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MBot Software Library
v1.0
An API documentation to mbot_firmware repository
|
|
MBot Software Library
v1.0
An API documentation to mbot_firmware repository
|
configuration of the mpu sensor More...
#include <mpu.h>
Public Attributes | |
physical connection configuration | |
| int | gpio_interrupt_pin |
| gpio pin, default 21 on Robotics Cape and BB Blue | |
| i2c_inst_t * | i2c_bus |
| i2c instance | |
| uint8_t | i2c_addr |
| default is 0x68, pull pin ad0 high to make it 0x69 | |
| int | show_warnings |
| set to 1 to print i2c_bus warnings for debug | |
accelerometer, gyroscope, and magnetometer configuration | |
| rc_mpu_accel_fsr_t | accel_fsr |
| accelerometer full scale range, default ACCEL_FSR_8G | |
| rc_mpu_gyro_fsr_t | gyro_fsr |
| gyroscope full scale range, default GYRO_FSR_2000DPS | |
| rc_mpu_accel_dlpf_t | accel_dlpf |
| internal low pass filter cutoff, default ACCEL_DLPF_184 | |
| rc_mpu_gyro_dlpf_t | gyro_dlpf |
| internal low pass filter cutoff, default GYRO_DLPF_184 | |
| int | enable_magnetometer |
| magnetometer use is optional, set to 1 to enable, default 0 (off) | |
DMP settings, only used with DMP mode | |
| int | dmp_sample_rate |
| sample rate in hertz, 200,100,50,40,25,20,10,8,5,4 | |
| int | dmp_fetch_accel_gyro |
| set to 1 to optionally raw accel/gyro when reading DMP quaternion, default: 0 (off) | |
| int | dmp_auto_calibrate_gyro |
| set to 1 to let DMP auto calibrate the gyro while in use, default: 0 (off) | |
| rc_mpu_orientation_t | orient |
| DMP orientation matrix, see rc_mpu_orientation_t. | |
| double | compass_time_constant |
| time constant (seconds) for filtering compass with gyroscope yaw value, default 25 | |
| int | read_mag_after_callback |
| reads magnetometer after DMP callback function to improve latency, default 1 (true) | |
| int | mag_sample_rate_div |
| magnetometer_sample_rate = dmp_sample_rate/mag_sample_rate_div, default: 4 | |
| int | tap_threshold |
| threshold impulse for triggering a tap in units of mg/ms | |
configuration of the mpu sensor
Configuration struct passed to rc_mpu_initialize and rc_mpu_initialize_dmp. It is best to get the default config with rc_mpu_default_config() function first and modify from there.
1.9.1