mpu9250 dmp driver modules More...

Macros
#define	MPU9250_DMP_CODE_SIZE 3062
	mpu9250 dmp code definition More...

Enumerations
enum	mpu9250_dmp_interrupt_mode_t { MPU9250_DMP_INTERRUPT_MODE_CONTINUOUS = 0x00 , MPU9250_DMP_INTERRUPT_MODE_GESTURE = 0x01 }
	mpu9250 dmp interrupt mode enumeration definition More...

enum	mpu9250_dmp_feature_t { MPU9250_DMP_FEATURE_TAP = 0x001 , MPU9250_DMP_FEATURE_ORIENT = 0x002 , MPU9250_DMP_FEATURE_3X_QUAT = 0x004 , MPU9250_DMP_FEATURE_PEDOMETER = 0x008 , MPU9250_DMP_FEATURE_6X_QUAT = 0x010 , MPU9250_DMP_FEATURE_GYRO_CAL = 0x020 , MPU9250_DMP_FEATURE_SEND_RAW_ACCEL = 0x040 , MPU9250_DMP_FEATURE_SEND_RAW_GYRO = 0x080 , MPU9250_DMP_FEATURE_SEND_CAL_GYRO = 0x100 }
	mpu9250 dmp feature enumeration definition More...

enum	mpu9250_dmp_tap_t { MPU9250_DMP_TAP_X_UP = 0x01 , MPU9250_DMP_TAP_X_DOWN = 0x02 , MPU9250_DMP_TAP_Y_UP = 0x03 , MPU9250_DMP_TAP_Y_DOWN = 0x04 , MPU9250_DMP_TAP_Z_UP = 0x05 , MPU9250_DMP_TAP_Z_DOWN = 0x06 }
	mpu9250 dmp tap enumeration definition More...

enum	mpu9250_dmp_orient_t { MPU9250_DMP_ORIENT_PORTRAIT = 0x00 , MPU9250_DMP_ORIENT_LANDSCAPE = 0x01 , MPU9250_DMP_ORIENT_REVERSE_PORTRAIT = 0x02 , MPU9250_DMP_ORIENT_REVERSE_LANDSCAPE = 0x03 }
	mpu9250 dmp orient enumeration definition More...

Functions
uint8_t	mpu9250_dmp_load_firmware (mpu9250_handle_t *handle)
	load the dmp firmware More...

uint8_t	mpu9250_dmp_set_pedometer_walk_time (mpu9250_handle_t *handle, uint32_t ms)
	dmp set the pedometer walk time More...

uint8_t	mpu9250_dmp_get_pedometer_walk_time (mpu9250_handle_t handle, uint32_t ms)
	dmp get the pedometer walk time More...

uint8_t	mpu9250_dmp_set_pedometer_step_count (mpu9250_handle_t *handle, uint32_t count)
	dmp set the pedometer step count More...

uint8_t	mpu9250_dmp_get_pedometer_step_count (mpu9250_handle_t handle, uint32_t count)
	dmp get the pedometer step count More...

uint8_t	mpu9250_dmp_set_shake_reject_timeout (mpu9250_handle_t *handle, uint16_t ms)
	dmp set the shake reject timeout More...

uint8_t	mpu9250_dmp_get_shake_reject_timeout (mpu9250_handle_t handle, uint16_t ms)
	dmp get the shake reject timeout More...

uint8_t	mpu9250_dmp_set_shake_reject_time (mpu9250_handle_t *handle, uint16_t ms)
	dmp set the shake reject time More...

uint8_t	mpu9250_dmp_get_shake_reject_time (mpu9250_handle_t handle, uint16_t ms)
	dmp get the shake reject time More...

uint8_t	mpu9250_dmp_set_shake_reject_thresh (mpu9250_handle_t *handle, uint16_t dps)
	dmp set the shake reject thresh More...

uint8_t	mpu9250_dmp_get_shake_reject_thresh (mpu9250_handle_t handle, uint16_t dps)
	dmp get the shake reject thresh More...

uint8_t	mpu9250_dmp_set_tap_time_multi (mpu9250_handle_t *handle, uint16_t ms)
	dmp set max time between taps to register as a multi tap More...

uint8_t	mpu9250_dmp_get_tap_time_multi (mpu9250_handle_t handle, uint16_t ms)
	dmp get max time between taps to register as a multi tap More...

uint8_t	mpu9250_dmp_set_tap_time (mpu9250_handle_t *handle, uint16_t ms)
	dmp set the tap time More...

uint8_t	mpu9250_dmp_get_tap_time (mpu9250_handle_t handle, uint16_t ms)
	dmp get the tap time More...

uint8_t	mpu9250_dmp_set_min_tap_count (mpu9250_handle_t *handle, uint8_t cnt)
	dmp set the min tap count More...

uint8_t	mpu9250_dmp_get_min_tap_count (mpu9250_handle_t handle, uint8_t cnt)
	dmp get the min tap count More...

uint8_t	mpu9250_dmp_set_gyro_calibrate (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	dmp enable or disable gyro calibrate More...

uint8_t	mpu9250_dmp_set_3x_quaternion (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	dmp enable or disable generate 3 axis quaternions from dmp More...

uint8_t	mpu9250_dmp_set_6x_quaternion (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	dmp enable or disable generate 6 axis quaternions from dmp More...

uint8_t	mpu9250_dmp_set_interrupt_mode (mpu9250_handle_t *handle, mpu9250_dmp_interrupt_mode_t mode)
	dmp set the interrupt mode More...

uint8_t	mpu9250_dmp_set_gyro_bias (mpu9250_handle_t *handle, int32_t bias[3])
	dmp set the gyro bias More...

uint8_t	mpu9250_dmp_set_accel_bias (mpu9250_handle_t *handle, int32_t bias[3])
	dmp set the accel bias More...

uint8_t	mpu9250_dmp_set_orientation (mpu9250_handle_t *handle, int8_t mat[9])
	dmp set the orientation More...

uint8_t	mpu9250_dmp_set_feature (mpu9250_handle_t *handle, uint16_t mask)
	dmp enable or disable the dmp feature More...

uint8_t	mpu9250_dmp_set_fifo_rate (mpu9250_handle_t *handle, uint16_t rate)
	dmp set the fifo rate More...

uint8_t	mpu9250_dmp_get_fifo_rate (mpu9250_handle_t handle, uint16_t rate)
	dmp get the fifo rate More...

uint8_t	mpu9250_dmp_set_tap_axes (mpu9250_handle_t *handle, mpu9250_axis_t axis, mpu9250_bool_t enable)
	dmp enable or disable the tap axes More...

uint8_t	mpu9250_dmp_get_tap_axes (mpu9250_handle_t handle, mpu9250_axis_t axis, mpu9250_bool_t enable)
	dmp get the tap axes status More...

uint8_t	mpu9250_dmp_set_tap_thresh (mpu9250_handle_t *handle, mpu9250_axis_t axis, uint16_t mg_ms)
	dmp set the tap thresh More...

uint8_t	mpu9250_dmp_get_tap_thresh (mpu9250_handle_t handle, mpu9250_axis_t axis, uint16_t mg_ms)
	dmp get the tap thresh More...

uint8_t	mpu9250_dmp_read (mpu9250_handle_t handle, int16_t(accel_raw)[3], float(accel_g)[3], int16_t(gyro_raw)[3], float(gyro_dps)[3], int32_t(quat)[4], float pitch, float roll, float yaw, uint16_t l)
	dmp read the data More...

uint8_t	mpu9250_dmp_set_tap_callback (mpu9250_handle_t handle, void(callback)(uint8_t count, uint8_t direction))
	dmp set the tap callback More...

uint8_t	mpu9250_dmp_set_orient_callback (mpu9250_handle_t handle, void(callback)(uint8_t orientation))
	dmp set the orient callback More...

uint8_t	mpu9250_dmp_set_enable (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable the dmp More...

uint8_t	mpu9250_dmp_gyro_accel_raw_offset_convert (mpu9250_handle_t *handle, int32_t gyro_offset_raw[3], int32_t accel_offset_raw[3], int32_t gyro_offset[3], int32_t accel_offset[3])
	dmp gyro accel raw offset convert More...

Detailed Description

mpu9250 dmp driver modules

Macro Definition Documentation

◆ MPU9250_DMP_CODE_SIZE

#define MPU9250_DMP_CODE_SIZE 3062

mpu9250 dmp code definition

3062 bytes

Definition at line 56 of file driver_mpu9250_code.h.

Enumeration Type Documentation

◆ mpu9250_dmp_feature_t

enum mpu9250_dmp_feature_t

mpu9250 dmp feature enumeration definition

Enumerator
MPU9250_DMP_FEATURE_TAP	feature tap
MPU9250_DMP_FEATURE_ORIENT	feature orient
MPU9250_DMP_FEATURE_3X_QUAT	feature 3x quat
MPU9250_DMP_FEATURE_PEDOMETER	feature pedometer
MPU9250_DMP_FEATURE_6X_QUAT	feature 6x quat
MPU9250_DMP_FEATURE_GYRO_CAL	feature gyro cal
MPU9250_DMP_FEATURE_SEND_RAW_ACCEL	feature send raw accel
MPU9250_DMP_FEATURE_SEND_RAW_GYRO	feature send raw gyro
MPU9250_DMP_FEATURE_SEND_CAL_GYRO	feature send cal gyro

Definition at line 452 of file driver_mpu9250.h.

◆ mpu9250_dmp_interrupt_mode_t

enum mpu9250_dmp_interrupt_mode_t

mpu9250 dmp interrupt mode enumeration definition

Enumerator
MPU9250_DMP_INTERRUPT_MODE_CONTINUOUS	continuous mode
MPU9250_DMP_INTERRUPT_MODE_GESTURE	gesture mode

Definition at line 443 of file driver_mpu9250.h.

◆ mpu9250_dmp_orient_t

enum mpu9250_dmp_orient_t

mpu9250 dmp orient enumeration definition

Enumerator
MPU9250_DMP_ORIENT_PORTRAIT	portrait
MPU9250_DMP_ORIENT_LANDSCAPE	landscape
MPU9250_DMP_ORIENT_REVERSE_PORTRAIT	reverse portrait
MPU9250_DMP_ORIENT_REVERSE_LANDSCAPE	reverse landscape

Definition at line 481 of file driver_mpu9250.h.

◆ mpu9250_dmp_tap_t

enum mpu9250_dmp_tap_t

mpu9250 dmp tap enumeration definition

Enumerator
MPU9250_DMP_TAP_X_UP	tap x up
MPU9250_DMP_TAP_X_DOWN	tap x down
MPU9250_DMP_TAP_Y_UP	tap y up
MPU9250_DMP_TAP_Y_DOWN	tap y down
MPU9250_DMP_TAP_Z_UP	tap z up
MPU9250_DMP_TAP_Z_DOWN	tap z down

Definition at line 468 of file driver_mpu9250.h.

Function Documentation

◆ mpu9250_dmp_get_fifo_rate()

uint8_t mpu9250_dmp_get_fifo_rate	(	mpu9250_handle_t *	handle,
		uint16_t *	rate
	)

dmp get the fifo rate

Parameters

[in]	*handle	points to an mpu9250 handle structure
[out]	*rate	points to a rate buffer

Returns

status code

0 success
1 dmp get fifo rate failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 3004 of file driver_mpu9250.c.

◆ mpu9250_dmp_get_min_tap_count()

uint8_t mpu9250_dmp_get_min_tap_count	(	mpu9250_handle_t *	handle,
		uint8_t *	cnt
	)

dmp get the min tap count

Parameters

[in]	*handle	points to an mpu9250 handle structure
[out]	*cnt	points to a tap counter buffer

Returns

status code

0 success
1 dmp get min tap count failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1869 of file driver_mpu9250.c.

◆ mpu9250_dmp_get_pedometer_step_count()

uint8_t mpu9250_dmp_get_pedometer_step_count	(	mpu9250_handle_t *	handle,
		uint32_t *	count
	)

dmp get the pedometer step count

Parameters

[in]	*handle	points to an mpu9250 handle structure
[out]	*count	points to a step count buffer

Returns

status code

0 success
1 dmp get pedometer step count failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1307 of file driver_mpu9250.c.

◆ mpu9250_dmp_get_pedometer_walk_time()

uint8_t mpu9250_dmp_get_pedometer_walk_time	(	mpu9250_handle_t *	handle,
		uint32_t *	ms
	)

dmp get the pedometer walk time

Parameters

[in]	*handle	points to an mpu9250 handle structure
[out]	*ms	points to a walk time buffer

Returns

status code

0 success
1 dmp get pedometer walk time failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1214 of file driver_mpu9250.c.

◆ mpu9250_dmp_get_shake_reject_thresh()

uint8_t mpu9250_dmp_get_shake_reject_thresh	(	mpu9250_handle_t *	handle,
		uint16_t *	dps
	)

dmp get the shake reject thresh

Parameters

[in]	*handle	points to an mpu9250 handle structure
[out]	*dps	points to a shake reject thresh dps buffer

Returns

status code

0 success
1 dmp get shake reject thresh failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1586 of file driver_mpu9250.c.

◆ mpu9250_dmp_get_shake_reject_time()

uint8_t mpu9250_dmp_get_shake_reject_time	(	mpu9250_handle_t *	handle,
		uint16_t *	ms
	)

dmp get the shake reject time

Parameters

[in]	*handle	points to an mpu9250 handle structure
[out]	*ms	points to a shake reject time buffer

Returns

status code

0 success
1 dmp get shake reject time failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1491 of file driver_mpu9250.c.

◆ mpu9250_dmp_get_shake_reject_timeout()

uint8_t mpu9250_dmp_get_shake_reject_timeout	(	mpu9250_handle_t *	handle,
		uint16_t *	ms
	)

dmp get the shake reject timeout

Parameters

[in]	*handle	points to an mpu9250 handle structure
[out]	*ms	points to a reject timeout buffer

Returns

status code

0 success
1 dmp get shake reject timeout failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1399 of file driver_mpu9250.c.

◆ mpu9250_dmp_get_tap_axes()

uint8_t mpu9250_dmp_get_tap_axes	(	mpu9250_handle_t *	handle,
		mpu9250_axis_t	axis,
		mpu9250_bool_t *	enable
	)

dmp get the tap axes status

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	axis	is the set axis
[out]	*enable	points to a bool value buffer

Returns

status code

0 success
1 dmp get tap axes failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 3112 of file driver_mpu9250.c.

◆ mpu9250_dmp_get_tap_thresh()

uint8_t mpu9250_dmp_get_tap_thresh	(	mpu9250_handle_t *	handle,
		mpu9250_axis_t	axis,
		uint16_t *	mg_ms
	)

dmp get the tap thresh

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	axis	is the set axis
[out]	*mg_ms	points to an mg/ms thresh buffer

Returns

status code

0 success
1 dmp get tap thresh failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited
5 invalid axis

Note: none

Definition at line 3313 of file driver_mpu9250.c.

◆ mpu9250_dmp_get_tap_time()

uint8_t mpu9250_dmp_get_tap_time	(	mpu9250_handle_t *	handle,
		uint16_t *	ms
	)

dmp get the tap time

Parameters

[in]	*handle	points to an mpu9250 handle structure
[out]	*ms	points to a tap time buffer

Returns

status code

0 success
1 dmp get tap time failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1773 of file driver_mpu9250.c.

◆ mpu9250_dmp_get_tap_time_multi()

uint8_t mpu9250_dmp_get_tap_time_multi	(	mpu9250_handle_t *	handle,
		uint16_t *	ms
	)

dmp get max time between taps to register as a multi tap

Parameters

[in]	*handle	points to an mpu9250 handle structure
[out]	*ms	points to a delay time buffer

Returns

status code

0 success
1 dmp get tap time multi failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1681 of file driver_mpu9250.c.

◆ mpu9250_dmp_gyro_accel_raw_offset_convert()

uint8_t mpu9250_dmp_gyro_accel_raw_offset_convert	(	mpu9250_handle_t *	handle,
		int32_t	gyro_offset_raw[3],
		int32_t	accel_offset_raw[3],
		int32_t	gyro_offset[3],
		int32_t	accel_offset[3]
	)

dmp gyro accel raw offset convert

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	*gyro_offset_raw	points to a gyro offset raw buffer
[in]	*accel_offset_raw	points to an accel offset raw buffer
[out]	*gyro_offset	points to a gyro offset buffer
[out]	*accel_offset	points to an accel offset buffer

Returns

status code

0 success
1 dmp set enable failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 3822 of file driver_mpu9250.c.

◆ mpu9250_dmp_load_firmware()

uint8_t mpu9250_dmp_load_firmware ( mpu9250_handle_t * handle )

load the dmp firmware

Parameters

[in] *handle points to an mpu9250 handle structure

Returns

status code

0 success
1 load firmware failed
2 handle is NULL
3 handle is not initialized
4 dmp is running
5 code compare error
6 set program start failed

Note: none

Definition at line 1087 of file driver_mpu9250.c.

◆ mpu9250_dmp_read()

uint8_t mpu9250_dmp_read	(	mpu9250_handle_t *	handle,
		int16_t(*)	accel_raw[3],
		float(*)	accel_g[3],
		int16_t(*)	gyro_raw[3],
		float(*)	gyro_dps[3],
		int32_t(*)	quat[4],
		float *	pitch,
		float *	roll,
		float *	yaw,
		uint16_t *	l
	)

dmp read the data

Parameters

[in]	*handle	points to an mpu9250 handle structure
[out]	*accel_raw	points to an accel raw buffer
[out]	*accel_g	points to an accel g buffer
[out]	*gyro_raw	points to a gyro raw buffer
[out]	*gyro_dps	points to a gyro dps buffer
[out]	*quat	points to a quat buffer
[out]	*pitch	points to a pitch buffer
[out]	*roll	points to a roll buffer
[out]	*yaw	points to a yaw buffer
[in,out]	*l	points to a length buffer

Returns

status code

0 success
1 dmp get fifo rate failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited
5 quat check error
6 fifo overflow
7 fifo data is too little
8 no data

Note: none

Definition at line 3429 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_3x_quaternion()

uint8_t mpu9250_dmp_set_3x_quaternion	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable
	)

dmp enable or disable generate 3 axis quaternions from dmp

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	enable	is a bool value

Returns

status code

0 success
1 dmp set 3x quaternion failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1976 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_6x_quaternion()

uint8_t mpu9250_dmp_set_6x_quaternion	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable
	)

dmp enable or disable generate 6 axis quaternions from dmp

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	enable	is a bool value

Returns

status code

0 success
1 dmp set 6x quaternion failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 2053 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_accel_bias()

uint8_t mpu9250_dmp_set_accel_bias	(	mpu9250_handle_t *	handle,
		int32_t	bias[3]
	)

dmp set the accel bias

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	*bias	points to a bias buffer

Returns

status code

0 success
1 dmp set accel bias failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 2289 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_enable()

uint8_t mpu9250_dmp_set_enable	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable
	)

enable or disable the dmp

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	enable	is a bool value

Returns

status code

0 success
1 dmp set enable failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 3767 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_feature()

uint8_t mpu9250_dmp_set_feature	(	mpu9250_handle_t *	handle,
		uint16_t	mask
	)

dmp enable or disable the dmp feature

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	mask	is the set mask

Returns

status code

0 success
1 dmp set feature failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: mask can be MPU9250_DMP_FEATURE_TAP, MPU9250_DMP_FEATURE_ORIENT MPU9250_DMP_FEATURE_3X_QUAT, MPU9250_DMP_FEATURE_PEDOMETER MPU9250_DMP_FEATURE_6X_QUAT, MPU9250_DMP_FEATURE_GYRO_CAL MPU9250_DMP_FEATURE_SEND_RAW_ACCEL, MPU9250_DMP_FEATURE_SEND_RAW_GYRO MPU9250_DMP_FEATURE_SEND_CAL_GYRO or combination

Definition at line 2496 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_fifo_rate()

uint8_t mpu9250_dmp_set_fifo_rate	(	mpu9250_handle_t *	handle,
		uint16_t	rate
	)

dmp set the fifo rate

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	rate	is the set rate

Returns

status code

0 success
1 dmp set fifo rate failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited
5 rate > 200

Note: none

Definition at line 2938 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_gyro_bias()

uint8_t mpu9250_dmp_set_gyro_bias	(	mpu9250_handle_t *	handle,
		int32_t	bias[3]
	)

dmp set the gyro bias

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	*bias	points to a bias buffer

Returns

status code

0 success
1 dmp set gyro bias failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 2199 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_gyro_calibrate()

uint8_t mpu9250_dmp_set_gyro_calibrate	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable
	)

dmp enable or disable gyro calibrate

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	enable	is a bool value

Returns

status code

0 success
1 dmp set gyro calibrate failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1913 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_interrupt_mode()

uint8_t mpu9250_dmp_set_interrupt_mode	(	mpu9250_handle_t *	handle,
		mpu9250_dmp_interrupt_mode_t	mode
	)

dmp set the interrupt mode

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	mode	is the dmp interrupt mode

Returns

status code

0 success
1 dmp set interrupt mode failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 2130 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_min_tap_count()

uint8_t mpu9250_dmp_set_min_tap_count	(	mpu9250_handle_t *	handle,
		uint8_t	cnt
	)

dmp set the min tap count

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	cnt	is the tap counter

Returns

status code

0 success
1 dmp set min tap count failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited
5 cnt must be between 1 and 4

Note: 1 <= cnt <= 4

Definition at line 1819 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_orient_callback()

uint8_t mpu9250_dmp_set_orient_callback	(	mpu9250_handle_t *	handle,
		void(*)(uint8_t orientation)	callback
	)

dmp set the orient callback

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	*callback	points to a callback function address

Returns

status code

0 success
1 dmp set orient callback failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 3733 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_orientation()

uint8_t mpu9250_dmp_set_orientation	(	mpu9250_handle_t *	handle,
		int8_t	mat[9]
	)

dmp set the orientation

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	*mat	points to an orientation matrix buffer

Returns

status code

0 success
1 dmp set orientation failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 2392 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_pedometer_step_count()

uint8_t mpu9250_dmp_set_pedometer_step_count	(	mpu9250_handle_t *	handle,
		uint32_t	count
	)

dmp set the pedometer step count

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	count	is the step count

Returns

status code

0 success
1 dmp set pedometer step count failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1259 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_pedometer_walk_time()

uint8_t mpu9250_dmp_set_pedometer_walk_time	(	mpu9250_handle_t *	handle,
		uint32_t	ms
	)

dmp set the pedometer walk time

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	ms	is the walk time

Returns

status code

0 success
1 dmp set pedometer walk time failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1165 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_shake_reject_thresh()

uint8_t mpu9250_dmp_set_shake_reject_thresh	(	mpu9250_handle_t *	handle,
		uint16_t	dps
	)

dmp set the shake reject thresh

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	dps	is the shake reject thresh

Returns

status code

0 success
1 dmp set shake reject thresh failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1536 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_shake_reject_time()

uint8_t mpu9250_dmp_set_shake_reject_time	(	mpu9250_handle_t *	handle,
		uint16_t	ms
	)

dmp set the shake reject time

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	ms	is the shake reject time

Returns

status code

0 success
1 dmp set shake reject time failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1444 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_shake_reject_timeout()

uint8_t mpu9250_dmp_set_shake_reject_timeout	(	mpu9250_handle_t *	handle,
		uint16_t	ms
	)

dmp set the shake reject timeout

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	ms	is the reject timeout

Returns

status code

0 success
1 dmp set shake reject timeout failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1352 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_tap_axes()

uint8_t mpu9250_dmp_set_tap_axes	(	mpu9250_handle_t *	handle,
		mpu9250_axis_t	axis,
		mpu9250_bool_t	enable
	)

dmp enable or disable the tap axes

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	axis	is the set axis
[in]	enable	is a bool value

Returns

status code

0 success
1 dmp set tap axes failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 3051 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_tap_callback()

uint8_t mpu9250_dmp_set_tap_callback	(	mpu9250_handle_t *	handle,
		void(*)(uint8_t count, uint8_t direction)	callback
	)

dmp set the tap callback

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	*callback	points to a callback function address

Returns

status code

0 success
1 dmp set tap callback failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 3699 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_tap_thresh()

uint8_t mpu9250_dmp_set_tap_thresh	(	mpu9250_handle_t *	handle,
		mpu9250_axis_t	axis,
		uint16_t	mg_ms
	)

dmp set the tap thresh

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	axis	is the set axis
[in]	mg_ms	is the set thresh

Returns

status code

0 success
1 dmp set tap thresh failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited
5 mg/ms > 1600
6 invalid axis

Note: none

Definition at line 3168 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_tap_time()

uint8_t mpu9250_dmp_set_tap_time	(	mpu9250_handle_t *	handle,
		uint16_t	ms
	)

dmp set the tap time

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	ms	is the tap time

Returns

status code

0 success
1 dmp set tap time failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1726 of file driver_mpu9250.c.

◆ mpu9250_dmp_set_tap_time_multi()

uint8_t mpu9250_dmp_set_tap_time_multi	(	mpu9250_handle_t *	handle,
		uint16_t	ms
	)

dmp set max time between taps to register as a multi tap

Parameters

[in]	*handle	points to an mpu9250 handle structure
[in]	ms	is the delay time

Returns

status code

0 success
1 dmp set tap time multi failed
2 handle is NULL
3 handle is not initialized
4 dmp is not inited

Note: none

Definition at line 1634 of file driver_mpu9250.c.

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ MPU9250_DMP_CODE_SIZE

Enumeration Type Documentation

◆ mpu9250_dmp_feature_t

◆ mpu9250_dmp_interrupt_mode_t

◆ mpu9250_dmp_orient_t

◆ mpu9250_dmp_tap_t

Function Documentation

◆ mpu9250_dmp_get_fifo_rate()

◆ mpu9250_dmp_get_min_tap_count()

◆ mpu9250_dmp_get_pedometer_step_count()

◆ mpu9250_dmp_get_pedometer_walk_time()

◆ mpu9250_dmp_get_shake_reject_thresh()

◆ mpu9250_dmp_get_shake_reject_time()

◆ mpu9250_dmp_get_shake_reject_timeout()

◆ mpu9250_dmp_get_tap_axes()

◆ mpu9250_dmp_get_tap_thresh()

◆ mpu9250_dmp_get_tap_time()

◆ mpu9250_dmp_get_tap_time_multi()

◆ mpu9250_dmp_gyro_accel_raw_offset_convert()

◆ mpu9250_dmp_load_firmware()

◆ mpu9250_dmp_read()

◆ mpu9250_dmp_set_3x_quaternion()

◆ mpu9250_dmp_set_6x_quaternion()

◆ mpu9250_dmp_set_accel_bias()

◆ mpu9250_dmp_set_enable()

◆ mpu9250_dmp_set_feature()

◆ mpu9250_dmp_set_fifo_rate()

◆ mpu9250_dmp_set_gyro_bias()

◆ mpu9250_dmp_set_gyro_calibrate()

◆ mpu9250_dmp_set_interrupt_mode()

◆ mpu9250_dmp_set_min_tap_count()

◆ mpu9250_dmp_set_orient_callback()

◆ mpu9250_dmp_set_orientation()

◆ mpu9250_dmp_set_pedometer_step_count()

◆ mpu9250_dmp_set_pedometer_walk_time()

◆ mpu9250_dmp_set_shake_reject_thresh()

◆ mpu9250_dmp_set_shake_reject_time()

◆ mpu9250_dmp_set_shake_reject_timeout()

◆ mpu9250_dmp_set_tap_axes()

◆ mpu9250_dmp_set_tap_callback()

◆ mpu9250_dmp_set_tap_thresh()

◆ mpu9250_dmp_set_tap_time()

◆ mpu9250_dmp_set_tap_time_multi()