487 lines
74 KiB
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487 lines
74 KiB
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<title>XerolySkinnerBscpp: D:/gitt/MicrochipFor32/bscpp_Device/bscpp_MPU6050/inv_mpu.c 文件参考</title>
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<div id="projectname">XerolySkinnerBscpp<span id="projectnumber"> 1.0.0</span>
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<div id="projectbrief">C++版本的驱动库</div>
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<div class="headertitle"><div class="title">inv_mpu.c 文件参考<div class="ingroups"><a class="el" href="group___d_r_i_v_e_r_s.html">Sensor Driver Layer</a></div></div></div>
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<p>An I2C-based driver for Invensense gyroscopes.
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<a href="#details">更多...</a></p>
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<div class="textblock"><code>#include <stdio.h></code><br />
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<code>#include <stdlib.h></code><br />
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<code>#include <string.h></code><br />
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<code>#include <math.h></code><br />
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<code>#include "<a class="el" href="inv__mpu_8h_source.html">inv_mpu.h</a>"</code><br />
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<code>#include "<a class="el" href="inv__mpu__dmp__motion__driver_8h_source.html">inv_mpu_dmp_motion_driver.h</a>"</code><br />
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<code>#include "<a class="el" href="mpu6050_8h_source.html">mpu6050.h</a>"</code><br />
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<code>#include "usart.h"</code><br />
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<code>#include "<a class="el" href="varint_8h_source.html">varint.h</a>"</code><br />
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<p><a href="inv__mpu_8c_source.html">浏览源代码.</a></p>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
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类</h2></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structgyro__reg__s.html">gyro_reg_s</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structhw__s.html">hw_s</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmotion__int__cache__s.html">motion_int_cache_s</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structchip__cfg__s.html">chip_cfg_s</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structtest__s.html">test_s</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structgyro__state__s.html">gyro_state_s</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="define-members" name="define-members"></a>
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宏定义</h2></td></tr>
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<tr class="memitem:ga6d132f914f18cb144a0eaf36312045c8"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga6d132f914f18cb144a0eaf36312045c8">MPU6050</a></td></tr>
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<tr class="separator:ga6d132f914f18cb144a0eaf36312045c8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaf5aa4c072d42b67d74043f642b68ddd7"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gaf5aa4c072d42b67d74043f642b68ddd7">MOTION_DRIVER_TARGET_MSP430</a></td></tr>
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<tr class="separator:gaf5aa4c072d42b67d74043f642b68ddd7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaa248719e0ea03e6601004693d74890e0"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gaa248719e0ea03e6601004693d74890e0">i2c_write</a>   <a class="el" href="mpu6050_8cpp.html#a59b1c26b234be88e97435a1b3c061330">MPU_Write_Len</a></td></tr>
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<tr class="separator:gaa248719e0ea03e6601004693d74890e0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga838d8f1c7b0d8cc83923b93bbafe1b33"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga838d8f1c7b0d8cc83923b93bbafe1b33">i2c_read</a>   <a class="el" href="mpu6050_8cpp.html#a63161fa966899e4e7c5791e40ebf2b0a">MPU_Read_Len</a></td></tr>
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<tr class="separator:ga838d8f1c7b0d8cc83923b93bbafe1b33"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gae36aca5baf9b6b7d74992aef00686d67"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gae36aca5baf9b6b7d74992aef00686d67">delay_ms</a>   HAL_Delay</td></tr>
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<tr class="memitem:ga3e6b6bc6d1cd2956353a31bfadd3c332"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga3e6b6bc6d1cd2956353a31bfadd3c332">get_ms</a>   <a class="el" href="group___d_r_i_v_e_r_s.html#gafa3071c8321f6e8dd2036be8a1e57ad0">mget_ms</a></td></tr>
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<tr class="separator:ga3e6b6bc6d1cd2956353a31bfadd3c332"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga2905fba7885cd95057e1655cb4d16bda"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga2905fba7885cd95057e1655cb4d16bda">log_i</a>   <a class="el" href="group___d_r_i_v_e_r_s.html#ga69f90a1116c37ff659a096f2932c3988">log_none</a></td></tr>
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<tr class="separator:ga2905fba7885cd95057e1655cb4d16bda"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gab354affc295f7d61fe8a355c9361cc5a"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gab354affc295f7d61fe8a355c9361cc5a">log_e</a>   <a class="el" href="group___d_r_i_v_e_r_s.html#ga69f90a1116c37ff659a096f2932c3988">log_none</a></td></tr>
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<tr class="separator:gab354affc295f7d61fe8a355c9361cc5a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga95bcc5f260df5ce993730008a1dcb45a"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga95bcc5f260df5ce993730008a1dcb45a">fabs</a>   fabsf</td></tr>
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<tr class="separator:ga95bcc5f260df5ce993730008a1dcb45a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gac6afabdc09a49a433ee19d8a9486056d"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gac6afabdc09a49a433ee19d8a9486056d">min</a>(a, b)   ((a<b)?a:b)</td></tr>
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<tr class="separator:gac6afabdc09a49a433ee19d8a9486056d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gac52d7caf4efc485ef6faa1211bfe60dc"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gac52d7caf4efc485ef6faa1211bfe60dc">BIT_I2C_MST_VDDIO</a>   (0x80)</td></tr>
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<tr class="separator:gac52d7caf4efc485ef6faa1211bfe60dc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gae3c4a18accb84992faaf2534a84a147c"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gae3c4a18accb84992faaf2534a84a147c">BIT_FIFO_EN</a>   (0x40)</td></tr>
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<tr class="separator:gae3c4a18accb84992faaf2534a84a147c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga02c3e9ddd63128f1c3cf50bf1e9b5fe6"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga02c3e9ddd63128f1c3cf50bf1e9b5fe6">BIT_DMP_EN</a>   (0x80)</td></tr>
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<tr class="separator:ga02c3e9ddd63128f1c3cf50bf1e9b5fe6"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaeae2cc64314ad05f3a93d2358a2369db"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gaeae2cc64314ad05f3a93d2358a2369db">BIT_FIFO_RST</a>   (0x04)</td></tr>
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<tr class="separator:gaeae2cc64314ad05f3a93d2358a2369db"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga37d5ceb74c3568e4bab6dcdd0afaa95b"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga37d5ceb74c3568e4bab6dcdd0afaa95b">BIT_DMP_RST</a>   (0x08)</td></tr>
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<tr class="separator:ga37d5ceb74c3568e4bab6dcdd0afaa95b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gafb9b49ce5dd973b3c29ae72680924fa7"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gafb9b49ce5dd973b3c29ae72680924fa7">BIT_FIFO_OVERFLOW</a>   (0x10)</td></tr>
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<tr class="separator:gafb9b49ce5dd973b3c29ae72680924fa7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga45eec9dbc46778c356703dcf90b9e0c3"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga45eec9dbc46778c356703dcf90b9e0c3">BIT_DATA_RDY_EN</a>   (0x01)</td></tr>
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<tr class="separator:ga45eec9dbc46778c356703dcf90b9e0c3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga4dc5309ed09fc683d8e5a247feaad69d"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga4dc5309ed09fc683d8e5a247feaad69d">BIT_DMP_INT_EN</a>   (0x02)</td></tr>
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<tr class="separator:ga4dc5309ed09fc683d8e5a247feaad69d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga6a8f2f7f3dd17bc05d9c6286d15c7ada"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga6a8f2f7f3dd17bc05d9c6286d15c7ada">BIT_MOT_INT_EN</a>   (0x40)</td></tr>
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<tr class="separator:ga6a8f2f7f3dd17bc05d9c6286d15c7ada"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga2d9aff1be96b1fc021ca96f251c3e72b"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga2d9aff1be96b1fc021ca96f251c3e72b">BITS_FSR</a>   (0x18)</td></tr>
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<tr class="separator:ga2d9aff1be96b1fc021ca96f251c3e72b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga4d83411e736da86163a61828816a200a"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga4d83411e736da86163a61828816a200a">BITS_LPF</a>   (0x07)</td></tr>
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<tr class="separator:ga4d83411e736da86163a61828816a200a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga3c9c0234d4a71c9d35bb0da64ea867eb"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga3c9c0234d4a71c9d35bb0da64ea867eb">BITS_HPF</a>   (0x07)</td></tr>
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<tr class="separator:ga3c9c0234d4a71c9d35bb0da64ea867eb"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga1823f90ac353cf4cde25d297a8627dd4"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga1823f90ac353cf4cde25d297a8627dd4">BITS_CLK</a>   (0x07)</td></tr>
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<tr class="memitem:ga3769fd3fa71deaef1e77ce14c26f679d"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga3769fd3fa71deaef1e77ce14c26f679d">BIT_FIFO_SIZE_1024</a>   (0x40)</td></tr>
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<tr class="separator:ga3769fd3fa71deaef1e77ce14c26f679d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga0fa95b278851b0c05a9995f65ba2b895"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga0fa95b278851b0c05a9995f65ba2b895">BIT_FIFO_SIZE_2048</a>   (0x80)</td></tr>
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<tr class="separator:ga0fa95b278851b0c05a9995f65ba2b895"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gac067df9d789eaae04585abfc5ffdb2b6"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gac067df9d789eaae04585abfc5ffdb2b6">BIT_FIFO_SIZE_4096</a>   (0xC0)</td></tr>
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<tr class="separator:gac067df9d789eaae04585abfc5ffdb2b6"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaf4ce49fd1fc9b1461b5241f9ef4812f4"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gaf4ce49fd1fc9b1461b5241f9ef4812f4">BIT_RESET</a>   (0x80)</td></tr>
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<tr class="separator:gaf4ce49fd1fc9b1461b5241f9ef4812f4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga1fed8bd436e9b7dfccb1cae99ca89103"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga1fed8bd436e9b7dfccb1cae99ca89103">BIT_SLEEP</a>   (0x40)</td></tr>
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<tr class="separator:ga1fed8bd436e9b7dfccb1cae99ca89103"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gac4b33689dd697c1cf2411638a017c009"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gac4b33689dd697c1cf2411638a017c009">BIT_S0_DELAY_EN</a>   (0x01)</td></tr>
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<tr class="separator:gac4b33689dd697c1cf2411638a017c009"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga22e4452fe8abca7fe12a2dc45194e6df"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga22e4452fe8abca7fe12a2dc45194e6df">BIT_S2_DELAY_EN</a>   (0x04)</td></tr>
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<tr class="separator:ga22e4452fe8abca7fe12a2dc45194e6df"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gabc5c2ee59baeb02a0f761740466f3c28"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gabc5c2ee59baeb02a0f761740466f3c28">BITS_SLAVE_LENGTH</a>   (0x0F)</td></tr>
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<tr class="separator:gabc5c2ee59baeb02a0f761740466f3c28"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga5e8f3ccff1b3eeb95a938b207ca873ff"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga5e8f3ccff1b3eeb95a938b207ca873ff">BIT_SLAVE_BYTE_SW</a>   (0x40)</td></tr>
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<tr class="separator:ga5e8f3ccff1b3eeb95a938b207ca873ff"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaf616c3ecf97ffd7bde444f0b74e7453e"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gaf616c3ecf97ffd7bde444f0b74e7453e">BIT_SLAVE_GROUP</a>   (0x10)</td></tr>
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<tr class="separator:gaf616c3ecf97ffd7bde444f0b74e7453e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gae9440f48b6d70d900366dc040a8714d7"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gae9440f48b6d70d900366dc040a8714d7">BIT_SLAVE_EN</a>   (0x80)</td></tr>
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<tr class="separator:gae9440f48b6d70d900366dc040a8714d7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga8ef1963ec6fb3df5586e50959cf00a70"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga8ef1963ec6fb3df5586e50959cf00a70">BIT_I2C_READ</a>   (0x80)</td></tr>
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<tr class="separator:ga8ef1963ec6fb3df5586e50959cf00a70"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gab470b625fa05ff228b3fdb94802b1c0d"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gab470b625fa05ff228b3fdb94802b1c0d">BITS_I2C_MASTER_DLY</a>   (0x1F)</td></tr>
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<tr class="separator:gab470b625fa05ff228b3fdb94802b1c0d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gabcdedbd3098140aa14ad17bcaca8e176"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gabcdedbd3098140aa14ad17bcaca8e176">BIT_AUX_IF_EN</a>   (0x20)</td></tr>
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<tr class="separator:gabcdedbd3098140aa14ad17bcaca8e176"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga8467782bedc44051c95643e303543655"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga8467782bedc44051c95643e303543655">BIT_ACTL</a>   (0x80)</td></tr>
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<tr class="separator:ga8467782bedc44051c95643e303543655"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga588b5a95724c4a68c6868faa78fd3a7f"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga588b5a95724c4a68c6868faa78fd3a7f">BIT_LATCH_EN</a>   (0x20)</td></tr>
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<tr class="separator:ga588b5a95724c4a68c6868faa78fd3a7f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga1f50796ca0363292d9ac9cc1d29d9225"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga1f50796ca0363292d9ac9cc1d29d9225">BIT_ANY_RD_CLR</a>   (0x10)</td></tr>
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<tr class="separator:ga1f50796ca0363292d9ac9cc1d29d9225"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gadd12a8d89e1a4c4e008b12a96dd4c75d"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gadd12a8d89e1a4c4e008b12a96dd4c75d">BIT_BYPASS_EN</a>   (0x02)</td></tr>
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<tr class="separator:gadd12a8d89e1a4c4e008b12a96dd4c75d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga75b1479e451b747afb3b24cbc4df99f7"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga75b1479e451b747afb3b24cbc4df99f7">BITS_WOM_EN</a>   (0xC0)</td></tr>
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<tr class="separator:ga75b1479e451b747afb3b24cbc4df99f7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga63e6f23af37626aa1498d8c248f259e7"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga63e6f23af37626aa1498d8c248f259e7">BIT_LPA_CYCLE</a>   (0x20)</td></tr>
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<tr class="separator:ga63e6f23af37626aa1498d8c248f259e7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gacfc46ee2ea036d16b3df45c8fb241b5b"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gacfc46ee2ea036d16b3df45c8fb241b5b">BIT_STBY_XA</a>   (0x20)</td></tr>
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<tr class="separator:gacfc46ee2ea036d16b3df45c8fb241b5b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga49e6d38569bfc4b58ccc45dbb19001fa"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga49e6d38569bfc4b58ccc45dbb19001fa">BIT_STBY_YA</a>   (0x10)</td></tr>
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<tr class="separator:ga49e6d38569bfc4b58ccc45dbb19001fa"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gafac8114288bae2db7ea7dbf0f6fb755c"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gafac8114288bae2db7ea7dbf0f6fb755c">BIT_STBY_ZA</a>   (0x08)</td></tr>
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<tr class="separator:gafac8114288bae2db7ea7dbf0f6fb755c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga82256fedeffe5b2443ab3ae34cf032d9"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga82256fedeffe5b2443ab3ae34cf032d9">BIT_STBY_XG</a>   (0x04)</td></tr>
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<tr class="separator:ga82256fedeffe5b2443ab3ae34cf032d9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gabf1c0a844906a5e887a659971a4af417"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gabf1c0a844906a5e887a659971a4af417">BIT_STBY_YG</a>   (0x02)</td></tr>
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<tr class="separator:gabf1c0a844906a5e887a659971a4af417"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga30967a4efdf3c3f1e39814e72a4168b0"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga30967a4efdf3c3f1e39814e72a4168b0">BIT_STBY_ZG</a>   (0x01)</td></tr>
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<tr class="separator:ga30967a4efdf3c3f1e39814e72a4168b0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga04a57159e34387dafe9b86b171c4654c"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga04a57159e34387dafe9b86b171c4654c">BIT_STBY_XYZA</a>   (<a class="el" href="group___d_r_i_v_e_r_s.html#gacfc46ee2ea036d16b3df45c8fb241b5b">BIT_STBY_XA</a> | <a class="el" href="group___d_r_i_v_e_r_s.html#ga49e6d38569bfc4b58ccc45dbb19001fa">BIT_STBY_YA</a> | <a class="el" href="group___d_r_i_v_e_r_s.html#gafac8114288bae2db7ea7dbf0f6fb755c">BIT_STBY_ZA</a>)</td></tr>
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<tr class="separator:ga04a57159e34387dafe9b86b171c4654c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga4e2ef22b94b90f9b83394dfe1f688ce4"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga4e2ef22b94b90f9b83394dfe1f688ce4">BIT_STBY_XYZG</a>   (<a class="el" href="group___d_r_i_v_e_r_s.html#ga82256fedeffe5b2443ab3ae34cf032d9">BIT_STBY_XG</a> | <a class="el" href="group___d_r_i_v_e_r_s.html#gabf1c0a844906a5e887a659971a4af417">BIT_STBY_YG</a> | <a class="el" href="group___d_r_i_v_e_r_s.html#ga30967a4efdf3c3f1e39814e72a4168b0">BIT_STBY_ZG</a>)</td></tr>
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<tr class="separator:ga4e2ef22b94b90f9b83394dfe1f688ce4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga973c680573b37fc359fc68d0707da355"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga973c680573b37fc359fc68d0707da355">MAX_PACKET_LENGTH</a>   (12)</td></tr>
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<tr class="separator:ga973c680573b37fc359fc68d0707da355"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7750730ae7e5c713b619e347d44185fe"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="inv__mpu_8c.html#a7750730ae7e5c713b619e347d44185fe">LOAD_CHUNK</a>   (16)</td></tr>
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<tr class="separator:a7750730ae7e5c713b619e347d44185fe"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga0c2ff73765f99e113d4f99826f9601e5"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga0c2ff73765f99e113d4f99826f9601e5">q30</a>   1073741824.0f</td></tr>
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<tr class="separator:ga0c2ff73765f99e113d4f99826f9601e5"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="enum-members" name="enum-members"></a>
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枚举</h2></td></tr>
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<tr class="memitem:ga91c762a5bd71461f7911dc49ee7696e9"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga91c762a5bd71461f7911dc49ee7696e9">lpf_e</a> { <br />
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  <a class="el" href="group___d_r_i_v_e_r_s.html#gga91c762a5bd71461f7911dc49ee7696e9a9f0263fbbdccd3c5a18fcb65be278d24">INV_FILTER_256HZ_NOLPF2</a> = 0
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga91c762a5bd71461f7911dc49ee7696e9ab58e52e0b6be4cbaf0c7f32705a9fcec">INV_FILTER_188HZ</a>
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga91c762a5bd71461f7911dc49ee7696e9a0f288da0c97b325a6cb57f1223f0cf98">INV_FILTER_98HZ</a>
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga91c762a5bd71461f7911dc49ee7696e9a995b18a52a5bd919aa9c1411a2292110">INV_FILTER_42HZ</a>
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, <br />
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  <a class="el" href="group___d_r_i_v_e_r_s.html#gga91c762a5bd71461f7911dc49ee7696e9aebecb86604e475ed8e2cb68340010ff1">INV_FILTER_20HZ</a>
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga91c762a5bd71461f7911dc49ee7696e9a327619f406c6b2f6a221793881013508">INV_FILTER_10HZ</a>
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga91c762a5bd71461f7911dc49ee7696e9abdaaf85666fd6a490ee01dcd8a315678">INV_FILTER_5HZ</a>
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga91c762a5bd71461f7911dc49ee7696e9a76de97a6c2f8eb3c5d1a73d717513f5d">INV_FILTER_2100HZ_NOLPF</a>
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, <br />
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  <a class="el" href="group___d_r_i_v_e_r_s.html#gga91c762a5bd71461f7911dc49ee7696e9a053f39f04904f6103090bcba3002c4a3">NUM_FILTER</a>
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<br />
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}</td></tr>
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<tr class="separator:ga91c762a5bd71461f7911dc49ee7696e9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga83acdc0eb37e8bfe0c2ae2348ded0a90"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga83acdc0eb37e8bfe0c2ae2348ded0a90">gyro_fsr_e</a> { <br />
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  <a class="el" href="group___d_r_i_v_e_r_s.html#gga83acdc0eb37e8bfe0c2ae2348ded0a90a5b8251a49db5cb8a676076b0b308ae35">INV_FSR_250DPS</a> = 0
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga83acdc0eb37e8bfe0c2ae2348ded0a90a50901470ff389927fd010081e2b8fd09">INV_FSR_500DPS</a>
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga83acdc0eb37e8bfe0c2ae2348ded0a90aee922e0daa4fbb404c3db6c49d897a13">INV_FSR_1000DPS</a>
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga83acdc0eb37e8bfe0c2ae2348ded0a90ac0c37efc1c8acd6f70c0c5a768e5b8be">INV_FSR_2000DPS</a>
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, <br />
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  <a class="el" href="group___d_r_i_v_e_r_s.html#gga83acdc0eb37e8bfe0c2ae2348ded0a90ab50b300433c5bc3cbc7ae8adb980c815">NUM_GYRO_FSR</a>
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<br />
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}</td></tr>
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<tr class="separator:ga83acdc0eb37e8bfe0c2ae2348ded0a90"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaec8501b935143099e5f729dee221a81e"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gaec8501b935143099e5f729dee221a81e">accel_fsr_e</a> { <br />
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  <a class="el" href="group___d_r_i_v_e_r_s.html#ggaec8501b935143099e5f729dee221a81eae27c6f69463dab7de81fac0c51ff8aa7">INV_FSR_2G</a> = 0
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, <a class="el" href="group___d_r_i_v_e_r_s.html#ggaec8501b935143099e5f729dee221a81eaa91e3a89d0bbd01149fe71148595be6d">INV_FSR_4G</a>
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, <a class="el" href="group___d_r_i_v_e_r_s.html#ggaec8501b935143099e5f729dee221a81ea0a40371bdda397d234c53d0ee2f3be8b">INV_FSR_8G</a>
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, <a class="el" href="group___d_r_i_v_e_r_s.html#ggaec8501b935143099e5f729dee221a81ea6712e8563c97c11b458ef721d4f5f9d5">INV_FSR_16G</a>
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, <br />
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  <a class="el" href="group___d_r_i_v_e_r_s.html#ggaec8501b935143099e5f729dee221a81ea6d466b2f73b176f1dfc8a3f94ae8a4df">NUM_ACCEL_FSR</a>
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<br />
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}</td></tr>
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<tr class="separator:gaec8501b935143099e5f729dee221a81e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga75570f009627c6f4ddfb2d936d81e207"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga75570f009627c6f4ddfb2d936d81e207">clock_sel_e</a> { <a class="el" href="group___d_r_i_v_e_r_s.html#gga75570f009627c6f4ddfb2d936d81e207a92059acf8d0ff5b7e12580c15f88466f">INV_CLK_INTERNAL</a> = 0
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga75570f009627c6f4ddfb2d936d81e207a01b240917a78674d3e387110a6a8f94c">INV_CLK_PLL</a>
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga75570f009627c6f4ddfb2d936d81e207a7f075b0360037232fdf24f90de7be1d7">NUM_CLK</a>
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}</td></tr>
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<tr class="separator:ga75570f009627c6f4ddfb2d936d81e207"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga23c3fcde795e5aa2b141232d490c9ca7"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga23c3fcde795e5aa2b141232d490c9ca7">lp_accel_rate_e</a> { <a class="el" href="group___d_r_i_v_e_r_s.html#gga23c3fcde795e5aa2b141232d490c9ca7ab44c7d0127a9466747853533a537b567">INV_LPA_1_25HZ</a>
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga23c3fcde795e5aa2b141232d490c9ca7a474cac76bff369dd656cc973207a1ca5">INV_LPA_5HZ</a>
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga23c3fcde795e5aa2b141232d490c9ca7accaaf47c58dfe32cbf2ffa11fdb83108">INV_LPA_20HZ</a>
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, <a class="el" href="group___d_r_i_v_e_r_s.html#gga23c3fcde795e5aa2b141232d490c9ca7a798d2b86eafcf3fc7c7fe775f46cb4cb">INV_LPA_40HZ</a>
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}</td></tr>
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<tr class="separator:ga23c3fcde795e5aa2b141232d490c9ca7"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
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函数</h2></td></tr>
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<tr class="memitem:ga69f90a1116c37ff659a096f2932c3988"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga69f90a1116c37ff659a096f2932c3988">log_none</a> (char *fmt,...)</td></tr>
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<tr class="separator:ga69f90a1116c37ff659a096f2932c3988"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gafd5ebff6b0179e1dce0b68c2272cae07"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gafd5ebff6b0179e1dce0b68c2272cae07">set_int_enable</a> (unsigned char enable)</td></tr>
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<tr class="memdesc:gafd5ebff6b0179e1dce0b68c2272cae07"><td class="mdescLeft"> </td><td class="mdescRight">Enable/disable data ready interrupt. If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready interrupt is used. <a href="group___d_r_i_v_e_r_s.html#gafd5ebff6b0179e1dce0b68c2272cae07">更多...</a><br /></td></tr>
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<tr class="separator:gafd5ebff6b0179e1dce0b68c2272cae07"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga0e1201ecfd8453f1d89e4299528baaf6"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga0e1201ecfd8453f1d89e4299528baaf6">mpu_reg_dump</a> (void)</td></tr>
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<tr class="memdesc:ga0e1201ecfd8453f1d89e4299528baaf6"><td class="mdescLeft"> </td><td class="mdescRight">Register dump for testing. <a href="group___d_r_i_v_e_r_s.html#ga0e1201ecfd8453f1d89e4299528baaf6">更多...</a><br /></td></tr>
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<tr class="separator:ga0e1201ecfd8453f1d89e4299528baaf6"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga5c35a3363337014e11769a0ea7c0dfa9"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga5c35a3363337014e11769a0ea7c0dfa9">mpu_read_reg</a> (unsigned char <a class="el" href="group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c">reg</a>, unsigned char *data)</td></tr>
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<tr class="memdesc:ga5c35a3363337014e11769a0ea7c0dfa9"><td class="mdescLeft"> </td><td class="mdescRight">Read from a single register. NOTE: The memory and FIFO read/write registers cannot be accessed. <a href="group___d_r_i_v_e_r_s.html#ga5c35a3363337014e11769a0ea7c0dfa9">更多...</a><br /></td></tr>
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<tr class="separator:ga5c35a3363337014e11769a0ea7c0dfa9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gac48a36b51e23bc4191ec13916bbb9d0b"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gac48a36b51e23bc4191ec13916bbb9d0b">mpu_init</a> (void)</td></tr>
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<tr class="memdesc:gac48a36b51e23bc4191ec13916bbb9d0b"><td class="mdescLeft"> </td><td class="mdescRight">Initialize hardware. Initial configuration:<br />
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Gyro FSR: +/- 2000DPS<br />
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Accel FSR +/- 2G<br />
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DLPF: 42Hz<br />
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FIFO rate: 50Hz<br />
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Clock source: Gyro PLL<br />
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FIFO: Disabled.<br />
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Data ready interrupt: Disabled, active low, unlatched. <a href="group___d_r_i_v_e_r_s.html#gac48a36b51e23bc4191ec13916bbb9d0b">更多...</a><br /></td></tr>
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<tr class="separator:gac48a36b51e23bc4191ec13916bbb9d0b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga3a4fea75686ab7d2e68634e81ccac04c"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga3a4fea75686ab7d2e68634e81ccac04c">mpu_lp_accel_mode</a> (unsigned char rate)</td></tr>
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<tr class="memdesc:ga3a4fea75686ab7d2e68634e81ccac04c"><td class="mdescLeft"> </td><td class="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 />
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MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz <br />
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MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz <br />
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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 />
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To select a fractional wake-up frequency, round down the value passed to <em>rate</em>. <a href="group___d_r_i_v_e_r_s.html#ga3a4fea75686ab7d2e68634e81ccac04c">更多...</a><br /></td></tr>
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<tr class="separator:ga3a4fea75686ab7d2e68634e81ccac04c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga5555854590ad11495c0e30401294bae2"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga5555854590ad11495c0e30401294bae2">mpu_get_gyro_reg</a> (short *data, unsigned long *timestamp)</td></tr>
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<tr class="memdesc:ga5555854590ad11495c0e30401294bae2"><td class="mdescLeft"> </td><td class="mdescRight">Read raw gyro data directly from the registers. <a href="group___d_r_i_v_e_r_s.html#ga5555854590ad11495c0e30401294bae2">更多...</a><br /></td></tr>
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<tr class="separator:ga5555854590ad11495c0e30401294bae2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gae4ae960e5df78049ece2647772a3d809"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gae4ae960e5df78049ece2647772a3d809">mpu_get_accel_reg</a> (short *data, unsigned long *timestamp)</td></tr>
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<tr class="memdesc:gae4ae960e5df78049ece2647772a3d809"><td class="mdescLeft"> </td><td class="mdescRight">Read raw accel data directly from the registers. <a href="group___d_r_i_v_e_r_s.html#gae4ae960e5df78049ece2647772a3d809">更多...</a><br /></td></tr>
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<tr class="separator:gae4ae960e5df78049ece2647772a3d809"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaa449b565a157b4b8ca0f491b7ed46018"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gaa449b565a157b4b8ca0f491b7ed46018">mpu_get_temperature</a> (long *data, unsigned long *timestamp)</td></tr>
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<tr class="memdesc:gaa449b565a157b4b8ca0f491b7ed46018"><td class="mdescLeft"> </td><td class="mdescRight">Read temperature data directly from the registers. <a href="group___d_r_i_v_e_r_s.html#gaa449b565a157b4b8ca0f491b7ed46018">更多...</a><br /></td></tr>
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<tr class="separator:gaa449b565a157b4b8ca0f491b7ed46018"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga4968cc2ec80f0da0d72436551c81f134"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga4968cc2ec80f0da0d72436551c81f134">mpu_set_accel_bias</a> (const long *accel_bias)</td></tr>
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<tr class="memdesc:ga4968cc2ec80f0da0d72436551c81f134"><td class="mdescLeft"> </td><td class="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. <a href="group___d_r_i_v_e_r_s.html#ga4968cc2ec80f0da0d72436551c81f134">更多...</a><br /></td></tr>
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<tr class="separator:ga4968cc2ec80f0da0d72436551c81f134"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaf23e9f57c0059be6ec57862f0584de10"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gaf23e9f57c0059be6ec57862f0584de10">mpu_reset_fifo</a> (void)</td></tr>
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<tr class="memdesc:gaf23e9f57c0059be6ec57862f0584de10"><td class="mdescLeft"> </td><td class="mdescRight">Reset FIFO read/write pointers. <a href="group___d_r_i_v_e_r_s.html#gaf23e9f57c0059be6ec57862f0584de10">更多...</a><br /></td></tr>
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<tr class="separator:gaf23e9f57c0059be6ec57862f0584de10"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaf973c32c73ba912ff512aab948fc31ca"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gaf973c32c73ba912ff512aab948fc31ca">mpu_get_gyro_fsr</a> (unsigned short *fsr)</td></tr>
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<tr class="memdesc:gaf973c32c73ba912ff512aab948fc31ca"><td class="mdescLeft"> </td><td class="mdescRight">Get the gyro full-scale range. <a href="group___d_r_i_v_e_r_s.html#gaf973c32c73ba912ff512aab948fc31ca">更多...</a><br /></td></tr>
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<tr class="separator:gaf973c32c73ba912ff512aab948fc31ca"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gad09e6031c8677adc0b8a39b6deea8e27"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gad09e6031c8677adc0b8a39b6deea8e27">mpu_set_gyro_fsr</a> (unsigned short fsr)</td></tr>
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<tr class="memdesc:gad09e6031c8677adc0b8a39b6deea8e27"><td class="mdescLeft"> </td><td class="mdescRight">Set the gyro full-scale range. <a href="group___d_r_i_v_e_r_s.html#gad09e6031c8677adc0b8a39b6deea8e27">更多...</a><br /></td></tr>
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<tr class="separator:gad09e6031c8677adc0b8a39b6deea8e27"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gab6087a15ee23db23b6aec41590329a60"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gab6087a15ee23db23b6aec41590329a60">mpu_get_accel_fsr</a> (unsigned char *fsr)</td></tr>
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<tr class="memdesc:gab6087a15ee23db23b6aec41590329a60"><td class="mdescLeft"> </td><td class="mdescRight">Get the accel full-scale range. <a href="group___d_r_i_v_e_r_s.html#gab6087a15ee23db23b6aec41590329a60">更多...</a><br /></td></tr>
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<tr class="separator:gab6087a15ee23db23b6aec41590329a60"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga2713a96af104cfb2ae8e0ed4c3718119"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga2713a96af104cfb2ae8e0ed4c3718119">mpu_set_accel_fsr</a> (unsigned char fsr)</td></tr>
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<tr class="memdesc:ga2713a96af104cfb2ae8e0ed4c3718119"><td class="mdescLeft"> </td><td class="mdescRight">Set the accel full-scale range. <a href="group___d_r_i_v_e_r_s.html#ga2713a96af104cfb2ae8e0ed4c3718119">更多...</a><br /></td></tr>
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<tr class="separator:ga2713a96af104cfb2ae8e0ed4c3718119"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaa95c7e216dcb2d888e9796001ca555f8"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gaa95c7e216dcb2d888e9796001ca555f8">mpu_get_lpf</a> (unsigned short *lpf)</td></tr>
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<tr class="memdesc:gaa95c7e216dcb2d888e9796001ca555f8"><td class="mdescLeft"> </td><td class="mdescRight">Get the current DLPF setting. <a href="group___d_r_i_v_e_r_s.html#gaa95c7e216dcb2d888e9796001ca555f8">更多...</a><br /></td></tr>
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<tr class="separator:gaa95c7e216dcb2d888e9796001ca555f8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga5661a9dee25152166769910767a2a93d"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga5661a9dee25152166769910767a2a93d">mpu_set_lpf</a> (unsigned short lpf)</td></tr>
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<tr class="memdesc:ga5661a9dee25152166769910767a2a93d"><td class="mdescLeft"> </td><td class="mdescRight">Set digital low pass filter. The following LPF settings are supported: 188, 98, 42, 20, 10, 5. <a href="group___d_r_i_v_e_r_s.html#ga5661a9dee25152166769910767a2a93d">更多...</a><br /></td></tr>
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<tr class="separator:ga5661a9dee25152166769910767a2a93d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga2487dd551b701c1c7ed4d6335f02b2f1"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga2487dd551b701c1c7ed4d6335f02b2f1">mpu_get_sample_rate</a> (unsigned short *rate)</td></tr>
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<tr class="memdesc:ga2487dd551b701c1c7ed4d6335f02b2f1"><td class="mdescLeft"> </td><td class="mdescRight">Get sampling rate. <a href="group___d_r_i_v_e_r_s.html#ga2487dd551b701c1c7ed4d6335f02b2f1">更多...</a><br /></td></tr>
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<tr class="separator:ga2487dd551b701c1c7ed4d6335f02b2f1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga0144d666a67a82888b8580002afe8b55"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga0144d666a67a82888b8580002afe8b55">mpu_set_sample_rate</a> (unsigned short rate)</td></tr>
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<tr class="memdesc:ga0144d666a67a82888b8580002afe8b55"><td class="mdescLeft"> </td><td class="mdescRight">Set sampling rate. Sampling rate must be between 4Hz and 1kHz. <a href="group___d_r_i_v_e_r_s.html#ga0144d666a67a82888b8580002afe8b55">更多...</a><br /></td></tr>
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<tr class="separator:ga0144d666a67a82888b8580002afe8b55"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gab5a45cd7783f6937788c0decb0b18b16"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gab5a45cd7783f6937788c0decb0b18b16">mpu_get_compass_sample_rate</a> (unsigned short *rate)</td></tr>
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<tr class="memdesc:gab5a45cd7783f6937788c0decb0b18b16"><td class="mdescLeft"> </td><td class="mdescRight">Get compass sampling rate. <a href="group___d_r_i_v_e_r_s.html#gab5a45cd7783f6937788c0decb0b18b16">更多...</a><br /></td></tr>
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<tr class="separator:gab5a45cd7783f6937788c0decb0b18b16"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga78da3828de0ef9d080c4d03e7bc45e7b"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga78da3828de0ef9d080c4d03e7bc45e7b">mpu_set_compass_sample_rate</a> (unsigned short rate)</td></tr>
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<tr class="memdesc:ga78da3828de0ef9d080c4d03e7bc45e7b"><td class="mdescLeft"> </td><td class="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. <a href="group___d_r_i_v_e_r_s.html#ga78da3828de0ef9d080c4d03e7bc45e7b">更多...</a><br /></td></tr>
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<tr class="separator:ga78da3828de0ef9d080c4d03e7bc45e7b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga023c0cc94aa8f162dc33b15048a49421"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga023c0cc94aa8f162dc33b15048a49421">mpu_get_gyro_sens</a> (float *sens)</td></tr>
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<tr class="memdesc:ga023c0cc94aa8f162dc33b15048a49421"><td class="mdescLeft"> </td><td class="mdescRight">Get gyro sensitivity scale factor. <a href="group___d_r_i_v_e_r_s.html#ga023c0cc94aa8f162dc33b15048a49421">更多...</a><br /></td></tr>
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<tr class="separator:ga023c0cc94aa8f162dc33b15048a49421"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga620408949052b96e856cad920f856583"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga620408949052b96e856cad920f856583">mpu_get_accel_sens</a> (unsigned short *sens)</td></tr>
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<tr class="memdesc:ga620408949052b96e856cad920f856583"><td class="mdescLeft"> </td><td class="mdescRight">Get accel sensitivity scale factor. <a href="group___d_r_i_v_e_r_s.html#ga620408949052b96e856cad920f856583">更多...</a><br /></td></tr>
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<tr class="separator:ga620408949052b96e856cad920f856583"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga093f11eb10b2639a4b9fe344ea348c54"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga093f11eb10b2639a4b9fe344ea348c54">mpu_get_fifo_config</a> (unsigned char *sensors)</td></tr>
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<tr class="memdesc:ga093f11eb10b2639a4b9fe344ea348c54"><td class="mdescLeft"> </td><td class="mdescRight">Get current FIFO configuration. <em>sensors</em> can contain a combination of the following flags: <br />
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INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO <br />
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INV_XYZ_GYRO <br />
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INV_XYZ_ACCEL <a href="group___d_r_i_v_e_r_s.html#ga093f11eb10b2639a4b9fe344ea348c54">更多...</a><br /></td></tr>
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<tr class="separator:ga093f11eb10b2639a4b9fe344ea348c54"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gababbdda287e1f19323489f90a0889dd7"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gababbdda287e1f19323489f90a0889dd7">mpu_configure_fifo</a> (unsigned char sensors)</td></tr>
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<tr class="memdesc:gababbdda287e1f19323489f90a0889dd7"><td class="mdescLeft"> </td><td class="mdescRight">Select which sensors are pushed to FIFO. <em>sensors</em> can contain a combination of the following flags: <br />
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INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO <br />
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INV_XYZ_GYRO <br />
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INV_XYZ_ACCEL <a href="group___d_r_i_v_e_r_s.html#gababbdda287e1f19323489f90a0889dd7">更多...</a><br /></td></tr>
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<tr class="separator:gababbdda287e1f19323489f90a0889dd7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaec8fa7a067988d174516bb735a4a0bc9"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gaec8fa7a067988d174516bb735a4a0bc9">mpu_get_power_state</a> (unsigned char *power_on)</td></tr>
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<tr class="memdesc:gaec8fa7a067988d174516bb735a4a0bc9"><td class="mdescLeft"> </td><td class="mdescRight">Get current power state. <a href="group___d_r_i_v_e_r_s.html#gaec8fa7a067988d174516bb735a4a0bc9">更多...</a><br /></td></tr>
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<tr class="separator:gaec8fa7a067988d174516bb735a4a0bc9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga6e77e7cc1cf6be5e8fdf617c5b4586d1"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga6e77e7cc1cf6be5e8fdf617c5b4586d1">mpu_set_sensors</a> (unsigned char sensors)</td></tr>
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<tr class="memdesc:ga6e77e7cc1cf6be5e8fdf617c5b4586d1"><td class="mdescLeft"> </td><td class="mdescRight">Turn specific sensors on/off. <em>sensors</em> can contain a combination of the following flags: <br />
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INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO <br />
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INV_XYZ_GYRO <br />
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INV_XYZ_ACCEL <br />
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INV_XYZ_COMPASS <a href="group___d_r_i_v_e_r_s.html#ga6e77e7cc1cf6be5e8fdf617c5b4586d1">更多...</a><br /></td></tr>
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<tr class="separator:ga6e77e7cc1cf6be5e8fdf617c5b4586d1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga0afd02d8c76d3278b488ef7038c26e3e"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga0afd02d8c76d3278b488ef7038c26e3e">mpu_get_int_status</a> (short *status)</td></tr>
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<tr class="memdesc:ga0afd02d8c76d3278b488ef7038c26e3e"><td class="mdescLeft"> </td><td class="mdescRight">Read the MPU interrupt status registers. <a href="group___d_r_i_v_e_r_s.html#ga0afd02d8c76d3278b488ef7038c26e3e">更多...</a><br /></td></tr>
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<tr class="separator:ga0afd02d8c76d3278b488ef7038c26e3e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga2da20453aafbbba4a0f6fb9fbdd25572"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="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>
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<tr class="memdesc:ga2da20453aafbbba4a0f6fb9fbdd25572"><td class="mdescLeft"> </td><td class="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 />
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<em>sensors</em> can contain a combination of the following flags: <br />
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INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO <br />
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INV_XYZ_GYRO <br />
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INV_XYZ_ACCEL <br />
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If the FIFO has no new data, <em>sensors</em> will be zero. <br />
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If the FIFO is disabled, <em>sensors</em> will be zero and this function will return a non-zero error code. <a href="group___d_r_i_v_e_r_s.html#ga2da20453aafbbba4a0f6fb9fbdd25572">更多...</a><br /></td></tr>
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<tr class="separator:ga2da20453aafbbba4a0f6fb9fbdd25572"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga13593044949b460e9f571eb57e9a0788"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="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>
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<tr class="memdesc:ga13593044949b460e9f571eb57e9a0788"><td class="mdescLeft"> </td><td class="mdescRight">Get one unparsed packet from the FIFO. This function should be used if the packet is to be parsed elsewhere. <a href="group___d_r_i_v_e_r_s.html#ga13593044949b460e9f571eb57e9a0788">更多...</a><br /></td></tr>
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<tr class="separator:ga13593044949b460e9f571eb57e9a0788"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga36f70f38371b48d81094d3b061233e15"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga36f70f38371b48d81094d3b061233e15">mpu_set_bypass</a> (unsigned char bypass_on)</td></tr>
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<tr class="memdesc:ga36f70f38371b48d81094d3b061233e15"><td class="mdescLeft"> </td><td class="mdescRight">Set device to bypass mode. <a href="group___d_r_i_v_e_r_s.html#ga36f70f38371b48d81094d3b061233e15">更多...</a><br /></td></tr>
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<tr class="separator:ga36f70f38371b48d81094d3b061233e15"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gacc92fb1489ef32a04bcb6b0ebde4d657"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gacc92fb1489ef32a04bcb6b0ebde4d657">mpu_set_int_level</a> (unsigned char active_low)</td></tr>
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<tr class="memdesc:gacc92fb1489ef32a04bcb6b0ebde4d657"><td class="mdescLeft"> </td><td class="mdescRight">Set interrupt level. <a href="group___d_r_i_v_e_r_s.html#gacc92fb1489ef32a04bcb6b0ebde4d657">更多...</a><br /></td></tr>
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<tr class="separator:gacc92fb1489ef32a04bcb6b0ebde4d657"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga653cb855300bff9285ce4b8dca6a503b"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga653cb855300bff9285ce4b8dca6a503b">mpu_set_int_latched</a> (unsigned char enable)</td></tr>
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<tr class="memdesc:ga653cb855300bff9285ce4b8dca6a503b"><td class="mdescLeft"> </td><td class="mdescRight">Enable latched interrupts. Any MPU register will clear the interrupt. <a href="group___d_r_i_v_e_r_s.html#ga653cb855300bff9285ce4b8dca6a503b">更多...</a><br /></td></tr>
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<tr class="separator:ga653cb855300bff9285ce4b8dca6a503b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gab7ebbe13328466605a20f6ce1a106de8"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gab7ebbe13328466605a20f6ce1a106de8">get_accel_prod_shift</a> (float *st_shift)</td></tr>
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<tr class="separator:gab7ebbe13328466605a20f6ce1a106de8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaab48ddb3bd05cea3f0fc85a68db9934d"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gaab48ddb3bd05cea3f0fc85a68db9934d">accel_self_test</a> (long *bias_regular, long *bias_st)</td></tr>
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<tr class="separator:gaab48ddb3bd05cea3f0fc85a68db9934d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga267d6f443d5be8b2a7a06aa007116f7a"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga267d6f443d5be8b2a7a06aa007116f7a">gyro_self_test</a> (long *bias_regular, long *bias_st)</td></tr>
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<tr class="separator:ga267d6f443d5be8b2a7a06aa007116f7a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga8d087842b07e9710be2267adea4b497a"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga8d087842b07e9710be2267adea4b497a">get_st_biases</a> (long *gyro, long *accel, unsigned char hw_test)</td></tr>
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<tr class="separator:ga8d087842b07e9710be2267adea4b497a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga3773dc98eb1ba15da0091ae75abcf62f"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga3773dc98eb1ba15da0091ae75abcf62f">mpu_run_self_test</a> (long *gyro, long *accel)</td></tr>
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<tr class="memdesc:ga3773dc98eb1ba15da0091ae75abcf62f"><td class="mdescLeft"> </td><td class="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. <a href="group___d_r_i_v_e_r_s.html#ga3773dc98eb1ba15da0091ae75abcf62f">更多...</a><br /></td></tr>
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<tr class="separator:ga3773dc98eb1ba15da0091ae75abcf62f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gafea59910bc3dd30ba3356b1c75213a5f"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="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>
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<tr class="memdesc:gafea59910bc3dd30ba3356b1c75213a5f"><td class="mdescLeft"> </td><td class="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. <a href="group___d_r_i_v_e_r_s.html#gafea59910bc3dd30ba3356b1c75213a5f">更多...</a><br /></td></tr>
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<tr class="separator:gafea59910bc3dd30ba3356b1c75213a5f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga3374bececb6743893c9eab27645c1182"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="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>
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<tr class="memdesc:ga3374bececb6743893c9eab27645c1182"><td class="mdescLeft"> </td><td class="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. <a href="group___d_r_i_v_e_r_s.html#ga3374bececb6743893c9eab27645c1182">更多...</a><br /></td></tr>
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<tr class="separator:ga3374bececb6743893c9eab27645c1182"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga8fbdfe1a50285d4ab438e29c2efc70f5"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="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>
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<tr class="memdesc:ga8fbdfe1a50285d4ab438e29c2efc70f5"><td class="mdescLeft"> </td><td class="mdescRight">Load and verify DMP image. <a href="group___d_r_i_v_e_r_s.html#ga8fbdfe1a50285d4ab438e29c2efc70f5">更多...</a><br /></td></tr>
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<tr class="separator:ga8fbdfe1a50285d4ab438e29c2efc70f5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga68ed20e6c9663cd7c50469329af8715f"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga68ed20e6c9663cd7c50469329af8715f">mpu_set_dmp_state</a> (unsigned char enable)</td></tr>
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<tr class="memdesc:ga68ed20e6c9663cd7c50469329af8715f"><td class="mdescLeft"> </td><td class="mdescRight">Enable/disable DMP support. <a href="group___d_r_i_v_e_r_s.html#ga68ed20e6c9663cd7c50469329af8715f">更多...</a><br /></td></tr>
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<tr class="separator:ga68ed20e6c9663cd7c50469329af8715f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gafe0f60ed0d7f8fd2dcd55d45b95a2363"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gafe0f60ed0d7f8fd2dcd55d45b95a2363">mpu_get_dmp_state</a> (unsigned char *enabled)</td></tr>
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<tr class="memdesc:gafe0f60ed0d7f8fd2dcd55d45b95a2363"><td class="mdescLeft"> </td><td class="mdescRight">Get DMP state. <a href="group___d_r_i_v_e_r_s.html#gafe0f60ed0d7f8fd2dcd55d45b95a2363">更多...</a><br /></td></tr>
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<tr class="separator:gafe0f60ed0d7f8fd2dcd55d45b95a2363"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga4764ce0ba4e07a4c774f69ab3b83d1f9"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga4764ce0ba4e07a4c774f69ab3b83d1f9">setup_compass</a> (void)</td></tr>
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<tr class="separator:ga4764ce0ba4e07a4c774f69ab3b83d1f9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga65e6b0ce980b8c0255d7be9b55c88c08"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga65e6b0ce980b8c0255d7be9b55c88c08">mpu_get_compass_reg</a> (short *data, unsigned long *timestamp)</td></tr>
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<tr class="memdesc:ga65e6b0ce980b8c0255d7be9b55c88c08"><td class="mdescLeft"> </td><td class="mdescRight">Read raw compass data. <a href="group___d_r_i_v_e_r_s.html#ga65e6b0ce980b8c0255d7be9b55c88c08">更多...</a><br /></td></tr>
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<tr class="separator:ga65e6b0ce980b8c0255d7be9b55c88c08"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gade8589573d09e0f14b84130428f286df"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gade8589573d09e0f14b84130428f286df">mpu_get_compass_fsr</a> (unsigned short *fsr)</td></tr>
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<tr class="memdesc:gade8589573d09e0f14b84130428f286df"><td class="mdescLeft"> </td><td class="mdescRight">Get the compass full-scale range. <a href="group___d_r_i_v_e_r_s.html#gade8589573d09e0f14b84130428f286df">更多...</a><br /></td></tr>
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<tr class="separator:gade8589573d09e0f14b84130428f286df"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga7d0b3259346898ccd1ba6ef78bf7df97"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="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>
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<tr class="memdesc:ga7d0b3259346898ccd1ba6ef78bf7df97"><td class="mdescLeft"> </td><td class="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. <a href="group___d_r_i_v_e_r_s.html#ga7d0b3259346898ccd1ba6ef78bf7df97">更多...</a><br /></td></tr>
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<tr class="separator:ga7d0b3259346898ccd1ba6ef78bf7df97"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaff893f93277595387023c71d46b03c42"><td class="memItemLeft" align="right" valign="top"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gaff893f93277595387023c71d46b03c42">run_self_test</a> (void)</td></tr>
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<tr class="memitem:ga3ff6037a69f37bb6174355936ad67ef3"><td class="memItemLeft" align="right" valign="top">unsigned short </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga3ff6037a69f37bb6174355936ad67ef3">inv_orientation_matrix_to_scalar</a> (const signed char *mtx)</td></tr>
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<tr class="separator:ga3ff6037a69f37bb6174355936ad67ef3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga2b58dae1c0567f3f9f6dcbfb07476de7"><td class="memItemLeft" align="right" valign="top">unsigned short </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga2b58dae1c0567f3f9f6dcbfb07476de7">inv_row_2_scale</a> (const signed char *row)</td></tr>
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<tr class="separator:ga2b58dae1c0567f3f9f6dcbfb07476de7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gafa3071c8321f6e8dd2036be8a1e57ad0"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gafa3071c8321f6e8dd2036be8a1e57ad0">mget_ms</a> (unsigned long *time)</td></tr>
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<tr class="memitem:gafac8fcbf24cfa1b69737e02238580f3a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gafac8fcbf24cfa1b69737e02238580f3a">mpu_dmp_init</a> (void)</td></tr>
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<tr class="separator:gafac8fcbf24cfa1b69737e02238580f3a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gacb825f2fd99c3044d012a9b25608cc18"><td class="memItemLeft" align="right" valign="top"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gacb825f2fd99c3044d012a9b25608cc18">mpu_dmp_get_data</a> (float *pitch, float *roll, float *yaw)</td></tr>
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<tr class="separator:gacb825f2fd99c3044d012a9b25608cc18"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="var-members" name="var-members"></a>
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变量</h2></td></tr>
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<tr class="memitem:ga5448c351fc95ff052b110eee80e5f75c"><td class="memItemLeft" align="right" valign="top">const struct <a class="el" href="structgyro__reg__s.html">gyro_reg_s</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c">reg</a></td></tr>
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<tr class="separator:ga5448c351fc95ff052b110eee80e5f75c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga7fefd0bb47e09b7e39e25e9795cd7edc"><td class="memItemLeft" align="right" valign="top">const struct <a class="el" href="structhw__s.html">hw_s</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga7fefd0bb47e09b7e39e25e9795cd7edc">hw</a></td></tr>
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<tr class="separator:ga7fefd0bb47e09b7e39e25e9795cd7edc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga1e8f8b1ef7fb2c429e1ce7c2f9985530"><td class="memItemLeft" align="right" valign="top">const struct <a class="el" href="structtest__s.html">test_s</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga1e8f8b1ef7fb2c429e1ce7c2f9985530">test</a></td></tr>
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<tr class="separator:ga1e8f8b1ef7fb2c429e1ce7c2f9985530"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga3854b4875f6db26c2a1a707885f1fc78"><td class="memItemLeft" align="right" valign="top">static struct <a class="el" href="structgyro__state__s.html">gyro_state_s</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#ga3854b4875f6db26c2a1a707885f1fc78">st</a></td></tr>
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<tr class="separator:ga3854b4875f6db26c2a1a707885f1fc78"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gadcca9e3dfdbc53cc5509fabdaede02b8"><td class="memItemLeft" align="right" valign="top">static signed char </td><td class="memItemRight" valign="bottom"><a class="el" href="group___d_r_i_v_e_r_s.html#gadcca9e3dfdbc53cc5509fabdaede02b8">gyro_orientation</a> [9]</td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
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<div class="textblock"><p >An I2C-based driver for Invensense gyroscopes. </p>
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<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>
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<p class="definition">在文件 <a class="el" href="inv__mpu_8c_source.html">inv_mpu.c</a> 中定义.</p>
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</div><h2 class="groupheader">宏定义说明</h2>
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<a id="a7750730ae7e5c713b619e347d44185fe" name="a7750730ae7e5c713b619e347d44185fe"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a7750730ae7e5c713b619e347d44185fe">◆ </a></span>LOAD_CHUNK</h2>
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<div class="memitem">
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<td class="memname">#define LOAD_CHUNK   (16)</td>
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</div><div class="memdoc">
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