Public Interfaces

struct _DarkRoomProtobuf_commandObject

Public Members

int32_t command

struct _DarkRoomProtobuf_configObject

Public Members

uint32_t ip

int32_t logging_port

int32_t sensor_port

int32_t imu_port

struct _DarkRoomProtobuf_imuObject

Public Members

int32_t id

pb_size_t quaternion_count

float quaternion[4]

pb_size_t acc_count

int32_t acc[3]

pb_size_t gravity_count

float gravity[3]

struct _DarkRoomProtobuf_loggingObject

Public Members

bool has_message

char message[40]

struct _DarkRoomProtobuf_trackedObjectConfig

Public Members

uint32_t ip

int32_t command_port

struct _FIFO128sweep

Public Members

uint8_t mRead

uint8_t mWrite

Sweep *mBuffer[32]

struct _FIFO128t

Public Members

uint8_t mRead

uint8_t mWrite

uint32_t mBuffer[32]

struct COLOR

Public Functions

COLOR(float r, float g, float b, float a)

Public Members

float r

float g

float b

float a

class DarkRoom

Inherits from Panel

Public Functions

DarkRoom(QWidget *parent = 0)

~DarkRoom()

void load(const rviz::Config &config)

Load all configuration data for this panel from the given Config object.

Parameters

• config: rviz config file

void save(rviz::Config config) const

Save all configuration data from this panel to the given Config object.

It is important here that you call save() on the parent class so the class id and panel name get saved.

Parameters

• config: rviz config file

Public Slots

void connectTo()

Connects to sensor_port and IP given via GUI.

void clearAll()

Clears all visualization markers.

void resetLighthousePoses()

Resets the lighthouse poses to inital values.

void record()

Toggles recording sensor values for all tracked objects.

void track()

Toggles tracking of all objects (ie triangulation)

void showRays()

Toggles visualization of lighthouse rays.

void calibrate()

Toggles calibration.

void estimateDistance()

Toggles distance estimatio for both lighthouses.

void estimatePose()

void pingThread()

void switch_lighthouses()

void startObjectListener()

void rebootESP()

void toggleMPU6050()

Private Functions

void transformPublisher()

Is regularily publishing the tf frames (world_vive, lighthouse1, lighthouse2)

void objectListener()

Ping thread regularily listening for new objects.

bool checkIfObjectAlreadyExists(const string &IP)

This functions looks through trackedObjects ListWidget if the object is already being tracked.

Return

true (object already exists), false (new object)

Parameters

• IP: IP of new object

bool checkIfObjectAlreadyExists(const uint32_t &IP)

Private Members

boost::shared_ptr<std::thread> transform_thread = nullptr

boost::shared_ptr<std::thread> object_listener_thread

ros::NodeHandlePtr nh

boost::shared_ptr<ros::AsyncSpinner> spinner

ros::Publisher visualization_pub

tf::TransformListener tf_listener

tf::TransformBroadcaster tf_broadcaster

tf::Transform lighthouse1

tf::Transform lighthouse2

tf::Transform tf_world

bool lighthouse_switch = true

bool publish_transform = true

bool add_new_objects = true

int message_counter = 0

int object_counter = 0

map<int, TrackedObjectPtr> trackedObjects

map<int, string> IPs

string server_IP

int server_port

UDPSocketPtr ping_socket

mutex m_lockMutex

template <typename _Scalar, int NX = Dynamic, int NY = Dynamic>

struct Functor

Public Types

enum [anonymous]

Values:

InputsAtCompileTime = NX

ValuesAtCompileTime = NY

typedef _Scalar Scalar

typedef Matrix<Scalar, InputsAtCompileTime, 1> InputType

typedef Matrix<Scalar, ValuesAtCompileTime, 1> ValueType

typedef Matrix<Scalar, ValuesAtCompileTime, InputsAtCompileTime> JacobianType

Public Functions

Functor()

Functor(int inputs, int values)

int inputs() const

int values() const

Public Members

const int m_inputs

const int m_values

class I2Cdev

Public Functions

I2Cdev()

Default constructor.

Public Static Functions

int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout = I2Cdev::readTimeout)

Read a single bit from an 8-bit device register.

Return

Status of read operation (true = success)

Parameters

• devAddr: I2C slave device address
• regAddr: Register regAddr to read from
• bitNum: Bit position to read (0-7)
• data: Container for single bit value
• timeout: Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)

int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout = I2Cdev::readTimeout)

Read a single bit from a 16-bit device register.

Return

Status of read operation (true = success)

Parameters

• devAddr: I2C slave device address
• regAddr: Register regAddr to read from
• bitNum: Bit position to read (0-15)
• data: Container for single bit value
• timeout: Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)

int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout = I2Cdev::readTimeout)

Read multiple bits from an 8-bit device register.

Return

Status of read operation (true = success)

Parameters

• devAddr: I2C slave device address
• regAddr: Register regAddr to read from
• bitStart: First bit position to read (0-7)
• length: Number of bits to read (not more than 8)
• data: Container for right-aligned value (i.e. ‘101’ read from any bitStart position will equal 0x05)
• timeout: Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)

int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout = I2Cdev::readTimeout)

Read multiple bits from a 16-bit device register.

Return

Status of read operation (1 = success, 0 = failure, -1 = timeout)

Parameters

• devAddr: I2C slave device address
• regAddr: Register regAddr to read from
• bitStart: First bit position to read (0-15)
• length: Number of bits to read (not more than 16)
• data: Container for right-aligned value (i.e. ‘101’ read from any bitStart position will equal 0x05)
• timeout: Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)

int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout = I2Cdev::readTimeout)

Read single byte from an 8-bit device register.

Return

Status of read operation (true = success)

Parameters

• devAddr: I2C slave device address
• regAddr: Register regAddr to read from
• data: Container for byte value read from device
• timeout: Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)

int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout = I2Cdev::readTimeout)

Read single word from a 16-bit device register.

Return

Status of read operation (true = success)

Parameters

• devAddr: I2C slave device address
• regAddr: Register regAddr to read from
• data: Container for word value read from device
• timeout: Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)

int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout = I2Cdev::readTimeout)

Read multiple bytes from an 8-bit device register.

Return

Number of bytes read (-1 indicates failure)

Parameters

• devAddr: I2C slave device address
• regAddr: First register regAddr to read from
• length: Number of bytes to read
• data: Buffer to store read data in
• timeout: Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)

int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout = I2Cdev::readTimeout)

Read multiple words from a 16-bit device register.

Return

Number of words read (-1 indicates failure)

Parameters

• devAddr: I2C slave device address
• regAddr: First register regAddr to read from
• length: Number of words to read
• data: Buffer to store read data in
• timeout: Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)

bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data)

write a single bit in an 8-bit device register.

Return

Status of operation (true = success)

Parameters

• devAddr: I2C slave device address
• regAddr: Register regAddr to write to
• bitNum: Bit position to write (0-7)
• value: New bit value to write

bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data)

write a single bit in a 16-bit device register.

Return

Status of operation (true = success)

Parameters

• devAddr: I2C slave device address
• regAddr: Register regAddr to write to
• bitNum: Bit position to write (0-15)
• value: New bit value to write

bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data)

Write multiple bits in an 8-bit device register.

Return

Status of operation (true = success)

Parameters

• devAddr: I2C slave device address
• regAddr: Register regAddr to write to
• bitStart: First bit position to write (0-7)
• length: Number of bits to write (not more than 8)
• data: Right-aligned value to write

bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data)

Write multiple bits in a 16-bit device register.

Return

Status of operation (true = success)

Parameters

• devAddr: I2C slave device address
• regAddr: Register regAddr to write to
• bitStart: First bit position to write (0-15)
• length: Number of bits to write (not more than 16)
• data: Right-aligned value to write

bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data)

Write single byte to an 8-bit device register.

Return

Status of operation (true = success)

Parameters

• devAddr: I2C slave device address
• regAddr: Register address to write to
• data: New byte value to write

bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data)

Write single word to a 16-bit device register.

Return

Status of operation (true = success)

Parameters

• devAddr: I2C slave device address
• regAddr: Register address to write to
• data: New word value to write

bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)

Write multiple bytes to an 8-bit device register.

Return

Status of operation (true = success)

Parameters

• devAddr: I2C slave device address
• regAddr: First register address to write to
• length: Number of bytes to write
• data: Buffer to copy new data from

bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)

Write multiple words to a 16-bit device register.

Return

Status of operation (true = success)

Parameters

• devAddr: I2C slave device address
• regAddr: First register address to write to
• length: Number of words to write
• data: Buffer to copy new data from

Public Static Attributes

uint16_t readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT

Default timeout value for read operations.

Set this to 0 to disable timeout detection.

struct LogI

Public Members

void (*const GetLogString)(TLogLevel, const char *)

void (*const MakefLogString)(TLogLevel, const char *, float)

void (*const MakeldLogString)(TLogLevel, const char *, long int)

void (*const MakedLogString)(TLogLevel, const char *, int)

TLogLevel (*const GetReportingLevel)(void)

void (*const setFlushInterface)(FlushInterface)

void (*const setLoggingLevel)(TLogLevel)

struct LogString

Public Members

size_t length

char *buff

TLogLevel messageLevel

FlushI flushI

class MPU6050

Public Functions

MPU6050()

Default constructor, uses default I2C address.

See

MPU6050_DEFAULT_ADDRESS

MPU6050(uint8_t address)

Specific address constructor.

See

MPU6050_DEFAULT_ADDRESS

See

MPU6050_ADDRESS_AD0_LOW

See

MPU6050_ADDRESS_AD0_HIGH

Parameters

• address: I2C address

void initialize()

Power on and prepare for general usage.

This will activate the device and take it out of sleep mode (which must be done after start-up). This function also sets both the accelerometer and the gyroscope to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets the clock source to use the X Gyro for reference, which is slightly better than the default internal clock source.

bool testConnection()

Verify the I2C connection.

Make sure the device is connected and responds as expected.

Return

True if connection is valid, false otherwise

uint8_t getAuxVDDIOLevel()

Get the auxiliary I2C supply voltage level.

When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to the MPU-6000, which does not have a VLOGIC pin.

Return

I2C supply voltage level (0=VLOGIC, 1=VDD)

void setAuxVDDIOLevel(uint8_t level)

Set the auxiliary I2C supply voltage level.

When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to the MPU-6000, which does not have a VLOGIC pin.

Parameters

• level: I2C supply voltage level (0=VLOGIC, 1=VDD)

uint8_t getRate()

Get gyroscope output rate divider.

The sensor register output, FIFO output, DMP sampling, Motion detection, Zero Motion detection, and Free Fall detection are all based on the Sample Rate. The Sample Rate is generated by dividing the gyroscope output rate by SMPLRT_DIV:

Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)

where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or 7), and 1kHz when the DLPF is enabled (see Register 26).

Note: The accelerometer output rate is 1kHz. This means that for a Sample Rate greater than 1kHz, the same accelerometer sample may be output to the FIFO, DMP, and sensor registers more than once.

For a diagram of the gyroscope and accelerometer signal paths, see Section 8 of the MPU-6000/MPU-6050 Product Specification document.

Return

Current sample rate

See

MPU6050_RA_SMPLRT_DIV

void setRate(uint8_t rate)

Set gyroscope sample rate divider.

See

getRate()

See

MPU6050_RA_SMPLRT_DIV

Parameters

• rate: New sample rate divider

uint8_t getExternalFrameSync()

Get external FSYNC configuration.

Configures the external Frame Synchronization (FSYNC) pin sampling. An external signal connected to the FSYNC pin can be sampled by configuring EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short strobes may be captured. The latched FSYNC signal will be sampled at the Sampling Rate, as defined in register 25. After sampling, the latch will reset to the current FSYNC signal state.

The sampled value will be reported in place of the least significant bit in a sensor data register determined by the value of EXT_SYNC_SET according to the following table.

Return

FSYNC configuration value

void setExternalFrameSync(uint8_t sync)

Set external FSYNC configuration.

See

getExternalFrameSync()

See

MPU6050_RA_CONFIG

Parameters

• sync: New FSYNC configuration value

uint8_t getDLPFMode()

Get digital low-pass filter configuration.

The DLPF_CFG parameter sets the digital low pass filter configuration. It also determines the internal sampling rate used by the device as shown in the table below.

Note: The accelerometer output rate is 1kHz. This means that for a Sample Rate greater than 1kHz, the same accelerometer sample may be output to the FIFO, DMP, and sensor registers more than once.

Return

DLFP configuration

See

MPU6050_RA_CONFIG

See

MPU6050_CFG_DLPF_CFG_BIT

See

MPU6050_CFG_DLPF_CFG_LENGTH

void setDLPFMode(uint8_t bandwidth)

Set digital low-pass filter configuration.

See

getDLPFBandwidth()

See

MPU6050_DLPF_BW_256

See

MPU6050_RA_CONFIG

See

MPU6050_CFG_DLPF_CFG_BIT

See

MPU6050_CFG_DLPF_CFG_LENGTH

Parameters

• mode: New DLFP configuration setting

uint8_t getFullScaleGyroRange()

Get full-scale gyroscope range.

The FS_SEL parameter allows setting the full-scale range of the gyro sensors, as described in the table below.

Return

Current full-scale gyroscope range setting

See

MPU6050_GYRO_FS_250

See

MPU6050_RA_GYRO_CONFIG

See

MPU6050_GCONFIG_FS_SEL_BIT

See

MPU6050_GCONFIG_FS_SEL_LENGTH

void setFullScaleGyroRange(uint8_t range)

Set full-scale gyroscope range.

See

getFullScaleRange()

See

MPU6050_GYRO_FS_250

See

MPU6050_RA_GYRO_CONFIG

See

MPU6050_GCONFIG_FS_SEL_BIT

See

MPU6050_GCONFIG_FS_SEL_LENGTH

Parameters

• range: New full-scale gyroscope range value

uint8_t getAccelXSelfTestFactoryTrim()

Get self-test factory trim value for accelerometer X axis.

Return

factory trim value

See

MPU6050_RA_SELF_TEST_X

uint8_t getAccelYSelfTestFactoryTrim()

Get self-test factory trim value for accelerometer Y axis.

Return

factory trim value

See

MPU6050_RA_SELF_TEST_Y

uint8_t getAccelZSelfTestFactoryTrim()

Get self-test factory trim value for accelerometer Z axis.

Return

factory trim value

See

MPU6050_RA_SELF_TEST_Z

uint8_t getGyroXSelfTestFactoryTrim()

Get self-test factory trim value for gyro X axis.

Return

factory trim value

See

MPU6050_RA_SELF_TEST_X

uint8_t getGyroYSelfTestFactoryTrim()

Get self-test factory trim value for gyro Y axis.

Return

factory trim value

See

MPU6050_RA_SELF_TEST_Y

uint8_t getGyroZSelfTestFactoryTrim()

Get self-test factory trim value for gyro Z axis.

Return

factory trim value

See

MPU6050_RA_SELF_TEST_Z

bool getAccelXSelfTest()

Get self-test enabled setting for accelerometer X axis.

Return

Self-test enabled value

See

MPU6050_RA_ACCEL_CONFIG

void setAccelXSelfTest(bool enabled)

Get self-test enabled setting for accelerometer X axis.

See

MPU6050_RA_ACCEL_CONFIG

Parameters

• enabled: Self-test enabled value

bool getAccelYSelfTest()

Get self-test enabled value for accelerometer Y axis.

Return

Self-test enabled value

See

MPU6050_RA_ACCEL_CONFIG

void setAccelYSelfTest(bool enabled)

Get self-test enabled value for accelerometer Y axis.

See

MPU6050_RA_ACCEL_CONFIG

Parameters

• enabled: Self-test enabled value

bool getAccelZSelfTest()

Get self-test enabled value for accelerometer Z axis.

Return

Self-test enabled value

See

MPU6050_RA_ACCEL_CONFIG

void setAccelZSelfTest(bool enabled)

Set self-test enabled value for accelerometer Z axis.

See

MPU6050_RA_ACCEL_CONFIG

Parameters

• enabled: Self-test enabled value

uint8_t getFullScaleAccelRange()

Get full-scale accelerometer range.

The FS_SEL parameter allows setting the full-scale range of the accelerometer sensors, as described in the table below.

Return

Current full-scale accelerometer range setting

See

MPU6050_ACCEL_FS_2

See

MPU6050_RA_ACCEL_CONFIG

See

MPU6050_ACONFIG_AFS_SEL_BIT

See

MPU6050_ACONFIG_AFS_SEL_LENGTH

void setFullScaleAccelRange(uint8_t range)

Set full-scale accelerometer range.

See

getFullScaleAccelRange()

Parameters

• range: New full-scale accelerometer range setting

uint8_t getDHPFMode()

Get the high-pass filter configuration.

The DHPF is a filter module in the path leading to motion detectors (Free Fall, Motion threshold, and Zero Motion). The high pass filter output is not available to the data registers (see Figure in Section 8 of the MPU-6000/ MPU-6050 Product Specification document).

The high pass filter has three modes:

Return

Current high-pass filter configuration

See

MPU6050_DHPF_RESET

See

MPU6050_RA_ACCEL_CONFIG

void setDHPFMode(uint8_t mode)

Set the high-pass filter configuration.

See

setDHPFMode()

See

MPU6050_DHPF_RESET

See

MPU6050_RA_ACCEL_CONFIG

Parameters

• bandwidth: New high-pass filter configuration

uint8_t getFreefallDetectionThreshold()

Get free-fall event acceleration threshold.

This register configures the detection threshold for Free Fall event detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the absolute value of the accelerometer measurements for the three axes are each less than the detection threshold. This condition increments the Free Fall duration counter (Register 30). The Free Fall interrupt is triggered when the Free Fall duration counter reaches the time specified in FF_DUR.

For more details on the Free Fall detection interrupt, see Section 8.2 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.

Return

Current free-fall acceleration threshold value (LSB = 2mg)

See

MPU6050_RA_FF_THR

void setFreefallDetectionThreshold(uint8_t threshold)

Get free-fall event acceleration threshold.

See

getFreefallDetectionThreshold()

See

MPU6050_RA_FF_THR

Parameters

• threshold: New free-fall acceleration threshold value (LSB = 2mg)

uint8_t getFreefallDetectionDuration()

Get free-fall event duration threshold.

This register configures the duration counter threshold for Free Fall event detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit of 1 LSB = 1 ms.

The Free Fall duration counter increments while the absolute value of the accelerometer measurements are each less than the detection threshold (Register 29). The Free Fall interrupt is triggered when the Free Fall duration counter reaches the time specified in this register.

For more details on the Free Fall detection interrupt, see Section 8.2 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.

Return

Current free-fall duration threshold value (LSB = 1ms)

See

MPU6050_RA_FF_DUR

void setFreefallDetectionDuration(uint8_t duration)

Get free-fall event duration threshold.

See

getFreefallDetectionDuration()

See

MPU6050_RA_FF_DUR

Parameters

• duration: New free-fall duration threshold value (LSB = 1ms)

uint8_t getMotionDetectionThreshold()

Get motion detection event acceleration threshold.

This register configures the detection threshold for Motion interrupt generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the absolute value of any of the accelerometer measurements exceeds this Motion detection threshold. This condition increments the Motion detection duration counter (Register 32). The Motion detection interrupt is triggered when the Motion Detection counter reaches the time count specified in MOT_DUR (Register 32).

The Motion interrupt will indicate the axis and polarity of detected motion in MOT_DETECT_STATUS (Register 97).

For more details on the Motion detection interrupt, see Section 8.3 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.

Return

Current motion detection acceleration threshold value (LSB = 2mg)

See

MPU6050_RA_MOT_THR

void setMotionDetectionThreshold(uint8_t threshold)

Set motion detection event acceleration threshold.

See

getMotionDetectionThreshold()

See

MPU6050_RA_MOT_THR

Parameters

• threshold: New motion detection acceleration threshold value (LSB = 2mg)

uint8_t getMotionDetectionDuration()

Get motion detection event duration threshold.

This register configures the duration counter threshold for Motion interrupt generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit of 1LSB = 1ms. The Motion detection duration counter increments when the absolute value of any of the accelerometer measurements exceeds the Motion detection threshold (Register 31). The Motion detection interrupt is triggered when the Motion detection counter reaches the time count specified in this register.

For more details on the Motion detection interrupt, see Section 8.3 of the MPU-6000/MPU-6050 Product Specification document.

Return

Current motion detection duration threshold value (LSB = 1ms)

See

MPU6050_RA_MOT_DUR

void setMotionDetectionDuration(uint8_t duration)

Set motion detection event duration threshold.

See

getMotionDetectionDuration()

See

MPU6050_RA_MOT_DUR

Parameters

• duration: New motion detection duration threshold value (LSB = 1ms)

uint8_t getZeroMotionDetectionThreshold()

Get zero motion detection event acceleration threshold.

This register configures the detection threshold for Zero Motion interrupt generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when the absolute value of the accelerometer measurements for the 3 axes are each less than the detection threshold. This condition increments the Zero Motion duration counter (Register 34). The Zero Motion interrupt is triggered when the Zero Motion duration counter reaches the time count specified in ZRMOT_DUR (Register 34).

Unlike Free Fall or Motion detection, Zero Motion detection triggers an interrupt both when Zero Motion is first detected and when Zero Motion is no longer detected.

When a zero motion event is detected, a Zero Motion Status will be indicated in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion condition is detected, the status bit is set to 1. When a zero-motion-to- motion condition is detected, the status bit is set to 0.

For more details on the Zero Motion detection interrupt, see Section 8.4 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.

Return

Current zero motion detection acceleration threshold value (LSB = 2mg)

See

MPU6050_RA_ZRMOT_THR

void setZeroMotionDetectionThreshold(uint8_t threshold)

Set zero motion detection event acceleration threshold.

See

getZeroMotionDetectionThreshold()

See

MPU6050_RA_ZRMOT_THR

Parameters

• threshold: New zero motion detection acceleration threshold value (LSB = 2mg)

uint8_t getZeroMotionDetectionDuration()

Get zero motion detection event duration threshold.

This register configures the duration counter threshold for Zero Motion interrupt generation. The duration counter ticks at 16 Hz, therefore ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter increments while the absolute value of the accelerometer measurements are each less than the detection threshold (Register 33). The Zero Motion interrupt is triggered when the Zero Motion duration counter reaches the time count specified in this register.

For more details on the Zero Motion detection interrupt, see Section 8.4 of the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56 and 58 of this document.

Return

Current zero motion detection duration threshold value (LSB = 64ms)

See

MPU6050_RA_ZRMOT_DUR

void setZeroMotionDetectionDuration(uint8_t duration)

Set zero motion detection event duration threshold.

See

getZeroMotionDetectionDuration()

See

MPU6050_RA_ZRMOT_DUR

Parameters

• duration: New zero motion detection duration threshold value (LSB = 1ms)

bool getTempFIFOEnabled()

Get temperature FIFO enabled value.

When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and 66) to be written into the FIFO buffer.

Return

Current temperature FIFO enabled value

See

MPU6050_RA_FIFO_EN

void setTempFIFOEnabled(bool enabled)

Set temperature FIFO enabled value.

See

getTempFIFOEnabled()

See

MPU6050_RA_FIFO_EN

Parameters

• enabled: New temperature FIFO enabled value

bool getXGyroFIFOEnabled()

Get gyroscope X-axis FIFO enabled value.

When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and 68) to be written into the FIFO buffer.

Return

Current gyroscope X-axis FIFO enabled value

See

MPU6050_RA_FIFO_EN

void setXGyroFIFOEnabled(bool enabled)

Set gyroscope X-axis FIFO enabled value.

See

getXGyroFIFOEnabled()

See

MPU6050_RA_FIFO_EN

Parameters

• enabled: New gyroscope X-axis FIFO enabled value

bool getYGyroFIFOEnabled()

Get gyroscope Y-axis FIFO enabled value.

When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and 70) to be written into the FIFO buffer.

Return

Current gyroscope Y-axis FIFO enabled value

See

MPU6050_RA_FIFO_EN

void setYGyroFIFOEnabled(bool enabled)

Set gyroscope Y-axis FIFO enabled value.

See

getYGyroFIFOEnabled()

See

MPU6050_RA_FIFO_EN

Parameters

• enabled: New gyroscope Y-axis FIFO enabled value

bool getZGyroFIFOEnabled()

Get gyroscope Z-axis FIFO enabled value.

When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and 72) to be written into the FIFO buffer.

Return

Current gyroscope Z-axis FIFO enabled value

See

MPU6050_RA_FIFO_EN

void setZGyroFIFOEnabled(bool enabled)

Set gyroscope Z-axis FIFO enabled value.

See

getZGyroFIFOEnabled()

See

MPU6050_RA_FIFO_EN

Parameters

• enabled: New gyroscope Z-axis FIFO enabled value

bool getAccelFIFOEnabled()

Get accelerometer FIFO enabled value.

When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be written into the FIFO buffer.

Return

Current accelerometer FIFO enabled value

See

MPU6050_RA_FIFO_EN

void setAccelFIFOEnabled(bool enabled)

Set accelerometer FIFO enabled value.

See

getAccelFIFOEnabled()

See

MPU6050_RA_FIFO_EN

Parameters

• enabled: New accelerometer FIFO enabled value

bool getSlave2FIFOEnabled()

Get Slave 2 FIFO enabled value.

When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 2 to be written into the FIFO buffer.

Return

Current Slave 2 FIFO enabled value

See

MPU6050_RA_FIFO_EN

void setSlave2FIFOEnabled(bool enabled)

Set Slave 2 FIFO enabled value.

See

getSlave2FIFOEnabled()

See

MPU6050_RA_FIFO_EN

Parameters

• enabled: New Slave 2 FIFO enabled value

bool getSlave1FIFOEnabled()

Get Slave 1 FIFO enabled value.

When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 1 to be written into the FIFO buffer.

Return

Current Slave 1 FIFO enabled value

See

MPU6050_RA_FIFO_EN

void setSlave1FIFOEnabled(bool enabled)

Set Slave 1 FIFO enabled value.

See

getSlave1FIFOEnabled()

See

MPU6050_RA_FIFO_EN

Parameters

• enabled: New Slave 1 FIFO enabled value

bool getSlave0FIFOEnabled()

Get Slave 0 FIFO enabled value.

When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 0 to be written into the FIFO buffer.

Return

Current Slave 0 FIFO enabled value

See

MPU6050_RA_FIFO_EN

void setSlave0FIFOEnabled(bool enabled)

Set Slave 0 FIFO enabled value.

See

getSlave0FIFOEnabled()

See

MPU6050_RA_FIFO_EN

Parameters

• enabled: New Slave 0 FIFO enabled value

bool getMultiMasterEnabled()

Get multi-master enabled value.

Multi-master capability allows multiple I2C masters to operate on the same bus. In circuits where multi-master capability is required, set MULT_MST_EN to 1. This will increase current drawn by approximately 30uA.

In circuits where multi-master capability is required, the state of the I2C bus must always be monitored by each separate I2C Master. Before an I2C Master can assume arbitration of the bus, it must first confirm that no other I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the MPU-60X0’s bus arbitration detection logic is turned on, enabling it to detect when the bus is available.

Return

Current multi-master enabled value

See

MPU6050_RA_I2C_MST_CTRL

void setMultiMasterEnabled(bool enabled)

Set multi-master enabled value.

See

getMultiMasterEnabled()

See

MPU6050_RA_I2C_MST_CTRL

Parameters

• enabled: New multi-master enabled value

bool getWaitForExternalSensorEnabled()

Get wait-for-external-sensor-data enabled value.

When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be delayed until External Sensor data from the Slave Devices are loaded into the EXT_SENS_DATA registers. This is used to ensure that both the internal sensor data (i.e. from gyro and accel) and external sensor data have been loaded to their respective data registers (i.e. the data is synced) when the Data Ready interrupt is triggered.

Return

Current wait-for-external-sensor-data enabled value

See

MPU6050_RA_I2C_MST_CTRL

void setWaitForExternalSensorEnabled(bool enabled)

Set wait-for-external-sensor-data enabled value.

See

getWaitForExternalSensorEnabled()

See

MPU6050_RA_I2C_MST_CTRL

Parameters

• enabled: New wait-for-external-sensor-data enabled value

bool getSlave3FIFOEnabled()

Get Slave 3 FIFO enabled value.

When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 3 to be written into the FIFO buffer.

Return

Current Slave 3 FIFO enabled value

See

MPU6050_RA_MST_CTRL

void setSlave3FIFOEnabled(bool enabled)

Set Slave 3 FIFO enabled value.

See

getSlave3FIFOEnabled()

See

MPU6050_RA_MST_CTRL

Parameters

• enabled: New Slave 3 FIFO enabled value

bool getSlaveReadWriteTransitionEnabled()

Get slave read/write transition enabled value.

The I2C_MST_P_NSR bit configures the I2C Master’s transition from one slave read to the next slave read. If the bit equals 0, there will be a restart between reads. If the bit equals 1, there will be a stop followed by a start of the following read. When a write transaction follows a read transaction, the stop followed by a start of the successive write will be always used.

Return

Current slave read/write transition enabled value

See

MPU6050_RA_I2C_MST_CTRL

void setSlaveReadWriteTransitionEnabled(bool enabled)

Set slave read/write transition enabled value.

See

getSlaveReadWriteTransitionEnabled()

See

MPU6050_RA_I2C_MST_CTRL

Parameters

• enabled: New slave read/write transition enabled value

uint8_t getMasterClockSpeed()

Get I2C master clock speed.

I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to the following table:

Return

Current I2C master clock speed

See

MPU6050_RA_I2C_MST_CTRL

void setMasterClockSpeed(uint8_t speed)

Set I2C master clock speed.

speed Current I2C master clock speed

See

MPU6050_RA_I2C_MST_CTRL

uint8_t getSlaveAddress(uint8_t num)

Get the I2C address of the specified slave (0-3).

Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it’s a read operation, and if it is cleared, then it’s a write operation. The remaining bits (6-0) are the 7-bit device address of the slave device.

In read mode, the result of the read is placed in the lowest available EXT_SENS_DATA register. For further information regarding the allocation of read results, please refer to the EXT_SENS_DATA register description (Registers 73 - 96).

The MPU-6050 supports a total of five slaves, but Slave 4 has unique characteristics, and so it has its own functions (getSlave4* and setSlave4*).

I2C data transactions are performed at the Sample Rate, as defined in Register 25. The user is responsible for ensuring that I2C data transactions to and from each enabled Slave can be completed within a single period of the Sample Rate.

The I2C slave access rate can be reduced relative to the Sample Rate. This reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a slave’s access rate is reduced relative to the Sample Rate is determined by I2C_MST_DELAY_CTRL (Register 103).

The processing order for the slaves is fixed. The sequence followed for processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a particular Slave is disabled it will be skipped.

Each slave can either be accessed at the sample rate or at a reduced sample rate. In a case where some slaves are accessed at the Sample Rate and some slaves are accessed at the reduced rate, the sequence of accessing the slaves (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will be skipped if their access rate dictates that they should not be accessed during that particular cycle. For further information regarding the reduced access rate, please refer to Register 52. Whether a slave is accessed at the Sample Rate or at the reduced rate is determined by the Delay Enable bits in Register 103.

Return

Current address for specified slave

See

MPU6050_RA_I2C_SLV0_ADDR

Parameters

• num: Slave number (0-3)

void setSlaveAddress(uint8_t num, uint8_t address)

Set the I2C address of the specified slave (0-3).

See

getSlaveAddress()

See

MPU6050_RA_I2C_SLV0_ADDR

Parameters

• num: Slave number (0-3)
• address: New address for specified slave

uint8_t getSlaveRegister(uint8_t num)

Get the active internal register for the specified slave (0-3).

Read/write operations for this slave will be done to whatever internal register address is stored in this MPU register.

The MPU-6050 supports a total of five slaves, but Slave 4 has unique characteristics, and so it has its own functions.

Return

Current active register for specified slave

See

MPU6050_RA_I2C_SLV0_REG

Parameters

• num: Slave number (0-3)

void setSlaveRegister(uint8_t num, uint8_t reg)

Set the active internal register for the specified slave (0-3).

See

getSlaveRegister()

See

MPU6050_RA_I2C_SLV0_REG

Parameters

• num: Slave number (0-3)
• reg: New active register for specified slave

bool getSlaveEnabled(uint8_t num)

Get the enabled value for the specified slave (0-3).

When set to 1, this bit enables Slave 0 for data transfer operations. When cleared to 0, this bit disables Slave 0 from data transfer operations.

Return

Current enabled value for specified slave

See

MPU6050_RA_I2C_SLV0_CTRL

Parameters

• num: Slave number (0-3)

void setSlaveEnabled(uint8_t num, bool enabled)

Set the enabled value for the specified slave (0-3).

See

getSlaveEnabled()

See

MPU6050_RA_I2C_SLV0_CTRL

Parameters

• num: Slave number (0-3)
• enabled: New enabled value for specified slave

bool getSlaveWordByteSwap(uint8_t num)

Get word pair byte-swapping enabled for the specified slave (0-3).

When set to 1, this bit enables byte swapping. When byte swapping is enabled, the high and low bytes of a word pair are swapped. Please refer to I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0, bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA registers in the order they were transferred.

Return

Current word pair byte-swapping enabled value for specified slave

See

MPU6050_RA_I2C_SLV0_CTRL

Parameters

• num: Slave number (0-3)

void setSlaveWordByteSwap(uint8_t num, bool enabled)

Set word pair byte-swapping enabled for the specified slave (0-3).

See

getSlaveWordByteSwap()

See

MPU6050_RA_I2C_SLV0_CTRL

Parameters

• num: Slave number (0-3)
• enabled: New word pair byte-swapping enabled value for specified slave

bool getSlaveWriteMode(uint8_t num)

Get write mode for the specified slave (0-3).

When set to 1, the transaction will read or write data only. When cleared to 0, the transaction will write a register address prior to reading or writing data. This should equal 0 when specifying the register address within the Slave device to/from which the ensuing data transaction will take place.

Return

Current write mode for specified slave (0 = register address + data, 1 = data only)

See

MPU6050_RA_I2C_SLV0_CTRL

Parameters

• num: Slave number (0-3)

void setSlaveWriteMode(uint8_t num, bool mode)

Set write mode for the specified slave (0-3).

See

getSlaveWriteMode()

See

MPU6050_RA_I2C_SLV0_CTRL

Parameters

• num: Slave number (0-3)
• mode: New write mode for specified slave (0 = register address + data, 1 = data only)

bool getSlaveWordGroupOffset(uint8_t num)

Get word pair grouping order offset for the specified slave (0-3).

This sets specifies the grouping order of word pairs received from registers. When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even, then odd register addresses) are paired to form a word. When set to 1, bytes from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even register addresses) are paired to form a word.

Return

Current word pair grouping order offset for specified slave

See

MPU6050_RA_I2C_SLV0_CTRL

Parameters

• num: Slave number (0-3)

void setSlaveWordGroupOffset(uint8_t num, bool enabled)

Set word pair grouping order offset for the specified slave (0-3).

See

getSlaveWordGroupOffset()

See

MPU6050_RA_I2C_SLV0_CTRL

Parameters

• num: Slave number (0-3)
• enabled: New word pair grouping order offset for specified slave

uint8_t getSlaveDataLength(uint8_t num)

Get number of bytes to read for the specified slave (0-3).

Specifies the number of bytes transferred to and from Slave 0. Clearing this bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.

Return

Number of bytes to read for specified slave

See

MPU6050_RA_I2C_SLV0_CTRL

Parameters

• num: Slave number (0-3)

void setSlaveDataLength(uint8_t num, uint8_t length)

Set number of bytes to read for the specified slave (0-3).

See

getSlaveDataLength()

See

MPU6050_RA_I2C_SLV0_CTRL

Parameters

• num: Slave number (0-3)
• length: Number of bytes to read for specified slave

uint8_t getSlave4Address()

Get the I2C address of Slave 4.

Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it’s a read operation, and if it is cleared, then it’s a write operation. The remaining bits (6-0) are the 7-bit device address of the slave device.

Return

Current address for Slave 4

See

getSlaveAddress()

See

MPU6050_RA_I2C_SLV4_ADDR

void setSlave4Address(uint8_t address)

Set the I2C address of Slave 4.

See

getSlave4Address()

See

MPU6050_RA_I2C_SLV4_ADDR

Parameters

• address: New address for Slave 4

uint8_t getSlave4Register()

Get the active internal register for the Slave 4.

Read/write operations for this slave will be done to whatever internal register address is stored in this MPU register.

Return

Current active register for Slave 4

See

MPU6050_RA_I2C_SLV4_REG

void setSlave4Register(uint8_t reg)

Set the active internal register for Slave 4.

See

getSlave4Register()

See

MPU6050_RA_I2C_SLV4_REG

Parameters

• reg: New active register for Slave 4

void setSlave4OutputByte(uint8_t data)

Set new byte to write to Slave 4.

This register stores the data to be written into the Slave 4. If I2C_SLV4_RW is set 1 (set to read), this register has no effect.

See

MPU6050_RA_I2C_SLV4_DO

Parameters

• data: New byte to write to Slave 4

bool getSlave4Enabled()

Get the enabled value for the Slave 4.

When set to 1, this bit enables Slave 4 for data transfer operations. When cleared to 0, this bit disables Slave 4 from data transfer operations.

Return

Current enabled value for Slave 4

See

MPU6050_RA_I2C_SLV4_CTRL

void setSlave4Enabled(bool enabled)

Set the enabled value for Slave 4.

See

getSlave4Enabled()

See

MPU6050_RA_I2C_SLV4_CTRL

Parameters

• enabled: New enabled value for Slave 4

bool getSlave4InterruptEnabled()

Get the enabled value for Slave 4 transaction interrupts.

When set to 1, this bit enables the generation of an interrupt signal upon completion of a Slave 4 transaction. When cleared to 0, this bit disables the generation of an interrupt signal upon completion of a Slave 4 transaction. The interrupt status can be observed in Register 54.

Return

Current enabled value for Slave 4 transaction interrupts.

See

MPU6050_RA_I2C_SLV4_CTRL

void setSlave4InterruptEnabled(bool enabled)

Set the enabled value for Slave 4 transaction interrupts.

See

getSlave4InterruptEnabled()

See

MPU6050_RA_I2C_SLV4_CTRL

Parameters

• enabled: New enabled value for Slave 4 transaction interrupts.

bool getSlave4WriteMode()

Get write mode for Slave 4.

When set to 1, the transaction will read or write data only. When cleared to 0, the transaction will write a register address prior to reading or writing data. This should equal 0 when specifying the register address within the Slave device to/from which the ensuing data transaction will take place.

Return

Current write mode for Slave 4 (0 = register address + data, 1 = data only)

See

MPU6050_RA_I2C_SLV4_CTRL

void setSlave4WriteMode(bool mode)

Set write mode for the Slave 4.

See

getSlave4WriteMode()

See

MPU6050_RA_I2C_SLV4_CTRL

Parameters

• mode: New write mode for Slave 4 (0 = register address + data, 1 = data only)

uint8_t getSlave4MasterDelay()

Get Slave 4 master delay value.

This configures the reduced access rate of I2C slaves relative to the Sample Rate. When a slave’s access rate is decreased relative to the Sample Rate, the slave is accessed every:

1 / (1 + I2C_MST_DLY) samples

This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and DLPF_CFG (register 26). Whether a slave’s access rate is reduced relative to the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For further information regarding the Sample Rate, please refer to register 25.

Return

Current Slave 4 master delay value

See

MPU6050_RA_I2C_SLV4_CTRL

void setSlave4MasterDelay(uint8_t delay)

Set Slave 4 master delay value.

See

getSlave4MasterDelay()

See

MPU6050_RA_I2C_SLV4_CTRL

Parameters

• delay: New Slave 4 master delay value

uint8_t getSlate4InputByte()

Get last available byte read from Slave 4.

This register stores the data read from Slave 4. This field is populated after a read transaction.

Return

Last available byte read from to Slave 4

See

MPU6050_RA_I2C_SLV4_DI

bool getPassthroughStatus()

Get FSYNC interrupt status.

This bit reflects the status of the FSYNC interrupt from an external device into the MPU-60X0. This is used as a way to pass an external interrupt through the MPU-60X0 to the host application processor. When set to 1, this bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG (Register 55).

Return

FSYNC interrupt status

See

MPU6050_RA_I2C_MST_STATUS

bool getSlave4IsDone()

Get Slave 4 transaction done status.

Automatically sets to 1 when a Slave 4 transaction has completed. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the I2C_SLV4_CTRL register (Register 52).

Return

Slave 4 transaction done status

See

MPU6050_RA_I2C_MST_STATUS

bool getLostArbitration()

Get master arbitration lost status.

This bit automatically sets to 1 when the I2C Master has lost arbitration of the auxiliary I2C bus (an error condition). This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.

Return

Master arbitration lost status

See

MPU6050_RA_I2C_MST_STATUS

bool getSlave4Nack()

Get Slave 4 NACK status.

This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.

Return

Slave 4 NACK interrupt status

See

MPU6050_RA_I2C_MST_STATUS

bool getSlave3Nack()

Get Slave 3 NACK status.

This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.

Return

Slave 3 NACK interrupt status

See

MPU6050_RA_I2C_MST_STATUS

bool getSlave2Nack()

Get Slave 2 NACK status.

This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.

Return

Slave 2 NACK interrupt status

See

MPU6050_RA_I2C_MST_STATUS

bool getSlave1Nack()

Get Slave 1 NACK status.

This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.

Return

Slave 1 NACK interrupt status

See

MPU6050_RA_I2C_MST_STATUS

bool getSlave0Nack()

Get Slave 0 NACK status.

This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.

Return

Slave 0 NACK interrupt status

See

MPU6050_RA_I2C_MST_STATUS

bool getInterruptMode()

Get interrupt logic level mode.

Will be set 0 for active-high, 1 for active-low.

Return

Current interrupt mode (0=active-high, 1=active-low)

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_INT_LEVEL_BIT

void setInterruptMode(bool mode)

Set interrupt logic level mode.

See

getInterruptMode()

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_INT_LEVEL_BIT

Parameters

• mode: New interrupt mode (0=active-high, 1=active-low)

bool getInterruptDrive()

Get interrupt drive mode.

Will be set 0 for push-pull, 1 for open-drain.

Return

Current interrupt drive mode (0=push-pull, 1=open-drain)

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_INT_OPEN_BIT

void setInterruptDrive(bool drive)

Set interrupt drive mode.

See

getInterruptDrive()

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_INT_OPEN_BIT

Parameters

• drive: New interrupt drive mode (0=push-pull, 1=open-drain)

bool getInterruptLatch()

Get interrupt latch mode.

Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.

Return

Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_LATCH_INT_EN_BIT

void setInterruptLatch(bool latch)

Set interrupt latch mode.

See

getInterruptLatch()

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_LATCH_INT_EN_BIT

Parameters

• latch: New latch mode (0=50us-pulse, 1=latch-until-int-cleared)

bool getInterruptLatchClear()

Get interrupt latch clear mode.

Will be set 0 for status-read-only, 1 for any-register-read.

Return

Current latch clear mode (0=status-read-only, 1=any-register-read)

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_INT_RD_CLEAR_BIT

void setInterruptLatchClear(bool clear)

Set interrupt latch clear mode.

See

getInterruptLatchClear()

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_INT_RD_CLEAR_BIT

Parameters

• clear: New latch clear mode (0=status-read-only, 1=any-register-read)

bool getFSyncInterruptLevel()

Get FSYNC interrupt logic level mode.

Return

Current FSYNC interrupt mode (0=active-high, 1=active-low)

See

getFSyncInterruptMode()

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT

void setFSyncInterruptLevel(bool level)

Set FSYNC interrupt logic level mode.

See

getFSyncInterruptMode()

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT

Parameters

• mode: New FSYNC interrupt mode (0=active-high, 1=active-low)

bool getFSyncInterruptEnabled()

Get FSYNC pin interrupt enabled setting.

Will be set 0 for disabled, 1 for enabled.

Return

Current interrupt enabled setting

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_FSYNC_INT_EN_BIT

void setFSyncInterruptEnabled(bool enabled)

Set FSYNC pin interrupt enabled setting.

See

getFSyncInterruptEnabled()

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_FSYNC_INT_EN_BIT

Parameters

• enabled: New FSYNC pin interrupt enabled setting

bool getI2CBypassEnabled()

Get I2C bypass enabled status.

When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to 0, the host application processor will be able to directly access the auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host application processor will not be able to directly access the auxiliary I2C bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 bit[5]).

Return

Current I2C bypass enabled status

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_I2C_BYPASS_EN_BIT

void setI2CBypassEnabled(bool enabled)

Set I2C bypass enabled status.

When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to 0, the host application processor will be able to directly access the auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host application processor will not be able to directly access the auxiliary I2C bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 bit[5]).

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_I2C_BYPASS_EN_BIT

Parameters

• enabled: New I2C bypass enabled status

bool getClockOutputEnabled()

Get reference clock output enabled status.

When this bit is equal to 1, a reference clock output is provided at the CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For further information regarding CLKOUT, please refer to the MPU-60X0 Product Specification document.

Return

Current reference clock output enabled status

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_CLKOUT_EN_BIT

void setClockOutputEnabled(bool enabled)

Set reference clock output enabled status.

When this bit is equal to 1, a reference clock output is provided at the CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For further information regarding CLKOUT, please refer to the MPU-60X0 Product Specification document.

See

MPU6050_RA_INT_PIN_CFG

See

MPU6050_INTCFG_CLKOUT_EN_BIT

Parameters

• enabled: New reference clock output enabled status

uint8_t getIntEnabled()

Get full interrupt enabled status.

Full register byte for all interrupts, for quick reading. Each bit will be set 0 for disabled, 1 for enabled.

Return

Current interrupt enabled status

See

MPU6050_RA_INT_ENABLE

See

MPU6050_INTERRUPT_FF_BIT

void setIntEnabled(uint8_t enabled)

Set full interrupt enabled status.

Full register byte for all interrupts, for quick reading. Each bit should be set 0 for disabled, 1 for enabled.

See

getIntFreefallEnabled()

See

MPU6050_RA_INT_ENABLE

See

MPU6050_INTERRUPT_FF_BIT

Parameters

• enabled: New interrupt enabled status

bool getIntFreefallEnabled()

Get Free Fall interrupt enabled status.

Will be set 0 for disabled, 1 for enabled.

Return

Current interrupt enabled status

See

MPU6050_RA_INT_ENABLE

See

MPU6050_INTERRUPT_FF_BIT

void setIntFreefallEnabled(bool enabled)

Set Free Fall interrupt enabled status.

See

getIntFreefallEnabled()

See

MPU6050_RA_INT_ENABLE

See

MPU6050_INTERRUPT_FF_BIT

Parameters

• enabled: New interrupt enabled status

bool getIntMotionEnabled()

Get Motion Detection interrupt enabled status.

Will be set 0 for disabled, 1 for enabled.

Return

Current interrupt enabled status

See

MPU6050_RA_INT_ENABLE

See

MPU6050_INTERRUPT_MOT_BIT

void setIntMotionEnabled(bool enabled)

Set Motion Detection interrupt enabled status.

See

getIntMotionEnabled()

See

MPU6050_RA_INT_ENABLE

See

MPU6050_INTERRUPT_MOT_BIT

Parameters

• enabled: New interrupt enabled status

bool getIntZeroMotionEnabled()

Get Zero Motion Detection interrupt enabled status.

Will be set 0 for disabled, 1 for enabled.

Return

Current interrupt enabled status

See

MPU6050_RA_INT_ENABLE

See

MPU6050_INTERRUPT_ZMOT_BIT

void setIntZeroMotionEnabled(bool enabled)

Set Zero Motion Detection interrupt enabled status.

See

getIntZeroMotionEnabled()

See

MPU6050_RA_INT_ENABLE

See

MPU6050_INTERRUPT_ZMOT_BIT

Parameters

• enabled: New interrupt enabled status

bool getIntFIFOBufferOverflowEnabled()

Get FIFO Buffer Overflow interrupt enabled status.

Will be set 0 for disabled, 1 for enabled.

Return

Current interrupt enabled status

See

MPU6050_RA_INT_ENABLE

See

MPU6050_INTERRUPT_FIFO_OFLOW_BIT

void setIntFIFOBufferOverflowEnabled(bool enabled)

Set FIFO Buffer Overflow interrupt enabled status.

See

getIntFIFOBufferOverflowEnabled()

See

MPU6050_RA_INT_ENABLE

See

MPU6050_INTERRUPT_FIFO_OFLOW_BIT

Parameters

• enabled: New interrupt enabled status

bool getIntI2CMasterEnabled()

Get I2C Master interrupt enabled status.

This enables any of the I2C Master interrupt sources to generate an interrupt. Will be set 0 for disabled, 1 for enabled.

Return

Current interrupt enabled status

See

MPU6050_RA_INT_ENABLE

See

MPU6050_INTERRUPT_I2C_MST_INT_BIT

void setIntI2CMasterEnabled(bool enabled)

Set I2C Master interrupt enabled status.

See

getIntI2CMasterEnabled()

See

MPU6050_RA_INT_ENABLE

See

MPU6050_INTERRUPT_I2C_MST_INT_BIT

Parameters

• enabled: New interrupt enabled status

bool getIntDataReadyEnabled()

Get Data Ready interrupt enabled setting.

This event occurs each time a write operation to all of the sensor registers has been completed. Will be set 0 for disabled, 1 for enabled.

Return

Current interrupt enabled status

See

MPU6050_RA_INT_ENABLE

See

MPU6050_INTERRUPT_DATA_RDY_BIT

void setIntDataReadyEnabled(bool enabled)

Set Data Ready interrupt enabled status.

See

getIntDataReadyEnabled()

See

MPU6050_RA_INT_CFG

See

MPU6050_INTERRUPT_DATA_RDY_BIT

Parameters

• enabled: New interrupt enabled status

uint8_t getIntStatus()

Get full set of interrupt status bits.

These bits clear to 0 after the register has been read. Very useful for getting multiple INT statuses, since each single bit read clears all of them because it has to read the whole byte.

Return

Current interrupt status

See

MPU6050_RA_INT_STATUS

bool getIntFreefallStatus()

Get Free Fall interrupt status.

This bit automatically sets to 1 when a Free Fall interrupt has been generated. The bit clears to 0 after the register has been read.

Return

Current interrupt status

See

MPU6050_RA_INT_STATUS

See

MPU6050_INTERRUPT_FF_BIT

bool getIntMotionStatus()

Get Motion Detection interrupt status.

This bit automatically sets to 1 when a Motion Detection interrupt has been generated. The bit clears to 0 after the register has been read.

Return

Current interrupt status

See

MPU6050_RA_INT_STATUS

See

MPU6050_INTERRUPT_MOT_BIT

bool getIntZeroMotionStatus()

Get Zero Motion Detection interrupt status.

This bit automatically sets to 1 when a Zero Motion Detection interrupt has been generated. The bit clears to 0 after the register has been read.

Return

Current interrupt status

See

MPU6050_RA_INT_STATUS

See

MPU6050_INTERRUPT_ZMOT_BIT

bool getIntFIFOBufferOverflowStatus()

Get FIFO Buffer Overflow interrupt status.

This bit automatically sets to 1 when a Free Fall interrupt has been generated. The bit clears to 0 after the register has been read.

Return

Current interrupt status

See

MPU6050_RA_INT_STATUS

See

MPU6050_INTERRUPT_FIFO_OFLOW_BIT

bool getIntI2CMasterStatus()

Get I2C Master interrupt status.

This bit automatically sets to 1 when an I2C Master interrupt has been generated. For a list of I2C Master interrupts, please refer to Register 54. The bit clears to 0 after the register has been read.

Return

Current interrupt status

See

MPU6050_RA_INT_STATUS

See

MPU6050_INTERRUPT_I2C_MST_INT_BIT

bool getIntDataReadyStatus()

Get Data Ready interrupt status.

This bit automatically sets to 1 when a Data Ready interrupt has been generated. The bit clears to 0 after the register has been read.

Return

Current interrupt status

See

MPU6050_RA_INT_STATUS

See

MPU6050_INTERRUPT_DATA_RDY_BIT

void getMotion9(int16_t *ax, int16_t *ay, int16_t *az, int16_t *gx, int16_t *gy, int16_t *gz, int16_t *mx, int16_t *my, int16_t *mz)

Get raw 9-axis motion sensor readings (accel/gyro/compass).

FUNCTION NOT FULLY IMPLEMENTED YET.

See

getMotion6()

See

getAcceleration()

See

getRotation()

See

MPU6050_RA_ACCEL_XOUT_H

Parameters

• ax: 16-bit signed integer container for accelerometer X-axis value
• ay: 16-bit signed integer container for accelerometer Y-axis value
• az: 16-bit signed integer container for accelerometer Z-axis value
• gx: 16-bit signed integer container for gyroscope X-axis value
• gy: 16-bit signed integer container for gyroscope Y-axis value
• gz: 16-bit signed integer container for gyroscope Z-axis value
• mx: 16-bit signed integer container for magnetometer X-axis value
• my: 16-bit signed integer container for magnetometer Y-axis value
• mz: 16-bit signed integer container for magnetometer Z-axis value

void getMotion6(int16_t *ax, int16_t *ay, int16_t *az, int16_t *gx, int16_t *gy, int16_t *gz)

Get raw 6-axis motion sensor readings (accel/gyro).

Retrieves all currently available motion sensor values.

See

getAcceleration()

See

getRotation()

See

MPU6050_RA_ACCEL_XOUT_H

Parameters

• ax: 16-bit signed integer container for accelerometer X-axis value
• ay: 16-bit signed integer container for accelerometer Y-axis value
• az: 16-bit signed integer container for accelerometer Z-axis value
• gx: 16-bit signed integer container for gyroscope X-axis value
• gy: 16-bit signed integer container for gyroscope Y-axis value
• gz: 16-bit signed integer container for gyroscope Z-axis value

void getAcceleration(int16_t *x, int16_t *y, int16_t *z)

Get 3-axis accelerometer readings.

These registers store the most recent accelerometer measurements. Accelerometer measurements are written to these registers at the Sample Rate as defined in Register 25.

The accelerometer measurement registers, along with the temperature measurement registers, gyroscope measurement registers, and external sensor data registers, are composed of two sets of registers: an internal register set and a user-facing read register set.

The data within the accelerometer sensors’ internal register set is always updated at the Sample Rate. Meanwhile, the user-facing read register set duplicates the internal register set’s data values whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt.

Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS (Register 28). For each full scale setting, the accelerometers’ sensitivity per LSB in ACCEL_xOUT is shown in the table below:

See

MPU6050_RA_GYRO_XOUT_H

Parameters

• x: 16-bit signed integer container for X-axis acceleration
• y: 16-bit signed integer container for Y-axis acceleration
• z: 16-bit signed integer container for Z-axis acceleration

int16_t getAccelerationX()

Get X-axis accelerometer reading.

Return

X-axis acceleration measurement in 16-bit 2’s complement format

See

getMotion6()

See

MPU6050_RA_ACCEL_XOUT_H

int16_t getAccelerationY()

Get Y-axis accelerometer reading.

Return

Y-axis acceleration measurement in 16-bit 2’s complement format

See

getMotion6()

See

MPU6050_RA_ACCEL_YOUT_H

int16_t getAccelerationZ()

Get Z-axis accelerometer reading.

Return

Z-axis acceleration measurement in 16-bit 2’s complement format

See

getMotion6()

See

MPU6050_RA_ACCEL_ZOUT_H

int16_t getTemperature()

Get current internal temperature.

Return

Temperature reading in 16-bit 2’s complement format

See

MPU6050_RA_TEMP_OUT_H

void getRotation(int16_t *x, int16_t *y, int16_t *z)

Get 3-axis gyroscope readings.

These gyroscope measurement registers, along with the accelerometer measurement registers, temperature measurement registers, and external sensor data registers, are composed of two sets of registers: an internal register set and a user-facing read register set. The data within the gyroscope sensors’ internal register set is always updated at the Sample Rate. Meanwhile, the user-facing read register set duplicates the internal register set’s data values whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt.

Each 16-bit gyroscope measurement has a full scale defined in FS_SEL (Register 27). For each full scale setting, the gyroscopes’ sensitivity per LSB in GYRO_xOUT is shown in the table below:

See

getMotion6()

See

MPU6050_RA_GYRO_XOUT_H

Parameters

• x: 16-bit signed integer container for X-axis rotation
• y: 16-bit signed integer container for Y-axis rotation
• z: 16-bit signed integer container for Z-axis rotation

int16_t getRotationX()

Get X-axis gyroscope reading.

Return

X-axis rotation measurement in 16-bit 2’s complement format

See

getMotion6()

See

MPU6050_RA_GYRO_XOUT_H

int16_t getRotationY()

Get Y-axis gyroscope reading.

Return

Y-axis rotation measurement in 16-bit 2’s complement format

See

getMotion6()

See

MPU6050_RA_GYRO_YOUT_H

int16_t getRotationZ()

Get Z-axis gyroscope reading.

Return

Z-axis rotation measurement in 16-bit 2’s complement format

See

getMotion6()

See

MPU6050_RA_GYRO_ZOUT_H

uint8_t getExternalSensorByte(int position)

Read single byte from external sensor data register.

These registers store data read from external sensors by the Slave 0, 1, 2, and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in I2C_SLV4_DI (Register 53).

External sensor data is written to these registers at the Sample Rate as defined in Register 25. This access rate can be reduced by using the Slave Delay Enable registers (Register 103).

External sensor data registers, along with the gyroscope measurement registers, accelerometer measurement registers, and temperature measurement registers, are composed of two sets of registers: an internal register set and a user-facing read register set.

The data within the external sensors’ internal register set is always updated at the Sample Rate (or the reduced access rate) whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt.

Data is placed in these external sensor data registers according to I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39, 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as defined in Register 25) or delayed rate (if specified in Register 52 and 103). During each Sample cycle, slave reads are performed in order of Slave number. If all slaves are enabled with more than zero bytes to be read, the order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.

Each enabled slave will have EXT_SENS_DATA registers associated with it by number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may change the higher numbered slaves’ associated registers. Furthermore, if fewer total bytes are being read from the external sensors as a result of such a change, then the data remaining in the registers which no longer have an associated slave device (i.e. high numbered registers) will remain in these previously allocated registers unless reset.

If the sum of the read lengths of all SLVx transactions exceed the number of available EXT_SENS_DATA registers, the excess bytes will be dropped. There are 24 EXT_SENS_DATA registers and hence the total read lengths between all the slaves cannot be greater than 24 or some bytes will be lost.

Note: Slave 4’s behavior is distinct from that of Slaves 0-3. For further information regarding the characteristics of Slave 4, please refer to Registers 49 to 53.

EXAMPLE: Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00 through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05 will be associated with Slave 1. If Slave 2 is enabled as well, registers starting from EXT_SENS_DATA_06 will be allocated to Slave 2.

If Slave 2 is disabled while Slave 3 is enabled in this same situation, then registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3 instead.

REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE: If a slave is disabled at any time, the space initially allocated to the slave in the EXT_SENS_DATA register, will remain associated with that slave. This is to avoid dynamic adjustment of the register allocation.

The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).

This above is also true if one of the slaves gets NACKed and stops functioning.

Return

Byte read from register

Parameters

• position: Starting position (0-23)

uint16_t getExternalSensorWord(int position)

Read word (2 bytes) from external sensor data registers.

Return

Word read from register

See

getExternalSensorByte()

Parameters

• position: Starting position (0-21)

uint32_t getExternalSensorDWord(int position)

Read double word (4 bytes) from external sensor data registers.

Return

Double word read from registers

See

getExternalSensorByte()

Parameters

• position: Starting position (0-20)

uint8_t getMotionStatus()

Get full motion detection status register content (all bits).

Return

Motion detection status byte

See

MPU6050_RA_MOT_DETECT_STATUS

bool getXNegMotionDetected()

Get X-axis negative motion detection interrupt status.

Return

Motion detection status

See

MPU6050_RA_MOT_DETECT_STATUS

See

MPU6050_MOTION_MOT_XNEG_BIT

bool getXPosMotionDetected()

Get X-axis positive motion detection interrupt status.

Return

Motion detection status

See

MPU6050_RA_MOT_DETECT_STATUS

See

MPU6050_MOTION_MOT_XPOS_BIT

bool getYNegMotionDetected()

Get Y-axis negative motion detection interrupt status.

Return

Motion detection status

See

MPU6050_RA_MOT_DETECT_STATUS

See

MPU6050_MOTION_MOT_YNEG_BIT

bool getYPosMotionDetected()

Get Y-axis positive motion detection interrupt status.

Return

Motion detection status

See

MPU6050_RA_MOT_DETECT_STATUS

See

MPU6050_MOTION_MOT_YPOS_BIT

bool getZNegMotionDetected()

Get Z-axis negative motion detection interrupt status.

Return

Motion detection status

See

MPU6050_RA_MOT_DETECT_STATUS

See

MPU6050_MOTION_MOT_ZNEG_BIT

bool getZPosMotionDetected()

Get Z-axis positive motion detection interrupt status.

Return

Motion detection status

See

MPU6050_RA_MOT_DETECT_STATUS

See

MPU6050_MOTION_MOT_ZPOS_BIT

bool getZeroMotionDetected()

Get zero motion detection interrupt status.

Return

Motion detection status

See

MPU6050_RA_MOT_DETECT_STATUS

See

MPU6050_MOTION_MOT_ZRMOT_BIT

void setSlaveOutputByte(uint8_t num, uint8_t data)

Write byte to Data Output container for specified slave.

This register holds the output data written into Slave when Slave is set to write mode. For further information regarding Slave control, please refer to Registers 37 to 39 and immediately following.

See

MPU6050_RA_I2C_SLV0_DO

Parameters

• num: Slave number (0-3)
• data: Byte to write

bool getExternalShadowDelayEnabled()

Get external data shadow delay enabled status.

This register is used to specify the timing of external sensor data shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external sensor data is delayed until all data has been received.

Return

Current external data shadow delay enabled status.

See

MPU6050_RA_I2C_MST_DELAY_CTRL

See

MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT

void setExternalShadowDelayEnabled(bool enabled)

Set external data shadow delay enabled status.

See

getExternalShadowDelayEnabled()

See

MPU6050_RA_I2C_MST_DELAY_CTRL

See

MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT

Parameters

• enabled: New external data shadow delay enabled status.

bool getSlaveDelayEnabled(uint8_t num)

Get slave delay enabled status.

When a particular slave delay is enabled, the rate of access for the that slave device is reduced. When a slave’s access rate is decreased relative to the Sample Rate, the slave is accessed every:

1 / (1 + I2C_MST_DLY) Samples

This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25) and DLPF_CFG (register 26).

For further information regarding I2C_MST_DLY, please refer to register 52. For further information regarding the Sample Rate, please refer to register 25.

Return

Current slave delay enabled status.

See

MPU6050_RA_I2C_MST_DELAY_CTRL

See

MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT

Parameters

• num: Slave number (0-4)

void setSlaveDelayEnabled(uint8_t num, bool enabled)

Set slave delay enabled status.

See

MPU6050_RA_I2C_MST_DELAY_CTRL

See

MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT

Parameters

• num: Slave number (0-4)
• enabled: New slave delay enabled status.

void resetGyroscopePath()

Reset gyroscope signal path.

The reset will revert the signal path analog to digital converters and filters to their power up configurations.

See

MPU6050_RA_SIGNAL_PATH_RESET

See

MPU6050_PATHRESET_GYRO_RESET_BIT

void resetAccelerometerPath()

Reset accelerometer signal path.

The reset will revert the signal path analog to digital converters and filters to their power up configurations.

See

MPU6050_RA_SIGNAL_PATH_RESET

See

MPU6050_PATHRESET_ACCEL_RESET_BIT

void resetTemperaturePath()

Reset temperature sensor signal path.

The reset will revert the signal path analog to digital converters and filters to their power up configurations.

See

MPU6050_RA_SIGNAL_PATH_RESET

See

MPU6050_PATHRESET_TEMP_RESET_BIT

uint8_t getAccelerometerPowerOnDelay()

Get accelerometer power-on delay.

The accelerometer data path provides samples to the sensor registers, Motion detection, Zero Motion detection, and Free Fall detection modules. The signal path contains filters which must be flushed on wake-up with new samples before the detection modules begin operations. The default wake-up delay, of 4ms can be lengthened by up to 3ms. This additional delay is specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select any value above zero unless instructed otherwise by InvenSense. Please refer to Section 8 of the MPU-6000/MPU-6050 Product Specification document for further information regarding the detection modules.

Return

Current accelerometer power-on delay

See

MPU6050_RA_MOT_DETECT_CTRL

See

MPU6050_DETECT_ACCEL_ON_DELAY_BIT

void setAccelerometerPowerOnDelay(uint8_t delay)

Set accelerometer power-on delay.

See

getAccelerometerPowerOnDelay()

See

MPU6050_RA_MOT_DETECT_CTRL

See

MPU6050_DETECT_ACCEL_ON_DELAY_BIT

Parameters

• delay: New accelerometer power-on delay (0-3)

uint8_t getFreefallDetectionCounterDecrement()

Get Free Fall detection counter decrement configuration.

Detection is registered by the Free Fall detection module after accelerometer measurements meet their respective threshold conditions over a specified number of samples. When the threshold conditions are met, the corresponding detection counter increments by 1. The user may control the rate at which the detection counter decrements when the threshold condition is not met by configuring FF_COUNT. The decrement rate can be set according to the following table:

When FF_COUNT is configured to 0 (reset), any non-qualifying sample will reset the counter to 0. For further information on Free Fall detection, please refer to Registers 29 to 32.

Return

Current decrement configuration

See

MPU6050_RA_MOT_DETECT_CTRL

See

MPU6050_DETECT_FF_COUNT_BIT

void setFreefallDetectionCounterDecrement(uint8_t decrement)

Set Free Fall detection counter decrement configuration.

See

getFreefallDetectionCounterDecrement()

See

MPU6050_RA_MOT_DETECT_CTRL

See

MPU6050_DETECT_FF_COUNT_BIT

Parameters

• decrement: New decrement configuration value

uint8_t getMotionDetectionCounterDecrement()

Get Motion detection counter decrement configuration.

Detection is registered by the Motion detection module after accelerometer measurements meet their respective threshold conditions over a specified number of samples. When the threshold conditions are met, the corresponding detection counter increments by 1. The user may control the rate at which the detection counter decrements when the threshold condition is not met by configuring MOT_COUNT. The decrement rate can be set according to the following table:

When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will reset the counter to 0. For further information on Motion detection, please refer to Registers 29 to 32.

void setMotionDetectionCounterDecrement(uint8_t decrement)

Set Motion detection counter decrement configuration.

See

getMotionDetectionCounterDecrement()

See

MPU6050_RA_MOT_DETECT_CTRL

See

MPU6050_DETECT_MOT_COUNT_BIT

Parameters

• decrement: New decrement configuration value

bool getFIFOEnabled()

Get FIFO enabled status.

When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer cannot be written to or read from while disabled. The FIFO buffer’s state does not change unless the MPU-60X0 is power cycled.

Return

Current FIFO enabled status

See

MPU6050_RA_USER_CTRL

See

MPU6050_USERCTRL_FIFO_EN_BIT

void setFIFOEnabled(bool enabled)

Set FIFO enabled status.

See

getFIFOEnabled()

See

MPU6050_RA_USER_CTRL

See

MPU6050_USERCTRL_FIFO_EN_BIT

Parameters

• enabled: New FIFO enabled status

bool getI2CMasterModeEnabled()

Get I2C Master Mode enabled status.

When this mode is enabled, the MPU-60X0 acts as the I2C Master to the external sensor slave devices on the auxiliary I2C bus. When this bit is cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically driven by the primary I2C bus (SDA and SCL). This is a precondition to enabling Bypass Mode. For further information regarding Bypass Mode, please refer to Register 55.

Return

Current I2C Master Mode enabled status

See

MPU6050_RA_USER_CTRL

See

MPU6050_USERCTRL_I2C_MST_EN_BIT

void setI2CMasterModeEnabled(bool enabled)

Set I2C Master Mode enabled status.

See

getI2CMasterModeEnabled()

See

MPU6050_RA_USER_CTRL

See

MPU6050_USERCTRL_I2C_MST_EN_BIT

Parameters

• enabled: New I2C Master Mode enabled status

void switchSPIEnabled(bool enabled)

Switch from I2C to SPI mode (MPU-6000 only) If this is set, the primary SPI interface will be enabled in place of the disabled primary I2C interface.

void resetFIFO()

Reset the FIFO.

This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This bit automatically clears to 0 after the reset has been triggered.

See

MPU6050_RA_USER_CTRL

See

MPU6050_USERCTRL_FIFO_RESET_BIT

void resetI2CMaster()

Reset the I2C Master.

This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0. This bit automatically clears to 0 after the reset has been triggered.

See

MPU6050_RA_USER_CTRL

See

MPU6050_USERCTRL_I2C_MST_RESET_BIT

void resetSensors()

Reset all sensor registers and signal paths.

When set to 1, this bit resets the signal paths for all sensors (gyroscopes, accelerometers, and temperature sensor). This operation will also clear the sensor registers. This bit automatically clears to 0 after the reset has been triggered.

When resetting only the signal path (and not the sensor registers), please use Register 104, SIGNAL_PATH_RESET.

See

MPU6050_RA_USER_CTRL

See

MPU6050_USERCTRL_SIG_COND_RESET_BIT

void reset()

Trigger a full device reset.

A small delay of ~50ms may be desirable after triggering a reset.

See

MPU6050_RA_PWR_MGMT_1

See

MPU6050_PWR1_DEVICE_RESET_BIT

bool getSleepEnabled()

Get sleep mode status.

Setting the SLEEP bit in the register puts the device into very low power sleep mode. In this mode, only the serial interface and internal registers remain active, allowing for a very low standby current. Clearing this bit puts the device back into normal mode. To save power, the individual standby selections for each of the gyros should be used if any gyro axis is not used by the application.

Return

Current sleep mode enabled status

See

MPU6050_RA_PWR_MGMT_1

See

MPU6050_PWR1_SLEEP_BIT

void setSleepEnabled(bool enabled)

Set sleep mode status.

See

getSleepEnabled()

See

MPU6050_RA_PWR_MGMT_1

See

MPU6050_PWR1_SLEEP_BIT

Parameters

• enabled: New sleep mode enabled status

bool getWakeCycleEnabled()

Get wake cycle enabled status.

When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL (register 108).

Return

Current sleep mode enabled status

See

MPU6050_RA_PWR_MGMT_1

See

MPU6050_PWR1_CYCLE_BIT

void setWakeCycleEnabled(bool enabled)

Set wake cycle enabled status.

See

getWakeCycleEnabled()

See

MPU6050_RA_PWR_MGMT_1

See

MPU6050_PWR1_CYCLE_BIT

Parameters

• enabled: New sleep mode enabled status

bool getTempSensorEnabled()

Get temperature sensor enabled status.

Control the usage of the internal temperature sensor.

Note: this register stores the disabled value, but for consistency with the rest of the code, the function is named and used with standard true/false values to indicate whether the sensor is enabled or disabled, respectively.

Return

Current temperature sensor enabled status

See

MPU6050_RA_PWR_MGMT_1

See

MPU6050_PWR1_TEMP_DIS_BIT

void setTempSensorEnabled(bool enabled)

Set temperature sensor enabled status.

Note: this register stores the disabled value, but for consistency with the rest of the code, the function is named and used with standard true/false values to indicate whether the sensor is enabled or disabled, respectively.

See

getTempSensorEnabled()

See

MPU6050_RA_PWR_MGMT_1

See

MPU6050_PWR1_TEMP_DIS_BIT

Parameters

• enabled: New temperature sensor enabled status

uint8_t getClockSource()

Get clock source setting.

Return

Current clock source setting

See

MPU6050_RA_PWR_MGMT_1

See

MPU6050_PWR1_CLKSEL_BIT

See

MPU6050_PWR1_CLKSEL_LENGTH

void setClockSource(uint8_t source)

Set clock source setting.

An internal 8MHz oscillator, gyroscope based clock, or external sources can be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator or an external source is chosen as the clock source, the MPU-60X0 can operate in low power modes with the gyroscopes disabled.

Upon power up, the MPU-60X0 clock source defaults to the internal oscillator. However, it is highly recommended that the device be configured to use one of the gyroscopes (or an external clock source) as the clock reference for improved stability. The clock source can be selected according to the following table:

See

getClockSource()

See

MPU6050_RA_PWR_MGMT_1

See

MPU6050_PWR1_CLKSEL_BIT

See

MPU6050_PWR1_CLKSEL_LENGTH

Parameters

• source: New clock source setting

uint8_t getWakeFrequency()

Get wake frequency in Accel-Only Low Power Mode.

The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode, the device will power off all devices except for the primary I2C interface, waking only the accelerometer at fixed intervals to take a single measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL as shown below:

For further information regarding the MPU-60X0’s power modes, please refer to Register 107.

Return

Current wake frequency

See

MPU6050_RA_PWR_MGMT_2

void setWakeFrequency(uint8_t frequency)

Set wake frequency in Accel-Only Low Power Mode.

See

MPU6050_RA_PWR_MGMT_2

Parameters

• frequency: New wake frequency

bool getStandbyXAccelEnabled()

Get X-axis accelerometer standby enabled status.

If enabled, the X-axis will not gather or report data (or use power).

Return

Current X-axis standby enabled status

See

MPU6050_RA_PWR_MGMT_2

See

MPU6050_PWR2_STBY_XA_BIT

void setStandbyXAccelEnabled(bool enabled)

Set X-axis accelerometer standby enabled status.

See

getStandbyXAccelEnabled()

See

MPU6050_RA_PWR_MGMT_2

See

MPU6050_PWR2_STBY_XA_BIT

Parameters

• New: X-axis standby enabled status

bool getStandbyYAccelEnabled()

Get Y-axis accelerometer standby enabled status.

If enabled, the Y-axis will not gather or report data (or use power).

Return

Current Y-axis standby enabled status

See

MPU6050_RA_PWR_MGMT_2

See

MPU6050_PWR2_STBY_YA_BIT

void setStandbyYAccelEnabled(bool enabled)

Set Y-axis accelerometer standby enabled status.

See

getStandbyYAccelEnabled()

See

MPU6050_RA_PWR_MGMT_2

See

MPU6050_PWR2_STBY_YA_BIT

Parameters

• New: Y-axis standby enabled status

bool getStandbyZAccelEnabled()

Get Z-axis accelerometer standby enabled status.

If enabled, the Z-axis will not gather or report data (or use power).

Return

Current Z-axis standby enabled status

See

MPU6050_RA_PWR_MGMT_2

See

MPU6050_PWR2_STBY_ZA_BIT

void setStandbyZAccelEnabled(bool enabled)

Set Z-axis accelerometer standby enabled status.

See

getStandbyZAccelEnabled()

See

MPU6050_RA_PWR_MGMT_2

See

MPU6050_PWR2_STBY_ZA_BIT

Parameters

• New: Z-axis standby enabled status

bool getStandbyXGyroEnabled()

Get X-axis gyroscope standby enabled status.

If enabled, the X-axis will not gather or report data (or use power).

Return

Current X-axis standby enabled status

See

MPU6050_RA_PWR_MGMT_2

See

MPU6050_PWR2_STBY_XG_BIT

void setStandbyXGyroEnabled(bool enabled)

Set X-axis gyroscope standby enabled status.

See

getStandbyXGyroEnabled()

See

MPU6050_RA_PWR_MGMT_2

See

MPU6050_PWR2_STBY_XG_BIT

Parameters

• New: X-axis standby enabled status

bool getStandbyYGyroEnabled()

Get Y-axis gyroscope standby enabled status.

If enabled, the Y-axis will not gather or report data (or use power).

Return

Current Y-axis standby enabled status

See

MPU6050_RA_PWR_MGMT_2

See

MPU6050_PWR2_STBY_YG_BIT

void setStandbyYGyroEnabled(bool enabled)

Set Y-axis gyroscope standby enabled status.

See

getStandbyYGyroEnabled()

See

MPU6050_RA_PWR_MGMT_2

See

MPU6050_PWR2_STBY_YG_BIT

Parameters

• New: Y-axis standby enabled status

bool getStandbyZGyroEnabled()

Get Z-axis gyroscope standby enabled status.

If enabled, the Z-axis will not gather or report data (or use power).

Return

Current Z-axis standby enabled status

See

MPU6050_RA_PWR_MGMT_2

See

MPU6050_PWR2_STBY_ZG_BIT

void setStandbyZGyroEnabled(bool enabled)

Set Z-axis gyroscope standby enabled status.

See

getStandbyZGyroEnabled()

See

MPU6050_RA_PWR_MGMT_2

See

MPU6050_PWR2_STBY_ZG_BIT

Parameters

• New: Z-axis standby enabled status

uint16_t getFIFOCount()

Get current FIFO buffer size.

This value indicates the number of bytes stored in the FIFO buffer. This number is in turn the number of bytes that can be read from the FIFO buffer and it is directly proportional to the number of samples available given the set of sensor data bound to be stored in the FIFO (register 35 and 36).

Return

Current FIFO buffer size

uint8_t getFIFOByte()

Get byte from FIFO buffer.

This register is used to read and write data from the FIFO buffer. Data is written to the FIFO in order of register number (from lowest to highest). If all the FIFO enable flags (see below) are enabled and all External Sensor Data registers (Registers 73 to 96) are associated with a Slave device, the contents of registers 59 through 96 will be written in order at the Sample Rate.

The contents of the sensor data registers (Registers 59 to 96) are written into the FIFO buffer when their corresponding FIFO enable flags are set to 1 in FIFO_EN (Register 35). An additional flag for the sensor data registers associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).

If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is automatically set to 1. This bit is located in INT_STATUS (Register 58). When the FIFO buffer has overflowed, the oldest data will be lost and new data will be written to the FIFO.

If the FIFO buffer is empty, reading this register will return the last byte that was previously read from the FIFO until new data is available. The user should check FIFO_COUNT to ensure that the FIFO buffer is not read when empty.

Return

Byte from FIFO buffer

void setFIFOByte(uint8_t data)

Write byte to FIFO buffer.

See

getFIFOByte()

See

MPU6050_RA_FIFO_R_W

void getFIFOBytes(uint8_t *data, uint8_t length)

uint8_t getDeviceID()

Get Device ID.

This register is used to verify the identity of the device (0b110100, 0x34).

Return

Device ID (6 bits only! should be 0x34)

See

MPU6050_RA_WHO_AM_I

See

MPU6050_WHO_AM_I_BIT

See

MPU6050_WHO_AM_I_LENGTH

void setDeviceID(uint8_t id)

Set Device ID.

Write a new ID into the WHO_AM_I register (no idea why this should ever be necessary though).

See

getDeviceID()

See

MPU6050_RA_WHO_AM_I

See

MPU6050_WHO_AM_I_BIT

See

MPU6050_WHO_AM_I_LENGTH

Parameters

• id: New device ID to set.

uint8_t getOTPBankValid()

void setOTPBankValid(bool enabled)

int8_t getXGyroOffsetTC()

void setXGyroOffsetTC(int8_t offset)

int8_t getYGyroOffsetTC()

void setYGyroOffsetTC(int8_t offset)

int8_t getZGyroOffsetTC()

void setZGyroOffsetTC(int8_t offset)

int8_t getXFineGain()

void setXFineGain(int8_t gain)

int8_t getYFineGain()

void setYFineGain(int8_t gain)

int8_t getZFineGain()

void setZFineGain(int8_t gain)

int16_t getXAccelOffset()

void setXAccelOffset(int16_t offset)

int16_t getYAccelOffset()

void setYAccelOffset(int16_t offset)

int16_t getZAccelOffset()

void setZAccelOffset(int16_t offset)

int16_t getXGyroOffset()

void setXGyroOffset(int16_t offset)

int16_t getYGyroOffset()

void setYGyroOffset(int16_t offset)

int16_t getZGyroOffset()

void setZGyroOffset(int16_t offset)

bool getIntPLLReadyEnabled()

void setIntPLLReadyEnabled(bool enabled)

bool getIntDMPEnabled()

void setIntDMPEnabled(bool enabled)

bool getDMPInt5Status()

bool getDMPInt4Status()

bool getDMPInt3Status()

bool getDMPInt2Status()

bool getDMPInt1Status()

bool getDMPInt0Status()

bool getIntPLLReadyStatus()

bool getIntDMPStatus()

bool getDMPEnabled()

void setDMPEnabled(bool enabled)

void resetDMP()

void setMemoryBank(uint8_t bank, bool prefetchEnabled = false, bool userBank = false)

void setMemoryStartAddress(uint8_t address)

uint8_t readMemoryByte()

void writeMemoryByte(uint8_t data)

void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0)

bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0, bool verify = true, bool useProgMem = false)

bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0, bool verify = true)

bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem = false)

bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)

uint8_t getDMPConfig1()

void setDMPConfig1(uint8_t config)

uint8_t getDMPConfig2()

void setDMPConfig2(uint8_t config)

Private Members

uint8_t devAddr

uint8_t buffer[14]

struct pb_bytes_array_s

Public Members

pb_size_t size

pb_byte_t bytes[1]

struct pb_callback_s

Public Members

bool (*decode)(pb_istream_t *stream, const pb_field_t *field, void **arg)

bool (*encode)(pb_ostream_t *stream, const pb_field_t *field, void *const *arg)

union pb_callback_s::@1 pb_callback_s::funcs

void *arg

struct pb_extension_s

Public Members

const pb_extension_type_t *type

void *dest

pb_extension_t *next

bool found

struct pb_extension_type_s

Public Members

bool (*decode)(pb_istream_t *stream, pb_extension_t *extension, uint32_t tag, pb_wire_type_t wire_type)

bool (*encode)(pb_ostream_t *stream, const pb_extension_t *extension)

const void *arg

struct pb_field_iter_s

Public Members

const pb_field_t *start

const pb_field_t *pos

unsigned required_field_index

void *dest_struct

void *pData

void *pSize

struct pb_field_s

Public Members

pb_size_t tag

pb_type_t type

pb_size_t data_offset

pb_ssize_t size_offset

pb_size_t data_size

pb_size_t array_size

const void *ptr

struct pb_istream_s

Public Members

bool (*callback)(pb_istream_t *stream, pb_byte_t *buf, size_t count)

void *state

size_t bytes_left

const char *errmsg

struct pb_ostream_s

Public Members

bool (*callback)(pb_ostream_t *stream, const pb_byte_t *buf, size_t count)

void *state

size_t max_size

size_t bytes_written

const char *errmsg

struct PoseMinimizer

Inherits from Functor< double >

Public Functions

PoseMinimizer(int numberOfSensors = 4)

Default amount of sensors needed for Eigen templated structure.

Parameters

• numberOfSensors: you can however choose any number of sensors here

int operator()(const VectorXd &x, VectorXd &fvec) const

This is the function that is called in each iteration.

Return

Parameters

• x: the pose vector (3 rotational 3 translational parameters)
• fvec: the error function (the difference between the sensor positions)

void getRTmatrix(VectorXd &x, Matrix4d &RT)

Constructs a Transform matrix from the given pose vector.

Parameters

• x: the pose vector
• RT: the corresponding transform

void getRTmatrix(Matrix4d &RT)

Constructs a Transform matrix from the optimized pose.

Parameters

• RT: the corresponding transform

void getTFtransform(VectorXd &x, tf::Transform &tf)

Constructs a tf transform from the given pose vector.

Parameters

• x: the pose vector
• tf: the corresponding tf transform

Public Members

VectorXd pose

MatrixXd pos3D_A

MatrixXd pos3D_B

int numberOfSensors = 4

class PROTO_LOVE

Public Functions

PROTO_LOVE()

void clearProtos()

bool decode_config_Proto(pb_byte_t *buffer, size_t rcvd_msg_len)

bool decode_command_Proto(pb_byte_t *buffer, size_t rcvd_msg_len)

bool encode_trackedObjConfig(uint32_t ip, uint16_t cmndPort_l, pb_byte_t *buffer, size_t &msg_len)

bool encode_loggingObject(const char *msg, pb_byte_t *buffer, size_t &msg_len)

bool encode_imuObjConfig(Quaternion &q, VectorInt16 &acc, VectorFloat &gravity, pb_byte_t *buffer, size_t &msg_len)

Public Members

bool enable_logging = true

DarkRoomProtobuf_loggingObject loggingObjMsg

DarkRoomProtobuf_commandObject commandObjMsg

DarkRoomProtobuf_configObject configObjMsg

DarkRoomProtobuf_imuObject imuObjMsg

class Quaternion

Public Functions

Quaternion()

Quaternion(float nw, float nx, float ny, float nz)

Quaternion getProduct(Quaternion q)

Quaternion getConjugate()

float getMagnitude()

void normalize()

Quaternion getNormalized()

Public Members

float w

float x

float y

float z

class Sensor

Public Types

enum ANGLE_TYPE

Values:

HORIZONTAL = 0

VERTICAL = 1

Public Functions

Sensor()

void update(bool lighthouse, int type, unsigned short timestamp, double angle)

Updates the angles for the respective lighthouse.

Parameters

• lighthouse: for which lighthouse
• type: #ANGLE_TYPE
• timestamp: millisecond timestamp
• angle: ligthhouse angle

void switchLighthouses(bool flag)

Switches lighthouses, such that angles for lighthouse 1 belong to lighthouse 2.

Parameters

• flag: true/false

bool getSwitchLighthouses()

Returns if the lighthouses are switched.

Return

true/false

void get(bool lighthouse, Vector2d &angles)

Get the recent angles.

Parameters

• lighthouse: of this lighthouse
• angles: Vector(VERTICAL, HORIZONTAL)

void get(bool lighthouse, Vector2d &angles, Vector2s &timestamps)

Get the recent angles and timestamps.

Parameters

• lighthouse: of this lighthouse
• angles: Vector(VERTICAL, HORIZONTAL)
• timestamps: in milliseconds

void get(bool lighthouse, double &elevation, double &azimuth)

Get the recent angles.

Parameters

• lighthouse: of this lighthouse
• elevation: angle
• azimuth: angle

void get(bool lighthouse, vector<double> &elevations, vector<double> &azimuths)

pushes the recent angles into the vectors

Parameters

• lighthouse: of this lighthouse
• elevations: vector<angle>
• azimuths: vector<angle>

void set(bool lighthouse, Vector3d &position3D)

Set the relative 3d position, wrt to a lighthouse.

Parameters

• lighthouse:
• position3D:

bool getPosition3D(Vector3d &position3D)

Gets the 3d position of a sensor.

Return

Parameters

• position3D:

bool get(bool lighthouse, Vector3d &position3D)

Gets the relative 3d position of a sensor wrt to a lighthouse.

Return

Parameters

• lighthouse:
• position3D:

void set(Vector3d &position3D)

Set the absolute 3d position, wrt to a world frame.

Parameters

• lighthouse:
• position3D:

double getDistance(bool lighthouse)

Returns the euclidean distance to a lighthouse in meter.

Return

Parameters

• lighthouse:

bool isActive(bool lighthouse)

A sensor is considered active, when it has been updated less than a certain amount of time ago.

Return

active/inactive

Parameters

• lighthouse:

void setRelativeLocation(Vector3d relative_location)

Sets the sensors relative location on the tracked object.

Parameters

• relative_location: the relative 3D position

void getRelativeLocation(Vector3d &relative_location)

Gets the sensors relative location on the tracked object.

Parameters

• relative_location: the relative 3D position

void getRelativeLocation(vector<Vector3d> &relative_locations)

pushes the sensors relative location on the tracked object

Parameters

• relative_locations: into this vector

Private Members

bool m_switch = true

Vector3d m_relative_location

Vector3d m_position3D

Vector3d m_relativePosition3D[NUMBER_OF_LIGHTHOUSES]

Vector3d m_relativeOrigin3D[NUMBER_OF_LIGHTHOUSES]

pair<unsigned short, double> m_angles_horizontal[NUMBER_OF_LIGHTHOUSES]

pair<unsigned short, double> m_angles_vertical[NUMBER_OF_LIGHTHOUSES]

ros::Time m_angleUpdateTime[NUMBER_OF_LIGHTHOUSES]

mutex m_lockMutex

class SPISlaveClass

Public Functions

SPISlaveClass()

~SPISlaveClass()

void begin()

void setData(uint8_t *data, size_t len)

void setData(const char *data)

void setStatus(uint32_t status)

void onData(SpiSlaveDataHandler cb)

void onDataSent(SpiSlaveSentHandler cb)

void onStatus(SpiSlaveStatusHandler cb)

void onStatusSent(SpiSlaveSentHandler cb)

Protected Functions

void _data_rx(uint8_t *data, uint8_t len)

void _status_rx(uint32_t data)

void _data_tx(void)

void _status_tx(void)

Protected Attributes

SpiSlaveDataHandler _data_cb

SpiSlaveStatusHandler _status_cb

SpiSlaveSentHandler _data_sent_cb

SpiSlaveSentHandler _status_sent_cb

Protected Static Functions

void _s_data_rx(void *arg, uint8_t *data, uint8_t len)

void _s_status_rx(void *arg, uint32_t data)

void _s_data_tx(void *arg)

void _s_status_tx(void *arg)

class StarRating

Public Types

enum EditMode

Values:

Editable

ReadOnly

Public Functions

StarRating(int starCount = 1, int maxStarCount = 5)

void paint(QPainter *painter, const QRect &rect, const QPalette &palette, EditMode mode) const

QSize sizeHint() const

int starCount() const

int maxStarCount() const

void setStarCount(int starCount)

void setMaxStarCount(int maxStarCount)

Private Members

QPolygonF starPolygon

QPolygonF diamondPolygon

int myStarCount

int myMaxStarCount

struct Sweep

Public Members

uint32_t sweepDuration

uint16_t lighthouse

uint16_t id

bool vertical

class TrackedObject

Public Functions

TrackedObject()

~TrackedObject()

bool connectWifi(const char *IP, int sensor_port, int command_port, int logging_port, bool configure = true)

This function attempts to establish the connection to the tracked object via wifi.

Return

success (if configure is false, this returns true even if there is no data coming from clientbool lighthouse)

Parameters

• IP: IP of the object
• sensor_port: port to be used for sensor value
• command_port: port to be used for commands
• logging_port: port to be used for logging
• configure: if true sends our ports to client and waits for a logging message

void startReceiveData(bool start)

void startTracking(bool start)

toggles tracking (starts reception of sensor data and triangulation threads)

Parameters

• start: toggle flag

void startCalibration(bool start)

Toggles calibration thread.

Parameters

• start: bool

void showRays(bool show)

Toggles visualization of ligthhouse rays.

Parameters

• show: bool

void map_lighthouse_id(bool switchID)

This function switches the lighthouse ids for all objects.

bool distanceEstimation(bool lighthouse, vector<int> *specificIds = nullptr)

Estimates the sensor distances of all active sensors (or a vector of specified sensor ids) using the known (ie.

calibrated) relative distance between the sensors and the lighthouse angles

Return

Parameters

• lighthouse: for which lighthouse
• specificIds: if defined, waits until the specified sensors become active

bool poseEstimation(tf::Transform &tf)

Estimates the pose correction between ligthhouse 1 and 2, such that the squared distances between sensor positions estimated for both lighthouses is minimized.

Return

success

Parameters

• tf: the corrective transform for lighthouse 2

bool record(bool start)

Triggers recording of sensor data to a sensor.log file.

Return

success (if writing to the file is possible)

Parameters

• start:

bool readConfig(string filepath)

Reads a yaml tracked object file.

Return

success

Parameters

• filepath: to

bool writeConfig(string filepath)

Writes a tracked object to file.

Return

success

Parameters

• filepath:

bool rebootESP()

Sends a command which triggers ESP reboot.

Return

success

bool toggleMPU6050(bool toggle)

Toggles the IMU MPU6050.

Return

successully sent

Parameters

• toggle: true/false

bool toggleTracking(bool toggle)

Toggles the tracking on fpga.

Return

successully sent

Parameters

• toggle: true/false

Public Static Attributes

int trackeObjectInstance = 0

Private Types

enum MESSAGE_ID

Values:

TRIANGULATED = 0

DISTANCE = 1

RAY = 2

Private Functions

void receiveSensorData()

a unique object instance (helps with unique rviz marker ids)

Continuesly receiving, decoding and updating the sensor data

void receiveImuData()

Continuesly receiving imu data.

void trackSensors()

Triangulates the sensor positions (the transform between lighthouse 1 and 2 needs to be known, otherwise the triangulated position is not correct)

void calibrate()

Measures triangulated sensor locations for 30 seconds.

Calculates mean sensor locations and generates relative sensor positions which are saved to a yaml file

void publishRelativeFrame()

Publishes information about the relative frame of the Object (as estimated via calibration)

bool triangulateFromLighthousePlanes(Vector2d &angles0, Vector2d &angles1, Vector3d &triangulated_position, Vector3d &ray0, Vector3d &ray1)

This function triangulates the position of a sensor using the horizontal and vertical angles from two ligthouses via planes.

Return

success (this can fail, if we don’t get the pose of the lighthouses via tf)

Parameters

• angles0: vertical/horizontal angles form first lighthouse
• angles1: vertical/horizontal angles form second lighthouse
• triangulated_position: the triangulated position
• ray0: ligthhouse ray
• ray1: ligthhouse ray

bool getTransform(const char *from, const char *to, Matrix4d &transform)

Queries the tf listener for the specified transform.

Return

true if available

Parameters

• from: we whant the transformation from this frame
• to: another frame
• transform: the transform if available

void clearAll()

clear all markers

int getMessageID(int type, int sensor, bool lighthouse = false)

Returns a unique id for #MESSAGE_ID sensor and lighthouse.

Return

a unique id

Parameters

• type: the message type #MESSAGE_ID
• sensor: the sensor id
• lighthouse: the lighthouse

void publishMesh(Vector3d &pos, Vector4d &orientation, const char *modelname, const char *frame, const char *ns, int message_id, int duration)

Publishes a mesh visualization marker.

Parameters

• pos: at this position
• orientation: with this orientation
• modelname: name of the mesh.dae
• frame: in this frame
• ns: namespace
• message_id: unique id
• duration: in seconds

void publishSphere(Vector3d &pos, const char *frame, const char *ns, int message_id, COLOR color, float radius = 0.01, int duration = 0)

Publishes a sphere visualization marker.

Parameters

• pos: at this positon
• frame: in this frame
• ns: namespace
• message_id: a unique id
• rgda: rgb color (0-1) plus transparancy
• duration: for this duration in seconds (0=forever)

void publishCube(Vector3d &pos, Vector4d &quat, const char *frame, const char *ns, int message_id, COLOR color, float radius = 0.01, int duration = 0)

Publishes a cube visualization marker.

Parameters

• pos: at this positon
• quat: with this orientation
• frame: in this frame
• ns: namespace
• message_id: a unique id
• rgda: rgb color (0-1) plus transparancy
• duration: for this duration in seconds (0=forever)

void publishRay(Vector3d &pos, Vector3d &dir, const char *frame, const char *ns, int message_id, COLOR color, int duration = 0)

Publishes a ray visualization marker.

Parameters

• pos: at this positon
• dir: direction
• frame: in this frame
• message_id: a unique id
• ns: namespace
• rgda: rgb color (0-1) plus transparancy
• duration: for this duration in seconds (0=forever)

Private Members

ros::NodeHandlePtr nh

boost::shared_ptr<ros::AsyncSpinner> spinner

ros::Publisher visualization_pub

tf::Transform relativeFrame

tf::TransformListener tf_listener

tf::TransformBroadcaster tf_broadcaster

int objectID = 0

string path

string name = "bastiisdoff"

string mesh = "pimmel"

vector<Eigen::Vector3f> object

double axis_offset = -0.015

Vector3d poseIMU

int sensordata_port

UDPSocketPtr sensor_socket

UDPSocketPtr command_socket

UDPSocketPtr logging_socket

UDPSocketPtr imu_socket

boost::shared_ptr<thread> sensor_thread = nullptr

boost::shared_ptr<thread> tracking_thread = nullptr

boost::shared_ptr<thread> calibrate_thread = nullptr

boost::shared_ptr<thread> imu_thread = nullptr

bool receiveData = false

bool tracking = false

bool calibrating = false

bool connected = false

bool rays = false

bool recording = false

bool publishingRelativeFrame = false

map<int, Sensor> sensors

Vector3d origin

Vector4d pose

Vector4d zero_pose

bool m_switch = false

ofstream file

class TrackedObjectDelegate

Inherits from QStyledItemDelegate

Public Functions

TrackedObjectDelegate(QWidget *parent = 0)

void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const

QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const

QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const

void setEditorData(QWidget *editor, const QModelIndex &index) const

void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const

Private Slots

void commitAndCloseEditor()

class TrackedObjectEditor

Inherits from QWidget

Public Functions

TrackedObjectEditor(QWidget *parent = 0)

QSize sizeHint() const

void setStarRating(const StarRating &starRating)

StarRating starRating()

Signal

signal TrackedObjectEditor::editingFinished

Protected Functions

void paintEvent(QPaintEvent *event)

void mouseMoveEvent(QMouseEvent *event)

void mouseReleaseEvent(QMouseEvent *event)

Private Functions

int starAtPosition(int x)

Private Members

StarRating myStarRating

class UDPSocket

Public Functions

UDPSocket(const char *server_IP, int server_port, const char *client_IP, int client_port, bool exclusive = true)

Creates a socket on the given server_IP and server_port and sets up the “connection” with the client.

Because it is UDP, there is no handshake, the socket just sends and listens to packages from the client_IP and client_port

Parameters

• server_IP: the server socket IP
• server_port: the server socket port
• client_IP: the client to send and receive UDP packets to/from
• client_port: the client port
• exclusive: receive exclusively packages from client

UDPSocket(const char *client_IP, int client_port, bool exclusive = true)

Tries to guess the users IP and sets up the socket on Port 8000 and “connects” to client_IP on client_port.

Parameters

• client_IP: the client to send and receive UDP packets to/from
• client_port: the client port
• exclusive: receive exclusively packages from client

UDPSocket(const char *client_IP, int client_port, int server_port, bool exclusive = true)

UDPSocket(int port, bool broadcaster)

Creates a broadcast socket on port.

Parameters

• port:

~UDPSocket()

bool receiveSensorData(unsigned short &timestamp, int &id, int &lighthouse, int &rotor, uint &sweepDuration)

Receive 32-bit sensor UDP and disect into values.

Return

success

Parameters

• timestamp:
• id: sensor id
• lighthouse: for which lighthouse
• rotor: which rotor (horizontal/vertical)
• sweepDuration: the sweep duration

bool receiveSensorData(unsigned short &timestamp, vector<uint> &id, vector<uint> &lighthouse, vector<uint> &rotor, vector<uint> &sweepDuration)

Receive multiple 32-bit sensor values in a single UDP and disect into values.

Return

success

Parameters

• timestamp:
• id: sensor id
• lighthouse: for which lighthouse
• rotor: which rotor (horizontal/vertical)
• sweepDuration: the sweep duration

template <typename T>

bool receiveMessage(T &message)

Receives a google protobuf message from the client.

Return

success

Parameters

• message: reference to protbuf message

template <typename T>

bool sendMessage(T &message)

Sends a google protobuf message to the client.

Return

success

Parameters

• message: reference to protbuf message

template <typename T>

bool broadcastMessage(T &message)

broadcasts a google protobuf message

Return

success

Parameters

• message: reference to protbuf message

Public Members

pair<uint32_t, string> myIP

Private Functions

bool setTimeOut(int usecs)

Sets the UDP package receive and send timeout.

Return

success

Parameters

• usecs: time in microseconds

bool whatsMyIP(string &IP)

Tries to guess your IP.

Parameters

• ip: your IP
• success: (fails if I can’t find a valid IP for wifi or ethernet adapter)

bool receiveUDP()

receive from anyone

Return

success

bool receiveUDPFromClient()

receive from client

Return

success

bool sendUDPToClient()

send to client

Return

success

bool broadcastUDP()

broadcast

Return

success

Private Members

bool initialized = false

int sockfd

struct sockaddr_in server_addr

struct sockaddr_in broadcast_addr

struct sockaddr_in client_addr

socklen_t client_addr_len

socklen_t server_addr_len

socklen_t broadcast_addr_len

ssize_t numbytes

struct addrinfo *servinfo

char buf[MAXBUFLENGTH]

bool exclusive

class VectorFloat

Public Functions

VectorFloat()

VectorFloat(float nx, float ny, float nz)

float getMagnitude()

void normalize()

VectorFloat getNormalized()

void rotate(Quaternion *q)

VectorFloat getRotated(Quaternion *q)

Public Members

float x

float y

float z

class VectorInt16

Public Functions

VectorInt16()

VectorInt16(int16_t nx, int16_t ny, int16_t nz)

float getMagnitude()

void normalize()

VectorInt16 getNormalized()

void rotate(Quaternion *q)

VectorInt16 getRotated(Quaternion *q)

Public Members

int16_t x

int16_t y

int16_t z

class WIFI_LOVE

Public Functions

WIFI_LOVE(const char *ssid, const char *passwd, IPAddress &broadcastIP)

uint16_t getCmndPort()

uint32_t getLocalIP()

int printWifiStatus()

int initWifi()

int initUDPSockets()

int fmsgTest_s()

int fmsgBroadcast_s(const uint8_t *buffer, size_t size)

int fmsgLogging_s(const uint8_t *buffer, size_t size)

int fmsgSensorDataT_s(const uint8_t *buffer, size_t size)

int fmsgSensorData_s(const uint8_t *buffer, size_t size)

int fmsgImuData_s(const uint8_t *buffer, size_t size)

bool receiveCommand()

bool receiveConfig()

bool sendImuData(Quaternion &q, VectorInt16 &acc, VectorFloat &gravity)

int getConnectionStatus()

void checkHostConfig()

void printIP(uint32_t ip)

Public Members

int LoveStatus = WL_IDLE_STATUS

char ssid[100]

char pass[100]

bool timeout = false

uint16_t sensorPort = 0

uint16_t commandPort = 4210

uint16_t logginPort = 0

uint16_t configPort = 8001

uint16_t imuPort = 0

IPAddress hostIP

IPAddress broadcastIP

WiFiUDP UDP

PROTO_LOVE protoLove

uint32_t command

size_t msg_len

pb_byte_t buffer[512] = {0}

namespace Eigen

namespace std

file fifo.h

Defines

FIFO_init(fifo) { fifo.mRead = 0; fifo.mWrite = 0;}

FIFO_available(fifo) ( fifo.mRead != fifo.mWrite )

FIFO_read(fifo, size) ( \ (FIFO_available(fifo)) ? \ fifo.mBuffer[(fifo.mRead = ((fifo.mRead + 1) & (size -1)))] : 0 \ )

FIFO_write(fifo, data, size) { \ uint8_t temp = ((fifo.mWrite +1 )& (size -1)); \ if(temp != fifo.mRead) { \ fifo.mBuffer[temp] = data; \ fifo.mWrite = temp; \ } \ }

FIFO32_read(fifo) FIFO_read(fifo, 32)

FIFO32_write(fifo, data) FIFO_write(fifo, data, 32)

Typedefs

typedef struct Sweep Sweep

typedef struct _FIFO128sweep FIFO32sweep

typedef struct _FIFO128t FIFO32t

file helper_3dmath.h

file hspi_slave.c

#include “hspi_slave.h”#include “esp8266_peri.h”#include “ets_sys.h”

Functions

void ICACHE_RAM_ATTR _hspi_slave_isr_handler(void * arg)

void hspi_slave_begin(uint8_t status_len, void *arg)

void hspi_slave_setStatus(uint32_t status)

void hspi_slave_setData(uint8_t *data, uint8_t len)

void hspi_slave_onData(void (*rxd_cb)(void *, uint8_t *, uint8_t))

void hspi_slave_onDataSent(void (*txd_cb)(void *))

void hspi_slave_onStatus(void (*rxs_cb)(void *, uint32_t))

void hspi_slave_onStatusSent(void (*txs_cb)(void *))

Variables

void (*_hspi_slave_rx_data_cb)(void *arg, uint8_t *data, uint8_t len) = NULL

void (*_hspi_slave_tx_data_cb)(void *arg) = NULL

void (*_hspi_slave_rx_status_cb)(void *arg, uint32_t data) = NULL

void (*_hspi_slave_tx_status_cb)(void *arg) = NULL

uint8_t _hspi_slave_buffer[33]

file hspi_slave.h

#include “Arduino.h”

Functions

void hspi_slave_begin(uint8_t status_len, void *arg)

void hspi_slave_setStatus(uint32_t status)

void hspi_slave_setData(uint8_t *data, uint8_t len)

void hspi_slave_onData(void (*rxd_cb)(void *, uint8_t *, uint8_t))

void hspi_slave_onDataSent(void (*txd_cb)(void *))

void hspi_slave_onStatus(void (*rxs_cb)(void *, uint32_t))

void hspi_slave_onStatusSent(void (*txs_cb)(void *))

file I2Cdev.cpp

#include “I2Cdev.h”

file I2Cdev.h

Defines

I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE

I2CDEV_IMPLEMENTATION_WARNINGS

I2CDEV_ARDUINO_WIRE 1

I2CDEV_BUILTIN_NBWIRE 2

I2CDEV_BUILTIN_FASTWIRE 3

I2CDEV_I2CMASTER_LIBRARY 4

I2CDEV_DEFAULT_READ_TIMEOUT 1000

file lighthouse.pb.c

#include “lighthouse.pb.h”

Variables

const pb_field_t DarkRoomProtobuf_configObject_fields[5] = { PB_FIELD( 1, UINT32 , REQUIRED, STATIC , FIRST, DarkRoomProtobuf_configObject, ip, ip, 0), PB_FIELD( 2, INT32 , REQUIRED, STATIC , OTHER, DarkRoomProtobuf_configObject, logging_port, ip, 0), PB_FIELD( 3, INT32 , REQUIRED, STATIC , OTHER, DarkRoomProtobuf_configObject, sensor_port, logging_port, 0), PB_FIELD( 4, INT32 , REQUIRED, STATIC , OTHER, DarkRoomProtobuf_configObject, imu_port, sensor_port, 0), PB_LAST_FIELD }

const pb_field_t DarkRoomProtobuf_trackedObjectConfig_fields[3] = { PB_FIELD( 1, UINT32 , REQUIRED, STATIC , FIRST, DarkRoomProtobuf_trackedObjectConfig, ip, ip, 0), PB_FIELD( 2, INT32 , REQUIRED, STATIC , OTHER, DarkRoomProtobuf_trackedObjectConfig, command_port, ip, 0), PB_LAST_FIELD }

const pb_field_t DarkRoomProtobuf_loggingObject_fields[2] = { PB_FIELD( 1, STRING , OPTIONAL, STATIC , FIRST, DarkRoomProtobuf_loggingObject, message, message, 0), PB_LAST_FIELD }

const pb_field_t DarkRoomProtobuf_commandObject_fields[2] = { PB_FIELD( 1, INT32 , REQUIRED, STATIC , FIRST, DarkRoomProtobuf_commandObject, command, command, 0), PB_LAST_FIELD }

const pb_field_t DarkRoomProtobuf_imuObject_fields[5] = { PB_FIELD( 1, INT32 , REQUIRED, STATIC , FIRST, DarkRoomProtobuf_imuObject, id, id, 0), PB_FIELD( 2, FLOAT , REPEATED, STATIC , OTHER, DarkRoomProtobuf_imuObject, quaternion, id, 0), PB_FIELD( 3, INT32 , REPEATED, STATIC , OTHER, DarkRoomProtobuf_imuObject, acc, quaternion, 0), PB_FIELD( 4, FLOAT , REPEATED, STATIC , OTHER, DarkRoomProtobuf_imuObject, gravity, acc, 0), PB_LAST_FIELD }

file lighthouse.pb.h

#include “pb.h”

Defines

DarkRoomProtobuf_configObject_init_default {0, 0, 0, 0}

DarkRoomProtobuf_trackedObjectConfig_init_default {0, 0}

DarkRoomProtobuf_loggingObject_init_default {false, ""}

DarkRoomProtobuf_commandObject_init_default {0}

DarkRoomProtobuf_imuObject_init_default {0, 0, {0, 0, 0, 0}, 0, {0, 0, 0}, 0, {0, 0, 0}}

DarkRoomProtobuf_configObject_init_zero {0, 0, 0, 0}

DarkRoomProtobuf_trackedObjectConfig_init_zero {0, 0}

DarkRoomProtobuf_loggingObject_init_zero {false, ""}

DarkRoomProtobuf_commandObject_init_zero {0}

DarkRoomProtobuf_imuObject_init_zero {0, 0, {0, 0, 0, 0}, 0, {0, 0, 0}, 0, {0, 0, 0}}

DarkRoomProtobuf_commandObject_command_tag 1

DarkRoomProtobuf_configObject_ip_tag 1

DarkRoomProtobuf_configObject_logging_port_tag 2

DarkRoomProtobuf_configObject_sensor_port_tag 3

DarkRoomProtobuf_configObject_imu_port_tag 4

DarkRoomProtobuf_imuObject_id_tag 1

DarkRoomProtobuf_imuObject_quaternion_tag 2

DarkRoomProtobuf_imuObject_acc_tag 3

DarkRoomProtobuf_imuObject_gravity_tag 4

DarkRoomProtobuf_loggingObject_message_tag 1

DarkRoomProtobuf_trackedObjectConfig_ip_tag 1

DarkRoomProtobuf_trackedObjectConfig_command_port_tag 2

DarkRoomProtobuf_configObject_size 39

DarkRoomProtobuf_trackedObjectConfig_size 17

DarkRoomProtobuf_loggingObject_size 42

DarkRoomProtobuf_commandObject_size 11

DarkRoomProtobuf_imuObject_size 79

Typedefs

typedef struct _DarkRoomProtobuf_commandObject DarkRoomProtobuf_commandObject

typedef struct _DarkRoomProtobuf_configObject DarkRoomProtobuf_configObject

typedef struct _DarkRoomProtobuf_imuObject DarkRoomProtobuf_imuObject

typedef struct _DarkRoomProtobuf_loggingObject DarkRoomProtobuf_loggingObject

typedef struct _DarkRoomProtobuf_trackedObjectConfig DarkRoomProtobuf_trackedObjectConfig

Variables

const pb_field_t DarkRoomProtobuf_configObject_fields[5]

const pb_field_t DarkRoomProtobuf_trackedObjectConfig_fields[3]

const pb_field_t DarkRoomProtobuf_loggingObject_fields[2]

const pb_field_t DarkRoomProtobuf_commandObject_fields[2]

const pb_field_t DarkRoomProtobuf_imuObject_fields[5]

file logging.cpp

#include “logging.h”

Functions

static void printWiFiUDP()

static void printSerial()

static void setLoggingLevel(TLogLevel newLevel)

static void setFlushInterface(FlushInterface in)

static LogString *createLogString(char *input, TLogLevel level)

static void deleteLogString()

static void appendLogString(const char *const append)

static TLogLevel GetReportingLevel(void)

static void GetLogString(TLogLevel level, const char *msg)

static void MakeldLogString(TLogLevel level, const char *msg, long int number)

static void MakedLogString(TLogLevel level, const char *msg, int number)

static void MakefLogString(TLogLevel level, const char *msg, float number)

Variables

const char *LEVEL_STRING[] = { }

LogString *logString

TLogLevel currentLoglevel = logINFO

LogI const logi = {GetLogString, MakefLogString, MakeldLogString, MakedLogString, GetReportingLevel, setFlushInterface, setLoggingLevel }

file logging.h

#include “Arduino.h”

Defines

FOREACH_LEVEL(LEVEL) LEVEL(logERROR) \ LEVEL(logWARNING) \ LEVEL(logDEBUG) \ LEVEL(logINFO) \ LEVEL(logVERBOSE) \ LEVEL(logVERBOSE_1) \ LEVEL(logVERBOSE_2) \ LEVEL(logVERBOSE_3) \

GENERATE_ENUM(ENUM) ENUM,

GENERATE_STRING(STRING) #STRING,

LOG(level, message) if (level > (logi.GetReportingLevel()) || (false == enableLogging)); \ else logi.GetLogString(level, message)

LOG_ld(level, message, number) if (level > (logi.GetReportingLevel()) || (false == enableLogging)); \ else logi.MakeldLogString(level, message, number)

LOG_d(level, message, number) if (level > (logi.GetReportingLevel()) || (false == enableLogging)); \ else logi.MakedLogString(level, (message), (number))

LOG_f(level, message, number) if (level > (logi.GetReportingLevel()) || (false == enableLogging)); \ else logi.MakefLogString(level, message, number)

Typedefs

typedef enum TLogLevel TLogLevel

typedef enum FlushInterface FlushInterface

typedef struct LogI LogI

typedef void (*FlushI)(void)

typedef struct LogString LogString

Enums

enum TLogLevel

Values:

enum FlushInterface

Values:

F_SERIAL = 1

F_WIFI = 2

Variables

bool enableLogging = true

LogI const logi

file MPU6050.cpp

#include “MPU6050.h”

file MPU6050.h

#include “I2Cdev.h”

Defines

MPU6050_ADDRESS_AD0_LOW 0x68

MPU6050_ADDRESS_AD0_HIGH 0x69

MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW

MPU6050_RA_XG_OFFS_TC 0x00

MPU6050_RA_YG_OFFS_TC 0x01

MPU6050_RA_ZG_OFFS_TC 0x02

MPU6050_RA_X_FINE_GAIN 0x03

MPU6050_RA_Y_FINE_GAIN 0x04

MPU6050_RA_Z_FINE_GAIN 0x05

MPU6050_RA_XA_OFFS_H 0x06

MPU6050_RA_XA_OFFS_L_TC 0x07

MPU6050_RA_YA_OFFS_H 0x08

MPU6050_RA_YA_OFFS_L_TC 0x09

MPU6050_RA_ZA_OFFS_H 0x0A

MPU6050_RA_ZA_OFFS_L_TC 0x0B

MPU6050_RA_SELF_TEST_X 0x0D

MPU6050_RA_SELF_TEST_Y 0x0E

MPU6050_RA_SELF_TEST_Z 0x0F

MPU6050_RA_SELF_TEST_A 0x10

MPU6050_RA_XG_OFFS_USRH 0x13

MPU6050_RA_XG_OFFS_USRL 0x14

MPU6050_RA_YG_OFFS_USRH 0x15

MPU6050_RA_YG_OFFS_USRL 0x16

MPU6050_RA_ZG_OFFS_USRH 0x17

MPU6050_RA_ZG_OFFS_USRL 0x18

MPU6050_RA_SMPLRT_DIV 0x19

MPU6050_RA_CONFIG 0x1A

MPU6050_RA_GYRO_CONFIG 0x1B

MPU6050_RA_ACCEL_CONFIG 0x1C

MPU6050_RA_FF_THR 0x1D

MPU6050_RA_FF_DUR 0x1E

MPU6050_RA_MOT_THR 0x1F

MPU6050_RA_MOT_DUR 0x20

MPU6050_RA_ZRMOT_THR 0x21

MPU6050_RA_ZRMOT_DUR 0x22

MPU6050_RA_FIFO_EN 0x23

MPU6050_RA_I2C_MST_CTRL 0x24

MPU6050_RA_I2C_SLV0_ADDR 0x25

MPU6050_RA_I2C_SLV0_REG 0x26

MPU6050_RA_I2C_SLV0_CTRL 0x27

MPU6050_RA_I2C_SLV1_ADDR 0x28

MPU6050_RA_I2C_SLV1_REG 0x29

MPU6050_RA_I2C_SLV1_CTRL 0x2A

MPU6050_RA_I2C_SLV2_ADDR 0x2B

MPU6050_RA_I2C_SLV2_REG 0x2C

MPU6050_RA_I2C_SLV2_CTRL 0x2D

MPU6050_RA_I2C_SLV3_ADDR 0x2E

MPU6050_RA_I2C_SLV3_REG 0x2F

MPU6050_RA_I2C_SLV3_CTRL 0x30

MPU6050_RA_I2C_SLV4_ADDR 0x31

MPU6050_RA_I2C_SLV4_REG 0x32

MPU6050_RA_I2C_SLV4_DO 0x33

MPU6050_RA_I2C_SLV4_CTRL 0x34

MPU6050_RA_I2C_SLV4_DI 0x35

MPU6050_RA_I2C_MST_STATUS 0x36

MPU6050_RA_INT_PIN_CFG 0x37

MPU6050_RA_INT_ENABLE 0x38

MPU6050_RA_DMP_INT_STATUS 0x39

MPU6050_RA_INT_STATUS 0x3A

MPU6050_RA_ACCEL_XOUT_H 0x3B

MPU6050_RA_ACCEL_XOUT_L 0x3C

MPU6050_RA_ACCEL_YOUT_H 0x3D

MPU6050_RA_ACCEL_YOUT_L 0x3E

MPU6050_RA_ACCEL_ZOUT_H 0x3F

MPU6050_RA_ACCEL_ZOUT_L 0x40

MPU6050_RA_TEMP_OUT_H 0x41

MPU6050_RA_TEMP_OUT_L 0x42

MPU6050_RA_GYRO_XOUT_H 0x43

MPU6050_RA_GYRO_XOUT_L 0x44

MPU6050_RA_GYRO_YOUT_H 0x45

MPU6050_RA_GYRO_YOUT_L 0x46

MPU6050_RA_GYRO_ZOUT_H 0x47

MPU6050_RA_GYRO_ZOUT_L 0x48

MPU6050_RA_EXT_SENS_DATA_00 0x49

MPU6050_RA_EXT_SENS_DATA_01 0x4A

MPU6050_RA_EXT_SENS_DATA_02 0x4B

MPU6050_RA_EXT_SENS_DATA_03 0x4C

MPU6050_RA_EXT_SENS_DATA_04 0x4D

MPU6050_RA_EXT_SENS_DATA_05 0x4E

MPU6050_RA_EXT_SENS_DATA_06 0x4F

MPU6050_RA_EXT_SENS_DATA_07 0x50

MPU6050_RA_EXT_SENS_DATA_08 0x51

MPU6050_RA_EXT_SENS_DATA_09 0x52

MPU6050_RA_EXT_SENS_DATA_10 0x53

MPU6050_RA_EXT_SENS_DATA_11 0x54

MPU6050_RA_EXT_SENS_DATA_12 0x55

MPU6050_RA_EXT_SENS_DATA_13 0x56

MPU6050_RA_EXT_SENS_DATA_14 0x57

MPU6050_RA_EXT_SENS_DATA_15 0x58

MPU6050_RA_EXT_SENS_DATA_16 0x59

MPU6050_RA_EXT_SENS_DATA_17 0x5A

MPU6050_RA_EXT_SENS_DATA_18 0x5B

MPU6050_RA_EXT_SENS_DATA_19 0x5C

MPU6050_RA_EXT_SENS_DATA_20 0x5D

MPU6050_RA_EXT_SENS_DATA_21 0x5E

MPU6050_RA_EXT_SENS_DATA_22 0x5F

MPU6050_RA_EXT_SENS_DATA_23 0x60

MPU6050_RA_MOT_DETECT_STATUS 0x61

MPU6050_RA_I2C_SLV0_DO 0x63

MPU6050_RA_I2C_SLV1_DO 0x64

MPU6050_RA_I2C_SLV2_DO 0x65

MPU6050_RA_I2C_SLV3_DO 0x66

MPU6050_RA_I2C_MST_DELAY_CTRL 0x67

MPU6050_RA_SIGNAL_PATH_RESET 0x68

MPU6050_RA_MOT_DETECT_CTRL 0x69

MPU6050_RA_USER_CTRL 0x6A

MPU6050_RA_PWR_MGMT_1 0x6B

MPU6050_RA_PWR_MGMT_2 0x6C

MPU6050_RA_BANK_SEL 0x6D

MPU6050_RA_MEM_START_ADDR 0x6E

MPU6050_RA_MEM_R_W 0x6F

MPU6050_RA_DMP_CFG_1 0x70

MPU6050_RA_DMP_CFG_2 0x71

MPU6050_RA_FIFO_COUNTH 0x72

MPU6050_RA_FIFO_COUNTL 0x73

MPU6050_RA_FIFO_R_W 0x74

MPU6050_RA_WHO_AM_I 0x75

MPU6050_SELF_TEST_XA_1_BIT 0x07

MPU6050_SELF_TEST_XA_1_LENGTH 0x03

MPU6050_SELF_TEST_XA_2_BIT 0x05

MPU6050_SELF_TEST_XA_2_LENGTH 0x02

MPU6050_SELF_TEST_YA_1_BIT 0x07

MPU6050_SELF_TEST_YA_1_LENGTH 0x03

MPU6050_SELF_TEST_YA_2_BIT 0x03

MPU6050_SELF_TEST_YA_2_LENGTH 0x02

MPU6050_SELF_TEST_ZA_1_BIT 0x07

MPU6050_SELF_TEST_ZA_1_LENGTH 0x03

MPU6050_SELF_TEST_ZA_2_BIT 0x01

MPU6050_SELF_TEST_ZA_2_LENGTH 0x02

MPU6050_SELF_TEST_XG_1_BIT 0x04

MPU6050_SELF_TEST_XG_1_LENGTH 0x05

MPU6050_SELF_TEST_YG_1_BIT 0x04

MPU6050_SELF_TEST_YG_1_LENGTH 0x05

MPU6050_SELF_TEST_ZG_1_BIT 0x04

MPU6050_SELF_TEST_ZG_1_LENGTH 0x05

MPU6050_TC_PWR_MODE_BIT 7

MPU6050_TC_OFFSET_BIT 6

MPU6050_TC_OFFSET_LENGTH 6

MPU6050_TC_OTP_BNK_VLD_BIT 0

MPU6050_VDDIO_LEVEL_VLOGIC 0

MPU6050_VDDIO_LEVEL_VDD 1

MPU6050_CFG_EXT_SYNC_SET_BIT 5

MPU6050_CFG_EXT_SYNC_SET_LENGTH 3

MPU6050_CFG_DLPF_CFG_BIT 2

MPU6050_CFG_DLPF_CFG_LENGTH 3

MPU6050_EXT_SYNC_DISABLED 0x0

MPU6050_EXT_SYNC_TEMP_OUT_L 0x1

MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2

MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3

MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4

MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5

MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6

MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7

MPU6050_DLPF_BW_256 0x00

MPU6050_DLPF_BW_188 0x01

MPU6050_DLPF_BW_98 0x02

MPU6050_DLPF_BW_42 0x03

MPU6050_DLPF_BW_20 0x04

MPU6050_DLPF_BW_10 0x05

MPU6050_DLPF_BW_5 0x06

MPU6050_GCONFIG_FS_SEL_BIT 4

MPU6050_GCONFIG_FS_SEL_LENGTH 2

MPU6050_GYRO_FS_250 0x00

MPU6050_GYRO_FS_500 0x01

MPU6050_GYRO_FS_1000 0x02

MPU6050_GYRO_FS_2000 0x03

MPU6050_ACONFIG_XA_ST_BIT 7

MPU6050_ACONFIG_YA_ST_BIT 6

MPU6050_ACONFIG_ZA_ST_BIT 5

MPU6050_ACONFIG_AFS_SEL_BIT 4

MPU6050_ACONFIG_AFS_SEL_LENGTH 2

MPU6050_ACONFIG_ACCEL_HPF_BIT 2

MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3

MPU6050_ACCEL_FS_2 0x00

MPU6050_ACCEL_FS_4 0x01

MPU6050_ACCEL_FS_8 0x02

MPU6050_ACCEL_FS_16 0x03

MPU6050_DHPF_RESET 0x00

MPU6050_DHPF_5 0x01

MPU6050_DHPF_2P5 0x02

MPU6050_DHPF_1P25 0x03

MPU6050_DHPF_0P63 0x04

MPU6050_DHPF_HOLD 0x07

MPU6050_TEMP_FIFO_EN_BIT 7

MPU6050_XG_FIFO_EN_BIT 6

MPU6050_YG_FIFO_EN_BIT 5

MPU6050_ZG_FIFO_EN_BIT 4

MPU6050_ACCEL_FIFO_EN_BIT 3

MPU6050_SLV2_FIFO_EN_BIT 2

MPU6050_SLV1_FIFO_EN_BIT 1

MPU6050_SLV0_FIFO_EN_BIT 0

MPU6050_MULT_MST_EN_BIT 7

MPU6050_WAIT_FOR_ES_BIT 6

MPU6050_SLV_3_FIFO_EN_BIT 5

MPU6050_I2C_MST_P_NSR_BIT 4

MPU6050_I2C_MST_CLK_BIT 3

MPU6050_I2C_MST_CLK_LENGTH 4

MPU6050_CLOCK_DIV_348 0x0

MPU6050_CLOCK_DIV_333 0x1

MPU6050_CLOCK_DIV_320 0x2

MPU6050_CLOCK_DIV_308 0x3

MPU6050_CLOCK_DIV_296 0x4

MPU6050_CLOCK_DIV_286 0x5

MPU6050_CLOCK_DIV_276 0x6

MPU6050_CLOCK_DIV_267 0x7

MPU6050_CLOCK_DIV_258 0x8

MPU6050_CLOCK_DIV_500 0x9

MPU6050_CLOCK_DIV_471 0xA

MPU6050_CLOCK_DIV_444 0xB

MPU6050_CLOCK_DIV_421 0xC

MPU6050_CLOCK_DIV_400 0xD

MPU6050_CLOCK_DIV_381 0xE

MPU6050_CLOCK_DIV_364 0xF

MPU6050_I2C_SLV_RW_BIT 7

MPU6050_I2C_SLV_ADDR_BIT 6

MPU6050_I2C_SLV_ADDR_LENGTH 7

MPU6050_I2C_SLV_EN_BIT 7

MPU6050_I2C_SLV_BYTE_SW_BIT 6

MPU6050_I2C_SLV_REG_DIS_BIT 5

MPU6050_I2C_SLV_GRP_BIT 4

MPU6050_I2C_SLV_LEN_BIT 3

MPU6050_I2C_SLV_LEN_LENGTH 4

MPU6050_I2C_SLV4_RW_BIT 7

MPU6050_I2C_SLV4_ADDR_BIT 6

MPU6050_I2C_SLV4_ADDR_LENGTH 7

MPU6050_I2C_SLV4_EN_BIT 7

MPU6050_I2C_SLV4_INT_EN_BIT 6

MPU6050_I2C_SLV4_REG_DIS_BIT 5

MPU6050_I2C_SLV4_MST_DLY_BIT 4

MPU6050_I2C_SLV4_MST_DLY_LENGTH 5

MPU6050_MST_PASS_THROUGH_BIT 7

MPU6050_MST_I2C_SLV4_DONE_BIT 6

MPU6050_MST_I2C_LOST_ARB_BIT 5

MPU6050_MST_I2C_SLV4_NACK_BIT 4

MPU6050_MST_I2C_SLV3_NACK_BIT 3

MPU6050_MST_I2C_SLV2_NACK_BIT 2

MPU6050_MST_I2C_SLV1_NACK_BIT 1

MPU6050_MST_I2C_SLV0_NACK_BIT 0

MPU6050_INTCFG_INT_LEVEL_BIT 7

MPU6050_INTCFG_INT_OPEN_BIT 6

MPU6050_INTCFG_LATCH_INT_EN_BIT 5

MPU6050_INTCFG_INT_RD_CLEAR_BIT 4

MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3

MPU6050_INTCFG_FSYNC_INT_EN_BIT 2

MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1

MPU6050_INTCFG_CLKOUT_EN_BIT 0

MPU6050_INTMODE_ACTIVEHIGH 0x00

MPU6050_INTMODE_ACTIVELOW 0x01

MPU6050_INTDRV_PUSHPULL 0x00

MPU6050_INTDRV_OPENDRAIN 0x01

MPU6050_INTLATCH_50USPULSE 0x00

MPU6050_INTLATCH_WAITCLEAR 0x01

MPU6050_INTCLEAR_STATUSREAD 0x00

MPU6050_INTCLEAR_ANYREAD 0x01

MPU6050_INTERRUPT_FF_BIT 7

MPU6050_INTERRUPT_MOT_BIT 6

MPU6050_INTERRUPT_ZMOT_BIT 5

MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4

MPU6050_INTERRUPT_I2C_MST_INT_BIT 3

MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2

MPU6050_INTERRUPT_DMP_INT_BIT 1

MPU6050_INTERRUPT_DATA_RDY_BIT 0

MPU6050_DMPINT_5_BIT 5

MPU6050_DMPINT_4_BIT 4

MPU6050_DMPINT_3_BIT 3

MPU6050_DMPINT_2_BIT 2

MPU6050_DMPINT_1_BIT 1

MPU6050_DMPINT_0_BIT 0

MPU6050_MOTION_MOT_XNEG_BIT 7

MPU6050_MOTION_MOT_XPOS_BIT 6

MPU6050_MOTION_MOT_YNEG_BIT 5

MPU6050_MOTION_MOT_YPOS_BIT 4

MPU6050_MOTION_MOT_ZNEG_BIT 3

MPU6050_MOTION_MOT_ZPOS_BIT 2

MPU6050_MOTION_MOT_ZRMOT_BIT 0

MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7

MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4

MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3

MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2

MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1

MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0

MPU6050_PATHRESET_GYRO_RESET_BIT 2

MPU6050_PATHRESET_ACCEL_RESET_BIT 1

MPU6050_PATHRESET_TEMP_RESET_BIT 0

MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5

MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2

MPU6050_DETECT_FF_COUNT_BIT 3

MPU6050_DETECT_FF_COUNT_LENGTH 2

MPU6050_DETECT_MOT_COUNT_BIT 1

MPU6050_DETECT_MOT_COUNT_LENGTH 2

MPU6050_DETECT_DECREMENT_RESET 0x0

MPU6050_DETECT_DECREMENT_1 0x1

MPU6050_DETECT_DECREMENT_2 0x2

MPU6050_DETECT_DECREMENT_4 0x3

MPU6050_USERCTRL_DMP_EN_BIT 7

MPU6050_USERCTRL_FIFO_EN_BIT 6

MPU6050_USERCTRL_I2C_MST_EN_BIT 5

MPU6050_USERCTRL_I2C_IF_DIS_BIT 4

MPU6050_USERCTRL_DMP_RESET_BIT 3

MPU6050_USERCTRL_FIFO_RESET_BIT 2

MPU6050_USERCTRL_I2C_MST_RESET_BIT 1

MPU6050_USERCTRL_SIG_COND_RESET_BIT 0

MPU6050_PWR1_DEVICE_RESET_BIT 7

MPU6050_PWR1_SLEEP_BIT 6

MPU6050_PWR1_CYCLE_BIT 5

MPU6050_PWR1_TEMP_DIS_BIT 3

MPU6050_PWR1_CLKSEL_BIT 2

MPU6050_PWR1_CLKSEL_LENGTH 3

MPU6050_CLOCK_INTERNAL 0x00

MPU6050_CLOCK_PLL_XGYRO 0x01

MPU6050_CLOCK_PLL_YGYRO 0x02

MPU6050_CLOCK_PLL_ZGYRO 0x03

MPU6050_CLOCK_PLL_EXT32K 0x04

MPU6050_CLOCK_PLL_EXT19M 0x05

MPU6050_CLOCK_KEEP_RESET 0x07

MPU6050_PWR2_LP_WAKE_CTRL_BIT 7

MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2

MPU6050_PWR2_STBY_XA_BIT 5

MPU6050_PWR2_STBY_YA_BIT 4

MPU6050_PWR2_STBY_ZA_BIT 3

MPU6050_PWR2_STBY_XG_BIT 2

MPU6050_PWR2_STBY_YG_BIT 1

MPU6050_PWR2_STBY_ZG_BIT 0

MPU6050_WAKE_FREQ_1P25 0x0

MPU6050_WAKE_FREQ_2P5 0x1

MPU6050_WAKE_FREQ_5 0x2

MPU6050_WAKE_FREQ_10 0x3

MPU6050_BANKSEL_PRFTCH_EN_BIT 6

MPU6050_BANKSEL_CFG_USER_BANK_BIT 5

MPU6050_BANKSEL_MEM_SEL_BIT 4

MPU6050_BANKSEL_MEM_SEL_LENGTH 5

MPU6050_WHO_AM_I_BIT 6

MPU6050_WHO_AM_I_LENGTH 6

MPU6050_DMP_MEMORY_BANKS 8

MPU6050_DMP_MEMORY_BANK_SIZE 256

MPU6050_DMP_MEMORY_CHUNK_SIZE 16

file MPU6050_6Axis_MotionApps20.h

#include “I2Cdev.h”#include “helper_3dmath.h”#include “MPU6050.h”#include <inttypes.h>

Defines

MPU6050_INCLUDE_DMP_MOTIONAPPS20

__PGMSPACE_H_ 1

PROGMEM

PGM_P const char *

PSTR(str) (str)

F(x) x

strcpy_P(dest, src) strcpy((dest), (src))

strcat_P(dest, src) strcat((dest), (src))

strcmp_P(a, b) strcmp((a), (b))

pgm_read_byte(addr) (*(const unsigned char *)(addr))

pgm_read_word(addr) (*(const unsigned short *)(addr))

pgm_read_dword(addr) (*(const unsigned long *)(addr))

pgm_read_float(addr) (*(const float *)(addr))

pgm_read_byte_near(addr) pgm_read_byte(addr)

pgm_read_word_near(addr) pgm_read_word(addr)

pgm_read_dword_near(addr) pgm_read_dword(addr)

pgm_read_float_near(addr) pgm_read_float(addr)

pgm_read_byte_far(addr) pgm_read_byte(addr)

pgm_read_word_far(addr) pgm_read_word(addr)

pgm_read_dword_far(addr) pgm_read_dword(addr)

pgm_read_float_far(addr) pgm_read_float(addr)

DEBUG_PRINT(x)

DEBUG_PRINTF(x, y)

DEBUG_PRINTLN(x)

DEBUG_PRINTLNF(x, y)

MPU6050_DMP_CODE_SIZE 1929

MPU6050_DMP_CONFIG_SIZE 192

MPU6050_DMP_UPDATES_SIZE 47

Typedefs

typedef void prog_void

typedef char prog_char

typedef unsigned char prog_uchar

typedef int8_t prog_int8_t

typedef uint8_t prog_uint8_t

typedef int16_t prog_int16_t

typedef uint16_t prog_uint16_t

typedef int32_t prog_int32_t

typedef uint32_t prog_uint32_t

Variables

const unsigned char dmpUpdates [MPU6050_DMP_UPDATES_SIZE] PROGMEM

file MPU6050_9Axis_MotionApps41.h

#include “I2Cdev.h”#include “helper_3dmath.h”#include “MPU6050.h”#include <inttypes.h>

Defines

MPU6050_INCLUDE_DMP_MOTIONAPPS41

__PGMSPACE_H_ 1

PROGMEM

PGM_P const char *

PSTR(str) (str)

F(x) x

strcpy_P(dest, src) strcpy((dest), (src))

strcat_P(dest, src) strcat((dest), (src))

strcmp_P(a, b) strcmp((a), (b))

pgm_read_byte(addr) (*(const unsigned char *)(addr))

pgm_read_word(addr) (*(const unsigned short *)(addr))

pgm_read_dword(addr) (*(const unsigned long *)(addr))

pgm_read_float(addr) (*(const float *)(addr))

pgm_read_byte_near(addr) pgm_read_byte(addr)

pgm_read_word_near(addr) pgm_read_word(addr)

pgm_read_dword_near(addr) pgm_read_dword(addr)

pgm_read_float_near(addr) pgm_read_float(addr)

pgm_read_byte_far(addr) pgm_read_byte(addr)

pgm_read_word_far(addr) pgm_read_word(addr)

pgm_read_dword_far(addr) pgm_read_dword(addr)

pgm_read_float_far(addr) pgm_read_float(addr)

DEBUG_PRINT(x)

DEBUG_PRINTF(x, y)

DEBUG_PRINTLN(x)

DEBUG_PRINTLNF(x, y)

MPU6050_DMP_CODE_SIZE 1962

MPU6050_DMP_CONFIG_SIZE 232

MPU6050_DMP_UPDATES_SIZE 140

Typedefs

typedef void prog_void

typedef char prog_char

typedef int8_t prog_int8_t

typedef uint8_t prog_uint8_t

typedef int16_t prog_int16_t

typedef uint16_t prog_uint16_t

typedef int32_t prog_int32_t

typedef uint32_t prog_uint32_t

Variables

const unsigned char dmpUpdates [MPU6050_DMP_UPDATES_SIZE] PROGMEM

file pb.h

#include <stdint.h>#include <stddef.h>#include <stdbool.h>#include <string.h>

Defines

NANOPB_VERSION nanopb-0.3.8-dev

PB_PACKED_STRUCT_START

PB_PACKED_STRUCT_END

pb_packed

PB_UNUSED(x) (void)(x)

PB_STATIC_ASSERT(COND, MSG) typedef char PB_STATIC_ASSERT_MSG(MSG, __LINE__, __COUNTER__)[(COND)?1:-1];

PB_STATIC_ASSERT_MSG(MSG, LINE, COUNTER) PB_STATIC_ASSERT_MSG_(MSG, LINE, COUNTER)

PB_STATIC_ASSERT_MSG_(MSG, LINE, COUNTER) pb_static_assertion_##MSG##LINE##COUNTER

PB_MAX_REQUIRED_FIELDS 64

PB_LTYPE_VARINT 0x00 /* int32, int64, enum, bool */

PB_LTYPE_UVARINT 0x01 /* uint32, uint64 */

PB_LTYPE_SVARINT 0x02 /* sint32, sint64 */

PB_LTYPE_FIXED32 0x03 /* fixed32, sfixed32, float */

PB_LTYPE_FIXED64 0x04 /* fixed64, sfixed64, double */

PB_LTYPE_LAST_PACKABLE 0x04

PB_LTYPE_BYTES 0x05

PB_LTYPE_STRING 0x06

PB_LTYPE_SUBMESSAGE 0x07

PB_LTYPE_EXTENSION 0x08

PB_LTYPE_FIXED_LENGTH_BYTES 0x09

PB_LTYPES_COUNT 0x0A

PB_LTYPE_MASK 0x0F

PB_HTYPE_REQUIRED 0x00

PB_HTYPE_OPTIONAL 0x10

PB_HTYPE_REPEATED 0x20

PB_HTYPE_ONEOF 0x30

PB_HTYPE_MASK 0x30

PB_ATYPE_STATIC 0x00

PB_ATYPE_POINTER 0x80

PB_ATYPE_CALLBACK 0x40

PB_ATYPE_MASK 0xC0

PB_ATYPE(x) ((x) & PB_ATYPE_MASK)

PB_HTYPE(x) ((x) & PB_HTYPE_MASK)

PB_LTYPE(x) ((x) & PB_LTYPE_MASK)

PB_SIZE_MAX ((pb_size_t)-1)

PB_BYTES_ARRAY_T(n) struct { pb_size_t size; pb_byte_t bytes[n]; }

PB_BYTES_ARRAY_T_ALLOCSIZE(n) ((size_t)n + offsetof(pb_bytes_array_t, bytes))

PB_PROTO_HEADER_VERSION 30

pb_membersize(st, m) (sizeof ((st*)0)->m)

pb_arraysize(st, m) (pb_membersize(st, m) / pb_membersize(st, m[0]))

pb_delta(st, m1, m2) ((int)offsetof(st, m1) - (int)offsetof(st, m2))

PB_LAST_FIELD {0,(pb_type_t) 0,0,0,0,0,0}

PB_DATAOFFSET_FIRST(st, m1, m2) (offsetof(st, m1))

PB_DATAOFFSET_OTHER(st, m1, m2) (offsetof(st, m1) - offsetof(st, m2) - pb_membersize(st, m2))

PB_DATAOFFSET_CHOOSE(st, m1, m2) (int)(offsetof(st, m1) == offsetof(st, m2) \ ? PB_DATAOFFSET_FIRST(st, m1, m2) \ : PB_DATAOFFSET_OTHER(st, m1, m2))

PB_REQUIRED_STATIC(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_STATIC | PB_HTYPE_REQUIRED | ltype, \ fd, 0, pb_membersize(st, m), 0, ptr}

PB_OPTIONAL_STATIC(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_STATIC | PB_HTYPE_OPTIONAL | ltype, \ fd, \ pb_delta(st, has_ ## m, m), \ pb_membersize(st, m), 0, ptr}

PB_SINGULAR_STATIC(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_STATIC | PB_HTYPE_OPTIONAL | ltype, \ fd, 0, pb_membersize(st, m), 0, ptr}

PB_REPEATED_STATIC(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_STATIC | PB_HTYPE_REPEATED | ltype, \ fd, \ pb_delta(st, m ## _count, m), \ pb_membersize(st, m[0]), \ pb_arraysize(st, m), ptr}

PB_REQUIRED_INLINE(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_STATIC | PB_HTYPE_REQUIRED | PB_LTYPE_FIXED_LENGTH_BYTES, \ fd, 0, pb_membersize(st, m), 0, ptr}

PB_OPTIONAL_INLINE(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_STATIC | PB_HTYPE_OPTIONAL | PB_LTYPE_FIXED_LENGTH_BYTES, \ fd, \ pb_delta(st, has_ ## m, m), \ pb_membersize(st, m), 0, ptr}

PB_REQUIRED_POINTER(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_POINTER | PB_HTYPE_REQUIRED | ltype, \ fd, 0, pb_membersize(st, m[0]), 0, ptr}

PB_OPTIONAL_POINTER(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_POINTER | PB_HTYPE_OPTIONAL | ltype, \ fd, 0, pb_membersize(st, m[0]), 0, ptr}

PB_SINGULAR_POINTER(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_POINTER | PB_HTYPE_OPTIONAL | ltype, \ fd, 0, pb_membersize(st, m[0]), 0, ptr}

PB_REPEATED_POINTER(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_POINTER | PB_HTYPE_REPEATED | ltype, \ fd, pb_delta(st, m ## _count, m), \ pb_membersize(st, m[0]), 0, ptr}

PB_REQUIRED_CALLBACK(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_CALLBACK | PB_HTYPE_REQUIRED | ltype, \ fd, 0, pb_membersize(st, m), 0, ptr}

PB_OPTIONAL_CALLBACK(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_CALLBACK | PB_HTYPE_OPTIONAL | ltype, \ fd, 0, pb_membersize(st, m), 0, ptr}

PB_SINGULAR_CALLBACK(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_CALLBACK | PB_HTYPE_OPTIONAL | ltype, \ fd, 0, pb_membersize(st, m), 0, ptr}

PB_REPEATED_CALLBACK(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_CALLBACK | PB_HTYPE_REPEATED | ltype, \ fd, 0, pb_membersize(st, m), 0, ptr}

PB_OPTEXT_STATIC(tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_STATIC | PB_HTYPE_OPTIONAL | ltype, \ 0, \ 0, \ pb_membersize(st, m), 0, ptr}

PB_OPTEXT_POINTER(tag, st, m, fd, ltype, ptr) PB_OPTIONAL_POINTER(tag, st, m, fd, ltype, ptr)

PB_OPTEXT_CALLBACK(tag, st, m, fd, ltype, ptr) PB_OPTIONAL_CALLBACK(tag, st, m, fd, ltype, ptr)

PB_LTYPE_MAP_BOOL PB_LTYPE_VARINT

PB_LTYPE_MAP_BYTES PB_LTYPE_BYTES

PB_LTYPE_MAP_DOUBLE PB_LTYPE_FIXED64

PB_LTYPE_MAP_ENUM PB_LTYPE_VARINT

PB_LTYPE_MAP_UENUM PB_LTYPE_UVARINT

PB_LTYPE_MAP_FIXED32 PB_LTYPE_FIXED32

PB_LTYPE_MAP_FIXED64 PB_LTYPE_FIXED64

PB_LTYPE_MAP_FLOAT PB_LTYPE_FIXED32

PB_LTYPE_MAP_INT32 PB_LTYPE_VARINT

PB_LTYPE_MAP_INT64 PB_LTYPE_VARINT

PB_LTYPE_MAP_MESSAGE PB_LTYPE_SUBMESSAGE

PB_LTYPE_MAP_SFIXED32 PB_LTYPE_FIXED32

PB_LTYPE_MAP_SFIXED64 PB_LTYPE_FIXED64

PB_LTYPE_MAP_SINT32 PB_LTYPE_SVARINT

PB_LTYPE_MAP_SINT64 PB_LTYPE_SVARINT

PB_LTYPE_MAP_STRING PB_LTYPE_STRING

PB_LTYPE_MAP_UINT32 PB_LTYPE_UVARINT

PB_LTYPE_MAP_UINT64 PB_LTYPE_UVARINT

PB_LTYPE_MAP_EXTENSION PB_LTYPE_EXTENSION

PB_FIELD(tag, type, rules, allocation, placement, message, field, prevfield, ptr) PB_ ## rules ## _ ## allocation(tag, message, field, \ PB_DATAOFFSET_ ## placement(message, field, prevfield), \ PB_LTYPE_MAP_ ## type, ptr)

PB_ONEOF_STATIC(u, tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_STATIC | PB_HTYPE_ONEOF | ltype, \ fd, pb_delta(st, which_ ## u, u.m), \ pb_membersize(st, u.m), 0, ptr}

PB_ONEOF_POINTER(u, tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_POINTER | PB_HTYPE_ONEOF | ltype, \ fd, pb_delta(st, which_ ## u, u.m), \ pb_membersize(st, u.m[0]), 0, ptr}

PB_ONEOF_FIELD(union_name, tag, type, rules, allocation, placement, message, field, prevfield, ptr) PB_ONEOF_ ## allocation(union_name, tag, message, field, \ PB_DATAOFFSET_ ## placement(message, union_name.field, prevfield), \ PB_LTYPE_MAP_ ## type, ptr)

PB_ANONYMOUS_ONEOF_STATIC(u, tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_STATIC | PB_HTYPE_ONEOF | ltype, \ fd, pb_delta(st, which_ ## u, m), \ pb_membersize(st, m), 0, ptr}

PB_ANONYMOUS_ONEOF_POINTER(u, tag, st, m, fd, ltype, ptr) {tag, PB_ATYPE_POINTER | PB_HTYPE_ONEOF | ltype, \ fd, pb_delta(st, which_ ## u, m), \ pb_membersize(st, m[0]), 0, ptr}

PB_ANONYMOUS_ONEOF_FIELD(union_name, tag, type, rules, allocation, placement, message, field, prevfield, ptr) PB_ANONYMOUS_ONEOF_ ## allocation(union_name, tag, message, field, \ PB_DATAOFFSET_ ## placement(message, field, prevfield), \ PB_LTYPE_MAP_ ## type, ptr)

PB_SET_ERROR(stream, msg) (stream->errmsg = (stream)->errmsg ? (stream)->errmsg : (msg))

PB_GET_ERROR(stream) ((stream)->errmsg ? (stream)->errmsg : "(none)")

PB_RETURN_ERROR(stream, msg) return PB_SET_ERROR(stream, msg), false

Typedefs

typedef uint_least8_t pb_type_t

typedef uint_least8_t pb_size_t

typedef int_least8_t pb_ssize_t

typedef uint_least8_t pb_byte_t

typedef typedefPB_PACKED_STRUCT_START struct pb_field_s pb_field_t

typedef struct pb_bytes_array_s pb_bytes_array_t

typedef struct pb_istream_s pb_istream_t

typedef struct pb_ostream_s pb_ostream_t

typedef struct pb_callback_s pb_callback_t

typedef struct pb_extension_type_s pb_extension_type_t

typedef struct pb_extension_s pb_extension_t

Enums

enum pb_wire_type_t

Values:

PB_WT_VARINT = 0

PB_WT_64BIT = 1

PB_WT_STRING = 2

PB_WT_32BIT = 5

Functions

PB_PACKED_STRUCT_END PB_STATIC_ASSERT(sizeof(int64_t) = =2 *sizeof(int32_t), INT64_T_WRONG_SIZE)

Variables

struct pb_field_s pb_packed

file pb_common.c

#include “pb_common.h”

Functions

bool pb_field_iter_begin(pb_field_iter_t *iter, const pb_field_t *fields, void *dest_struct)

bool pb_field_iter_next(pb_field_iter_t *iter)

bool pb_field_iter_find(pb_field_iter_t *iter, uint32_t tag)

file pb_common.h

#include “pb.h”

Typedefs

typedef struct pb_field_iter_s pb_field_iter_t

Functions

bool pb_field_iter_begin(pb_field_iter_t *iter, const pb_field_t *fields, void *dest_struct)

bool pb_field_iter_next(pb_field_iter_t *iter)

bool pb_field_iter_find(pb_field_iter_t *iter, uint32_t tag)

file pb_decode.c

#include “pb.h”#include “pb_decode.h”#include “pb_common.h”

Defines

checkreturn

Typedefs

typedef bool(* pb_decoder_t) (pb_istream_t *stream, const pb_field_t *field, void *dest) checkreturn

Functions

static bool checkreturn buf_read(pb_istream_t * stream, pb_byte_t * buf, size_t count)

static bool checkreturn pb_decode_varint32(pb_istream_t * stream, uint32_t * dest)

static bool checkreturn read_raw_value(pb_istream_t * stream, pb_wire_type_t wire_type, pb_byte_t * buf, size_t * size)

static bool checkreturn decode_static_field(pb_istream_t * stream, pb_wire_type_t wire_type, pb_field_iter_t * iter)

static bool checkreturn decode_callback_field(pb_istream_t * stream, pb_wire_type_t wire_type, pb_field_iter_t * iter)

static bool checkreturn decode_field(pb_istream_t * stream, pb_wire_type_t wire_type, pb_field_iter_t * iter)

static void iter_from_extension(pb_field_iter_t *iter, pb_extension_t *extension)

static bool checkreturn default_extension_decoder(pb_istream_t * stream, pb_extension_t * extension, uint32_t tag, pb_wire_type_t wire_type)

static bool checkreturn decode_extension(pb_istream_t * stream, uint32_t tag, pb_wire_type_t wire_type, pb_field_iter_t * iter)

static bool checkreturn find_extension_field(pb_field_iter_t * iter)

static void pb_field_set_to_default(pb_field_iter_t *iter)

static void pb_message_set_to_defaults(const pb_field_t fields[], void *dest_struct)

static bool checkreturn pb_dec_varint(pb_istream_t * stream, const pb_field_t * field, void * dest)

static bool checkreturn pb_dec_uvarint(pb_istream_t * stream, const pb_field_t * field, void * dest)

static bool checkreturn pb_dec_svarint(pb_istream_t * stream, const pb_field_t * field, void * dest)

static bool checkreturn pb_dec_fixed32(pb_istream_t * stream, const pb_field_t * field, void * dest)

static bool checkreturn pb_dec_fixed64(pb_istream_t * stream, const pb_field_t * field, void * dest)

static bool checkreturn pb_dec_bytes(pb_istream_t * stream, const pb_field_t * field, void * dest)

static bool checkreturn pb_dec_string(pb_istream_t * stream, const pb_field_t * field, void * dest)

static bool checkreturn pb_dec_submessage(pb_istream_t * stream, const pb_field_t * field, void * dest)

bool checkreturn pb_skip_varint(pb_istream_t * stream)

bool checkreturn pb_skip_string(pb_istream_t * stream)

bool checkreturn pb_read(pb_istream_t * stream, pb_byte_t * buf, size_t count)

static bool checkreturn pb_readbyte(pb_istream_t * stream, pb_byte_t * buf)

pb_istream_t pb_istream_from_buffer(const pb_byte_t *buf, size_t bufsize)

bool checkreturn pb_decode_varint(pb_istream_t * stream, uint64_t * dest)

bool checkreturn pb_decode_tag(pb_istream_t * stream, pb_wire_type_t * wire_type, uint32_t * tag, bool * eof)

bool checkreturn pb_skip_field(pb_istream_t * stream, pb_wire_type_t wire_type)

bool checkreturn pb_make_string_substream(pb_istream_t * stream, pb_istream_t * substream)

void pb_close_string_substream(pb_istream_t *stream, pb_istream_t *substream)

static bool checkreturn decode_pointer_field(pb_istream_t * stream, pb_wire_type_t wire_type, pb_field_iter_t * iter)

bool checkreturn pb_decode_noinit(pb_istream_t * stream, const pb_field_t fields[], void * dest_struct)

bool checkreturn pb_decode(pb_istream_t * stream, const pb_field_t fields[], void * dest_struct)

bool pb_decode_delimited(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct)

bool pb_decode_svarint(pb_istream_t *stream, int64_t *dest)

bool pb_decode_fixed32(pb_istream_t *stream, void *dest)

bool pb_decode_fixed64(pb_istream_t *stream, void *dest)

Variables

const pb_decoder_t PB_DECODERS[PB_LTYPES_COUNT] = { &pb_dec_varint, &pb_dec_uvarint, &pb_dec_svarint, &pb_dec_fixed32, &pb_dec_fixed64, &pb_dec_bytes, &pb_dec_string, &pb_dec_submessage, NULL, &pb_dec_bytes }

file pb_decode.h

#include “pb.h”

Functions

bool pb_decode(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct)

bool pb_decode_noinit(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct)

bool pb_decode_delimited(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct)

pb_istream_t pb_istream_from_buffer(const pb_byte_t *buf, size_t bufsize)

bool pb_read(pb_istream_t *stream, pb_byte_t *buf, size_t count)

bool pb_decode_tag(pb_istream_t *stream, pb_wire_type_t *wire_type, uint32_t *tag, bool *eof)

bool pb_skip_field(pb_istream_t *stream, pb_wire_type_t wire_type)

bool pb_decode_varint(pb_istream_t *stream, uint64_t *dest)

bool pb_decode_svarint(pb_istream_t *stream, int64_t *dest)

bool pb_decode_fixed32(pb_istream_t *stream, void *dest)

bool pb_decode_fixed64(pb_istream_t *stream, void *dest)

bool pb_make_string_substream(pb_istream_t *stream, pb_istream_t *substream)

void pb_close_string_substream(pb_istream_t *stream, pb_istream_t *substream)

file pb_encode.c

#include “pb.h”#include “pb_encode.h”#include “pb_common.h”

Defines

checkreturn

Typedefs

typedef bool(* pb_encoder_t) (pb_ostream_t *stream, const pb_field_t *field, const void *src) checkreturn

Functions

static bool checkreturn buf_write(pb_ostream_t * stream, const pb_byte_t * buf, size_t count)

static bool checkreturn encode_array(pb_ostream_t * stream, const pb_field_t * field, const void * pData, size_t count, pb_encoder_t func)

static bool checkreturn encode_field(pb_ostream_t * stream, const pb_field_t * field, const void * pData)

static bool checkreturn default_extension_encoder(pb_ostream_t * stream, const pb_extension_t * extension)

static bool checkreturn encode_extension_field(pb_ostream_t * stream, const pb_field_t * field, const void * pData)

static bool checkreturn pb_enc_varint(pb_ostream_t * stream, const pb_field_t * field, const void * src)

static bool checkreturn pb_enc_uvarint(pb_ostream_t * stream, const pb_field_t * field, const void * src)

static bool checkreturn pb_enc_svarint(pb_ostream_t * stream, const pb_field_t * field, const void * src)

static bool checkreturn pb_enc_fixed32(pb_ostream_t * stream, const pb_field_t * field, const void * src)

static bool checkreturn pb_enc_fixed64(pb_ostream_t * stream, const pb_field_t * field, const void * src)

static bool checkreturn pb_enc_bytes(pb_ostream_t * stream, const pb_field_t * field, const void * src)

static bool checkreturn pb_enc_string(pb_ostream_t * stream, const pb_field_t * field, const void * src)

static bool checkreturn pb_enc_submessage(pb_ostream_t * stream, const pb_field_t * field, const void * src)

pb_ostream_t pb_ostream_from_buffer(pb_byte_t *buf, size_t bufsize)

bool checkreturn pb_write(pb_ostream_t * stream, const pb_byte_t * buf, size_t count)

static bool checkreturn encode_basic_field(pb_ostream_t * stream, const pb_field_t * field, const void * pData)

static bool checkreturn encode_callback_field(pb_ostream_t * stream, const pb_field_t * field, const void * pData)

static void *remove_const(const void *p)

bool checkreturn pb_encode(pb_ostream_t * stream, const pb_field_t fields[], const void * src_struct)

bool pb_encode_delimited(pb_ostream_t *stream, const pb_field_t fields[], const void *src_struct)

bool pb_get_encoded_size(size_t *size, const pb_field_t fields[], const void *src_struct)

bool checkreturn pb_encode_varint(pb_ostream_t * stream, uint64_t value)

bool checkreturn pb_encode_svarint(pb_ostream_t * stream, int64_t value)

bool checkreturn pb_encode_fixed32(pb_ostream_t * stream, const void * value)

bool checkreturn pb_encode_fixed64(pb_ostream_t * stream, const void * value)

bool checkreturn pb_encode_tag(pb_ostream_t * stream, pb_wire_type_t wiretype, uint32_t field_number)

bool checkreturn pb_encode_tag_for_field(pb_ostream_t * stream, const pb_field_t * field)

bool checkreturn pb_encode_string(pb_ostream_t * stream, const pb_byte_t * buffer, size_t size)

bool checkreturn pb_encode_submessage(pb_ostream_t * stream, const pb_field_t fields[], const void * src_struct)

Variables

const pb_encoder_t PB_ENCODERS[PB_LTYPES_COUNT] = { &pb_enc_varint, &pb_enc_uvarint, &pb_enc_svarint, &pb_enc_fixed32, &pb_enc_fixed64, &pb_enc_bytes, &pb_enc_string, &pb_enc_submessage, NULL, &pb_enc_bytes }

file pb_encode.h

#include “pb.h”

Defines

PB_OSTREAM_SIZING {0,0,0,0,0}

Functions

bool pb_encode(pb_ostream_t *stream, const pb_field_t fields[], const void *src_struct)

bool pb_encode_delimited(pb_ostream_t *stream, const pb_field_t fields[], const void *src_struct)

bool pb_get_encoded_size(size_t *size, const pb_field_t fields[], const void *src_struct)

pb_ostream_t pb_ostream_from_buffer(pb_byte_t *buf, size_t bufsize)

bool pb_write(pb_ostream_t *stream, const pb_byte_t *buf, size_t count)

bool pb_encode_tag_for_field(pb_ostream_t *stream, const pb_field_t *field)

bool pb_encode_tag(pb_ostream_t *stream, pb_wire_type_t wiretype, uint32_t field_number)

bool pb_encode_varint(pb_ostream_t *stream, uint64_t value)

bool pb_encode_svarint(pb_ostream_t *stream, int64_t value)

bool pb_encode_string(pb_ostream_t *stream, const pb_byte_t *buffer, size_t size)

bool pb_encode_fixed32(pb_ostream_t *stream, const void *value)

bool pb_encode_fixed64(pb_ostream_t *stream, const void *value)

bool pb_encode_submessage(pb_ostream_t *stream, const pb_field_t fields[], const void *src_struct)

file protoLighthouse.cpp

#include “protoLighthouse.h”

file protoLighthouse.h

#include “logging.h”#include “pb.h”#include “lighthouse.pb.h”#include “pb_encode.h”#include “pb_decode.h”#include “helper_3dmath.h”

Typedefs

typedef enum _ES ES_PROTO

Enums

enum _ES

Values:

ES_WIFI_FAIL_INIT_NO_SHIELD = 1

ES_WIFI_FAIL_INIT_CANNOT_CONNECT

ES_WIFI_FAIL_UDP_SOCKET

ES_PROTO_FAIL_INIT

ES_PROTO_FAIL_ENCODE

ES_PROTO_FAIL_DECODE

ES_PROTO_ERROR

ES_PROTO_SUCCESS

ES_WIFI_SUCCESS

ES_WIFI_ERROR

file SPISlave.cpp

#include “SPISlave.h”#include “hspi_slave.h”

Variables

SPISlaveClass SPISlave

file SPISlave.h

#include “Arduino.h”#include <functional>

Typedefs

typedef std::function<void(uint8_t *data, size_t len)> SpiSlaveDataHandler

typedef std::function<void(uint32_t status)> SpiSlaveStatusHandler

typedef std::function<void(void)> SpiSlaveSentHandler

Variables

SPISlaveClass SPISlave

file wirelessLove.cpp

#include <SPI.h>#include “wirelessLove.h”

Variables

const char TestBuffer[] ="Hello World"

const int timestampSize = 2

file wirelessLove.h

#include <ESP8266WiFi.h>#include <WiFiClientSecure.h>#include <ESP8266WiFiGeneric.h>#include <ESP8266WiFiAP.h>#include <WiFiServer.h>#include <ESP8266WiFiScan.h>#include <ESP8266WiFiType.h>#include <ESP8266WiFiMulti.h>#include <ESP8266WiFiSTA.h>#include <WiFiClient.h>#include <WiFiUdp.h>#include “logging.h”#include “protoLighthouse.h”

Defines

TRIGGER_PIN 10

file ConcatenateSensorValues.v

file Counter.v

file Counter.v

file DarkRoomControl.v

file pll_altpll.v

file fifo.v

file fifo_bb.v

file mg4v9.v

file mg4v9.v

file mg8t9.v

file mge0a.v

file mgsu9.v

file mgsu9.v

file lpm_mux0.v

file lpm_mux0_bb.v

file dff.v

file SpiControl.v

file SpiControl.v

file tb_Counter.v

file tb_dff.v

file tb_SpiControl.v

file oneshot.v

file mgbt9.v

file pll.v

file pll_bb.v

file sensor_select.v

file simple_counter.v

file spi_bb.v

file spi_inst.v

file spi.v

file altera_avalon_sc_fifo.v

file altera_reset_controller.v

file altera_reset_synchronizer.v

file spi_bridge_0.v

file spi_mm_interconnect_0.v

file spi_mm_interconnect_0_avalon_st_adapter.v

file spi_spi_0.v

file spi_vic_0.v

file DarkRoom.hpp

#include <QPainter>#include <QCheckBox>#include <QPushButton>#include <QLineEdit>#include <QVBoxLayout>#include <QHBoxLayout>#include <QLabel>#include <QTableWidget>#include <QComboBox>#include <QTimer>#include <QScrollArea>#include <QListWidget>#include <QStyledItemDelegate>#include “darkroom/TrackedObjectDelegate.hpp”#include <map>#include <thread>#include <mutex>#include <ros/ros.h>#include <rviz/panel.h>#include <pluginlib/class_loader.h>#include <pluginlib/class_list_macros.h>#include <visualization_msgs/Marker.h>#include <std_srvs/SetBool.h>#include <tf/tf.h>#include <tf/transform_listener.h>#include <tf_conversions/tf_eigen.h>#include <Eigen/Core>#include <Eigen/Dense>#include “darkroom/TrackedObject.hpp”#include “darkroom/UDPSocket.hpp”

file PoseMinimizer.hpp

#include <tf/tf.h>#include <Eigen/Core>#include <Eigen/Dense>#include <unsupported/Eigen/NonLinearOptimization>#include <unsupported/Eigen/NumericalDiff>#include <iostream>

file Sensor.hpp

#include <ros/ros.h>#include <Eigen/Core>#include <Eigen/Dense>#include <Eigen/Geometry>#include <mutex>#include <vector>

Defines

NUMBER_OF_LIGHTHOUSES 2

Typedefs

typedef Matrix<unsigned short, 2, 1> Vector2s

file TrackedObject.hpp

#include <ros/ros.h>#include <visualization_msgs/Marker.h>#include <tf/tf.h>#include <tf/transform_listener.h>#include <tf/transform_broadcaster.h>#include <tf_conversions/tf_eigen.h>#include <Eigen/Core>#include <Eigen/Dense>#include <Eigen/Geometry>#include <unsupported/Eigen/NonLinearOptimization>#include <unsupported/Eigen/NumericalDiff>#include “base3d/triangulation.h”#include “base3d/projection.h”#include <map>#include <fstream>#include <deque>#include <thread>#include <mutex>#include “yaml-cpp/yaml.h”#include “darkroom/UDPSocket.hpp”#include “darkroom/Sensor.hpp”#include “darkroom/PoseMinimizer.hpp”

Defines

degreesToRadians(angleDegrees) (angleDegrees * M_PI / 180.0)

radiansToDegrees(angleRadians) (angleRadians * 180.0 / M_PI)

uSecsToRadians(ticks) (degreesToRadians(ticks * 0.0216))

MAX_ITERATIONS 30

DEFAULT_CONFIG_PORT 8001

DEFAULT_SENSOR_PORT 8002

DEFAULT_IMU_PORT 8003

DEFAULT_COMMAND_PORT 8004

DEFAULT_LOGGING_PORT 8005

Typedefs

typedef boost::shared_ptr<TrackedObject> TrackedObjectPtr

file TrackedObjectDelegate.hpp

#include <QWidget>#include <QStyledItemDelegate>#include <QMetaType>#include <QPointF>#include <QVector>#include <QPainter>#include <QMouseEvent>#include <QTableWidget>

Functions

void populateTableWidget(QTableWidget *tableWidget)

file UDPSocket.hpp

#include <ros/ros.h>#include <stdlib.h>#include <unistd.h>#include <errno.h>#include <string.h>#include <sys/types.h>#include <sys/socket.h>#include <netinet/in.h>#include <arpa/inet.h>#include <netdb.h>#include <string>#include <ifaddrs.h>#include <stdio.h>#include <time.h>#include <bitset>#include “lighthouse.pb.h”

Defines

MAXBUFLENGTH 1024

BYTE_TO_BINARY_PATTERN "%c%c%c%c%c%c%c%c"

BYTE_TO_BINARY(byte) (byte & 0x80 ? '1' : '0'), \ (byte & 0x40 ? '1' : '0'), \ (byte & 0x20 ? '1' : '0'), \ (byte & 0x10 ? '1' : '0'), \ (byte & 0x08 ? '1' : '0'), \ (byte & 0x04 ? '1' : '0'), \ (byte & 0x02 ? '1' : '0'), \ (byte & 0x01 ? '1' : '0')

Typedefs

typedef boost::shared_ptr<UDPSocket> UDPSocketPtr

Enums

enum COMMAND

Values:

TRACKING = 1

MPU = 2

SENSOR = 3

RESET = 4

Functions

bool convertByte2Text(uint32_t inet, char *inet_str)

bool convertText2Byte(char *inet_str, uint32_t &inet)

file CommunicationTest.cpp

#include “darkroom/UDPSocket.hpp”

Functions

int main(int argc, char *argv[])

file DarkRoom.cpp

#include “include/darkroom/DarkRoom.hpp”

file PoseMinimizer.cpp

#include “darkroom/PoseMinimizer.hpp”

file Sensor.cpp

#include “darkroom/Sensor.hpp”

file TrackedObject.cpp

#include “darkroom/TrackedObject.hpp”

file TrackedObjectDelegate.cpp

#include “darkroom/TrackedObjectDelegate.hpp”

Functions

void populateTableWidget(QTableWidget *tableWidget)

Variables

const int PaintingScaleFactor = 20

file UDPSocket.cpp

#include “darkroom/UDPSocket.hpp”

Functions

bool convertByte2Text(uint32_t inet, char *inet_str)

bool convertText2Byte(char *inet_str, uint32_t *inet)

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/include/darkroom

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/DarkRoom_esp8266

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/DarkRoom_fpga

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/DarkRoom_fpga/db

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/DarkRoom_fpga/output_files/greybox_tmp/greybox_tmp

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/DarkRoom_fpga/output_files/greybox_tmp

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/DarkRoom_fpga/greybox_tmp/greybox_tmp

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/DarkRoom_fpga/greybox_tmp

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/include

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/DarkRoom_fpga/myhdl

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/DarkRoom_fpga/output_files

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/DarkRoom_fpga/spi

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/DarkRoom_fpga/myhdl/spi_control

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/src

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/DarkRoom_fpga/spi/synthesis/submodules

dir /home/docs/checkouts/readthedocs.org/user_builds/darkroom/checkouts/latest/src/DarkRoom_fpga/spi/synthesis