diff options
Diffstat (limited to 'libsensors/mlsdk/mllite/mldl.h')
| -rw-r--r-- | libsensors/mlsdk/mllite/mldl.h | 176 |
1 files changed, 176 insertions, 0 deletions
diff --git a/libsensors/mlsdk/mllite/mldl.h b/libsensors/mlsdk/mllite/mldl.h new file mode 100644 index 0000000..961d860 --- /dev/null +++ b/libsensors/mlsdk/mllite/mldl.h @@ -0,0 +1,176 @@ +/* + $License: + Copyright 2011 InvenSense, Inc. + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + $ + */ +/******************************************************************************* + * + * $Id: mldl.h 5639 2011-06-14 01:23:05Z nroyer $ + * + *******************************************************************************/ + +#ifndef MLDL_H +#define MLDL_H + +#include "mltypes.h" +#include "mlsl.h" +#include <linux/mpu.h> +#include "mldl_cfg.h" +#ifdef INV_INCLUDE_LEGACY_HEADERS +#include "mldl_legacy.h" +#endif + + /* ------------ */ + /* - Defines. - */ + /* ------------ */ + +typedef enum _DEVICE_CONFIG { + DEVICE_MPU_ACCEL = 0, + DEVICE_MPU, + NUM_OF_DEVICES +} DEVICE_CONFIG; + +#define SERIAL_I2C 0 +#define SERIAL_SPI 1 + +#define DATAMODE_MANUAL 0 // Manual data mode +#define DATAMODE_AUTO 1 // Auto data mode + +#define DATASRC_IMMEDIATE 0 // Return data immediately +#define DATASRC_WHENREADY 1 // Only return data when new data is available +#define DATASRC_FIFO 2 // Use FIFO for data + +#define SENSOR_DATA_GYROX 0x0001 +#define SENSOR_DATA_GYROY 0x0002 +#define SENSOR_DATA_GYROZ 0x0004 +#define SENSOR_DATA_ACCELX 0x0008 +#define SENSOR_DATA_ACCELY 0x0010 +#define SENSOR_DATA_ACCELZ 0x0020 +#define SENSOR_DATA_AUX1 0x0040 +#define SENSOR_DATA_AUX2 0x0080 +#define SENSOR_DATA_AUX3 0x0100 +#define SENSOR_DATA_TEMP 0x0200 + +#define INTPIN_MPU 0 + +#define INTLOGIC_HIGH 0 +#define INTLOGIC_LOW 1 + +#define INTTYPE_PUSHPULL 0 +#define INTTYPE_OPENDRAIN 1 + +#define INTLATCH_DISABLE 0 +#define INTLATCH_ENABLE 1 + +#define MPUINT_MPU_READY 0x04 +#define MPUINT_DMP_DONE 0x02 +#define MPUINT_DATA_READY 0x01 + +#define INTLATCHCLEAR_READSTATUS 0 +#define INTLATCHCLEAR_ANYREAD 1 + +#define DMP_DONTRUN 0 +#define DMP_RUN 1 + + /*---- defines for external interrupt status (via external call into library) ----*/ +#define INT_CLEAR 0 +#define INT_TRIGGERED 1 + +typedef enum { + INTSRC_MPU = 0, + INTSRC_AUX1, + INTSRC_AUX2, + INTSRC_AUX3, + INTSRC_TIMER, + INTSRC_UNKNOWN, + INTSRC_MPU_FIFO, + INTSRC_MPU_MOTION, + NUM_OF_INTSOURCES, +} INT_SOURCE; + + /* --------------- */ + /* - Structures. - */ + /* --------------- */ + + /* --------------- */ + /* - Variables. - */ + /* --------------- */ + + /* --------------------- */ + /* - Function p-types. - */ + /* --------------------- */ +#ifdef __cplusplus +extern "C" { +#endif + + inv_error_t inv_dl_open(void *mlslHandle); + inv_error_t inv_dl_close(void); + + inv_error_t inv_dl_start(unsigned long sensors); + inv_error_t inv_dl_stop(unsigned long sensors); + + struct mldl_cfg *inv_get_dl_config(void); + + inv_error_t inv_init_requested_sensors(unsigned long sensors); + unsigned char inv_get_mpu_slave_addr(void); + inv_error_t inv_get_dl_ctrl_dmp(unsigned char enableRun, + unsigned char enableFIFO); + inv_error_t inv_get_dl_cfg_int(unsigned char triggers); + inv_error_t inv_dl_cfg_sampling(unsigned char lpf, unsigned char divider); + inv_error_t inv_set_full_scale(float fullScale); + inv_error_t inv_set_external_sync(unsigned char extSync); + inv_error_t inv_set_ignore_system_suspend(unsigned char ignore); + inv_error_t inv_clock_source(unsigned char clkSource); + inv_error_t inv_get_mpu_memory(unsigned short key, + unsigned short length, + unsigned char *buffer); + inv_error_t inv_set_mpu_memory(unsigned short key, + unsigned short length, + const unsigned char *buffer); + inv_error_t inv_load_dmp(const unsigned char *buffer, + unsigned short length, + unsigned short startAddress); + + unsigned char inv_get_slicon_rev(void); + inv_error_t inv_set_offsetTC(const unsigned char *tc); + inv_error_t inv_set_offset(const short *offset); + + /* Functions for setting and retrieving the DMP memory */ + inv_error_t inv_get_mpu_memory_original(unsigned short key, + unsigned short length, + unsigned char *buffer); + void inv_set_get_address(unsigned short (*func) (unsigned short key)); + unsigned short inv_dl_get_address(unsigned short key); + uint_fast8_t inv_dmpkey_supported(unsigned short key); + + inv_error_t inv_get_interrupt_status(unsigned char intPin, + unsigned char *value); + unsigned char inv_get_interrupt_trigger(unsigned char index); + void inv_clear_interrupt_trigger(unsigned char index); + inv_error_t inv_interrupt_handler(unsigned char intSource); + + /** Only exposed for testing purposes */ + inv_error_t inv_set_mpu_memory_one_bank(unsigned char bank, + unsigned short memAddr, + unsigned short length, + const unsigned char *buffer); + inv_error_t inv_get_mpu_memory_one_bank(unsigned char bank, + unsigned char memAddr, + unsigned short length, + unsigned char *buffer); +#ifdef __cplusplus +} +#endif +#endif // MLDL_H |