types.hpp
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1 // =========================================================================
2 // This library is placed under the MIT License
3 // Copyright 2017-2018 Natanael Josue Rabello. All rights reserved.
4 // For the license information refer to LICENSE file in root directory.
5 // =========================================================================
6 
12 #ifndef _MPU_TYPES_HPP_
13 #define _MPU_TYPES_HPP_
14 
15 #include <stdint.h>
16 #include "sdkconfig.h"
17 #include "mpu/registers.hpp"
18 
20 namespace mpud {
21 
23 inline namespace types {
24 
26 typedef enum {
27  MPU_I2CADDRESS_AD0_LOW = 0x68,
28  MPU_I2CADDRESS_AD0_HIGH = 0x69
29 } mpu_i2caddr_t;
30 static constexpr mpu_i2caddr_t MPU_DEFAULT_I2CADDRESS = MPU_I2CADDRESS_AD0_LOW;
31 
32 #ifdef CONFIG_MPU_I2C
33 typedef I2C_t mpu_bus_t;
34 typedef mpu_i2caddr_t mpu_addr_handle_t;
35 static constexpr mpu_bus_t& MPU_DEFAULT_BUS = i2c0;
36 static constexpr mpu_addr_handle_t MPU_DEFAULT_ADDR_HANDLE = MPU_DEFAULT_I2CADDRESS;
37 #elif CONFIG_MPU_SPI
38 typedef SPI_t mpu_bus_t;
39 typedef spi_device_handle_t mpu_addr_handle_t;
40 static constexpr mpu_bus_t& MPU_DEFAULT_BUS = hspi;
41 static constexpr mpu_addr_handle_t MPU_DEFAULT_ADDR_HANDLE = nullptr;
42 #endif
43 
44 #if defined CONFIG_MPU6050
45 static constexpr uint16_t SAMPLE_RATE_MAX = 8000;
46 #elif defined CONFIG_MPU6500
47 static constexpr uint16_t SAMPLE_RATE_MAX = 32000;
48 #endif
49 
51 typedef enum {
52  GYRO_FS_250DPS = 0,
53  GYRO_FS_500DPS = 1,
54  GYRO_FS_1000DPS = 2,
55  GYRO_FS_2000DPS = 3
56 } gyro_fs_t;
57 
59 typedef enum {
60  ACCEL_FS_2G = 0,
61  ACCEL_FS_4G = 1,
62  ACCEL_FS_8G = 2,
63  ACCEL_FS_16G = 3
64 } accel_fs_t;
65 
67 typedef enum {
68  DLPF_256HZ_NOLPF = 0,
69  DLPF_188HZ = 1,
70  DLPF_98HZ = 2,
71  DLPF_42HZ = 3,
72  DLPF_20HZ = 4,
73  DLPF_10HZ = 5,
74  DLPF_5HZ = 6,
75 #ifdef CONFIG_MPU6050
76  DLPF_2100HZ_NOLPF = 7
77 #elif CONFIG_MPU6500
78  DLPF_3600HZ_NOLPF = 7
79 #endif
80 } dlpf_t;
81 
83 typedef enum {
84  CLOCK_INTERNAL = 0,
85  CLOCK_PLL = 3,
86 #if defined CONFIG_MPU6050
87  CLOCK_EXT32KHZ = 4,
88  CLOCK_EXT19MHZ = 5,
89 #endif
90  CLOCK_KEEP_RESET = 7
91 } clock_src_t;
92 
93 #ifdef CONFIG_MPU6500
94 
95 typedef enum {
96  FCHOICE_0 = 0,
97  FCHOICE_1 = 1,
98  FCHOICE_2 = 2,
99  FCHOICE_3 = 3
100 } fchoice_t;
101 #endif
102 
104 typedef enum {
105 #if defined CONFIG_MPU6000 || defined CONFIG_MPU6050 || defined CONFIG_MPU9150
106  LP_ACCEL_RATE_1_25HZ = 0,
107  LP_ACCEL_RATE_5HZ = 1,
108  LP_ACCEL_RATE_20HZ = 2,
109  LP_ACCEL_RATE_40HZ = 3
110 #elif defined CONFIG_MPU6500 || defined CONFIG_MPU9250
111  LP_ACCEL_RATE_0_24HZ = 0,
112  LP_ACCEL_RATE_0_49HZ = 1,
113  LP_ACCEL_RATE_0_98HZ = 2,
114  LP_ACCEL_RATE_1_95HZ = 3,
115  LP_ACCEL_RATE_3_91HZ = 4,
116  LP_ACCEL_RATE_7_81HZ = 5,
117  LP_ACCEL_RATE_15_63HZ = 6,
118  LP_ACCEL_RATE_31_25HZ = 7,
119  LP_ACCEL_RATE_62_50HZ = 8,
120  LP_ACCEL_RATE_125HZ = 9,
121  LP_ACCEL_RATE_250HZ = 10,
122  LP_ACCEL_RATE_500HZ = 11
123 #endif
124 } lp_accel_rate_t;
125 
127 typedef enum {
128  ACCEL_DHPF_RESET = 0,
130  ACCEL_DHPF_5HZ = 1,
131  ACCEL_DHPF_2_5HZ = 2,
132  ACCEL_DHPF_1_25HZ = 3,
133  ACCEL_DHPF_0_63HZ = 4,
134  ACCEL_DHPF_HOLD = 7,
136 } accel_dhpf_t;
137 
138 #if defined CONFIG_MPU6000 || defined CONFIG_MPU6050 || defined CONFIG_MPU9150
139 
140 typedef enum {
141  MOT_COUNTER_RESET = 0,
142  MOT_COUNTER_DEC_1 = 1,
143  MOT_COUNTER_DEC_2 = 2,
144  MOT_COUNTER_DEC_4 = 3
145 } mot_counter_t;
146 #endif
147 
149 typedef struct {
150  uint8_t threshold;
153 #if defined CONFIG_MPU6000 || defined CONFIG_MPU6050 || defined CONFIG_MPU9150
154  uint8_t time;
156  uint8_t accel_on_delay :2;
161  mot_counter_t counter :2;
162 #endif
163 } mot_config_t;
164 
165 #if defined CONFIG_MPU6000 || defined CONFIG_MPU6050 || defined CONFIG_MPU9150
166 
167 typedef struct {
168  uint8_t threshold;
169  uint8_t time;
171 } zrmot_config_t;
172 #endif
173 
174 #if defined CONFIG_MPU6000 || defined CONFIG_MPU6050 || defined CONFIG_MPU9150
175 
176 typedef struct {
177  uint8_t threshold;
178  uint8_t time;
180  uint8_t accel_on_delay :2;
185  mot_counter_t counter :2;
186 } ff_config_t;
187 #endif
188 
189 #if defined CONFIG_MPU6000 || defined CONFIG_MPU6050 || defined CONFIG_MPU9150
190 
191 typedef uint8_t mot_stat_t;
192 static constexpr mot_stat_t MOT_STAT_XNEG{1 << regs::MOT_STATUS_X_NEG_BIT};
193 static constexpr mot_stat_t MOT_STAT_XPOS{1 << regs::MOT_STATUS_X_POS_BIT};
194 static constexpr mot_stat_t MOT_STAT_YNEG{1 << regs::MOT_STATUS_Y_NEG_BIT};
195 static constexpr mot_stat_t MOT_STAT_YPOS{1 << regs::MOT_STATUS_Y_POS_BIT};
196 static constexpr mot_stat_t MOT_STAT_ZNEG{1 << regs::MOT_STATUS_Z_NEG_BIT};
197 static constexpr mot_stat_t MOT_STAT_ZPOS{1 << regs::MOT_STATUS_Z_POS_BIT};
198 static constexpr mot_stat_t MOT_STAT_ZEROMOTION{1 << regs::MOT_STATUS_ZRMOT_BIT};
199 #endif
200 
202 typedef uint8_t stby_en_t;
203 static constexpr stby_en_t STBY_EN_NONE{0x0};
204 static constexpr stby_en_t STBY_EN_ACCEL_X{1 << regs::PWR2_STBY_XA_BIT};
205 static constexpr stby_en_t STBY_EN_ACCEL_Y{1 << regs::PWR2_STBY_YA_BIT};
206 static constexpr stby_en_t STBY_EN_ACCEL_Z{1 << regs::PWR2_STBY_ZA_BIT};
207 static constexpr stby_en_t STBY_EN_ACCEL{STBY_EN_ACCEL_X | STBY_EN_ACCEL_Y | STBY_EN_ACCEL_Z};
208 static constexpr stby_en_t STBY_EN_GYRO_X{1 << regs::PWR2_STBY_XG_BIT};
209 static constexpr stby_en_t STBY_EN_GYRO_Y{1 << regs::PWR2_STBY_YG_BIT};
210 static constexpr stby_en_t STBY_EN_GYRO_Z{1 << regs::PWR2_STBY_ZG_BIT};
211 static constexpr stby_en_t STBY_EN_GYRO{STBY_EN_GYRO_X | STBY_EN_GYRO_Y | STBY_EN_GYRO_Z};
212 static constexpr stby_en_t STBY_EN_TEMP{1 << 6};
215 static constexpr stby_en_t STBY_EN_LOWPWR_GYRO_PLL_ON{1 << 7};
216 
218 typedef enum {
219  AUXI2C_CLOCK_348KHZ = 0,
220  AUXI2C_CLOCK_333KHZ = 1,
221  AUXI2C_CLOCK_320KHZ = 2,
222  AUXI2C_CLOCK_308KHZ = 3,
223  AUXI2C_CLOCK_296KHZ = 4,
224  AUXI2C_CLOCK_286KHZ = 5,
225  AUXI2C_CLOCK_276KHZ = 6,
226  AUXI2C_CLOCK_267KHZ = 7,
227  AUXI2C_CLOCK_258KHZ = 8,
228  AUXI2C_CLOCK_500KHZ = 9,
229  AUXI2C_CLOCK_471KHZ = 10,
230  AUXI2C_CLOCK_444KHZ = 11,
231  AUXI2C_CLOCK_421KHZ = 12,
232  AUXI2C_CLOCK_400KHZ = 13,
233  AUXI2C_CLOCK_381KHZ = 14,
234  AUXI2C_CLOCK_364KHZ = 15
235 } auxi2c_clock_t;
236 
238 typedef enum {
239  AUXI2C_TRANS_RESTART = 0,
240  AUXI2C_TRANS_STOP = 1
241 } auxi2c_trans_t;
242 
248 typedef enum {
249  AUXI2C_SLAVE_0 = 0,
250  AUXI2C_SLAVE_1 = 1,
251  AUXI2C_SLAVE_2 = 2,
252  AUXI2C_SLAVE_3 = 3
253 } auxi2c_slv_t;
254 
256 typedef enum {
257  AUXI2C_WRITE = 0,
258  AUXI2C_READ = 1
259 } auxi2c_rw_t;
260 
268 typedef enum {
269  AUXI2C_EOW_ODD_NUM = 0,
271  AUXI2C_EOW_EVEN_NUM = 1
273 } auxi2c_eow_t;
274 
276 typedef struct {
277  auxi2c_clock_t clock :4;
278  bool multi_master_en :1;
279  uint8_t sample_delay :5;
285  bool shadow_delay_en :1;
286  bool wait_for_es :1;
288  auxi2c_trans_t transition :1;
290 } auxi2c_config_t;
291 
307 typedef struct {
308  auxi2c_slv_t slave;
309  uint8_t addr :7;
310  auxi2c_rw_t rw :1;
311  uint8_t reg_addr;
312  bool reg_dis :1;
314  bool sample_delay_en :1;
315  union {
316  // when reading
317  struct {
318  bool swap_en :1;
319  auxi2c_eow_t end_of_word :1;
321  uint8_t rxlength :4;
322  };
323  // when writing
324  uint8_t txdata;
325  };
326 } auxi2c_slv_config_t;
327 
328 
330 typedef uint8_t auxi2c_stat_t;
331 static constexpr auxi2c_stat_t AUXI2C_STAT_FSYNC{1 << regs::I2CMST_STAT_PASS_THROUGH_BIT};
332 static constexpr auxi2c_stat_t AUXI2C_STAT_LOST_ARB{1 << regs::I2CMST_STAT_LOST_ARB_BIT};
333 static constexpr auxi2c_stat_t AUXI2C_STAT_SLV4_DONE{1 << regs::I2CMST_STAT_SLV4_DONE_BIT};
334 static constexpr auxi2c_stat_t AUXI2C_STAT_SLV4_NACK{1 << regs::I2CMST_STAT_SLV4_NACK_BIT};
335 static constexpr auxi2c_stat_t AUXI2C_STAT_SLV3_NACK{1 << regs::I2CMST_STAT_SLV3_NACK_BIT};
336 static constexpr auxi2c_stat_t AUXI2C_STAT_SLV2_NACK{1 << regs::I2CMST_STAT_SLV2_NACK_BIT};
337 static constexpr auxi2c_stat_t AUXI2C_STAT_SLV1_NACK{1 << regs::I2CMST_STAT_SLV1_NACK_BIT};
338 static constexpr auxi2c_stat_t AUXI2C_STAT_SLV0_NACK{1 << regs::I2CMST_STAT_SLV0_NACK_BIT};
339 
340 #if defined CONFIG_MPU9150 || (defined CONFIG_MPU6050 && !defined CONFIG_MPU6000)
341 
342 typedef enum {
343  AUXVDDIO_LVL_VLOGIC = 0,
344  AUXVDDIO_LVL_VDD = 1
345 } auxvddio_lvl_t;
346 #endif
347 
349 typedef enum {
350  INT_LVL_ACTIVE_HIGH = 0,
351  INT_LVL_ACTIVE_LOW = 1
352 } int_lvl_t;
353 
355 typedef enum {
356  INT_DRV_PUSHPULL = 0,
357  INT_DRV_OPENDRAIN = 1
358 } int_drive_t;
359 
361 typedef enum {
362  INT_MODE_PULSE50US = 0,
363  INT_MODE_LATCH = 1
364 } int_mode_t;
365 
367 typedef enum {
368  INT_CLEAR_STATUS_REG = 0,
369  INT_CLEAR_ANYREAD = 1
370 } int_clear_t;
371 
373 typedef struct {
374  int_lvl_t level :1;
375  int_drive_t drive :1;
376  int_mode_t mode :1;
377  int_clear_t clear :1;
378 } int_config_t;
379 
384 typedef uint8_t int_en_t;
385 static constexpr int_en_t INT_EN_NONE{0x0};
386 static constexpr int_en_t INT_EN_MOTION_DETECT{1 << regs::INT_ENABLE_MOTION_BIT};
387 static constexpr int_en_t INT_EN_FIFO_OVERFLOW{1 << regs::INT_ENABLE_FIFO_OFLOW_BIT};
388 static constexpr int_en_t INT_EN_I2C_MST_FSYNC{1 << regs::INT_ENABLE_I2C_MST_FSYNC_BIT}; // int from I2C_MST_STATUS
389 static constexpr int_en_t INT_EN_PLL_READY{1 << regs::INT_ENABLE_PLL_RDY_BIT};
390 static constexpr int_en_t INT_EN_DMP_READY{1 << regs::INT_ENABLE_DMP_RDY_BIT};
391 static constexpr int_en_t INT_EN_RAWDATA_READY{1 << regs::INT_ENABLE_RAW_DATA_RDY_BIT};
392 #if defined CONFIG_MPU6000 || defined CONFIG_MPU6050 || defined CONFIG_MPU9150
393 static constexpr int_en_t INT_EN_FREE_FALL{1 << regs::INT_ENABLE_FREEFALL_BIT};
394 static constexpr int_en_t INT_EN_ZERO_MOTION{1 << regs::INT_ENABLE_ZEROMOT_BIT};
395 #endif
396 
401 typedef uint8_t int_stat_t;
402 static constexpr int_stat_t INT_STAT_MOTION_DETECT{1 << regs::INT_STATUS_MOTION_BIT};
403 static constexpr int_stat_t INT_STAT_FIFO_OVERFLOW{1 << regs::INT_STATUS_FIFO_OFLOW_BIT};
404 static constexpr int_stat_t INT_STAT_I2C_MST_FSYNC{1 << regs::INT_STATUS_I2C_MST_BIT}; // int from I2C_MST_STATUS
405 static constexpr int_stat_t INT_STAT_PLL_READY{1 << regs::INT_STATUS_PLL_RDY_BIT};
406 static constexpr int_stat_t INT_STAT_DMP_READY{1 << regs::INT_STATUS_DMP_RDY_BIT};
407 static constexpr int_stat_t INT_STAT_RAWDATA_READY{1 << regs::INT_STATUS_RAW_DATA_RDY_BIT};
408 #if defined CONFIG_MPU6000 || defined CONFIG_MPU6050 || defined CONFIG_MPU9150
409 static constexpr int_stat_t INT_STAT_FREE_FALL{1 << regs::INT_STATUS_FREEFALL_BIT};
410 static constexpr int_stat_t INT_STAT_ZERO_MOTION{1 << regs::INT_STATUS_ZEROMOT_BIT};
411 #endif
412 
413 #ifdef CONFIG_MPU6500
414 
415 typedef enum {
416  FIFO_SIZE_512B = 0,
417  FIFO_SIZE_1K = 1,
418  FIFO_SIZE_2K = 2,
419  FIFO_SIZE_4K = 3
420 } fifo_size_t;
421 #endif
422 
424 typedef enum {
425  DMP_INT_MODE_PACKET = 0,
426  DMP_INT_MODE_GESTURE = 1
427 } dmp_int_mode_t;
428 
430 typedef enum {
431  FIFO_MODE_OVERWRITE = 0,
432  FIFO_MODE_STOP_FULL = 1
433 } fifo_mode_t;
434 
436 typedef uint16_t fifo_config_t;
437 static constexpr fifo_config_t FIFO_CFG_NONE{0x0};
438 static constexpr fifo_config_t FIFO_CFG_GYRO{
439  1 << regs::FIFO_XGYRO_EN_BIT | 1 << regs::FIFO_YGYRO_EN_BIT | 1 << regs::FIFO_ZGYRO_EN_BIT};
440 static constexpr fifo_config_t FIFO_CFG_ACCEL{1 << regs::FIFO_ACCEL_EN_BIT};
441 static constexpr fifo_config_t FIFO_CFG_TEMPERATURE{1 << regs::FIFO_TEMP_EN_BIT};
442 static constexpr fifo_config_t FIFO_CFG_SLAVE0{1 << regs::FIFO_SLV_0_EN_BIT};
443 static constexpr fifo_config_t FIFO_CFG_SLAVE1{1 << regs::FIFO_SLV_1_EN_BIT};
444 static constexpr fifo_config_t FIFO_CFG_SLAVE2{1 << regs::FIFO_SLV_2_EN_BIT};
445 static constexpr fifo_config_t FIFO_CFG_SLAVE3{1 << 8};
446 #if defined CONFIG_MPU_AK89xx
447 static constexpr fifo_config_t FIFO_CFG_COMPASS{FIFO_CFG_SLAVE0}; // 8 bytes
448 #endif
449 
450 // Enable DMP features
451 /* @note DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually exclusive.
452  * @note DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also
453  * mutually exclusive.
454  * @note DMP_FEATURE_PEDOMETER is always enabled.
455  */
456 
457 /* typedef uint16_t dmp_features_t;
458 static constexpr dmp_features_t DMP_FEATURE_TAP = {0x001};
459 static constexpr dmp_features_t DMP_FEATURE_ANDROID_ORIENT = {0x002};
460 static constexpr dmp_features_t DMP_FEATURE_LP_QUAT = {0x004};
461 static constexpr dmp_features_t DMP_FEATURE_PEDOMETER = {0x008};
462 static constexpr dmp_features_t DMP_FEATURE_6X_LP_QUAT = {0x010};
463 static constexpr dmp_features_t DMP_FEATURE_GYRO_CAL = {0x020};
464 static constexpr dmp_features_t DMP_FEATURE_SEND_RAW_ACCEL = {0x040};
465 static constexpr dmp_features_t DMP_FEATURE_SEND_RAW_GYRO = {0x080};
466 static constexpr dmp_features_t DMP_FEATURE_SEND_CAL_GYRO = {0x100};
467 
468 // DMP Tap axes
469 typedef uint8_t dmp_tap_axis_t;
470 static constexpr dmp_tap_axis_t DMP_TAP_X {0x30};
471 static constexpr dmp_tap_axis_t DMP_TAP_Y {0x0C};
472 static constexpr dmp_tap_axis_t DMP_TAP_Z {0x03};
473 static constexpr dmp_tap_axis_t DMP_TAP_XYZ {0x3F};
474  */
475 
477 template<class type_t>
478 struct axes_t {
479  union {
480  type_t xyz[3] = {0};
481  struct {
482  type_t x;
483  type_t y;
484  type_t z;
485  };
486  };
487  type_t& operator[](int i) {
488  return xyz[i];
489  }
490 };
491 // Ready-to-use axes types
492 typedef axes_t<int16_t> raw_axes_t;
493 typedef axes_t<float> float_axes_t;
494 
496 typedef struct {
497  raw_axes_t accel;
498  raw_axes_t gyro;
499  int16_t temp;
500  uint8_t* extsens;
501 #if defined CONFIG_MPU_AK89xx
502  raw_axes_t mag;
503 #endif
504 } sensors_t;
505 
506 
507 // ============
508 // MAGNETOMETER
509 // ============
510 #ifdef CONFIG_MPU_AK89xx
511 static constexpr uint8_t COMPASS_I2CADDRESS = 0xC;
512 static constexpr uint8_t COMPASS_SAMPLE_RATE_MAX = 100; // 100 Hz
513 
515 typedef enum {
516  MAG_MODE_POWER_DOWN = 0x0,
517  MAG_MODE_SINGLE_MEASURE = 0x1,
518  MAG_MODE_SELF_TEST = 0x8,
519  MAG_MODE_FUSE_ROM = 0xF,
520 #ifdef CONFIG_MPU_AK8963
521  MAG_MODE_CONTINUOUS_8HZ = 0x2,
522  MAG_MODE_CONTINUOUS_100HZ = 0x6,
523  MAG_MODE_EXTERNAL_TRIGGER = 0x4
524 #endif
525 } mag_mode_t;
526 
528 typedef uint8_t mag_stat1_t;
529 static constexpr mag_stat1_t MAG_STAT1_DATA_RDY{1 << regs::mag::STATUS1_DATA_RDY_BIT};
530 #ifdef CONFIG_MPU_AK8963
531 static constexpr mag_stat1_t MAG_STAT1_DATA_OVERRUN{1 << regs::mag::STATUS1_DATA_OVERRUN_BIT};
532 #endif
533 
535 typedef uint8_t mag_stat2_t;
536 static constexpr mag_stat2_t MAG_STAT2_SENSOR_OVERFLOW{1 << regs::mag::STATUS2_OVERFLOW_BIT};
537 #ifdef CONFIG_MPU_AK8963
538 static constexpr mag_stat2_t MAG_STAT2_BIT_OUTPUT_SETTING{1 << regs::mag::STATUS2_BIT_OUTPUT_M_BIT};
539 #elif CONFIG_MPU_AK8975
540 static constexpr mag_stat2_t MAG_STAT2_DATA_ERROR{1 << regs::mag::STATUS2_DATA_ERROR_BIT};
541 #endif
542 
543 #ifdef CONFIG_MPU_AK8963
544 
545 typedef enum {
546  MAG_SENSITIVITY_0_6_uT = 0,
547  MAG_SENSITIVITY_0_15_uT = 1,
548 } mag_sensy_t;
549 #endif
550 
551 // Auxiliary I2C slaves that operate the Magnetometer (do not change)
552 static constexpr auxi2c_slv_t MAG_SLAVE_READ_DATA = AUXI2C_SLAVE_0; // read measurement data
553 static constexpr auxi2c_slv_t MAG_SLAVE_CHG_MODE = AUXI2C_SLAVE_1; // change mode to single measure
554 
555 static constexpr uint8_t MAG_DATA_LENGTH = 8; // bytes
556 
557 #endif // end of Magnetometer stuff
558 
560 typedef uint8_t selftest_t;
561 static constexpr selftest_t SELF_TEST_PASS{0x0};
562 static constexpr selftest_t SELF_TEST_GYRO_FAIL{1 << 0}; // 0x1
563 static constexpr selftest_t SELF_TEST_ACCEL_FAIL{1 << 1}; // 0x2
564 
565 } // namespace types
566 
567 } // namespace mpud
568 
569 #endif /* end of include guard: _MPU_TYPES_HPP_ */
mpud::types::STBY_EN_LOWPWR_GYRO_PLL_ON
static constexpr stby_en_t STBY_EN_LOWPWR_GYRO_PLL_ON
This is a low power mode that allows quick enabling of the gyros.
Definition: types.hpp:215
mpud::types::MOT_STAT_XPOS
static constexpr mot_stat_t MOT_STAT_XPOS
Definition: types.hpp:193
mpud::types::MPU_I2CADDRESS_AD0_LOW
Definition: types.hpp:27
mpud::types::gyro_fs_t
gyro_fs_t
Gyroscope full-scale range.
Definition: types.hpp:51
mpud::types::auxi2c_config_t
Auxiliary I2C Master configuration struct.
Definition: types.hpp:276
mpud::types::mot_config_t::time
uint8_t time
Duration in milliseconds that the accel data must exceed the threshold before motion is reported...
Definition: types.hpp:154
mpud::regs::I2CMST_STAT_SLV4_NACK_BIT
constexpr uint8_t I2CMST_STAT_SLV4_NACK_BIT
Definition: registers.hpp:126
mpud::types::GYRO_FS_2000DPS
+/- 2000 º/s -> 16.4 LSB/(º/s)
Definition: types.hpp:55
mpud::types::AUXI2C_CLOCK_333KHZ
Definition: types.hpp:220
mpud::types::INT_EN_FIFO_OVERFLOW
static constexpr int_en_t INT_EN_FIFO_OVERFLOW
Definition: types.hpp:387
mpud::types::sensors_t::accel
raw_axes_t accel
accelerometer
Definition: types.hpp:497
mpud::types::mag_mode_t
mag_mode_t
Magnetometer operation modes.
Definition: types.hpp:515
mpud::types::ACCEL_FS_2G
+/- 2 g -> 16.384 LSB/g
Definition: types.hpp:60
mpud::types::LP_ACCEL_RATE_62_50HZ
Definition: types.hpp:119
mpud::types::AUXI2C_WRITE
Definition: types.hpp:257
mpud::types::auxi2c_stat_t
uint8_t auxi2c_stat_t
Auxiliary I2C master status register data.
Definition: types.hpp:330
mpud::types::LP_ACCEL_RATE_40HZ
Definition: types.hpp:109
mpud::types::AUXI2C_EOW_ODD_NUM
Indicates slave register addresses 0 and 1 are grouped together (odd numbered register ends the word)...
Definition: types.hpp:269
mpud::regs::I2CMST_STAT_SLV2_NACK_BIT
constexpr uint8_t I2CMST_STAT_SLV2_NACK_BIT
Definition: registers.hpp:128
mpud::regs::I2CMST_STAT_LOST_ARB_BIT
constexpr uint8_t I2CMST_STAT_LOST_ARB_BIT
Definition: registers.hpp:125
mpud::types::mag_stat1_t
uint8_t mag_stat1_t
Magnetometer sensor status 1.
Definition: types.hpp:528
mpud::types::mpu_addr_handle_t
mpu_i2caddr_t mpu_addr_handle_t
MPU Address/Handle type, mpu_i2caddr_t or spi_device_handle_t
Definition: types.hpp:34
mpud::regs::INT_STATUS_RAW_DATA_RDY_BIT
constexpr uint8_t INT_STATUS_RAW_DATA_RDY_BIT
Definition: registers.hpp:168
mpud::types::MAG_DATA_LENGTH
static constexpr uint8_t MAG_DATA_LENGTH
Definition: types.hpp:555
mpud::types::fifo_size_t
fifo_size_t
MPU6500 Fifo size.
Definition: types.hpp:415
mpud::types::int_mode_t
int_mode_t
Interrupt mode.
Definition: types.hpp:361
mpud::types::ACCEL_DHPF_5HZ
ON state, the high pass filter will pass signals above the cut off frequency.
Definition: types.hpp:130
mpud::types::DLPF_188HZ
Definition: types.hpp:69
mpud::types::AUXI2C_SLAVE_0
Definition: types.hpp:249
mpud::types::auxi2c_slv_config_t::slave
auxi2c_slv_t slave
Slave slot.
Definition: types.hpp:308
mpud::types::MOT_STAT_ZEROMOTION
static constexpr mot_stat_t MOT_STAT_ZEROMOTION
Definition: types.hpp:198
mpud::types::ACCEL_DHPF_RESET
This effectively disables the high pass filter.
Definition: types.hpp:128
mpud::types::AUXI2C_STAT_SLV2_NACK
static constexpr auxi2c_stat_t AUXI2C_STAT_SLV2_NACK
Definition: types.hpp:336
mpud::types::ACCEL_DHPF_0_63HZ
ON state, the high pass filter will pass signals above the cut off frequency.
Definition: types.hpp:133
mpud::types::MAG_STAT1_DATA_OVERRUN
static constexpr mag_stat1_t MAG_STAT1_DATA_OVERRUN
Definition: types.hpp:531
mpud::types::AUXI2C_SLAVE_1
Definition: types.hpp:250
mpud::types::MOT_STAT_YPOS
static constexpr mot_stat_t MOT_STAT_YPOS
Definition: types.hpp:195
mpud::types::INT_LVL_ACTIVE_LOW
Definition: types.hpp:351
mpud::types::COMPASS_I2CADDRESS
static constexpr uint8_t COMPASS_I2CADDRESS
Definition: types.hpp:511
mpud::regs::INT_STATUS_MOTION_BIT
constexpr uint8_t INT_STATUS_MOTION_BIT
Definition: registers.hpp:162
mpud::types::CLOCK_PLL
Selects automatically best pll source (recommended)
Definition: types.hpp:85
mpud::regs::FIFO_ACCEL_EN_BIT
constexpr uint8_t FIFO_ACCEL_EN_BIT
Definition: registers.hpp:72
mpud::regs::INT_STATUS_ZEROMOT_BIT
constexpr uint8_t INT_STATUS_ZEROMOT_BIT
Definition: registers.hpp:163
mpud::regs::PWR2_STBY_YG_BIT
constexpr uint8_t PWR2_STBY_YG_BIT
Definition: registers.hpp:252
mpud::types::INT_EN_FREE_FALL
static constexpr int_en_t INT_EN_FREE_FALL
Definition: types.hpp:393
mpud::types::sensors_t::temp
int16_t temp
temperature
Definition: types.hpp:499
mpud::regs::FIFO_TEMP_EN_BIT
constexpr uint8_t FIFO_TEMP_EN_BIT
Definition: registers.hpp:68
mpud::regs::FIFO_XGYRO_EN_BIT
constexpr uint8_t FIFO_XGYRO_EN_BIT
Definition: registers.hpp:69
mpud::regs::INT_STATUS_PLL_RDY_BIT
constexpr uint8_t INT_STATUS_PLL_RDY_BIT
Definition: registers.hpp:166
mpud::regs::FIFO_SLV_2_EN_BIT
constexpr uint8_t FIFO_SLV_2_EN_BIT
Definition: registers.hpp:73
mpud::types::lp_accel_rate_t
lp_accel_rate_t
Low-Power Accelerometer wake-up rates.
Definition: types.hpp:104
mpud::types::STBY_EN_ACCEL
static constexpr stby_en_t STBY_EN_ACCEL
Definition: types.hpp:207
mpud::types::axes_t
Generic axes struct to store sensors' data.
Definition: types.hpp:478
mpud::types::DMP_INT_MODE_GESTURE
Definition: types.hpp:426
mpud::types::GYRO_FS_1000DPS
+/- 1000 º/s -> 32.8 LSB/(º/s)
Definition: types.hpp:54
mpud::regs::mag::STATUS1_DATA_OVERRUN_BIT
constexpr uint8_t STATUS1_DATA_OVERRUN_BIT
Definition: registers.hpp:407
mpud::types::fifo_mode_t
fifo_mode_t
FIFO mode.
Definition: types.hpp:430
mpud::types::INT_DRV_PUSHPULL
Definition: types.hpp:356
mpud::types::accel_dhpf_t
accel_dhpf_t
Accelerometer Digital High Pass Filter (only for motion detection modules)
Definition: types.hpp:127
mpud::types::FIFO_SIZE_4K
Definition: types.hpp:419
mpud::types::MPU_DEFAULT_I2CADDRESS
static constexpr mpu_i2caddr_t MPU_DEFAULT_I2CADDRESS
Definition: types.hpp:30
mpud::types::AUXI2C_STAT_SLV4_DONE
static constexpr auxi2c_stat_t AUXI2C_STAT_SLV4_DONE
Definition: types.hpp:333
mpud::types::mag_sensy_t
mag_sensy_t
Magnetometer sensitivity.
Definition: types.hpp:545
mpud::types::AUXI2C_TRANS_STOP
Definition: types.hpp:240
mpud::types::MAG_MODE_CONTINUOUS_8HZ
Definition: types.hpp:521
mpud::types::MOT_COUNTER_RESET
When set, any non-qualifying sample will reset the corresponding counter to 0.
Definition: types.hpp:141
mpud::types::FIFO_CFG_SLAVE0
static constexpr fifo_config_t FIFO_CFG_SLAVE0
Definition: types.hpp:442
mpud::types::int_config_t
Interrupt configuration struct.
Definition: types.hpp:373
mpud::types::MAG_MODE_SINGLE_MEASURE
Definition: types.hpp:517
mpud::types::AUXI2C_CLOCK_308KHZ
Definition: types.hpp:222
mpud::types::GYRO_FS_250DPS
+/- 250 º/s -> 131 LSB/(º/s)
Definition: types.hpp:52
mpud::regs::INT_STATUS_FIFO_OFLOW_BIT
constexpr uint8_t INT_STATUS_FIFO_OFLOW_BIT
Definition: registers.hpp:164
mpud::types::MAG_MODE_POWER_DOWN
Definition: types.hpp:516
mpud::types::dlpf_t
dlpf_t
Digital low-pass filter (based on gyro bandwidth)
Definition: types.hpp:67
mpud::types::STBY_EN_GYRO_Y
static constexpr stby_en_t STBY_EN_GYRO_Y
Definition: types.hpp:209
mpud::regs::MOT_STATUS_X_POS_BIT
constexpr uint8_t MOT_STATUS_X_POS_BIT
Definition: registers.hpp:301
mpud::types::CLOCK_EXT32KHZ
PLL with external 32.768kHz reference.
Definition: types.hpp:87
mpud::types::STBY_EN_NONE
static constexpr stby_en_t STBY_EN_NONE
Definition: types.hpp:203
mpud::types::SAMPLE_RATE_MAX
static constexpr uint16_t SAMPLE_RATE_MAX
Definition: types.hpp:45
mpud::types::FIFO_SIZE_1K
Definition: types.hpp:417
mpud::types::axes_t::z
type_t z
Definition: types.hpp:484
mpud::types::axes_t::operator[]
type_t & operator[](int i)
Definition: types.hpp:487
mpud::types::mag_stat2_t
uint8_t mag_stat2_t
Magnetometer sensor status 2.
Definition: types.hpp:535
mpud::types::LP_ACCEL_RATE_31_25HZ
Definition: types.hpp:118
mpud::types::sensors_t::mag
raw_axes_t mag
magnetometer
Definition: types.hpp:502
mpud::types::fchoice_t
fchoice_t
Fchoice (Frequency choice maybe ?) [MPU6500 and MPU9250 only].
Definition: types.hpp:95
mpud::types::INT_STAT_DMP_READY
static constexpr int_stat_t INT_STAT_DMP_READY
Definition: types.hpp:406
mpud::types::DLPF_10HZ
Definition: types.hpp:73
mpud::types::INT_STAT_FREE_FALL
static constexpr int_stat_t INT_STAT_FREE_FALL
Definition: types.hpp:409
mpud::types::STBY_EN_GYRO_X
static constexpr stby_en_t STBY_EN_GYRO_X
Definition: types.hpp:208
mpud::types::FCHOICE_1
Definition: types.hpp:97
mpud::regs::mag::STATUS1_DATA_RDY_BIT
constexpr uint8_t STATUS1_DATA_RDY_BIT
Definition: registers.hpp:367
mpud::types::ACCEL_DHPF_1_25HZ
ON state, the high pass filter will pass signals above the cut off frequency.
Definition: types.hpp:132
mpud::types::int_stat_t
uint8_t int_stat_t
Interrupt Status.
Definition: types.hpp:401
mpud::types::sensors_t::extsens
uint8_t * extsens
external sensor buffer
Definition: types.hpp:500
mpud::types::MOT_STAT_YNEG
static constexpr mot_stat_t MOT_STAT_YNEG
Definition: types.hpp:194
mpud::types::AUXI2C_CLOCK_296KHZ
Definition: types.hpp:223
mpud::types::STBY_EN_ACCEL_Y
static constexpr stby_en_t STBY_EN_ACCEL_Y
Definition: types.hpp:205
mpud::types::zrmot_config_t
Zero-motion configuration.
Definition: types.hpp:167
mpud::types::axes_t::y
type_t y
Definition: types.hpp:483
mpud::types::dmp_int_mode_t
dmp_int_mode_t
DMP Interrupt mode.
Definition: types.hpp:424
mpud::regs::mag::STATUS2_BIT_OUTPUT_M_BIT
constexpr uint8_t STATUS2_BIT_OUTPUT_M_BIT
Definition: registers.hpp:408
mpud::types::AUXI2C_CLOCK_348KHZ
Definition: types.hpp:219
mpud::regs::PWR2_STBY_XA_BIT
constexpr uint8_t PWR2_STBY_XA_BIT
Definition: registers.hpp:248
mpud::regs::FIFO_SLV_0_EN_BIT
constexpr uint8_t FIFO_SLV_0_EN_BIT
Definition: registers.hpp:75
mpud::types::INT_EN_I2C_MST_FSYNC
static constexpr int_en_t INT_EN_I2C_MST_FSYNC
Definition: types.hpp:388
mpud::regs::INT_STATUS_FREEFALL_BIT
constexpr uint8_t INT_STATUS_FREEFALL_BIT
Definition: registers.hpp:161
mpud::regs::PWR2_STBY_ZG_BIT
constexpr uint8_t PWR2_STBY_ZG_BIT
Definition: registers.hpp:253
mpud::types::INT_LVL_ACTIVE_HIGH
Definition: types.hpp:350
mpud::types::accel_fs_t
accel_fs_t
Accel full-scale range.
Definition: types.hpp:59
mpud::types::ACCEL_FS_4G
+/- 4 g -> 8.192 LSB/g
Definition: types.hpp:61
mpud::regs::MOT_STATUS_ZRMOT_BIT
constexpr uint8_t MOT_STATUS_ZRMOT_BIT
Definition: registers.hpp:306
mpud::types::axes_t::x
type_t x
Definition: types.hpp:482
mpud::types::selftest_t
uint8_t selftest_t
Self-Test results.
Definition: types.hpp:560
mpud::types::MPU_I2CADDRESS_AD0_HIGH
Definition: types.hpp:28
mpud::types::MOT_COUNTER_DEC_4
Decrement counter in 4.
Definition: types.hpp:144
mpud::types::int_en_t
uint8_t int_en_t
Enable features to generate signal at Interrupt pin.
Definition: types.hpp:384
mpud::types::AUXI2C_CLOCK_381KHZ
Definition: types.hpp:233
mpud::types::SELF_TEST_PASS
static constexpr selftest_t SELF_TEST_PASS
Definition: types.hpp:561
mpud::types::INT_CLEAR_STATUS_REG
Definition: types.hpp:368
mpud::types::INT_EN_MOTION_DETECT
static constexpr int_en_t INT_EN_MOTION_DETECT
Definition: types.hpp:386
mpud::types::INT_EN_NONE
static constexpr int_en_t INT_EN_NONE
Definition: types.hpp:385
mpud::types::INT_STAT_ZERO_MOTION
static constexpr int_stat_t INT_STAT_ZERO_MOTION
Definition: types.hpp:410
mpud::types::ff_config_t::time
uint8_t time
Duration in milliseconds that the accel data must exceed the threshold before motion is reported...
Definition: types.hpp:178
mpud::types::INT_MODE_LATCH
Definition: types.hpp:363
mpud::types::INT_STAT_PLL_READY
static constexpr int_stat_t INT_STAT_PLL_READY
Definition: types.hpp:405
mpud::types::AUXI2C_CLOCK_258KHZ
Definition: types.hpp:227
mpud::types::AUXI2C_STAT_LOST_ARB
static constexpr auxi2c_stat_t AUXI2C_STAT_LOST_ARB
Definition: types.hpp:332
mpud::types::sensors_t
Sensors struct for fast reading all sensors at once.
Definition: types.hpp:496
mpud::types::FIFO_CFG_TEMPERATURE
static constexpr fifo_config_t FIFO_CFG_TEMPERATURE
Definition: types.hpp:441
mpud::types::AUXVDDIO_LVL_VDD
Definition: types.hpp:344
mpud::types::COMPASS_SAMPLE_RATE_MAX
static constexpr uint8_t COMPASS_SAMPLE_RATE_MAX
Definition: types.hpp:512
mpud::types::float_axes_t
axes_t< float > float_axes_t
Axes type to hold converted sensor data.
Definition: types.hpp:493
mpud::types::AUXI2C_CLOCK_286KHZ
Definition: types.hpp:224
mpud::regs::I2CMST_STAT_PASS_THROUGH_BIT
constexpr uint8_t I2CMST_STAT_PASS_THROUGH_BIT
Definition: registers.hpp:123
mpud::types::FIFO_CFG_NONE
static constexpr fifo_config_t FIFO_CFG_NONE
Definition: types.hpp:437
mpud::types::zrmot_config_t::threshold
uint8_t threshold
Motion threshold in LSB.
Definition: types.hpp:168
mpud::regs::INT_ENABLE_DMP_RDY_BIT
constexpr uint8_t INT_ENABLE_DMP_RDY_BIT
Definition: registers.hpp:149
mpud::types::INT_STAT_RAWDATA_READY
static constexpr int_stat_t INT_STAT_RAWDATA_READY
Definition: types.hpp:407
mpud::regs::INT_STATUS_DMP_RDY_BIT
constexpr uint8_t INT_STATUS_DMP_RDY_BIT
Definition: registers.hpp:167
mpud::regs::MOT_STATUS_Y_POS_BIT
constexpr uint8_t MOT_STATUS_Y_POS_BIT
Definition: registers.hpp:303
mpud::types::MPU_DEFAULT_ADDR_HANDLE
static constexpr mpu_addr_handle_t MPU_DEFAULT_ADDR_HANDLE
Definition: types.hpp:36
mpud::types::AUXI2C_CLOCK_320KHZ
Definition: types.hpp:221
mpud::regs::PWR2_STBY_XG_BIT
constexpr uint8_t PWR2_STBY_XG_BIT
Definition: registers.hpp:251
mpud::types::MAG_SENSITIVITY_0_6_uT
0.6 uT/LSB = 14-bit output
Definition: types.hpp:546
mpud::types::ff_config_t::threshold
uint8_t threshold
Motion threshold in LSB.
Definition: types.hpp:177
mpud::types::clock_src_t
clock_src_t
Clock Source.
Definition: types.hpp:83
mpud::types::FIFO_CFG_SLAVE3
static constexpr fifo_config_t FIFO_CFG_SLAVE3
Definition: types.hpp:445
mpud::types::axes_t::xyz
type_t xyz[3]
Definition: types.hpp:480
mpud::regs::INT_ENABLE_RAW_DATA_RDY_BIT
constexpr uint8_t INT_ENABLE_RAW_DATA_RDY_BIT
Definition: registers.hpp:150
mpud::types::AUXI2C_CLOCK_444KHZ
Definition: types.hpp:230
mpud::types::MOT_STAT_ZPOS
static constexpr mot_stat_t MOT_STAT_ZPOS
Definition: types.hpp:197
mpud::types::LP_ACCEL_RATE_20HZ
Definition: types.hpp:108
mpud::types::CLOCK_INTERNAL
Internal oscillator: 20MHz for MPU6500 and 8MHz for MPU6050.
Definition: types.hpp:84
mpud::types::ACCEL_FS_16G
+/- 16 g -> 2.048 LSB/g
Definition: types.hpp:63
mpud::types::MAG_SLAVE_READ_DATA
static constexpr auxi2c_slv_t MAG_SLAVE_READ_DATA
Definition: types.hpp:552
mpud::types::AUXI2C_STAT_SLV3_NACK
static constexpr auxi2c_stat_t AUXI2C_STAT_SLV3_NACK
Definition: types.hpp:335
mpud::regs::INT_STATUS_I2C_MST_BIT
constexpr uint8_t INT_STATUS_I2C_MST_BIT
Definition: registers.hpp:165
mpud::types::MPU_DEFAULT_BUS
static constexpr mpu_bus_t & MPU_DEFAULT_BUS
Definition: types.hpp:35
mpud::types::int_drive_t
int_drive_t
Interrupt drive state.
Definition: types.hpp:355
mpud::types::AUXI2C_CLOCK_267KHZ
Definition: types.hpp:226
mpud::regs::I2CMST_STAT_SLV3_NACK_BIT
constexpr uint8_t I2CMST_STAT_SLV3_NACK_BIT
Definition: registers.hpp:127
mpud::types::CLOCK_EXT19MHZ
PLL with external 19.2MHz reference.
Definition: types.hpp:88
mpud::regs::I2CMST_STAT_SLV4_DONE_BIT
constexpr uint8_t I2CMST_STAT_SLV4_DONE_BIT
Definition: registers.hpp:124
mpud::regs::INT_ENABLE_FIFO_OFLOW_BIT
constexpr uint8_t INT_ENABLE_FIFO_OFLOW_BIT
Definition: registers.hpp:146
mpud::regs::MOT_STATUS_Y_NEG_BIT
constexpr uint8_t MOT_STATUS_Y_NEG_BIT
Definition: registers.hpp:302
mpud::types::AUXI2C_CLOCK_471KHZ
Definition: types.hpp:229
mpud::types::INT_STAT_MOTION_DETECT
static constexpr int_stat_t INT_STAT_MOTION_DETECT
Definition: types.hpp:402
mpud::types::FCHOICE_0
Definition: types.hpp:96
mpud::types::MOT_STAT_ZNEG
static constexpr mot_stat_t MOT_STAT_ZNEG
Definition: types.hpp:196
mpud::types::raw_axes_t
axes_t< int16_t > raw_axes_t
Axes type to hold gyroscope, accelerometer, magnetometer raw data.
Definition: types.hpp:492
mpud::types::mot_stat_t
uint8_t mot_stat_t
Motion Detection Status (MPU6000, MPU6050, MPU9150)
Definition: types.hpp:191
mpud::regs::MOT_STATUS_Z_NEG_BIT
constexpr uint8_t MOT_STATUS_Z_NEG_BIT
Definition: registers.hpp:304
mpud::types::LP_ACCEL_RATE_3_91HZ
Definition: types.hpp:115
mpud::types::INT_EN_RAWDATA_READY
static constexpr int_en_t INT_EN_RAWDATA_READY
Definition: types.hpp:391
mpud::types::ACCEL_DHPF_2_5HZ
ON state, the high pass filter will pass signals above the cut off frequency.
Definition: types.hpp:131
mpud::regs::MOT_STATUS_Z_POS_BIT
constexpr uint8_t MOT_STATUS_Z_POS_BIT
Definition: registers.hpp:305
mpud::types::INT_CLEAR_ANYREAD
Definition: types.hpp:369
mpud::types::AUXI2C_CLOCK_421KHZ
Definition: types.hpp:231
mpud::types::MOT_COUNTER_DEC_1
Decrement counter in 1.
Definition: types.hpp:142
mpud::types::AUXI2C_STAT_SLV4_NACK
static constexpr auxi2c_stat_t AUXI2C_STAT_SLV4_NACK
Definition: types.hpp:334
mpud::types::STBY_EN_GYRO
static constexpr stby_en_t STBY_EN_GYRO
Definition: types.hpp:211
mpud::types::AUXI2C_CLOCK_500KHZ
Definition: types.hpp:228
mpud::types::auxi2c_rw_t
auxi2c_rw_t
Auxiliary I2C operation.
Definition: types.hpp:256
mpud::types::DLPF_98HZ
Definition: types.hpp:70
mpud::types::MAG_SLAVE_CHG_MODE
static constexpr auxi2c_slv_t MAG_SLAVE_CHG_MODE
Definition: types.hpp:553
mpud::types::LP_ACCEL_RATE_7_81HZ
Definition: types.hpp:116
mpud::types::INT_STAT_FIFO_OVERFLOW
static constexpr int_stat_t INT_STAT_FIFO_OVERFLOW
Definition: types.hpp:403
mpud::types::SELF_TEST_ACCEL_FAIL
static constexpr selftest_t SELF_TEST_ACCEL_FAIL
Definition: types.hpp:563
mpud::types::mot_counter_t
mot_counter_t
Motion Detection counter decrement rate (Motion and FreeFall)
Definition: types.hpp:140
mpud::types::FCHOICE_3
Definition: types.hpp:99
mpud::types::auxi2c_slv_t
auxi2c_slv_t
Auxiliary I2C Slaves slots.
Definition: types.hpp:248
mpud::types::DLPF_42HZ
Definition: types.hpp:71
mpud::types::CLOCK_KEEP_RESET
Stops the clock and keeps timing generator in reset.
Definition: types.hpp:90
mpud::types::ACCEL_FS_8G
+/- 8 g -> 4.096 LSB/g
Definition: types.hpp:62
mpud::types::LP_ACCEL_RATE_0_49HZ
Definition: types.hpp:112
mpud::types::LP_ACCEL_RATE_5HZ
Definition: types.hpp:107
mpud::types::LP_ACCEL_RATE_1_25HZ
Definition: types.hpp:106
mpud::types::FIFO_CFG_SLAVE1
static constexpr fifo_config_t FIFO_CFG_SLAVE1
Definition: types.hpp:443
mpud::types::mpu_bus_t
I2C_t mpu_bus_t
Communication bus type, I2Cbus or SPIbus.
Definition: types.hpp:33
mpud::regs::INT_ENABLE_ZEROMOT_BIT
constexpr uint8_t INT_ENABLE_ZEROMOT_BIT
Definition: registers.hpp:145
mpud::types::FIFO_CFG_COMPASS
static constexpr fifo_config_t FIFO_CFG_COMPASS
Definition: types.hpp:447
mpud::types::stby_en_t
uint8_t stby_en_t
Standby Mode.
Definition: types.hpp:202
mpud::types::MAG_SENSITIVITY_0_15_uT
0.15 uT/LSB = 16-bit output
Definition: types.hpp:547
mpud::types::MAG_MODE_SELF_TEST
Definition: types.hpp:518
mpud::types::mot_config_t
Motion Detection configuration.
Definition: types.hpp:149
registers.hpp
Define registers' for all MPU models.
mpud::types::auxi2c_slv_config_t::txdata
uint8_t txdata
Data to transfer when slave is set to write.
Definition: types.hpp:324
mpud::regs::mag::STATUS2_DATA_ERROR_BIT
constexpr uint8_t STATUS2_DATA_ERROR_BIT
Definition: registers.hpp:400
mpud::types::int_lvl_t
int_lvl_t
Interrupt active level.
Definition: types.hpp:349
mpud::types::STBY_EN_TEMP
static constexpr stby_en_t STBY_EN_TEMP
Definition: types.hpp:212
mpud::regs::FIFO_YGYRO_EN_BIT
constexpr uint8_t FIFO_YGYRO_EN_BIT
Definition: registers.hpp:70
mpud::types::auxvddio_lvl_t
auxvddio_lvl_t
Auxiliary I2C bus VDDIO level [MPU6050 / MPU9150 only].
Definition: types.hpp:342
mpud::regs::PWR2_STBY_ZA_BIT
constexpr uint8_t PWR2_STBY_ZA_BIT
Definition: registers.hpp:250
mpud::types::AUXVDDIO_LVL_VLOGIC
Definition: types.hpp:343
mpud::types::LP_ACCEL_RATE_0_98HZ
Definition: types.hpp:113
mpud::types::INT_MODE_PULSE50US
Definition: types.hpp:362
mpud::types::AUXI2C_EOW_EVEN_NUM
Indicates slave register addresses 1 and 2 are grouped together (even numbered register ends the word...
Definition: types.hpp:271
mpud::types::MAG_STAT2_DATA_ERROR
static constexpr mag_stat2_t MAG_STAT2_DATA_ERROR
Definition: types.hpp:540
mpud::regs::INT_ENABLE_PLL_RDY_BIT
constexpr uint8_t INT_ENABLE_PLL_RDY_BIT
Definition: registers.hpp:148
mpud::types::FIFO_CFG_ACCEL
static constexpr fifo_config_t FIFO_CFG_ACCEL
Definition: types.hpp:440
mpud::types::DMP_INT_MODE_PACKET
Definition: types.hpp:425
mpud::regs::INT_ENABLE_I2C_MST_FSYNC_BIT
constexpr uint8_t INT_ENABLE_I2C_MST_FSYNC_BIT
Definition: registers.hpp:147
mpud::types::AUXI2C_TRANS_RESTART
Definition: types.hpp:239
mpud::regs::FIFO_ZGYRO_EN_BIT
constexpr uint8_t FIFO_ZGYRO_EN_BIT
Definition: registers.hpp:71
mpud::types::FIFO_MODE_STOP_FULL
when fifo full, additional writes will not be written to fifo.
Definition: types.hpp:432
mpud::types::FIFO_CFG_SLAVE2
static constexpr fifo_config_t FIFO_CFG_SLAVE2
Definition: types.hpp:444
mpud::types::FCHOICE_2
Definition: types.hpp:98
mpud::types::MAG_STAT2_SENSOR_OVERFLOW
static constexpr mag_stat2_t MAG_STAT2_SENSOR_OVERFLOW
Definition: types.hpp:536
mpud::types::MAG_MODE_FUSE_ROM
Definition: types.hpp:519
mpud::types::auxi2c_eow_t
auxi2c_eow_t
Auxiliary I2C, EOW = end of word, use for swap.
Definition: types.hpp:268
mpud::types::AUXI2C_CLOCK_364KHZ
Definition: types.hpp:234
mpud::types::SELF_TEST_GYRO_FAIL
static constexpr selftest_t SELF_TEST_GYRO_FAIL
Definition: types.hpp:562
mpud::types::MOT_COUNTER_DEC_2
Decrement counter in 2.
Definition: types.hpp:143
mpud::types::DLPF_2100HZ_NOLPF
Definition: types.hpp:76
mpud::types::LP_ACCEL_RATE_125HZ
Definition: types.hpp:120
mpud::types::STBY_EN_ACCEL_X
static constexpr stby_en_t STBY_EN_ACCEL_X
Definition: types.hpp:204
mpud::types::LP_ACCEL_RATE_500HZ
Definition: types.hpp:122
mpud::types::LP_ACCEL_RATE_15_63HZ
Definition: types.hpp:117
mpud::regs::mag::STATUS2_OVERFLOW_BIT
constexpr uint8_t STATUS2_OVERFLOW_BIT
Definition: registers.hpp:377
mpud::types::DLPF_20HZ
Definition: types.hpp:72
mpud::types::MAG_STAT2_BIT_OUTPUT_SETTING
static constexpr mag_stat2_t MAG_STAT2_BIT_OUTPUT_SETTING
Definition: types.hpp:538
mpud::types::AUXI2C_STAT_FSYNC
static constexpr auxi2c_stat_t AUXI2C_STAT_FSYNC
Definition: types.hpp:331
mpud::types::GYRO_FS_500DPS
+/- 500 º/s -> 65.5 LSB/(º/s)
Definition: types.hpp:53
mpud::types::STBY_EN_ACCEL_Z
static constexpr stby_en_t STBY_EN_ACCEL_Z
Definition: types.hpp:206
mpud::types::auxi2c_clock_t
auxi2c_clock_t
Auxiliary I2C Master clock speed.
Definition: types.hpp:218
mpud::types::mpu_i2caddr_t
mpu_i2caddr_t
MPU's possible I2C slave addresses.
Definition: types.hpp:26
mpud::types::AUXI2C_READ
Definition: types.hpp:258
mpud::types::DLPF_5HZ
Definition: types.hpp:74
mpud::types::AUXI2C_STAT_SLV0_NACK
static constexpr auxi2c_stat_t AUXI2C_STAT_SLV0_NACK
Definition: types.hpp:338
mpud::types::ACCEL_DHPF_HOLD
The filter holds the present sample.
Definition: types.hpp:134
mpud::types::AUXI2C_CLOCK_400KHZ
Definition: types.hpp:232
mpud::types::FIFO_SIZE_2K
Definition: types.hpp:418
mpud::types::AUXI2C_CLOCK_276KHZ
Definition: types.hpp:225
mpud::types::sensors_t::gyro
raw_axes_t gyro
gyroscope
Definition: types.hpp:498
mpud::types::INT_EN_PLL_READY
static constexpr int_en_t INT_EN_PLL_READY
Definition: types.hpp:389
mpud::types::LP_ACCEL_RATE_250HZ
Definition: types.hpp:121
mpud::types::fifo_config_t
uint16_t fifo_config_t
FIFO configuration, enable sensors to be written to FIFO.
Definition: types.hpp:436
mpud::types::INT_EN_DMP_READY
static constexpr int_en_t INT_EN_DMP_READY
Definition: types.hpp:390
mpud::regs::PWR2_STBY_YA_BIT
constexpr uint8_t PWR2_STBY_YA_BIT
Definition: registers.hpp:249
mpud::regs::INT_ENABLE_MOTION_BIT
constexpr uint8_t INT_ENABLE_MOTION_BIT
Definition: registers.hpp:144
mpud::types::INT_DRV_OPENDRAIN
Definition: types.hpp:357
mpud::regs::I2CMST_STAT_SLV0_NACK_BIT
constexpr uint8_t I2CMST_STAT_SLV0_NACK_BIT
Definition: registers.hpp:130
mpud::types::ff_config_t
Free-fall configuration.
Definition: types.hpp:176
mpud::types::STBY_EN_GYRO_Z
static constexpr stby_en_t STBY_EN_GYRO_Z
Definition: types.hpp:210
mpud::types::AUXI2C_STAT_SLV1_NACK
static constexpr auxi2c_stat_t AUXI2C_STAT_SLV1_NACK
Definition: types.hpp:337
mpud::types::MOT_STAT_XNEG
static constexpr mot_stat_t MOT_STAT_XNEG
Definition: types.hpp:192
mpud::regs::I2CMST_STAT_SLV1_NACK_BIT
constexpr uint8_t I2CMST_STAT_SLV1_NACK_BIT
Definition: registers.hpp:129
mpud::regs::MOT_STATUS_X_NEG_BIT
constexpr uint8_t MOT_STATUS_X_NEG_BIT
Definition: registers.hpp:300
mpud::types::MAG_STAT1_DATA_RDY
static constexpr mag_stat1_t MAG_STAT1_DATA_RDY
Definition: types.hpp:529
mpud::types::mot_config_t::threshold
uint8_t threshold
Motion threshold in LSB.
Definition: types.hpp:150
mpud::types::FIFO_SIZE_512B
Definition: types.hpp:416
mpud::types::AUXI2C_SLAVE_3
Definition: types.hpp:252
mpud::types::AUXI2C_SLAVE_2
Definition: types.hpp:251
mpud::regs::FIFO_SLV_1_EN_BIT
constexpr uint8_t FIFO_SLV_1_EN_BIT
Definition: registers.hpp:74
mpud::types::INT_EN_ZERO_MOTION
static constexpr int_en_t INT_EN_ZERO_MOTION
Definition: types.hpp:394
mpud::types::FIFO_MODE_OVERWRITE
when fifo full, additional writes will be written to fifo, replacing the oldest data.
Definition: types.hpp:431
mpud::types::DLPF_256HZ_NOLPF
Definition: types.hpp:68
mpud::types::int_clear_t
int_clear_t
Interrupt clear mode.
Definition: types.hpp:367
mpud::types::FIFO_CFG_GYRO
static constexpr fifo_config_t FIFO_CFG_GYRO
Definition: types.hpp:438
mpud::types::INT_STAT_I2C_MST_FSYNC
static constexpr int_stat_t INT_STAT_I2C_MST_FSYNC
Definition: types.hpp:404
mpud::types::zrmot_config_t::time
uint8_t time
Duration in milliseconds that the accel data must exceed the threshold before motion is reported...
Definition: types.hpp:169
mpud::types::LP_ACCEL_RATE_1_95HZ
Definition: types.hpp:114
mpud::types::auxi2c_trans_t
auxi2c_trans_t
Auxiliary I2C Master’s transition from one slave read to the next slave read.
Definition: types.hpp:238
mpud::types::auxi2c_slv_config_t::reg_addr
uint8_t reg_addr
Register address to read/write to.
Definition: types.hpp:311
mpud::regs::INT_ENABLE_FREEFALL_BIT
constexpr uint8_t INT_ENABLE_FREEFALL_BIT
Definition: registers.hpp:143
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