///
import { Euler, Quaternion, Vector3 } from 'three-math-ts';
import { I2CHelper } from './i2c-helper';
export { Euler, Quaternion, Vector3 } from 'three-math-ts';
export declare type I2cOptions = {
i2cAddress?: number;
baudRate?: number;
};
export interface Data3D {
x: number;
y: number;
z: number;
}
export interface MotionData {
accel: Data3D;
gyro: Data3D;
}
export interface RPY {
roll: number;
pitch: number;
yaw: number;
}
export declare enum Register {
RA_XA_OFFS_H = 6,
RA_XA_OFFS_L_TC = 7,
RA_YA_OFFS_H = 8,
RA_YA_OFFS_L_TC = 9,
RA_ZA_OFFS_H = 10,
RA_XG_OFFS_USRH = 19,
RA_XG_OFFS_USRL = 20,
RA_YG_OFFS_USRH = 21,
RA_YG_OFFS_USRL = 22,
RA_ZG_OFFS_USRH = 23,
RA_ZG_OFFS_USRL = 24,
RA_SMPLRT_DIV = 25,
RA_CONFIG = 26,
RA_GYRO_CONFIG = 27,
RA_ACCEL_CONFIG = 28,
RA_FIFO_EN = 35,
RA_INT_PIN_CFG = 55,
RA_INT_ENABLE = 56,
RA_INT_STATUS = 58,
RA_ACCEL_XOUT_H = 59,
RA_ACCEL_XOUT_L = 60,
RA_ACCEL_YOUT_H = 61,
RA_ACCEL_YOUT_L = 62,
RA_ACCEL_ZOUT_H = 63,
RA_ACCEL_ZOUT_L = 64,
RA_TEMP_OUT_H = 65,
RA_TEMP_OUT_L = 66,
RA_GYRO_XOUT_H = 67,
RA_GYRO_XOUT_L = 68,
RA_GYRO_YOUT_H = 69,
RA_GYRO_YOUT_L = 70,
RA_GYRO_ZOUT_H = 71,
RA_GYRO_ZOUT_L = 72,
RA_USER_CTRL = 106,
RA_PWR_MGMT_1 = 107,
RA_BANK_SEL = 109,
RA_MEM_START_ADDR = 110,
RA_MEM_R_W = 111,
RA_FIFO_COUNTH = 114,
RA_FIFO_R_W = 116,
RA_WHO_AM_I = 117
}
export declare enum ClockSource {
INTERNAL = 0,
PLL_XGYRO = 1,
PLL_YGYRO = 2,
PLL_ZGYRO = 3,
PLL_EXT32K = 4,
PLL_EXT19M = 5,
KEEP_RESET = 7
}
export declare enum ClockDiv {
DIV_348 = 0,
DIV_333 = 1,
DIV_320 = 2,
DIV_308 = 3,
DIV_296 = 4,
DIV_286 = 5,
DIV_276 = 6,
DIV_267 = 7,
DIV_258 = 8,
DIV_500 = 9,
DIV_471 = 10,
DIV_444 = 11,
DIV_421 = 12,
DIV_400 = 13,
DIV_381 = 14,
DIV_364 = 15
}
export declare enum AccelFsRange {
FS_2 = 0,
FS_4 = 1,
FS_8 = 2,
FS_16 = 3
}
export declare enum GyroFsRange {
FS_250 = 0,
FS_500 = 1,
FS_1000 = 2,
FS_2000 = 3
}
export declare enum FsyncIntLevel {
ACTIVE_HIGH = 0,
ACTIVE_LOW = 1
}
/**
* A MPU6050 driver class based on the [I2Cdevlib library](https://www.i2cdevlib.com/devices/mpu6050),
* providing fused orientation (quaternion), acceleration and rotational data
* via the on-device digital motion processor (DMP). Includes sensor offset
* calibration and raw unfused sensor data. This module is implemented in
* TypeScript and runs on Raspberry Pi 3 & 4.
*/
export declare class MPU6050 {
private i2cAddress;
private i2cBaudRate;
private i2cHelper;
private dmpPacketSize;
static getI2CHelper(baud: number): I2CHelper;
constructor(i2cOptions?: I2cOptions);
/**
* 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.
*/
initialize(): void;
/**
* Terminate communications with the MPU6050 chip.
* Includes disabling DMP, FSync interrupt and DataReady interrupt.
*/
shutdown(): void;
/**
* Get the MPU6050 I2C slave address.
* @returns The I2C slave address.
*/
getDeviceI2CAddr(): number;
/**
* Get Device ID.
* This register is used to verify the identity of the device (0b110100, 0x34).
* @see Register.RA_WHO_AM_I
* @see Register.WHO_AM_I_BIT
* @see Register.WHO_AM_I_LENGTH
* @returns Devices ID (6 bits only! should be 0x34)
*/
getDeviceID(): number;
/**
* Verify the I2C connection.
* Make sure the device is connected and responds as expected.
* @returns True if connection is valid, false otherwise
*/
testConnection(): boolean;
/**
* 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
*/
reset(): void;
/**
* 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.
* @returns Current sleep mode enabled status
* @see MPU6050.RA_PWR_MGMT_1
* @see MPU6050.PWR1_SLEEP_BIT
*/
getSleepEnabled(): boolean;
/**
* Set sleep mode status.
* @param enabled New sleep mode enabled status
* @see getSleepEnabled()
* @see MPU6050.RA_PWR_MGMT_1
* @see MPU6050.PWR1_SLEEP_BIT
*/
setSleepEnabled(enabled: boolean): void;
/**
* Get clock source setting.
* @returns Current clock source setting
* @see MPU6050.RA_PWR_MGMT_1
* @see MPU6050.PWR1_CLKSEL_BIT
* @see MPU6050.PWR1_CLKSEL_LENGTH
*/
getClockSource(): ClockSource;
/**
* 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:
*
*
* CLK_SEL | Clock Source
* --------+--------------------------------------
* 0 | Internal oscillator
* 1 | PLL with X Gyro reference
* 2 | PLL with Y Gyro reference
* 3 | PLL with Z Gyro reference
* 4 | PLL with external 32.768kHz reference
* 5 | PLL with external 19.2MHz reference
* 6 | Reserved
* 7 | Stops the clock and keeps the timing generator in reset
*
*
* @param source New clock source setting
* @see getClockSource()
* @see MPU6050.RA_PWR_MGMT_1
* @see MPU6050.PWR1_CLKSEL_BIT
* @see MPU6050.PWR1_CLKSEL_LENGTH
*/
setClockSource(source: ClockSource): void;
/** 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.
*
* @returns Current sample rate
* @see MPU6050.RA_SMPLRT_DIV
*/
getRate(): number;
/**
* Set gyroscope sample rate divider.
* @param rate New sample rate divider
* @see getRate()
* @see MPU6050.RA_SMPLRT_DIV
*/
setRate(rate: number): void;
/**
* 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.
*
*
* 0 = +/- 250 degrees/sec
* 1 = +/- 500 degrees/sec
* 2 = +/- 1000 degrees/sec
* 3 = +/- 2000 degrees/sec
*
*
* @returns 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
*/
getFullScaleGyroRange(): GyroFsRange;
/**
* Set full-scale gyroscope range.
* @param range New full-scale gyroscope range value
* @see getFullScaleRange()
* @see MPU6050.GYRO_FS_250
* @see MPU6050.RA_GYRO_CONFIG
* @see MPU6050.GCONFIG_FS_SEL_BIT
* @see MPU6050.GCONFIG_FS_SEL_LENGTH
*/
setFullScaleGyroRange(range: GyroFsRange): void;
/**
* 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.
*
*
* 0 = +/- 2g
* 1 = +/- 4g
* 2 = +/- 8g
* 3 = +/- 16g
*
*
* @returns 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
*/
getFullScaleAccelRange(): AccelFsRange;
/**
* Set full-scale accelerometer range.
* @param range New full-scale accelerometer range setting
* @see getFullScaleAccelRange()
*/
setFullScaleAccelRange(range: AccelFsRange): void;
/**
* 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.
* @returns Current accelerometer FIFO enabled value
* @see MPU6050.RA_FIFO_EN
*/
getAccelFIFOEnabled(): boolean;
/**
* Set accelerometer FIFO enabled value.
* @param enabled New accelerometer FIFO enabled value
* @see getAccelFIFOEnabled()
* @see MPU6050.RA_FIFO_EN
*/
setAccelFIFOEnabled(enabled: boolean): void;
/**
* 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.
* @returns Current gyroscope X-axis FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
getXGyroFIFOEnabled(): boolean;
/**
* Set gyroscope X-axis FIFO enabled value.
* @param enabled New gyroscope X-axis FIFO enabled value
* @see getXGyroFIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
setXGyroFIFOEnabled(enabled: boolean): void;
/**
* 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.
* @returns Current gyroscope Y-axis FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
getYGyroFIFOEnabled(): boolean;
/**
* Set gyroscope Y-axis FIFO enabled value.
* @param enabled New gyroscope Y-axis FIFO enabled value
* @see getYGyroFIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
setYGyroFIFOEnabled(enabled: boolean): void;
/**
* 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.
* @returns Current gyroscope Z-axis FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
getZGyroFIFOEnabled(): boolean;
/**
* Set gyroscope Z-axis FIFO enabled value.
* @param enabled New gyroscope Z-axis FIFO enabled value
* @see getZGyroFIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
setZGyroFIFOEnabled(enabled: boolean): void;
/**
* Get interrupt logic level mode.
* Will be set 0 for active-high, 1 for active-low.
* @returns Current interrupt mode (0=active-high, 1=active-low)
* @see MPU6050.RA_INT_PIN_CFG
* @see MPU6050.INTCFG_INT_LEVEL_BIT
*/
getInterruptMode(): number;
/**
* Set interrupt logic level mode.
* @param mode New interrupt mode (0=active-high, 1=active-low)
* @see getInterruptMode()
* @see MPU6050.RA_INT_PIN_CFG
* @see MPU6050.INTCFG_INT_LEVEL_BIT
*/
setInterruptMode(mode: boolean): void;
/**
* Get the latch mode of the interrupt pin.
* @returns true if interrupt pin remains active until cleared; otherwise interrupt pin emits 50 us pulse
*/
getInterruptLatchEnabled(): boolean;
/**
* Enable or disable latch mode on the interrupt pin
* @param enabled - when true if interrupt pin remains active until cleared; otherwise interrupt pin emits 50 us pulse
*/
setInterruptLatchEnabled(enabled: boolean): void;
/**
* Get the interrupt pin clearing mode.
* @returns 1 if interrupt pin is cleared on any data read; 0 if interrput pin is clearer only by reading the interrupt status register
*/
getInterruptClearMode(): 0 | 1;
/**
* Specify if interrupt pin is cleared
* @param mode - 1 clears interrupt pin on any data read; 0 clears interrupt pin only by reading the interrupt status register
*/
setInterruptClearMode(mode: 0 | 1): void;
/**
* Get interrupt register byte.
* Full register byte for all interrupts, for quick reading. Each bit will be
* set 0 for disabled, 1 for enabled.
* @returns Current interrupt register byte
* @see MPU6050.RA_INT_ENABLE
* @see MPU6050.INTERRUPT_FF_BIT
*/
getInterruptRegister(): number;
/**
* 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.
* @param byte - New interrupts byte
* @see getIntFreefallEnabled()
* @see MPU6050.RA_INT_ENABLE
* @see MPU6050.INTERRUPT_FF_BIT
*/
setInterruptRegister(byte: number): void;
/**
* Get FSYNC pin interrupt enabled setting.
* Will be set 0 for disabled, 1 for enabled.
* @returns Current interrupt enabled setting
* @see RegisterRA_INT_PIN_CFG
* @see INTCFG_FSYNC_INT_EN_BIT
*/
getFSyncInterruptEnabled(): boolean;
/**
* Set FSYNC pin interrupt enabled setting.
* @param enabled New FSYNC pin interrupt enabled setting
* @see getFSyncInterruptEnabled()
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
*/
setFSyncInterruptEnabled(enabled: boolean): void;
/**
* 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.
* @returns Current interrupt enabled status
* @see MPU6050.RA_INT_ENABLE
* @see MPU6050.INTERRUPT_DATA_RDY_BIT
*/
getInterruptDataReadyEnabled(): boolean;
/**
* Set Data Ready interrupt enabled status.
* @param enabled New interrupt enabled status
* @see getIntDataReadyEnabled()
* @see MPU6050.RA_INT_CFG
* @see MPU6050.INTERRUPT_DATA_RDY_BIT
*/
setInterruptDataReadyEnabled(enabled: boolean): void;
/**
* 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.
* @returns Current interrupt enabled status
* @see MPU6050.RA_INT_ENABLE
* @see MPU6050.INTERRUPT_DATA_RDY_BIT
*/
getInterruptDMPEnabled(): boolean;
/**
* Set DMP interrupt enabled status.
* @param enabled New interrupt enabled status
* @see getIntDataReadyEnabled()
* @see MPU6050.RA_INT_CFG
* @see MPU6050.INTERRUPT_DATA_RDY_BIT
*/
setInterruptDMPEnabled(enabled: boolean): void;
/**
* Get FIFO Buffer Overflow interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
* @returns Current interrupt enabled status
* @see MPU6050.RA_INT_ENABLE
* @see MPU6050.INTERRUPT_FIFO_OFLOW_BIT
*/
getInterruptFIFOBufferOverflowEnabled(): boolean;
/**
* Set FIFO Buffer Overflow interrupt enabled status.
* @param enabled New interrupt enabled status
* @see getIntFIFOBufferOverflowEnabled()
* @see MPU6050.RA_INT_ENABLE
* @see MPU6050.INTERRUPT_FIFO_OFLOW_BIT
*/
setInterruptFIFOBufferOverflowEnabled(enabled: boolean): void;
/**
* 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.
* @returns Current interrupt status
* @see MPU6050.RA_INT_STATUS
*/
getInterruptStatus(): number;
/**
* 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.
* @returns Current interrupt status
* @see MPU6050.RA_INT_STATUS
* @see MPU6050.INTERRUPT_DATA_RDY_BIT
*/
getInterruptDataReadyStatus(): boolean;
/**
* 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.
* @returns Current FIFO enabled status
* @see MPU6050.RA_USER_CTRL
* @see MPU6050.USERCTRL_FIFO_EN_BIT
*/
getFIFOEnabled(): boolean;
/**
* Set FIFO enabled status.
* @param enabled New FIFO enabled status
* @see getFIFOEnabled()
* @see MPU6050.RA_USER_CTRL
* @see MPU6050.USERCTRL_FIFO_EN_BIT
*/
setFIFOEnabled(enabled: boolean): void;
/**
* 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
*/
resetFIFO(): void;
/**
* 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).
* @returns Current FIFO buffer size
*/
getFIFOCount(): number;
/**
* Returns bytes read from the FIFO buffer in a volitale buffer.
*
* Bytes read from the FIFO buffer are returned in a volitale buffer, i.e.,
* the buffer is overwritten upon each FIFO read. Therefore you should copy
* any bytes for which you need to reference beyond the current FIFO read.
*
* 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.
*
* @returns volitale bytes from the FIFO buffer
*/
getFIFOBytes(length: number): Buffer;
/**
* Read the 1st byte from the FIFO buffer.
* @returns A byte
*/
getFIFOByte(): number;
/**
*
* @returns The dlpf configuration setting
*/
getDLPF(): number;
setDLPF(filterConfig: number): void;
/**
* Get raw 6-axis motion sensor readings (accel/gyro).
* Retrieves all currently available motion sensor values.
* @see getAccel()
* @see getGyro()
* @see MPU6050.RA_ACCEL_XOUT_H
*/
getMotionData(): MotionData;
/**
* Get raw 3-axis accelerometer readings.
* @returns current accelerometer data
* @see MPU6050.RA_ACCEL_XOUT_H
*/
getAccel(): Data3D;
/**
* Get raw 3-axis gyroscope readings.
* @returns current gyroscop data
* @see MPU6050.RA_GYRO_XOUT_H
*/
getGyro(): Data3D;
/**
* Get the device temperature in Celcius.
* @returns Temperature in Celcius
*/
getTemperature(): number;
setSensorOffsets(xAccelOffset: number, yAccelOffset: number, zAccelOffset: number, xGyroOffset: number, yGyroOffset: number, zGyroOffset: number): void;
/**
* Access the X-axis acceleration offset.
* @returns X-axis offset
*/
getXAccelOffset(): number;
/**
* Update the X-axis acceleration offset.
* @param offset
*/
setXAccelOffset(offset: number): void;
/**
* Access the Y-axis acceleration offset.
* @returns y-axis offset
*/
getYAccelOffset(): number;
/**
* Update the Y-axis acceleration offset.
* @param offset
*/
setYAccelOffset(offset: number): void;
/**
* Access the Z-axis acceleration offset.
* @returns z-axis offset
*/
getZAccelOffset(): number;
/**
* Update the Z-axis acceleration offset.
* @param offset
*/
setZAccelOffset(offset: number): void;
/**
* Access the X-axis gyro offset.
* @returns X-axis offset
*/
getXGyroOffset(): number;
/**
* Update the Z-axis gyro offset.
* @param offset
*/
setXGyroOffset(offset: number): void;
/**
* Access the Y-axis gyr offset.
* @returns y-axis offset
*/
getYGyroOffset(): number;
/**
* Update the Y-axis gyro.
* @param offset
*/
setYGyroOffset(offset: number): void;
/**
* Access the Z-axis gyro offset.
* @returns z-axis offset
*/
getZGyroOffset(): number;
/**
* Update the Z-axis gyro.
* @param offset
*/
setZGyroOffset(offset: number): void;
/**
* Access the DMP enable/disable status.
* @returns true when enabled; false otherwise.
*/
getDMPEnabled(): boolean;
/**
* Enable or disabled the DMP.
* @param enabled
*/
setDMPEnabled(enabled: boolean): void;
/**
* Asynchronously reset DMP module. This bit auto clears after one clock cycle.
*/
resetDMP(): void;
/**
* Initialize digital motion processing (DMP).
*
* Upon completion the MPU6050 state is:
* Full reset, All interrupts cleared.
* Clock source = X-Gyro
* Accelerometer Fullscale Range = 2g
* Gyrometer Fullscale Range = +-2000 deg/sec
* DMP Raw Data Interrupt enabled
* Rate divider = 4
* Load DMP program image
* FIFO enabled & reset
* Set clear interrupt on any read
* DMP is disabled; To enable DMP call setDMPEnabled(true)
*
* For detailed descriptins of all registers and there purpose google "MPU-6000/MPU-6050 Register Map and Descriptions"
*/
dmpInitialize(): void;
protected setMemoryBank(bank: number, prefetchEnabled?: boolean, userBank?: boolean): void;
protected setMemoryStartAddress(address: number): void;
protected writeProgMemoryBlock(data: Uint8Array, bank?: number, address?: number, verify?: boolean): void;
protected writeMemoryBlock(data: Uint8Array, bank?: number, address?: number, verify?: boolean, useProgMem?: boolean): void;
/**
* Determine if a DMP packet of data is available in the FIFO buffer.
* @returns True when a package is ready to be read; false otherwise.
*/
dmpPacketAvailable(): boolean;
/**
* Get the size of a DMP FIFO packet
* @returns The packet size in bytes.
*/
dmpGetFIFOPacketSize(): number;
/** Get latest byte from FIFO buffer no matter how much time has passed.
* === GetCurrentFIFOPacket ===
* ================================================================
* Returns 1) when nothing special was done
* 2) when recovering from overflow
* 0) when no valid data is available
* ================================================================ */
dmpGetCurrentFIFOPacket(): Buffer | undefined;
/**
* Get the 3-axis accelerometer reading from the DMP packet.
* @param packet - DMP packet of bytes
* @returns The accelerometer reading
*/
dmpGetAccel(packet: Buffer): Data3D;
/**
* Get the 3-axis gyroscope reading from the DMP packet.
* @param packet - DMP packet of bytes
* @returns The gyroscope reading
*/
dmpGetGyro(packet: Buffer): Data3D;
/**
* Get 6-axis motion sensor readings (accel/gyro).
* Retrieves all currently available motion sensor values.
* @param packet - DMP packet to process.
* @returns MotionData from the DMP packet
* @see dmpGetAccel()
* @see dmpGetGyro()
*/
dmpGetMotionData(packet: Buffer): MotionData;
/**
* Get the DMP computed quaternion
* @param packet - DMP packet
* @returns The quaternion.
*/
dmpGetQuaternion(packet: Buffer): Quaternion;
/**
* Get the gravity vector in
* @param packet
* @returns
*/
dmpGetGravity(packet: Buffer): Vector3;
/**
* Compute the Euler angle from a DMP quaternion.
* @param q - quaternion
* @returns The Euler angle.
*/
dmpGetEuler(q: Quaternion): Euler;
/**
* Compute the yaw, roll and pitch from the DMP quaternion and gravity vector.
* @param q - The quaternion
* @param gravity - The gravity vector
* @returns The roll, yaw and pitch
*/
dmpGetYawPitchRoll(q: Quaternion, gravity: Vector3): RPY;
/**
* Compute the 3-axis linear acceleration vector from the dmp acceleration and gravity vector.
* @param accel - 3-axis acceleration
* @param gravity - gravity vector
* @returns The linear acceleration vector
*/
dmpGetLinearAccel(accel: Data3D, gravity: Vector3): Vector3;
/**
* Calibrate the gyroscope, (i.e., compute X, Y and Z offsets),
* in 6-7 iterations (600-700 readings). The X, Y and Z offsets are printed to stdout
* for future use with the setXGyroOffset(), setYGyroOffset() and setZGyroOffset()
* respectively.
*
* @param [enableOutput=true] - enables output of info msgs
* @param [loops=6] - number of calibration iterations to run
*/
calibrateGyro(enableOutput?: boolean, loops?: number): void;
/**
* Calibrate the accelerometer, (i.e., compute X, Y and Z offsets),
* in 6-7 iterations (600-700 readings). The X, Y and Z offsets are printed to stdout
* for future use with the setXAccelOffset(), setYAccelOffset() and setZAccelOffset()
* respectively.
*
* @param [enableOutput=true] - enables output of info msgs
* @param [loops=6] - number of calibration iterations to run
*/
calibrateAccel(enableOutput?: boolean, loops?: number): void;
protected PID(ReadAddress: number, kP: number, kI: number, Loops: number, enableOutput?: boolean): void;
/**
*
*/
printActiveOffsets(): void;
/**
* Read a byte stored in the specified register.
* @param register - The register to read
* @returns The byte stored in the register
*/
getRegister(register: number): number;
}
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