316 lines
47 KiB
HTML
316 lines
47 KiB
HTML
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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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<li class="navelem"><a class="el" href="dir_3bfaf0217183ded7409ebd120766862d.html">gitt</a></li><li class="navelem"><a class="el" href="dir_876bb78db91ff67e2b56e1228af3574e.html">MicrochipFor32</a></li><li class="navelem"><a class="el" href="dir_2f7647e102f146f5202708a3606f65a7.html">bscpp_Device</a></li><li class="navelem"><a class="el" href="dir_30daf241509c7468077f82cc2dd6aa8a.html">bscpp_MPU6050</a></li> </ul>
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<a href="#nested-classes">类</a> |
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<a href="#define-members">宏定义</a> |
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<a href="#func-members">函数</a> </div>
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<div class="headertitle"><div class="title">inv_mpu.h 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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</div><!--header-->
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<div class="contents">
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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 "main.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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此图展示该文件直接或间接的被哪些文件引用了:</div>
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<div class="center"><img src="inv__mpu_8h__dep__incl.png" border="0" usemap="#a_d_1_2gitt_2_microchip_for32_2bscpp___device_2bscpp___m_p_u6050_2inv__mpu_8hdep" alt=""/></div>
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<map name="a_d_1_2gitt_2_microchip_for32_2bscpp___device_2bscpp___m_p_u6050_2inv__mpu_8hdep" id="a_d_1_2gitt_2_microchip_for32_2bscpp___device_2bscpp___m_p_u6050_2inv__mpu_8hdep">
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<area shape="rect" href="inv__mpu__dmp__motion__driver_8c.html" title="DMP image and interface functions." alt="" coords="239,108,448,163"/>
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</map>
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</div>
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<p><a href="inv__mpu_8h_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="structint__param__s.html">int_param_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:ga292d717406e906831952ce46612fe4cd"><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#ga292d717406e906831952ce46612fe4cd">DEFAULT_MPU_HZ</a>   (100)</td></tr>
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<tr class="separator:ga292d717406e906831952ce46612fe4cd"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gabf02bf28541421d59f8be764f2b95407"><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#gabf02bf28541421d59f8be764f2b95407">INV_X_GYRO</a>   (0x40)</td></tr>
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<tr class="separator:gabf02bf28541421d59f8be764f2b95407"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gacdd8ff833a34dba08ca2aa145eb92b44"><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#gacdd8ff833a34dba08ca2aa145eb92b44">INV_Y_GYRO</a>   (0x20)</td></tr>
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<tr class="separator:gacdd8ff833a34dba08ca2aa145eb92b44"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga50205b5cc6089b33b2561c854eb8b0fd"><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#ga50205b5cc6089b33b2561c854eb8b0fd">INV_Z_GYRO</a>   (0x10)</td></tr>
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<tr class="separator:ga50205b5cc6089b33b2561c854eb8b0fd"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga3fdc30f9c0a26c2c4e2bb88921f91629"><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#ga3fdc30f9c0a26c2c4e2bb88921f91629">INV_XYZ_GYRO</a>   (<a class="el" href="group___d_r_i_v_e_r_s.html#gabf02bf28541421d59f8be764f2b95407">INV_X_GYRO</a> | <a class="el" href="group___d_r_i_v_e_r_s.html#gacdd8ff833a34dba08ca2aa145eb92b44">INV_Y_GYRO</a> | <a class="el" href="group___d_r_i_v_e_r_s.html#ga50205b5cc6089b33b2561c854eb8b0fd">INV_Z_GYRO</a>)</td></tr>
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<tr class="separator:ga3fdc30f9c0a26c2c4e2bb88921f91629"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaa03f025a17ed491e70b88274e89c75c5"><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#gaa03f025a17ed491e70b88274e89c75c5">INV_XYZ_ACCEL</a>   (0x08)</td></tr>
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<tr class="separator:gaa03f025a17ed491e70b88274e89c75c5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga7fc9c1dbdcb2ac8cc2a4128a5799482a"><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#ga7fc9c1dbdcb2ac8cc2a4128a5799482a">INV_XYZ_COMPASS</a>   (0x01)</td></tr>
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<tr class="separator:ga7fc9c1dbdcb2ac8cc2a4128a5799482a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga0cddf0dffaf3bf65fd3ed92dda4f3193"><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#ga0cddf0dffaf3bf65fd3ed92dda4f3193">MPU_INT_STATUS_DATA_READY</a>   (0x0001)</td></tr>
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<tr class="separator:ga0cddf0dffaf3bf65fd3ed92dda4f3193"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga380dd1ef256931e99302c371ad7752f4"><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#ga380dd1ef256931e99302c371ad7752f4">MPU_INT_STATUS_DMP</a>   (0x0002)</td></tr>
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<tr class="separator:ga380dd1ef256931e99302c371ad7752f4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaa38d7976e86186bf353cb89ca7561f29"><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#gaa38d7976e86186bf353cb89ca7561f29">MPU_INT_STATUS_PLL_READY</a>   (0x0004)</td></tr>
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<tr class="separator:gaa38d7976e86186bf353cb89ca7561f29"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga5755e84f3a2e7d331f7612dbfea18ecc"><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#ga5755e84f3a2e7d331f7612dbfea18ecc">MPU_INT_STATUS_I2C_MST</a>   (0x0008)</td></tr>
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<tr class="separator:ga5755e84f3a2e7d331f7612dbfea18ecc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaf8e1684698ad837d0318a72b1ef73b13"><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#gaf8e1684698ad837d0318a72b1ef73b13">MPU_INT_STATUS_FIFO_OVERFLOW</a>   (0x0010)</td></tr>
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<tr class="separator:gaf8e1684698ad837d0318a72b1ef73b13"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gad5eee7ff393f842ca4ae969cc0019030"><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#gad5eee7ff393f842ca4ae969cc0019030">MPU_INT_STATUS_ZMOT</a>   (0x0020)</td></tr>
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<tr class="separator:gad5eee7ff393f842ca4ae969cc0019030"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaa1ab51fb5995e568edd425f8486cb2c8"><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#gaa1ab51fb5995e568edd425f8486cb2c8">MPU_INT_STATUS_MOT</a>   (0x0040)</td></tr>
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<tr class="separator:gaa1ab51fb5995e568edd425f8486cb2c8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga000cfa5230cb895c6bad322856465552"><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#ga000cfa5230cb895c6bad322856465552">MPU_INT_STATUS_FREE_FALL</a>   (0x0080)</td></tr>
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<tr class="separator:ga000cfa5230cb895c6bad322856465552"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga2398e82f93220e3cfa1ef31bfb6d76bd"><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#ga2398e82f93220e3cfa1ef31bfb6d76bd">MPU_INT_STATUS_DMP_0</a>   (0x0100)</td></tr>
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<tr class="separator:ga2398e82f93220e3cfa1ef31bfb6d76bd"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga5ac2e94db5083456fa531fceee0997f5"><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#ga5ac2e94db5083456fa531fceee0997f5">MPU_INT_STATUS_DMP_1</a>   (0x0200)</td></tr>
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<tr class="separator:ga5ac2e94db5083456fa531fceee0997f5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gab7543433b9679174597e00e5d7cb6279"><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#gab7543433b9679174597e00e5d7cb6279">MPU_INT_STATUS_DMP_2</a>   (0x0400)</td></tr>
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<tr class="separator:gab7543433b9679174597e00e5d7cb6279"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaea5cac4528bb19757de4eb4fa46a374f"><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#gaea5cac4528bb19757de4eb4fa46a374f">MPU_INT_STATUS_DMP_3</a>   (0x0800)</td></tr>
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<tr class="separator:gaea5cac4528bb19757de4eb4fa46a374f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga4345dc987e1b65ef8ddc6160f592e144"><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#ga4345dc987e1b65ef8ddc6160f592e144">MPU_INT_STATUS_DMP_4</a>   (0x1000)</td></tr>
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<tr class="separator:ga4345dc987e1b65ef8ddc6160f592e144"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga101643480b83c302a4a3089fe9149e8e"><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#ga101643480b83c302a4a3089fe9149e8e">MPU_INT_STATUS_DMP_5</a>   (0x2000)</td></tr>
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<tr class="separator:ga101643480b83c302a4a3089fe9149e8e"><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: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:ga9093183fe619360b3b1bfb8aab030592"><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#ga9093183fe619360b3b1bfb8aab030592">mpu_init_slave</a> (void)</td></tr>
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<tr class="separator:ga9093183fe619360b3b1bfb8aab030592"><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: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: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: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: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: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: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: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: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: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: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: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: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="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: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: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="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: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: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="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: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="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="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="memitem:ga0d528114a4e355a10ffd354a4c89a17f"><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#ga0d528114a4e355a10ffd354a4c89a17f">mpu_register_tap_cb</a> (void(*func)(unsigned char, unsigned char))</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: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: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: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="separator:gaff893f93277595387023c71d46b03c42"><td class="memSeparator" colspan="2"> </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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</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_8h_source.html">inv_mpu.h</a> 中定义.</p>
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