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EmbeddedMotionDriverv5.1.1
APIsSpecification
A printed copy of this document is NOT UNDER REVISION CONTROLunless it is dated and stamped in red ink as,
“REVISION CONTROLLED COPY.”
This information furnished by InvenSense is believed to be accurate and reliable. However, no responsibility is assumed by InvenSense for its use, or for any infringements or patents or other rights of third parties that may result from its use. Specifications are subject to change without notice. Certain intellectual property owned by InvenSense and described in this document is patent protected. No license is granted by Implication or otherwise under any patent or patent rights of InvenSense. This isan unpublished work protected under the United States copyright laws. This work contains proprietary and confidential information of InvenSense Inc. Use, disclosure or reproduction without the express written authorization of InvenSense Inc. is prohibited.Trademarks that are registered trademarks are the property of their respective companies.
This publication supersedes and replaces all information previously supplied. InvenSense sensors should not be used or sold for the development, storing, production and utilization of any conventional or mass-destructive weapons or any other weapons or life threatening applications, as well as to be used in any other life critical applications such as medical, transportation, aerospace, nuclear, undersea, power, disaster and crime prevention equipment.
Copyright ©2010InvenSense Corporation.
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Chapter1
PurposeandScope
ThisdocumentisaguidetoallofthefunctionsavailableintheInvenSenseEmbeddedMotionDriver(eMD),and
correspondswithEmbeddedMotionDriverReleasev5.1.1.
TheeMDcontainsthecodeforconfiguringtheInvenSensedevicesandusingtheDMPhardwarefeatures.AllofthesourcecodeisinANSICandcanbecompiledinCorC++environments.
AllfunctionsavailableintheeMDaredescribedinthisdocument,includingallparametersinvolvedinthefunctioncalls.
Formoreinformationonhowtousethesefunctionsinaspecificapplication,refertoInvenSenseApplicationNotes.
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Chapter2
Aboutthisdocument
AThisdocumentisautomaticallygeneratedfromthesourcefilesusingDoxygen’soutputformatintheLTEX.Heading,
footer,andgeneraldocumentformatarecustomizedfromthestandardheadertemplateprovidedbyDoxygen.Thedocumentissubdividedinthevarioussections,eachdescribingthemainsourceModulescomposingtheeMDandimplementingspecificfeatures.
Everysectionstartswithabriefdescriptionandanoverviewofthefunctionscomposingthemodule.Eachofthosefunctionsisalsofullydocumentedintheanalogous\"FunctionDocumentation\"section.Clickingonthefunctionprototypewillleadtotheportionoftextfulldocumentatingit.
ThisEmbeddedMotionDriverFunctionalSpecificationisbestviewedinaPDFviewer,asitprovidestexthyper-linksandbookmarksontheleft-handsideforeaseofbrowsing.ThereisanAlphabeticalIndexofthemodulesandtheirfunctionsavailableatthebottomofthisdocument.
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Chapter3
ModuleIndex
3.1
Modules
Hereisalistofallmodules:
SensorDriverLayer...............................
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2ModuleIndex
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Chapter4
ModuleDocumentation
4.1
SensorDriverLayer
HardwaredriverstocommunicatewithsensorsviaI2C.
Files
•fileinv_mpu.c
AnI2C-baseddriverforInvensensegyroscopes.
•fileinv_mpu_dmp_android.c
DMPimageandinterfacefunctions.
Functions
•intdmp_enable_6x_lp_quat(unsignedcharenable)
Generate6-axisquaternionsfromtheDMP.
•intdmp_enable_feature(unsignedshortmask)
EnableDMPfeatures.
•intdmp_enable_gyro_cal(unsignedcharenable)
CalibratethegyrodataintheDMP.
•intdmp_enable_lp_quat(unsignedcharenable)
Generate3-axisquaternionsfromtheDMP.
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4ModuleDocumentation
•intdmp_enable_no_motion_detection(unsignedcharenable)
Detectaccel-basednomotionevents.
•intdmp_get_fifo_rate(unsignedshort∗rate)
GetDMPoutputrate.
•intdmp_get_pedometer_step_count(unsignedlong∗count)
Getcurrentstepcount.
•intdmp_get_pedometer_walk_time(unsignedlong∗time)
Getdurationofwalkingtime.
•intdmp_load_android_firmware(void)
LoadtheDMPwiththisimage.
•intdmp_read_fifo(short∗gyro,short∗accel,long∗quat,unsignedlong
∗timestamp,short∗sensors,unsignedchar∗more)
GetonepacketfromtheFIFO.
•intdmp_register_android_orient_cb(void(∗func)(unsignedchar))
Registerafunctiontobeexecutedonaandroidorientationevent.
•intdmp_register_no_motion_cb(void(∗func)(void))
Registerafunctiontobeexecutedonanomotionevent.
•intdmp_register_tap_cb(void(∗func)(unsignedchar,unsignedchar))
Registerafunctiontobeexecutedonatapevent.
•intdmp_set_accel_bias(long∗bias)
PushaccelbiasestotheDMP.
•intdmp_set_fifo_rate(unsignedshortrate)
SetDMPoutputrate.
•intdmp_set_gyro_bias(long∗bias)
PushgyrobiasestotheDMP.
•intdmp_set_interrupt_mode(unsignedcharmode)
SpecifywhenaDMPinterruptshouldoccur.
•intdmp_set_no_motion_thresh(unsignedlongthresh_mg)
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Setnomotionthreshold.
•intdmp_set_no_motion_time(unsignedshorttime_ms)
Setnomotiondelay.
•intdmp_set_orientation(unsignedshortorient)
PushgyroandaccelorientationtotheDMP.
•intdmp_set_pedometer_step_count(unsignedlongcount)
Overwritecurrentstepcount.
•intdmp_set_pedometer_walk_time(unsignedlongtime)
Overwritecurrentwalktime.
•intdmp_set_shake_reject_thresh(longsf,unsignedshortthresh)
Setshakerejectionthreshold.
•intdmp_set_shake_reject_time(unsignedshorttime)
Setshakerejectiontime.
•intdmp_set_shake_reject_timeout(unsignedshorttime)
Setshakerejectiontimeout.
•intdmp_set_tap_axes(unsignedcharaxis)
Setwhichaxeswillregisteratap.
•intdmp_set_tap_count(unsignedcharmin_taps)
Setminimumnumberoftapsneededforaninterrupt.
•intdmp_set_tap_thresh(unsignedcharaxis,unsignedshortthresh)
Settapthresholdforaspecificaxis.
•intdmp_set_tap_time(unsignedshorttime)
Setlengthbetweenvalidtaps.
•intdmp_set_tap_time_multi(unsignedshorttime)
Setmaxtimebetweentapstoregisterasamulti-tap.
•intmpu_configure_fifo(unsignedcharsensors)
SelectwhichsensorsarepushedtoFIFO.
•intmpu_get_accel_fsr(unsignedchar∗fsr)
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Gettheaccelfull-scalerange.
ModuleDocumentation
•intmpu_get_accel_reg(short∗data,unsignedlong∗timestamp)
Readrawacceldatadirectlyfromtheregisters.
•intmpu_get_accel_sens(unsignedshort∗sens)
Getaccelsensitivityscalefactor.
•intmpu_get_compass_fsr(unsignedshort∗fsr)
Getthecompassfull-scalerange.
•intmpu_get_compass_reg(short∗data,unsignedlong∗timestamp)
Readrawcompassdata.
•intmpu_get_compass_sample_rate(unsignedshort∗rate)
Getcompasssamplingrate.
•intmpu_get_dmp_state(unsignedchar∗enabled)
GetDMPstate.
•intmpu_get_fifo_config(unsignedchar∗sensors)
GetcurrentFIFOconfiguration.
•intmpu_get_gyro_fsr(unsignedshort∗fsr)
Getthegyrofull-scalerange.
•intmpu_get_gyro_reg(short∗data,unsignedlong∗timestamp)
Readrawgyrodatadirectlyfromtheregisters.
•intmpu_get_gyro_sens(float∗sens)
Getgyrosensitivityscalefactor.
•intmpu_get_int_status(short∗status)
ReadtheMPUinterruptstatusregisters.
•intmpu_get_lpf(unsignedshort∗lpf)
GetthecurrentDLPFsetting.
•intmpu_get_power_state(unsignedchar∗power_on)
Getcurrentpowerstate.
•intmpu_get_sample_rate(unsignedshort∗rate)
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Getsamplingrate.
•intmpu_get_temperature(long∗data,unsignedlong∗timestamp)
Readtemperaturedatadirectlyfromtheregisters.
•intmpu_init(structint_param_s∗int_param)
Initializehardware.
•intmpu_load_firmware(unsignedshortlength,constunsignedchar∗firmware,
unsignedshortstart_addr,unsignedshortsample_rate)
LoadandverifyDMPimage.
•intmpu_lp_accel_mode(unsignedcharrate)
Enterlow-poweraccel-onlymode.
•intmpu_lp_motion_interrupt(unsignedshortthresh,unsignedchartime,un-signedcharlpa_freq)
EntersLPaccelmotioninterruptmode.
•intmpu_read_fifo(short∗gyro,short∗accel,unsignedlong∗timestamp,un-signedchar∗sensors,unsignedchar∗more)
GetonepacketfromtheFIFO.
•intmpu_read_fifo_stream(unsignedshortlength,unsignedchar∗data,unsignedchar∗more)
GetoneunparsedpacketfromtheFIFO.
•intmpu_read_mem(unsignedshortmem_addr,unsignedshortlength,unsignedchar∗data)
ReadfromtheDMPmemory.
•intmpu_read_reg(unsignedcharreg,unsignedchar∗data)
Readfromasingleregister.
•intmpu_reg_dump(void)
Registerdumpfortesting.
•intmpu_reset_fifo(void)
ResetFIFOread/writepointers.
•intmpu_run_self_test(long∗gyro,long∗accel)
Triggergyro/accel/compassself-test.
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•intmpu_set_accel_bias(constlong∗accel_bias)
Pushbiasestotheaccelbiasregisters.
ModuleDocumentation
•intmpu_set_accel_fsr(unsignedcharfsr)
Settheaccelfull-scalerange.
•intmpu_set_bypass(unsignedcharbypass_on)
Setdevicetobypassmode.
•intmpu_set_compass_sample_rate(unsignedshortrate)
Setcompasssamplingrate.
•intmpu_set_dmp_state(unsignedcharenable)
Enable/disableDMPsupport.
•intmpu_set_gyro_fsr(unsignedshortfsr)
Setthegyrofull-scalerange.
•intmpu_set_int_latched(unsignedcharenable)
Enablelatchedinterrupts.
•intmpu_set_int_level(unsignedcharactive_low)
Setinterruptlevel.
•intmpu_set_lpf(unsignedshortlpf)
Setdigitallowpassfilter.
•intmpu_set_sample_rate(unsignedshortrate)
Setsamplingrate.
•intmpu_set_sensors(unsignedcharsensors)
Turnspecificsensorson/off.
•intmpu_write_mem(unsignedshortmem_addr,unsignedshortlength,unsigned
char∗data)
WritetotheDMPmemory.
4.1.1DetailedDescription
HardwaredriverstocommunicatewithsensorsviaI2C.
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4.1.2FunctionDocumentation
4.1.2.1
intdmp_enable_6x_lp_quat(unsignedcharenable)
Generate6-axisquaternionsfromtheDMP.
Inthisdriver,the3-axisand6-axisDMPquaternionfeaturesaremutuallyexclusive.Parameters:
enable1toenable6-axisquaternion.Returns:
0ifsuccessful.
4.1.2.2intdmp_enable_feature(unsignedshortmask)
EnableDMPfeatures.
Thefollowing#define’sareusedintheinputmask:DMP_FEATURE_TAP
DMP_FEATURE_ANDROID_ORIENTDMP_FEATURE_LP_QUATDMP_FEATURE_6X_LP_QUATDMP_FEATURE_GYRO_CALDMP_FEATURE_SEND_RAW_ACCELDMP_FEATURE_SEND_RAW_GYRO
NOTE:DMP_FEATURE_LP_QUATandDMP_FEATURE_6X_LP_QUATaremutu-allyexclusive.
NOTE:DMP_FEATURE_SEND_RAW_GYROandDMP_FEATURE_SEND_-CAL_GYROarealsomutuallyexclusive.Parameters:
maskMaskoffeaturestoenable.Returns:
0ifsuccessful.
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ModuleDocumentation
intdmp_enable_gyro_cal(unsignedcharenable)
CalibratethegyrodataintheDMP.
Aftereightsecondsofnomotion,theDMPwillcomputegyrobiasesandsubtractthem
fromthequaternionoutput.Ifdmp_enable_featureiscalledwithDMP_FEATURE_-SEND_CAL_GYRO,thebiaseswillalsobesubtractedfromthegyrooutput.Parameters:
enable1toenablegyrocalibration.Returns:
0ifsuccessful.
4.1.2.4intdmp_enable_lp_quat(unsignedcharenable)
Generate3-axisquaternionsfromtheDMP.
Inthisdriver,the3-axisand6-axisDMPquaternionfeaturesaremutuallyexclusive.Parameters:
enable1toenable3-axisquaternion.Returns:
0ifsuccessful.
4.1.2.5intdmp_enable_no_motion_detection(unsignedcharenable)
Detectaccel-basednomotionevents.Parameters:
enable1toenableaccel-basednomotiondetection.Returns:
0ifsuccessful.
4.1.2.6intdmp_get_fifo_rate(unsignedshort∗rate)
GetDMPoutputrate.
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Parameters:
rateCurrentfiforate(Hz).Returns:
0ifsuccessful.
4.1.2.7intdmp_get_pedometer_step_count(unsignedlong∗count)
Getcurrentstepcount.Parameters:
countNumberofstepsdetected.Returns:
0ifsuccessful.
4.1.2.8intdmp_get_pedometer_walk_time(unsignedlong∗time)
Getdurationofwalkingtime.Parameters:
timeWalktimeinmilliseconds.Returns:
0ifsuccessful.
4.1.2.9intdmp_load_android_firmware(void)
LoadtheDMPwiththisimage.Returns:
0ifsuccessful.
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ModuleDocumentation
intdmp_read_fifo(short∗gyro,short∗accel,long∗quat,unsigned
long∗timestamp,short∗sensors,unsignedchar∗more)
GetonepacketfromtheFIFO.
Ifsensorsdoesnotcontainaparticularsensor,disregardthedatareturnedtothatpointer.
sensorscancontainacombinationofthefollowingflags:INV_X_GYRO,INV_Y_GYRO,INV_Z_GYROINV_XYZ_GYROINV_XYZ_ACCELINV_WXYZ_QUAT
IftheFIFOhasnonewdata,sensorswillbezero.
IftheFIFOisdisabled,sensorswillbezeroandthisfunctionwillreturnanon-zeroerrorcode.Parameters:
gyroGyrodatainhardwareunits.accelAcceldatainhardwareunits.
quat3-axisquaterniondatainhardwareunits.timestampTimestampinmilliseconds.sensorsMaskofsensorsreadfromFIFO.moreNumberofremainingpackets.Returns:
0ifsuccessful.
4.1.2.11intdmp_register_android_orient_cb(void(∗)(unsignedchar)func)
Registerafunctiontobeexecutedonaandroidorientationevent.Parameters:
funcCallbackfunction.Returns:
0ifsuccessful.
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4.1.2.12
intdmp_register_no_motion_cb(void(∗)(void)func)
Registerafunctiontobeexecutedonanomotionevent.Parameters:
funcCallbackfunction.Returns:
0ifsuccessful.
4.1.2.13intdmp_register_tap_cb(void(∗)(unsignedchar,unsignedchar)func)
Registerafunctiontobeexecutedonatapevent.Thetapdirectionisrepresentedbyoneofthefollowing:TAP_X_UPTAP_X_DOWNTAP_Y_UPTAP_Y_DOWNTAP_Z_UPTAP_Z_DOWNParameters:
funcCallbackfunction.Returns:
0ifsuccessful.
4.1.2.14intdmp_set_accel_bias(long∗bias)
PushaccelbiasestotheDMP.
ThesebiaseswillberemovedfromtheDMP6-axisquaternion.Parameters:
biasAccelbiasesinq16.Returns:
0ifsuccessful.
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144.1.2.15
intdmp_set_fifo_rate(unsignedshortrate)
ModuleDocumentation
SetDMPoutputrate.OnlyusedwhenDMPison.Parameters:
rateDesiredfiforate(Hz).Returns:
0ifsuccessful.
4.1.2.16intdmp_set_gyro_bias(long∗bias)
PushgyrobiasestotheDMP.
BecausethegyrointegrationishandledintheDMP,anygyrobiasescalculatedbythe
MPLshouldbepusheddowntoDMPmemorytoremove3-axisquaterniondrift.NOTE:IftheDMP-basedgyrocalibrationisenabled,theDMPwilloverwritethebiaseswrittentothislocationonceanewoneiscomputed.Parameters:
biasGyrobiasesinq16.Returns:
0ifsuccessful.
4.1.2.17intdmp_set_interrupt_mode(unsignedcharmode)
SpecifywhenaDMPinterruptshouldoccur.
ADMPinterruptcanbeconfiguredtotriggeroneitherofthetwoconditionsbelow:a.OneFIFOperiodhaselapsed(setbympu_set_sample_rate).b.Atapeventhasbeendetected.Parameters:
modeDMP_INT_GESTUREorDMP_INT_CONTINUOUS.Returns:
0ifsuccessful.
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4.1.2.18
intdmp_set_no_motion_thresh(unsignedlongthresh_mg)
Setnomotionthreshold.
TheDMPdetectsnomotionwhenlinearaccelerationineachaccelaxisisbelowthis
threshold.Parameters:
thresh_mgThresholdinmilli-gs,q16.Returns:
0ifsuccessful.
4.1.2.19intdmp_set_no_motion_time(unsignedshorttime_ms)
Setnomotiondelay.
Thisfunctionsetshowlongthedevicemustbeinnomotionbeforeanomotioneventisreported.Parameters:
time_msDelayinmilliseconds.Returns:
0ifsuccessful.
4.1.2.20intdmp_set_orientation(unsignedshortorient)
PushgyroandaccelorientationtotheDMP.
Theorientationisrepresentedhereastheoutputofinv_orientation_matrix_to_-scalar.Parameters:
orientGyroandaccelorientationinbodyframe.Returns:
0ifsuccessful.
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ModuleDocumentation
intdmp_set_pedometer_step_count(unsignedlongcount)
Overwritecurrentstepcount.
WARNING:ThisfunctionwritestoDMPmemoryandcouldpotentiallyencountera
raceconditionifcalledwhilethepedometerisenabled.Parameters:
countNewstepcount.Returns:
0ifsuccessful.
4.1.2.22intdmp_set_pedometer_walk_time(unsignedlongtime)
Overwritecurrentwalktime.
WARNING:ThisfunctionwritestoDMPmemoryandcouldpotentiallyencounteraraceconditionifcalledwhilethepedometerisenabled.Parameters:
timeNewwalktimeinmilliseconds.
4.1.2.23intdmp_set_shake_reject_thresh(longsf,unsignedshortthresh)
Setshakerejectionthreshold.
IftheDMPdetectsagyrosamplelargerthanthresh,tapsarerejected.Parameters:
sfGyroscalefactor.
threshGyrothresholdindps.Returns:
0ifsuccessful.
4.1.2.24intdmp_set_shake_reject_time(unsignedshorttime)
Setshakerejectiontime.
Setsthelengthoftimethatthegyromustbeoutsideofthethresholdsetbygyro_-set_shake_reject_threshbeforetapsarerejected.Amandatory60msisaddedtothisparameter.
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Parameters:
timeTimeinmilliseconds.Returns:
0ifsuccessful.
4.1.2.25intdmp_set_shake_reject_timeout(unsignedshorttime)
Setshakerejectiontimeout.
Setsthelengthoftimeafterashakerejectionthatthegyromuststayinsideofthe
thresholdbeforetapscanbedetectedagain.Amandatory60msisaddedtothispa-rameter.Parameters:
timeTimeinmilliseconds.Returns:
0ifsuccessful.
4.1.2.26intdmp_set_tap_axes(unsignedcharaxis)
Setwhichaxeswillregisteratap.Parameters:
axis1,2,and4forXYZ,respectively.Returns:
0ifsuccessful.
4.1.2.27intdmp_set_tap_count(unsignedcharmin_taps)
Setminimumnumberoftapsneededforaninterrupt.Parameters:
min_tapsMinimumconsecutivetaps(1-4).Returns:
0ifsuccessful.
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ModuleDocumentation
intdmp_set_tap_thresh(unsignedcharaxis,unsignedshortthresh)
Settapthresholdforaspecificaxis.Parameters:
axis1,2,and4forXYZaccel,respectively.
threshTapthreshold,inmg/ms.Returns:
0ifsuccessful.
4.1.2.29intdmp_set_tap_time(unsignedshorttime)
Setlengthbetweenvalidtaps.Parameters:
timeMillisecondsbetweentaps.Returns:
0ifsuccessful.
4.1.2.30intdmp_set_tap_time_multi(unsignedshorttime)
Setmaxtimebetweentapstoregisterasamulti-tap.Parameters:
timeMaxmillisecondsbetweentaps.Returns:
0ifsuccessful.
4.1.2.31intmpu_configure_fifo(unsignedcharsensors)
SelectwhichsensorsarepushedtoFIFO.
sensorscancontainacombinationofthefollowingflags:INV_X_GYRO,INV_Y_GYRO,INV_Z_GYROINV_XYZ_GYROINV_XYZ_ACCEL
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Parameters:
sensorsMaskofsensorstopushtoFIFO.Returns:
0ifsuccessful.
4.1.2.32intmpu_get_accel_fsr(unsignedchar∗fsr)
Gettheaccelfull-scalerange.Parameters:
fsrCurrentfull-scalerange.Returns:
0ifsuccessful.
4.1.2.33intmpu_get_accel_reg(short∗data,unsignedlong∗timestamp)Readrawacceldatadirectlyfromtheregisters.Parameters:
dataRawdatainhardwareunits.
timestampTimestampinmilliseconds.Nullifnotneeded.Returns:
0ifsuccessful.
4.1.2.34intmpu_get_accel_sens(unsignedshort∗sens)Getaccelsensitivityscalefactor.Parameters:
sensConversionfromhardwareunitstog’s.Returns:
0ifsuccessful.
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ModuleDocumentation
intmpu_get_compass_fsr(unsignedshort∗fsr)
Getthecompassfull-scalerange.Parameters:
fsrCurrentfull-scalerange.Returns:
0ifsuccessful.
4.1.2.36intmpu_get_compass_reg(short∗data,unsignedlong∗timestamp)
Readrawcompassdata.Parameters:
dataRawdatainhardwareunits.
timestampTimestampinmilliseconds.Nullifnotneeded.Returns:
0ifsuccessful.
4.1.2.37intmpu_get_compass_sample_rate(unsignedshort∗rate)
Getcompasssamplingrate.Parameters:
rateCurrentcompasssamplingrate(Hz).Returns:
0ifsuccessful.
4.1.2.38intmpu_get_dmp_state(unsignedchar∗enabled)
GetDMPstate.Parameters:
enabled1ifenabled.Returns:
0ifsuccessful.
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4.1.2.39
intmpu_get_fifo_config(unsignedchar∗sensors)
GetcurrentFIFOconfiguration.
sensorscancontainacombinationofthefollowingflags:INV_X_GYRO,INV_Y_GYRO,INV_Z_GYROINV_XYZ_GYROINV_XYZ_ACCELParameters:
sensorsMaskofsensorsinFIFO.Returns:
0ifsuccessful.
4.1.2.40intmpu_get_gyro_fsr(unsignedshort∗fsr)
Getthegyrofull-scalerange.Parameters:
fsrCurrentfull-scalerange.Returns:
0ifsuccessful.
4.1.2.41intmpu_get_gyro_reg(short∗data,unsignedlong∗timestamp)
Readrawgyrodatadirectlyfromtheregisters.Parameters:
dataRawdatainhardwareunits.
timestampTimestampinmilliseconds.Nullifnotneeded.Returns:
0ifsuccessful.
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224.1.2.42
intmpu_get_gyro_sens(float∗sens)
ModuleDocumentation
Getgyrosensitivityscalefactor.Parameters:
sensConversionfromhardwareunitstodps.Returns:
0ifsuccessful.
4.1.2.43intmpu_get_int_status(short∗status)
ReadtheMPUinterruptstatusregisters.Parameters:
statusMaskofinterruptbits.Returns:
0ifsuccessful.
4.1.2.44intmpu_get_lpf(unsignedshort∗lpf)
GetthecurrentDLPFsetting.Parameters:
lpfCurrentLPFsetting.0ifsuccessful.
4.1.2.45intmpu_get_power_state(unsignedchar∗power_on)
Getcurrentpowerstate.Parameters:
power_on1ifturnedon,0ifsuspended.Returns:
0ifsuccessful.
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4.1.2.46
intmpu_get_sample_rate(unsignedshort∗rate)
Getsamplingrate.Parameters:
rateCurrentsamplingrate(Hz).Returns:
0ifsuccessful.
4.1.2.47intmpu_get_temperature(long∗data,unsignedlong∗timestamp)
Readtemperaturedatadirectlyfromtheregisters.Parameters:
dataDatainq16format.
timestampTimestampinmilliseconds.Nullifnotneeded.Returns:
0ifsuccessful.
4.1.2.48intmpu_init(structint_param_s∗int_param)Initializehardware.Initialconfiguration:GyroFSR:+/-2000DPSAccelFSR+/-2GDLPF:42HzFIFOrate:50HzClocksource:GyroPLLFIFO:Disabled.
Datareadyinterrupt:Disabled,activelow,unlatched.Parameters:
int_paramPlatform-specificparameterstointerruptAPI.Returns:
0ifsuccessful.
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244.1.2.49
ModuleDocumentation
intmpu_load_firmware(unsignedshortlength,constunsignedchar∗
firmware,unsignedshortstart_addr,unsignedshortsample_rate)
LoadandverifyDMPimage.Parameters:
lengthLengthofDMPimage.firmwareDMPcode.
start_addrStartingaddressofDMPcodememory.
sample_rateFixedsamplingrateusedwhenDMPisenabled.Returns:
0ifsuccessful.
4.1.2.50intmpu_lp_accel_mode(unsignedcharrate)
Enterlow-poweraccel-onlymode.
Inlow-poweraccelmode,thechipgoestosleepandonlywakesuptosampletheaccelerometeratoneofthefollowingfrequencies:MPU6050:1.25Hz,5Hz,20Hz,40Hz
MPU6500:1.25Hz,2.5Hz,5Hz,10Hz,20Hz,40Hz,80Hz,160Hz,320Hz,0HzIftherequestedrateisnotonelistedabove,thedevicewillbesettothenexthighestrate.Requestingarateabovethemaximumsupportedfrequencywillresultinanerror.Toselectafractionalwake-upfrequency,rounddownthevaluepassedtorate.Parameters:
rateMinimumsamplingrate,orzerotodisableLPaccelmode.Returns:
0ifsuccessful.
4.1.2.51
intmpu_lp_motion_interrupt(unsignedshortthresh,unsignedchartime,unsignedcharlpa_freq)
EntersLPaccelmotioninterruptmode.
ThebehaviorofthisfeatureisverydifferentbetweentheMPU6050andtheMPU6500.Eachchip’sversionofthisfeatureisexplainedbelow.
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MPU6050:
Whenthismodeisfirstenabled,thehardwarecapturesasingleaccelsample,and
subsequentsamplesarecomparedwiththisonetodetermineifthedeviceisinmotion.Therefore,wheneverthis\"locked\"sampleneedstobechanged,thisfunctionmustbecalledagain.
Thehardwaremotionthresholdcanbebetween32mgand8160mgin32mgincrements.Low-poweraccelmodesupportsthefollowingfrequencies:1.25Hz,5Hz,20Hz,40HzMPU6500:
UnliketheMPU6050version,thehardwaredoesnot\"lockin\"areferencesample.Thehardwaremonitorstheacceldataanddetectsanylargechangeoverashortperiodoftime.
Thehardwaremotionthresholdcanbebetween4mgand1020mgin4mgincrements.MPU6500Low-poweraccelmodesupportsthefollowingfrequencies:1.25Hz,2.5Hz,5Hz,10Hz,20Hz,40Hz,80Hz,160Hz,320Hz,0HzNOTES:
Thedriverwillrounddownthreshtothenearestsupportedvalueifanunsupportedthresholdisselected.
Toselectafractionalwake-upfrequency,rounddownthevaluepassedtolpa_freq.TheMPU6500doesnotsupportadelayparameter.IfthisfunctionisusedfortheMPU6500,thevaluepassedtotimewillbeignored.
Todisablethismode,setlpa_freqtozero.Thedriverwillrestorethepreviousconfig-uration.Parameters:
threshMotionthresholdinmg.
timeDurationinmillisecondsthattheacceldatamustexceedthreshbeforemo-tionisreported.
lpa_freqMinimumsamplingrate,orzerotodisable.Returns:
0ifsuccessful.
4.1.2.52intmpu_read_fifo(short∗gyro,short∗accel,unsignedlong∗
timestamp,unsignedchar∗sensors,unsignedchar∗more)GetonepacketfromtheFIFO.
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Ifsensorsdoesnotcontainaparticularsensor,disregardthedatareturnedtothat
pointer.
sensorscancontainacombinationofthefollowingflags:INV_X_GYRO,INV_Y_GYRO,INV_Z_GYROINV_XYZ_GYROINV_XYZ_ACCEL
IftheFIFOhasnonewdata,sensorswillbezero.
IftheFIFOisdisabled,sensorswillbezeroandthisfunctionwillreturnanon-zeroerrorcode.Parameters:
gyroGyrodatainhardwareunits.accelAcceldatainhardwareunits.timestampTimestampinmilliseconds.sensorsMaskofsensorsreadfromFIFO.moreNumberofremainingpackets.Returns:
0ifsuccessful.
4.1.2.53
intmpu_read_fifo_stream(unsignedshortlength,unsignedchar∗data,unsignedchar∗more)
GetoneunparsedpacketfromtheFIFO.
Thisfunctionshouldbeusedifthepacketistobeparsedelsewhere.Parameters:
lengthLengthofoneFIFOpacket.dataFIFOpacket.
moreNumberofremainingpackets.
4.1.2.
intmpu_read_mem(unsignedshortmem_addr,unsignedshortlength,unsignedchar∗data)
ReadfromtheDMPmemory.
ThisfunctionpreventsI2Creadspastthebankboundaries.TheDMPmemoryisonlyaccessiblewhenthechipisawake.
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Parameters:
mem_addrMemorylocation(bank<<8|startaddress)lengthNumberofbytestoread.dataBytesreadfrommemory.Returns:
0ifsuccessful.
4.1.2.55intmpu_read_reg(unsignedcharreg,unsignedchar∗data)
Readfromasingleregister.
NOTE:ThememoryandFIFOread/writeregisterscannotbeaccessed.Parameters:
regRegisteraddress.dataRegisterdata.Returns:
0ifsuccessful.
4.1.2.56intmpu_reg_dump(void)Registerdumpfortesting.Returns:
0ifsuccessful.
4.1.2.57intmpu_reset_fifo(void)ResetFIFOread/writepointers.Returns:
0ifsuccessful.
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ModuleDocumentation
intmpu_run_self_test(long∗gyro,long∗accel)
Triggergyro/accel/compassself-test.
Onsuccess/error,theself-testreturnsamaskrepresentingthesensor(s)thatfailed.For
eachbit,aone(1)representsa\"pass\"case;conversely,azero(0)indicatesafailure.Themaskisdefinedasfollows:Bit0:Gyro.Bit1:Accel.Bit2:Compass.
Currently,thehardwareself-testisunsupportedforMPU6500.However,thisfunctioncanstillbeusedtoobtaintheaccelandgyrobiases.
Thisfunctionmustbecalledwiththedeviceeitherface-uporface-down(z-axisisparalleltogravity).Parameters:
gyroGyrobiasesinq16format.
accelAccelbiases(ifapplicable)inq16format.Returns:
Resultmask(seeabove).
4.1.2.59intmpu_set_accel_bias(constlong∗accel_bias)
Pushbiasestotheaccelbiasregisters.
Thisfunctionexpectsbiasesrelativetothecurrentsensoroutput,andthesebiaseswillbeaddedtothefactory-suppliedvalues.Parameters:
accel_biasNewbiases.Returns:
0ifsuccessful.
4.1.2.60intmpu_set_accel_fsr(unsignedcharfsr)
Settheaccelfull-scalerange.
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Parameters:
fsrDesiredfull-scalerange.Returns:
0ifsuccessful.
4.1.2.61intmpu_set_bypass(unsignedcharbypass_on)
Setdevicetobypassmode.Parameters:
bypass_on1toenablebypassmode.Returns:
0ifsuccessful.
4.1.2.62intmpu_set_compass_sample_rate(unsignedshortrate)
Setcompasssamplingrate.
ThecompassontheauxiliaryI2CbusisreadbytheMPUhardwareatamaximumof
100Hz.Theactualratecanbesettoafractionofthegyrosamplingrate.
WARNING:Thenewratemaybedifferentthanwhatwasrequested.Callmpu_get_-compass_sample_ratetochecktheactualsetting.Parameters:
rateDesiredcompasssamplingrate(Hz).Returns:
0ifsuccessful.
4.1.2.63intmpu_set_dmp_state(unsignedcharenable)
Enable/disableDMPsupport.Parameters:
enable1toturnontheDMP.Returns:
0ifsuccessful.
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intmpu_set_gyro_fsr(unsignedshortfsr)
ModuleDocumentation
Setthegyrofull-scalerange.Parameters:
fsrDesiredfull-scalerange.Returns:
0ifsuccessful.
4.1.2.65intmpu_set_int_latched(unsignedcharenable)
Enablelatchedinterrupts.
AnyMPUregisterwillcleartheinterrupt.Parameters:
enable1toenable,0todisable.Returns:
0ifsuccessful.
4.1.2.66intmpu_set_int_level(unsignedcharactive_low)
Setinterruptlevel.Parameters:
active_low1foractivelow,0foractivehigh.Returns:
0ifsuccessful.
4.1.2.67intmpu_set_lpf(unsignedshortlpf)
Setdigitallowpassfilter.
ThefollowingLPFsettingsaresupported:188,98,42,20,10,5.Parameters:
lpfDesiredLPFsetting.
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Returns:
0ifsuccessful.
4.1.2.68intmpu_set_sample_rate(unsignedshortrate)
Setsamplingrate.
Samplingratemustbebetween4Hzand1kHz.Parameters:
rateDesiredsamplingrate(Hz).Returns:
0ifsuccessful.
4.1.2.69intmpu_set_sensors(unsignedcharsensors)
Turnspecificsensorson/off.
sensorscancontainacombinationofthefollowingflags:INV_X_GYRO,INV_Y_GYRO,INV_Z_GYROINV_XYZ_GYROINV_XYZ_ACCELINV_XYZ_COMPASSParameters:
sensorsMaskofsensorstowake.Returns:
0ifsuccessful.
4.1.2.70
intmpu_write_mem(unsignedshortmem_addr,unsignedshort
length,unsignedchar∗data)
WritetotheDMPmemory.
ThisfunctionpreventsI2Cwritespastthebankboundaries.TheDMPmemoryisonlyaccessiblewhenthechipisawake.
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Parameters:
ModuleDocumentation
mem_addrMemorylocation(bank<<8|startaddress)lengthNumberofbytestowrite.dataBytestowritetomemory.Returns:
0ifsuccessful.
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