mpud::dmp::MPUdmp Class Reference
MPU with DMP interface. More...
#include <MPUdmp.hpp>
Inheritance diagram for mpud::dmp::MPUdmp:
Additional Inherited Members | |
 Public Member Functions inherited from mpud::MPU | |
| MPU () | |
| Default Constructor. More... | |
| MPU (mpu_bus_t &bus) | |
| Contruct a MPU in the given communication bus. More... | |
| MPU (mpu_bus_t &bus, mpu_addr_handle_t addr) | |
| Construct a MPU in the given communication bus and address. More... | |
| ~MPU () | |
| Default Destructor, does nothing. More... | |
| MPU & | setBus (mpu_bus_t &bus) |
| Set communication bus. More... | |
| MPU & | setAddr (mpu_addr_handle_t addr) |
| Set I2C address or SPI device handle. More... | |
| mpu_bus_t & | getBus () |
| Return communication bus object. More... | |
| mpu_addr_handle_t | getAddr () |
| Return I2C address or SPI device handle. More... | |
| esp_err_t | lastError () |
| Return last error code. More... | |
| esp_err_t | initialize () |
| Initialize MPU device and set basic configurations. More... | |
| esp_err_t | reset () |
| Reset internal registers and restore to default start-up state. More... | |
| esp_err_t | setSleep (bool enable) |
| Enable / disable sleep mode. More... | |
| esp_err_t | testConnection () |
| Test connection with MPU. More... | |
| esp_err_t | selfTest (selftest_t *result) |
| Trigger gyro and accel hardware self-test. More... | |
| esp_err_t | resetSignalPath () |
| Reset sensors signal path. More... | |
| uint8_t | whoAmI () |
| Returns the value from WHO_AM_I register. More... | |
| bool | getSleep () |
| Get current sleep state. More... | |
| esp_err_t | setSampleRate (uint16_t rate) |
| Set sample rate of data output. More... | |
| esp_err_t | setClockSource (clock_src_t clockSrc) |
| Select clock source. More... | |
| esp_err_t | setDigitalLowPassFilter (dlpf_t dlpf) |
| Configures Digital Low Pass Filter (DLPF) setting for both the gyroscope and accelerometer. More... | |
| uint16_t | getSampleRate () |
| Retrieve sample rate divider and calculate the actual rate. More... | |
| clock_src_t | getClockSource () |
| Return clock source. More... | |
| dlpf_t | getDigitalLowPassFilter () |
| Return Digital Low Pass Filter configuration. More... | |
| esp_err_t | setLowPowerAccelMode (bool enable) |
| Enter Low Power Accelerometer mode. More... | |
| esp_err_t | setLowPowerAccelRate (lp_accel_rate_t rate) |
| Set Low Power Accelerometer frequency of wake-up. More... | |
| lp_accel_rate_t | getLowPowerAccelRate () |
| Get Low Power Accelerometer frequency of wake-up. More... | |
| bool | getLowPowerAccelMode () |
| Return Low Power Accelerometer state. More... | |
| esp_err_t | setStandbyMode (stby_en_t mask) |
| Configure sensors' standby mode. More... | |
| stby_en_t | getStandbyMode () |
| Return Standby configuration. More... | |
| esp_err_t | setGyroFullScale (gyro_fs_t fsr) |
| Select Gyroscope Full-scale range. More... | |
| esp_err_t | setAccelFullScale (accel_fs_t fsr) |
| Select Accelerometer Full-scale range. More... | |
| gyro_fs_t | getGyroFullScale () |
| Return Gyroscope Full-scale range. More... | |
| accel_fs_t | getAccelFullScale () |
| Return Accelerometer Full-scale range. More... | |
| esp_err_t | setGyroOffset (raw_axes_t bias) |
| Push biases to the gyro offset registers. More... | |
| esp_err_t | setAccelOffset (raw_axes_t bias) |
| Push biases to the accel offset registers. More... | |
| raw_axes_t | getGyroOffset () |
| Return biases from the gyro offset registers. More... | |
| raw_axes_t | getAccelOffset () |
| Return biases from accel offset registers. More... | |
| esp_err_t | computeOffsets (raw_axes_t *accel, raw_axes_t *gyro) |
| Compute Accelerometer and Gyroscope offsets. More... | |
| esp_err_t | setInterruptConfig (int_config_t config) |
| Configure the Interrupt pin (INT). More... | |
| esp_err_t | setInterruptEnabled (int_en_t mask) |
| Enable features to generate signal at Interrupt pin. More... | |
| int_stat_t | getInterruptStatus () |
| Return the Interrupt status from INT_STATUS register. More... | |
| int_config_t | getInterruptConfig () |
| Return Interrupt pin (INT) configuration. More... | |
| int_en_t | getInterruptEnabled () |
| Return enabled features configured to generate signal at Interrupt pin. More... | |
| esp_err_t | setFIFOMode (fifo_mode_t mode) |
| Change FIFO mode. More... | |
| esp_err_t | setFIFOConfig (fifo_config_t config) |
| Configure the sensors that will be written to the FIFO. More... | |
| esp_err_t | setFIFOEnabled (bool enable) |
| Enabled / disable FIFO module. More... | |
| esp_err_t | resetFIFO () |
| Reset FIFO module. More... | |
| uint16_t | getFIFOCount () |
| Return number of written bytes in the FIFO. More... | |
| esp_err_t | readFIFO (size_t length, uint8_t *data) |
| Read data contained in FIFO buffer. More... | |
| esp_err_t | writeFIFO (size_t length, const uint8_t *data) |
| Write data to FIFO buffer. More... | |
| fifo_mode_t | getFIFOMode () |
| Return FIFO mode. More... | |
| fifo_config_t | getFIFOConfig () |
| Return FIFO configuration. More... | |
| bool | getFIFOEnabled () |
| Return FIFO module state. More... | |
| esp_err_t | setAuxI2CConfig (const auxi2c_config_t &config) |
| Configure the Auxiliary I2C Master. More... | |
| esp_err_t | setAuxI2CEnabled (bool enable) |
| Enable / disable Auxiliary I2C Master module. More... | |
| esp_err_t | setAuxI2CSlaveConfig (const auxi2c_slv_config_t &config) |
| Configure communication with a Slave connected to Auxiliary I2C bus. More... | |
| esp_err_t | setAuxI2CSlaveEnabled (auxi2c_slv_t slave, bool enable) |
| Enable the Auxiliary I2C module to transfer data with a slave at sample rate. More... | |
| esp_err_t | setAuxI2CBypass (bool enable) |
| Enable / disable Auxiliary I2C bypass mode. More... | |
| esp_err_t | readAuxI2CRxData (size_t length, uint8_t *data, size_t skip=0) |
| Read data from slaves connected to Auxiliar I2C bus. More... | |
| esp_err_t | restartAuxI2C () |
| Restart Auxiliary I2C Master module, reset is asynchronous. More... | |
| auxi2c_stat_t | getAuxI2CStatus () |
| Return Auxiliary I2C Master status from register I2C_MST_STATUS. More... | |
| auxi2c_config_t | getAuxI2CConfig () |
| Get Auxiliary I2C Master configuration. More... | |
| auxi2c_slv_config_t | getAuxI2CSlaveConfig (auxi2c_slv_t slave) |
| Return configuration of a Aux I2C Slave. More... | |
| bool | getAuxI2CEnabled () |
| Return Auxiliary I2C Master state. More... | |
| bool | getAuxI2CSlaveEnabled (auxi2c_slv_t slave) |
| Return enable state of a Aux I2C's Slave. More... | |
| bool | getAuxI2CBypass () |
| Return Auxiliary I2C Master bypass mode state. More... | |
| esp_err_t | auxI2CWriteByte (uint8_t devAddr, uint8_t regAddr, uint8_t data) |
| Write to a slave a single byte just once (use for configuring a slave at initialization). More... | |
| esp_err_t | auxI2CReadByte (uint8_t devAddr, uint8_t regAddr, uint8_t *data) |
| Read a single byte frome slave just once (use for configuring a slave at initialization). More... | |
| esp_err_t | setMotionDetectConfig (mot_config_t &config) |
| Configure Motion-Detect or Wake-on-motion feature. More... | |
| mot_config_t | getMotionDetectConfig () |
| Return Motion Detection Configuration. More... | |
| esp_err_t | setMotionFeatureEnabled (bool enable) |
| Enable/disable Motion modules (Motion detect, Zero-motion, Free-Fall). More... | |
| bool | getMotionFeatureEnabled () |
| Return true if a Motion Dectection module is enabled. More... | |
| esp_err_t | setZeroMotionConfig (zrmot_config_t &config) |
| Configure Zero-Motion. More... | |
| zrmot_config_t | getZeroMotionConfig () |
| Return Zero-Motion configuration. More... | |
| esp_err_t | setFreeFallConfig (ff_config_t &config) |
| Configure Free-Fall. More... | |
| ff_config_t | getFreeFallConfig () |
| Return Free-Fall Configuration. More... | |
| mot_stat_t | getMotionDetectStatus () |
| Return Motion Detection Status. More... | |
| esp_err_t | compassInit () |
| Initialize Magnetometer sensor. More... | |
| esp_err_t | compassTestConnection () |
| Test connection with Magnetometer by checking WHO_I_AM register. More... | |
| esp_err_t | compassSetMode (mag_mode_t mode) |
| Change magnetometer's measurement mode. More... | |
| esp_err_t | compassGetAdjustment (uint8_t *x, uint8_t *y, uint8_t *z) |
| Return Magnetometer's sensitivity adjustment data for each axis. More... | |
| mag_mode_t | compassGetMode () |
| Return magnetometer's measurement mode. More... | |
| uint8_t | compassWhoAmI () |
| Return value from WHO_I_AM register. More... | |
| uint8_t | compassGetInfo () |
| Return value from magnetometer's INFO register. More... | |
| esp_err_t | compassReadByte (uint8_t regAddr, uint8_t *data) |
| Read a single byte from magnetometer. More... | |
| esp_err_t | compassWriteByte (uint8_t regAddr, uint8_t data) |
| Write a single byte to magnetometer. More... | |
| bool | compassSelfTest (raw_axes_t *result=nullptr) |
| Perform Compass self-test. More... | |
| esp_err_t | compassReset () |
| Soft reset AK8963. More... | |
| esp_err_t | compassSetSensitivity (mag_sensy_t sensy) |
| Set magnetometer sensitivity. More... | |
| mag_sensy_t | compassGetSensitivity () |
| Return magnetometer sensitivity. More... | |
| esp_err_t | setFsyncConfig (int_lvl_t level) |
| Configure the active level of FSYNC pin that will cause an interrupt. More... | |
| esp_err_t | setFsyncEnabled (bool enable) |
| Enable / disable FSYNC pin to cause an interrupt. More... | |
| int_lvl_t | getFsyncConfig () |
| Return FSYNC pin active level configuration. More... | |
| bool | getFsyncEnabled () |
| Return FSYNC enable state. More... | |
| esp_err_t | setFchoice (fchoice_t fchoice) |
| Select FCHOICE. More... | |
| fchoice_t | getFchoice () |
| Return FCHOICE. More... | |
| esp_err_t | setAuxVDDIOLevel (auxvddio_lvl_t level) |
| The MPU-6050’s I/O logic levels are set to be either VDD or VLOGIC. More... | |
| auxvddio_lvl_t | getAuxVDDIOLevel () |
| Return MPU-6050’s I/O logic levels. More... | |
| esp_err_t | readBit (uint8_t regAddr, uint8_t bitNum, uint8_t *data) |
| Read a single bit from a register. More... | |
| esp_err_t | readBits (uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data) |
| Read a range of bits from a register. More... | |
| esp_err_t | readByte (uint8_t regAddr, uint8_t *data) |
| Read a single register. More... | |
| esp_err_t | readBytes (uint8_t regAddr, size_t length, uint8_t *data) |
| Read data from sequence of registers. More... | |
| esp_err_t | writeBit (uint8_t regAddr, uint8_t bitNum, uint8_t data) |
| Write a single bit to a register. More... | |
| esp_err_t | writeBits (uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) |
| Write a range of bits to a register. More... | |
| esp_err_t | writeByte (uint8_t regAddr, uint8_t data) |
| Write a value to a register. More... | |
| esp_err_t | writeBytes (uint8_t regAddr, size_t length, const uint8_t *data) |
| Write a sequence to data to a sequence of registers. More... | |
| esp_err_t | registerDump (uint8_t start=0x0, uint8_t end=0x7F) |
| Print out register values for debugging purposes. More... | |
| esp_err_t | acceleration (raw_axes_t *accel) |
| Read accelerometer raw data. More... | |
| esp_err_t | acceleration (int16_t *x, int16_t *y, int16_t *z) |
| Read accelerometer raw data. More... | |
| esp_err_t | rotation (raw_axes_t *gyro) |
| Read gyroscope raw data. More... | |
| esp_err_t | rotation (int16_t *x, int16_t *y, int16_t *z) |
| Read gyroscope raw data. More... | |
| esp_err_t | temperature (int16_t *temp) |
| Read temperature raw data. More... | |
| esp_err_t | motion (raw_axes_t *accel, raw_axes_t *gyro) |
| Read accelerometer and gyroscope data at once. More... | |
| esp_err_t | heading (raw_axes_t *mag) |
| Read compass data. More... | |
| esp_err_t | heading (int16_t *x, int16_t *y, int16_t *z) |
| Read compass data. More... | |
| esp_err_t | motion (raw_axes_t *accel, raw_axes_t *gyro, raw_axes_t *mag) |
| Read accelerometer, gyroscope, compass raw data. More... | |
| esp_err_t | sensors (raw_axes_t *accel, raw_axes_t *gyro, int16_t *temp) |
| Read data from all internal sensors. More... | |
| esp_err_t | sensors (sensors_t *sensors, size_t extsens_len=0) |
| Read data from all sensors, including external sensors in Aux I2C. More... | |
| Protected Member Functions inherited from mpud::MPU | |
| esp_err_t | accelSelfTest (raw_axes_t ®ularBias, raw_axes_t &selfTestBias, uint8_t *result) |
| Accel Self-test. More... | |
| esp_err_t | gyroSelfTest (raw_axes_t ®ularBias, raw_axes_t &selfTestBias, uint8_t *result) |
| Gyro Self-test. More... | |
| esp_err_t | getBiases (accel_fs_t accelFS, gyro_fs_t gyroFS, raw_axes_t *accelBias, raw_axes_t *gyroBias, bool selftest) |
| Compute the Biases in regular mode and self-test mode. More... | |
| Protected Attributes inherited from mpud::MPU | |
| mpu_bus_t * | bus |
| Communication bus pointer, I2C / SPI. More... | |
| mpu_addr_handle_t | addr |
| I2C address / SPI device handle. More... | |
| uint8_t | buffer [16] |
| Commom buffer for temporary data. More... | |
| esp_err_t | err |
| Holds last error code. More... | |
Detailed Description
MPU with DMP interface.
The documentation for this class was generated from the following file:
- /home/travis/build/natanaeljr/esp32-MPU-driver/include/MPUdmp.hpp
