Download Motion Driver 6.0 User Guide - Digi-Key

Document Number: AN-EMAPPS-0.0.6
Motion Driver 6.0 – User Guide
Revision: 1.0
Release Date: 06/27/2014
Table of Contents
1
REVISION HISTORY ...................................................................................................................................3
2
PURPOSE ....................................................................................................................................................4
3
BEFORE YOU START ................................................................................................................................4
4
MOTION DRIVER 6.0 FEATURES ..............................................................................................................4
5
SELECTING THE MCU ...............................................................................................................................5
6
CONNECTING THE HARDWARE ..............................................................................................................5
7
MOTION DRIVER 6.0 FIRMWARE PACKAGE ..........................................................................................6
8
INTEGRATING MOTION DRIVER 6.0 ........................................................................................................6
9
INITIALIZATION APIS .................................................................................................................................9
10 THE ORIENTATION MATRIX .....................................................................................................................9
11 INTERRUPTS HANDLING ........................................................................................................................10
12 DMP - DIGITAL MOTION PROCESSOR™ ..............................................................................................10
12.1
DMP INTIALIZATION ...........................................................................................................................10
12.2
DMP FEATURES ................................................................................................................................10
12.3
DMP FIFO OUTPUT ..........................................................................................................................11
13 INVENSENSE HARDWARE SELF-TEST .................................................................................................11
14 CALIBRATION DATA AND STORAGE ....................................................................................................12
14.1
FACTORY LINE CALIBRATION...............................................................................................................12
14.2
SAVING AND LOADING CALIBRATION DATA ..........................................................................................13
15 INTEGRATING THE MPL LIBRARY.........................................................................................................13
16 LOW POWER ACCEL MODE AND MOTION INTERRUPT MODE FOR MPU6500/MPU9250 ..............14
17 COMPILER SPECIFIC SETTING ..............................................................................................................14
CONFIDENTIAL & PROPRIETARY
2 of 14
PRELIMINARY