
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.ti -1c
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.RI "#define \fBANDROID_ORIENT_REVERSE_LANDSCAPE\fP (0x03)"
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.br
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.ti -1c
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.RI "#define \fBDMP_INT_GESTURE\fP (0x01)"
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.br
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.ti -1c
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.RI "#define \fBDMP_INT_CONTINUOUS\fP (0x02)"
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.br
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.ti -1c
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.RI "#define \fBDMP_FEATURE_TAP\fP (0x001)"
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.br
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.ti -1c
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.RI "#define \fBDMP_FEATURE_ANDROID_ORIENT\fP (0x002)"
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.br
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.ti -1c
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.RI "#define \fBDMP_FEATURE_LP_QUAT\fP (0x004)"
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.br
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.ti -1c
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.RI "#define \fBDMP_FEATURE_PEDOMETER\fP (0x008)"
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.br
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.ti -1c
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.RI "#define \fBDMP_FEATURE_6X_LP_QUAT\fP (0x010)"
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.br
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.ti -1c
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.RI "#define \fBDMP_FEATURE_GYRO_CAL\fP (0x020)"
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.br
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.ti -1c
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.RI "#define \fBDMP_FEATURE_SEND_RAW_ACCEL\fP (0x040)"
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.br
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.ti -1c
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.RI "#define \fBDMP_FEATURE_SEND_RAW_GYRO\fP (0x080)"
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.br
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.ti -1c
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.RI "#define \fBDMP_FEATURE_SEND_CAL_GYRO\fP (0x100)"
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.br
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.ti -1c
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.RI "#define \fBINV_WXYZ_QUAT\fP (0x100)"
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.br
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.in -1c
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.SS "函数"
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.in +1c
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.ti -1c
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.RI "int \fBdmp_load_motion_driver_firmware\fP (void)"
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.br
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.RI "Load the DMP with this image\&. "
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.ti -1c
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.RI "int \fBdmp_set_fifo_rate\fP (unsigned short rate)"
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.br
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.RI "Set DMP output rate\&. Only used when DMP is on\&. "
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.ti -1c
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.RI "int \fBdmp_get_fifo_rate\fP (unsigned short *rate)"
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.br
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.RI "Get DMP output rate\&. "
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.ti -1c
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.RI "int \fBdmp_enable_feature\fP (unsigned short mask)"
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.br
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.RI "Enable DMP features\&. The following #define's are used in the input mask:
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.br
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DMP_FEATURE_TAP
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.br
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DMP_FEATURE_ANDROID_ORIENT
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.br
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DMP_FEATURE_LP_QUAT
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.br
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DMP_FEATURE_6X_LP_QUAT
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.br
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DMP_FEATURE_GYRO_CAL
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.br
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DMP_FEATURE_SEND_RAW_ACCEL
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.br
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DMP_FEATURE_SEND_RAW_GYRO
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.br
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NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually exclusive\&.
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.br
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NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also mutually exclusive\&. "
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.ti -1c
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.RI "int \fBdmp_get_enabled_features\fP (unsigned short *mask)"
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.br
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.RI "Get list of currently enabled DMP features\&. "
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.ti -1c
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.RI "int \fBdmp_set_interrupt_mode\fP (unsigned char mode)"
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.br
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.RI "Specify when a DMP interrupt should occur\&. A DMP interrupt can be configured to trigger on either of the two conditions below:
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.br
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a\&. One FIFO period has elapsed (set by \fImpu_set_sample_rate\fP)\&.
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.br
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b\&. A tap event has been detected\&. "
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.ti -1c
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.RI "int \fBdmp_set_orientation\fP (unsigned short orient)"
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.br
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.RI "Push gyro and accel orientation to the DMP\&. The orientation is represented here as the output of \fIinv_orientation_matrix_to_scalar\fP\&. "
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.ti -1c
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.RI "int \fBdmp_set_gyro_bias\fP (long *bias)"
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.br
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.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\&.
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.br
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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\&. "
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.ti -1c
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.RI "int \fBdmp_set_accel_bias\fP (long *bias)"
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.br
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.RI "Push accel biases to the DMP\&. These biases will be removed from the DMP 6-axis quaternion\&. "
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.ti -1c
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.RI "int \fBdmp_register_tap_cb\fP (void(*func)(unsigned char, unsigned char))"
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.br
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.RI "Register a function to be executed on a tap event\&. The tap direction is represented by one of the following:
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.br
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TAP_X_UP
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.br
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TAP_X_DOWN
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.br
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TAP_Y_UP
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.br
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TAP_Y_DOWN
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.br
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TAP_Z_UP
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.br
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TAP_Z_DOWN "
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.ti -1c
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.RI "int \fBdmp_set_tap_thresh\fP (unsigned char axis, unsigned short thresh)"
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.br
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.RI "Set tap threshold for a specific axis\&. "
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.ti -1c
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.RI "int \fBdmp_set_tap_axes\fP (unsigned char axis)"
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.br
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.RI "Set which axes will register a tap\&. "
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.ti -1c
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.RI "int \fBdmp_set_tap_count\fP (unsigned char min_taps)"
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.br
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.RI "Set minimum number of taps needed for an interrupt\&. "
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.ti -1c
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.RI "int \fBdmp_set_tap_time\fP (unsigned short time)"
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.br
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.RI "Set length between valid taps\&. "
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.ti -1c
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.RI "int \fBdmp_set_tap_time_multi\fP (unsigned short time)"
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.br
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.RI "Set max time between taps to register as a multi-tap\&. "
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.ti -1c
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.RI "int \fBdmp_set_shake_reject_thresh\fP (long sf, unsigned short thresh)"
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.br
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.RI "Set shake rejection threshold\&. If the DMP detects a gyro sample larger than \fIthresh\fP, taps are rejected\&. "
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.ti -1c
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.RI "int \fBdmp_set_shake_reject_time\fP (unsigned short time)"
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.br
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.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\&. "
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.ti -1c
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.RI "int \fBdmp_set_shake_reject_timeout\fP (unsigned short time)"
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.br
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.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\&. "
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.ti -1c
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.RI "int \fBdmp_register_android_orient_cb\fP (void(*func)(unsigned char))"
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.br
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.RI "Register a function to be executed on a android orientation event\&. "
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.ti -1c
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.RI "int \fBdmp_enable_lp_quat\fP (unsigned char enable)"
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.br
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.RI "Generate 3-axis quaternions from the DMP\&. In this driver, the 3-axis and 6-axis DMP quaternion features are mutually exclusive\&. "
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.ti -1c
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.RI "int \fBdmp_enable_6x_lp_quat\fP (unsigned char enable)"
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.br
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.RI "Generate 6-axis quaternions from the DMP\&. In this driver, the 3-axis and 6-axis DMP quaternion features are mutually exclusive\&. "
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.ti -1c
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.RI "int \fBdmp_get_pedometer_step_count\fP (unsigned long *count)"
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.br
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.RI "Get current step count\&. "
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.ti -1c
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.RI "int \fBdmp_set_pedometer_step_count\fP (unsigned long count)"
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.br
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.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\&. "
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.ti -1c
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.RI "int \fBdmp_get_pedometer_walk_time\fP (unsigned long *time)"
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.br
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.RI "Get duration of walking time\&. "
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.ti -1c
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.RI "int \fBdmp_set_pedometer_walk_time\fP (unsigned long time)"
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.br
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.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\&. "
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.ti -1c
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.RI "int \fBdmp_enable_gyro_cal\fP (unsigned char enable)"
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.br
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.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_read_fifo\fP (short *gyro, short *accel, long *quat, unsigned long *timestamp, short *sensors, unsigned char *more)"
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.br
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.RI "Get one packet from the FIFO\&. If \fIsensors\fP does not contain a particular sensor, disregard the data returned to that pointer\&.
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.br
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\fIsensors\fP can contain a combination of the following flags:
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.br
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INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
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.br
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INV_XYZ_GYRO
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.br
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INV_XYZ_ACCEL
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.br
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INV_WXYZ_QUAT
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.br
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If the FIFO has no new data, \fIsensors\fP will be zero\&.
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.br
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If the FIFO is disabled, \fIsensors\fP will be zero and this function will return a non-zero error code\&. "
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.in -1c
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.SH "详细描述"
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.PP
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DMP image and interface functions\&.
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All functions are preceded by the dmp_ prefix to differentiate among MPL and general driver function calls\&.
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.PP
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在文件 \fBinv_mpu_dmp_motion_driver\&.h\fP 中定义\&.
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.SH "作者"
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.PP
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由 Doyxgen 通过分析 Bscpp 的 源代码自动生成\&.
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