Chris Seto
ported from https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
Fork of
MPU6050
by 
Shundo Kishi
Revision 4:a1c169138c71, committed 2013-11-20
- Comitter:
- syundo0730
- Date:
- Wed Nov 20 17:58:11 2013 +0000
- Parent:
- 3:25e1a5a10e53
- Child:
- 5:7d1bf3ce0053
- Commit message:
- debugging message was modified
Changed in this revision
| MPU6050_6Axis_MotionApps20.h | Show annotated file Show diff for this revision Revisions of this file |
| MPU6050_6Axis_MotionApps20old.h | Show diff for this revision Revisions of this file |
--- a/MPU6050_6Axis_MotionApps20.h Tue Nov 19 19:05:55 2013 +0000
+++ b/MPU6050_6Axis_MotionApps20.h Wed Nov 20 17:58:11 2013 +0000
@@ -33,6 +33,8 @@
#ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
#define _MPU6050_6AXIS_MOTIONAPPS20_H_
+#include <iostream>
+
#include "I2Cdev.h"
#include "helper_3dmath.h"
@@ -100,12 +102,13 @@
// after moving string constants to flash memory storage using the F()
// compiler macro (Arduino IDE 1.0+ required).
-//#define DEBUG
+#define DEBUG
#ifdef DEBUG
- #define DEBUG_PRINT(x) Serial.print(x)
- #define DEBUG_PRINTF(x, y) Serial.print(x, y)
- #define DEBUG_PRINTLN(x) Serial.println(x)
- #define DEBUG_PRINTLNF(x, y) Serial.println(x, y)
+ #define DEBUG_PRINT(x) std::cout << x //Serial.print(x)
+ #define DEBUG_PRINTF(x, y) std::cout << x //Serial.print(x, y)
+ #define DEBUG_PRINTLN(x) std::cout << x << std::endl //Serial.println(x)
+ #define DEBUG_PRINTLNF(x, y) std::cout << x << std::endl //Serial.println(x, y)
+ #define F(x) x
#else
#define DEBUG_PRINT(x)
#define DEBUG_PRINTF(x, y)
@@ -355,19 +358,19 @@
DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
uint8_t otpValid = getOTPBankValid();
DEBUG_PRINT(F("OTP bank is "));
- DEBUG_PRINTLN(otpValid ? F("valid!") : F("invalid!"));
+ DEBUG_PRINTLN((otpValid ? F("valid!") : F("invalid!")));
// get X/Y/Z gyro offsets
DEBUG_PRINTLN(F("Reading gyro offset TC values..."));
//int8_t xgOffsetTC = getXGyroOffsetTC();
//int8_t ygOffsetTC = getYGyroOffsetTC();
//int8_t zgOffsetTC = getZGyroOffsetTC();
- DEBUG_PRINT(F("X gyro offset = "));
- DEBUG_PRINTLN(xgOffset);
- DEBUG_PRINT(F("Y gyro offset = "));
- DEBUG_PRINTLN(ygOffset);
- DEBUG_PRINT(F("Z gyro offset = "));
- DEBUG_PRINTLN(zgOffset);
+ //DEBUG_PRINT(F("X gyro offset = "));
+ //DEBUG_PRINTLN(xgOffset);
+ //DEBUG_PRINT(F("Y gyro offset = "));
+ //DEBUG_PRINTLN(ygOffset);
+ //DEBUG_PRINT(F("Z gyro offset = "));
+ //DEBUG_PRINTLN(zgOffset);
// setup weird slave stuff (?)
DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
--- a/MPU6050_6Axis_MotionApps20old.h Tue Nov 19 19:05:55 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,767 +0,0 @@
-// I2Cdev library collection - MPU6050 I2C device class, 6-axis MotionApps 2.0 implementation
-// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
-// 6/18/2012 by Jeff Rowberg <jeff@rowberg.net>
-// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
-//
-// Changelog:
-// ... - ongoing debug release
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
-extern Serial pc;
-
-#ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
-#define _MPU6050_6AXIS_MOTIONAPPS20_H_
-
-#include "mbed.h"
-
-#include "I2Cdev.h"
-#include "helper_3dmath.h"
-
-// MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board
-#define MPU6050_INCLUDE_DMP_MOTIONAPPS20
-
-#include "MPU6050.h"
-
-/* Source is from the InvenSense MotionApps v2 demo code. Original source is
- * unavailable, unless you happen to be amazing as decompiling binary by
- * hand (in which case, please contact me, and I'm totally serious).
- *
- * Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
- * DMP reverse-engineering he did to help make this bit of wizardry
- * possible.
- */
-
-// NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
-// Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
-// after moving string constants to flash memory storage using the F()
-// compiler macro (Arduino IDE 1.0+ required).
-
-//#define DEBUG
-
-#ifdef DEBUG
- #define DEBUG_PRINT(x) printf("%f", x) //Serial.print(x,)
- #define DEBUG_PRINTF(x, y) printf("%f, %f", x, y) //Serial.print(x, y)
- #define DEBUG_PRINTLN(x) printf("%f\r\n", x) //Serial.println(x)
- #define DEBUG_PRINTLNF(x, y) printf("%f, %f\r\n", x, y) //Serial.println(x, y)
-#else
- #define DEBUG_PRINT(x)
- #define DEBUG_PRINTF(x, y)
- #define DEBUG_PRINTLN(x)
- #define DEBUG_PRINTLNF(x, y)
-#endif
-
-
-#define MPU6050_DMP_CODE_SIZE 1929 // dmpMemory[]
-#define MPU6050_DMP_CONFIG_SIZE 192 // dmpConfig[]
-#define MPU6050_DMP_UPDATES_SIZE 47 // dmpUpdates[]
-
-//To invalid Arduino Memory
-
-typedef unsigned char prog_uchar;
-#define PROGMEM
-
-/* ================================================================================================ *
- | Default MotionApps v2.0 42-byte FIFO packet structure: |
- | |
- | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
- | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 |
- | |
- | [GYRO Z][ ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
- | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 |
- * ================================================================================================ */
-
-// this block of memory gets written to the MPU on start-up, and it seems
-// to be volatile memory, so it has to be done each time (it only takes ~1
-// second though)
-const prog_uchar dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
- // bank 0, 256 bytes
- 0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
- 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
- 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
- 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
- 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
- 0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
- 0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
- 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
- 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
- 0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
- 0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
-
- // bank 1, 256 bytes
- 0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
- 0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
- 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
- 0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
- 0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
-
- // bank 2, 256 bytes
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
- 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
- // bank 3, 256 bytes
- 0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
- 0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
- 0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
- 0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
- 0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
- 0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
- 0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
- 0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C,
- 0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
- 0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
- 0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
- 0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
- 0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
- 0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
- 0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
- 0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
-
- // bank 4, 256 bytes
- 0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
- 0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
- 0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
- 0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
- 0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
- 0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
- 0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
- 0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
- 0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
- 0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
- 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
- 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
- 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
- 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
- 0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
- 0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
-
- // bank 5, 256 bytes
- 0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
- 0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
- 0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
- 0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
- 0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
- 0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
- 0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
- 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
- 0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
- 0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
- 0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
- 0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
- 0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
- 0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
- 0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
- 0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,
-
- // bank 6, 256 bytes
- 0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
- 0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
- 0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
- 0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
- 0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
- 0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
- 0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
- 0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
- 0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
- 0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
- 0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
- 0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
- 0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
- 0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
- 0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
- 0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,
-
- // bank 7, 138 bytes (remainder)
- 0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
- 0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
- 0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
- 0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
- 0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
- 0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
- 0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3,
- 0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC,
- 0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
-};
-
-// thanks to Noah Zerkin for piecing this stuff together!
-const prog_uchar dmpConfig[MPU6050_DMP_CONFIG_SIZE] PROGMEM = {
-// BANK OFFSET LENGTH [DATA]
- 0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C, // FCFG_1 inv_set_gyro_calibration
- 0x03, 0xAB, 0x03, 0x36, 0x56, 0x76, // FCFG_3 inv_set_gyro_calibration
- 0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2, // D_0_104 inv_set_gyro_calibration
- 0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1, // D_0_24 inv_set_gyro_calibration
- 0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // D_1_152 inv_set_accel_calibration
- 0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_accel_calibration
- 0x03, 0x89, 0x03, 0x26, 0x46, 0x66, // FCFG_7 inv_set_accel_calibration
- 0x00, 0x6C, 0x02, 0x20, 0x00, // D_0_108 inv_set_accel_calibration
- 0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_00 inv_set_compass_calibration
- 0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_01
- 0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02
- 0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_10
- 0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_11
- 0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_12
- 0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_20
- 0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_21
- 0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_22
- 0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00, // D_1_236 inv_apply_endian_accel
- 0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors
- 0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
- 0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D, // FCFG_5 inv_set_bias_update
- 0x00, 0xA3, 0x01, 0x00, // D_0_163 inv_set_dead_zone
- // SPECIAL 0x01 = enable interrupts
- 0x00, 0x00, 0x00, 0x01, // SET INT_ENABLE at i=22, SPECIAL INSTRUCTION
- 0x07, 0x86, 0x01, 0xFE, // CFG_6 inv_set_fifo_interupt
- 0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion
- 0x07, 0x7E, 0x01, 0x30, // CFG_16 inv_set_footer
- 0x07, 0x46, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro
- 0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo
- 0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo
- 0x02, 0x16, 0x02, 0x00, 0x01 // D_0_22 inv_set_fifo_rate
-
- // This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
- // 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
- // DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
-
- // It is important to make sure the host processor can keep up with reading and processing
- // the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.
-};
-
-const prog_uchar dmpUpdates[MPU6050_DMP_UPDATES_SIZE] PROGMEM = {
- 0x01, 0xB2, 0x02, 0xFF, 0xFF,
- 0x01, 0x90, 0x04, 0x09, 0x23, 0xA1, 0x35,
- 0x01, 0x6A, 0x02, 0x06, 0x00,
- 0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
- 0x01, 0x62, 0x02, 0x00, 0x00,
- 0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00
-};
-
-uint8_t MPU6050::dmpInitialize() {
- // reset device
- DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
- pc.printf("Resetting MPU6050...\r\n");
- reset();
- wait_ms(30);// wait after reset
-
- // enable sleep mode and wake cycle
- /*Serial.println(F("Enabling sleep mode..."));
- setSleepEnabled(true);
- Serial.println(F("Enabling wake cycle..."));
- setWakeCycleEnabled(true);*/
-
- // disable sleep mode
- DEBUG_PRINTLN(F("Disabling sleep mode..."));
- pc.printf("Disabling sleep mode...\r\n");
- setSleepEnabled(false);
-
- // get MPU hardware revision
- DEBUG_PRINTLN(F("Selecting user bank 16..."));
- setMemoryBank(0x10, true, true);
- DEBUG_PRINTLN(F("Selecting memory byte 6..."));
- setMemoryStartAddress(0x06);
- DEBUG_PRINTLN(F("Checking hardware revision..."));
- uint8_t hwRevision = readMemoryByte();
- DEBUG_PRINT(F("Revision @ user[16][6] = "));
- DEBUG_PRINTLNF(hwRevision, HEX);
- DEBUG_PRINTLN(F("Resetting memory bank selection to 0..."));
- setMemoryBank(0, false, false);
-
- // check OTP bank valid
- DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
- uint8_t otpValid = getOTPBankValid();
- DEBUG_PRINT(F("OTP bank is "));
- DEBUG_PRINTLN(otpValid ? F("valid!") : F("invalid!"));
- if (otpValid) pc.printf("OTP bank is valid!\r\n");
- else pc.printf("OTP bank is invalid!\r\n");
-
- // get X/Y/Z gyro offsets
- DEBUG_PRINTLN(F("Reading gyro offset values..."));
- int8_t xgOffset = getXGyroOffset();
- int8_t ygOffset = getYGyroOffset();
- int8_t zgOffset = getZGyroOffset();
- DEBUG_PRINT(F("X gyro offset = "));
- DEBUG_PRINTLN(xgOffset);
- DEBUG_PRINT(F("Y gyro offset = "));
- DEBUG_PRINTLN(ygOffset);
- DEBUG_PRINT(F("Z gyro offset = "));
- DEBUG_PRINTLN(zgOffset);
-
- // setup weird slave stuff (?)
- DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
- pc.printf("Setting slave 0 address to 0x7F...\r\n");
- setSlaveAddress(0, 0x7F);
- DEBUG_PRINTLN(F("Disabling I2C Master mode..."));
- pc.printf("Disabling I2C Master mode...\r\n");
- setI2CMasterModeEnabled(false);
- DEBUG_PRINTLN(F("Setting slave 0 address to 0x68 (self)..."));
- pc.printf("Setting slave 0 address to 0x68 (self)...\r\n");
- setSlaveAddress(0, 0x68);
- DEBUG_PRINTLN(F("Resetting I2C Master control..."));
- pc.printf("Resetting I2C Master control...\r\n");
- resetI2CMaster();
- wait_ms(20);
-
- // load DMP code into memory banks
- DEBUG_PRINT(F("Writing DMP code to MPU memory banks ("));
- pc.printf("Writing DMP code to MPU memory banks (");
- DEBUG_PRINT(MPU6050_DMP_CODE_SIZE);
- pc.printf("%d", MPU6050_DMP_CODE_SIZE);
- DEBUG_PRINTLN(F(" bytes)"));
- pc.printf(" bytes)\r\n");
- if (writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) {
- DEBUG_PRINTLN(F("Success! DMP code written and verified."));
- pc.printf("Success! DMP code written and verified.\r\n");
-
- // write DMP configuration
- DEBUG_PRINT(F("Writing DMP configuration to MPU memory banks ("));
- DEBUG_PRINT(MPU6050_DMP_CONFIG_SIZE);
- DEBUG_PRINTLN(F(" bytes in config def)"));
- if (writeProgDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) {
- DEBUG_PRINTLN(F("Success! DMP configuration written and verified."));
- pc.printf("Success! DMP configuration written and verified.\r\n");
-
- DEBUG_PRINTLN(F("Setting clock source to Z Gyro..."));
- pc.printf("Setting clock source to Z Gyro...\r\n");
- setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
-
- DEBUG_PRINTLN(F("Setting DMP and FIFO_OFLOW interrupts enabled..."));
- pc.printf("Setting DMP and FIFO_OFLOW interrupts enabled...\r\n");
- setIntEnabled(0x12);
-
- DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
- pc.printf("Setting sample rate to 200Hz...\r\n");
- setRate(4); // 1khz / (1 + 4) = 200 Hz
-
- DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
- pc.printf("Setting external frame sync to TEMP_OUT_L[0]...\r\n");
- setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
-
- DEBUG_PRINTLN(F("Setting DLPF bandwidth to 42Hz..."));
- pc.printf("Setting DLPF bandwidth to 42Hz...\r\n");
- setDLPFMode(MPU6050_DLPF_BW_42);
-
- DEBUG_PRINTLN(F("Setting gyro sensitivity to +/- 2000 deg/sec..."));
- pc.printf("Setting gyro sensitivity to +/- 2000 deg/sec...\r\n");
- setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
-
- DEBUG_PRINTLN(F("Setting DMP configuration bytes (function unknown)..."));
- pc.printf("Setting DMP configuration bytes (function unknown)...\r\n");
- setDMPConfig1(0x03);
- setDMPConfig2(0x00);
-
- DEBUG_PRINTLN(F("Clearing OTP Bank flag..."));
- pc.printf("Clearing OTP Bank flag...\r\n");
- setOTPBankValid(false);
-
- DEBUG_PRINTLN(F("Setting X/Y/Z gyro offsets to previous values..."));
- pc.printf("Setting X/Y/Z gyro offsets to previous values...\r\n");
- setXGyroOffset(xgOffset);
- setYGyroOffset(ygOffset);
- setZGyroOffset(zgOffset);
-
- DEBUG_PRINTLN(F("Setting X/Y/Z gyro user offsets to zero..."));
- pc.printf("Setting X/Y/Z gyro user offsets to zero...\r\n");
- setXGyroOffsetUser(0);
- setYGyroOffsetUser(0);
- setZGyroOffsetUser(0);
-
- DEBUG_PRINTLN(F("Writing final memory update 1/7 (function unknown)..."));
- pc.printf("Writing final memory update 1/7 (function unknown)...\r\n");
- uint8_t dmpUpdate[16], j;
- uint16_t pos = 0;
- for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
- writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
- DEBUG_PRINTLN(F("Writing final memory update 2/7 (function unknown)..."));
- pc.printf("Writing final memory update 2/7 (function unknown)...\r\n");
- for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
- writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
- DEBUG_PRINTLN(F("Resetting FIFO..."));
- pc.printf("Resetting FIFO...\r\n");
- resetFIFO();
-
- DEBUG_PRINTLN(F("Reading FIFO count..."));
- pc.printf("Reading FIFO count...\r\n");
- uint8_t fifoCount = getFIFOCount();
- uint8_t fifoBuffer[128];
-
- DEBUG_PRINT(F("Current FIFO count="));
- pc.printf("Current FIFO count=");
- DEBUG_PRINTLN(fifoCount);
- pc.printf("%d\r\n", fifoCount);
- getFIFOBytes(fifoBuffer, fifoCount);
-
- DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
- pc.printf("Setting motion detection threshold to 2...\r\n");
- setMotionDetectionThreshold(2);
-
- DEBUG_PRINTLN(F("Setting zero-motion detection threshold to 156..."));
- pc.printf("Setting zero-motion detection threshold to 156...\r\n");
- setZeroMotionDetectionThreshold(156);
-
- DEBUG_PRINTLN(F("Setting motion detection duration to 80..."));
- pc.printf("Setting motion detection duration to 80...\r\n");
- setMotionDetectionDuration(80);
-
- DEBUG_PRINTLN(F("Setting zero-motion detection duration to 0..."));
- pc.printf("Setting zero-motion detection duration to 0...\r\n");
- setZeroMotionDetectionDuration(0);
-
- DEBUG_PRINTLN(F("Resetting FIFO..."));
- pc.printf("Resetting FIFO...\r\n");
- resetFIFO();
-
- DEBUG_PRINTLN(F("Enabling FIFO..."));
- pc.printf("Enabling FIFO...\r\n");
- setFIFOEnabled(true);
-
- DEBUG_PRINTLN(F("Enabling DMP..."));
- pc.printf("Enabling DMP...\r\n");
- setDMPEnabled(true);
-
- DEBUG_PRINTLN(F("Resetting DMP..."));
- pc.printf("Resetting DMP...\r\n");
- resetDMP();
-
- DEBUG_PRINTLN(F("Writing final memory update 3/7 (function unknown)..."));
- pc.printf("Writing final memory update 3/7 (function unknown)...\r\n");
- for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
- writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
- DEBUG_PRINTLN(F("Writing final memory update 4/7 (function unknown)..."));
- pc.printf("Writing final memory update 4/7 (function unknown)...\r\n");
- for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
- writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
- DEBUG_PRINTLN(F("Writing final memory update 5/7 (function unknown)..."));
- pc.printf("Writing final memory update 5/7 (function unknown)...\r\n");
- for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
- writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
- DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
- pc.printf("Waiting for FIFO count > 2...\r\n");
- while ((fifoCount = getFIFOCount()) < 3);
-
- DEBUG_PRINT(F("Current FIFO count="));
- pc.printf("Current FIFO count=");
- DEBUG_PRINTLN(fifoCount);
- pc.printf("%d\r\n", fifoCount);
- DEBUG_PRINTLN(F("Reading FIFO data..."));
- pc.printf("Reading FIFO data...\r\n");
- getFIFOBytes(fifoBuffer, fifoCount);
-
- DEBUG_PRINTLN(F("Reading interrupt status..."));
- pc.printf("Reading interrupt status...\r\n");
- uint8_t mpuIntStatus = getIntStatus();
-
- DEBUG_PRINT(F("Current interrupt status="));
- pc.printf("Current interrupt status=");
- DEBUG_PRINTLNF(mpuIntStatus, HEX);
- pc.printf("%x\r\n", mpuIntStatus);
-
- DEBUG_PRINTLN(F("Reading final memory update 6/7 (function unknown)..."));
- pc.printf("Reading final memory update 6/7 (function unknown)...\r\n");
- for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
- readMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
- DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
- pc.printf("Waiting for FIFO count > 2...\r\n");
- while ((fifoCount = getFIFOCount()) < 3);
-
- DEBUG_PRINT(F("Current FIFO count="));
- pc.printf("Current FIFO count=");
- DEBUG_PRINTLN(fifoCount);
- pc.printf("%d\r\n", fifoCount);
-
- DEBUG_PRINTLN(F("Reading FIFO data..."));
- pc.printf("Reading FIFO data...\r\n");
- getFIFOBytes(fifoBuffer, fifoCount);
-
- DEBUG_PRINTLN(F("Reading interrupt status..."));
- pc.printf("Reading interrupt status...\r\n");
- mpuIntStatus = getIntStatus();
-
- DEBUG_PRINT(F("Current interrupt status="));
- pc.printf("Current interrupt status=");
- DEBUG_PRINTLNF(mpuIntStatus, HEX);
- pc.printf("%x\r\n", mpuIntStatus);
-
- DEBUG_PRINTLN(F("Writing final memory update 7/7 (function unknown)..."));
- pc.printf("Writing final memory update 7/7 (function unknown)...\r\n");
- for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
- writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
- DEBUG_PRINTLN(F("DMP is good to go! Finally."));
- pc.printf("DMP is good to go! Finally.\r\n");
-
- DEBUG_PRINTLN(F("Disabling DMP (you turn it on later)..."));
- pc.printf("DDisabling DMP (you turn it on later)...\r\n");
- setDMPEnabled(false);
-
- DEBUG_PRINTLN(F("Setting up internal 42-byte (default) DMP packet buffer..."));
- pc.printf("Setting up internal 42-byte (default) DMP packet buffer...\r\n");
- dmpPacketSize = 42;
- /*if ((dmpPacketBuffer = (uint8_t *)malloc(42)) == 0) {
- return 3; // TODO: proper error code for no memory
- }*/
-
- DEBUG_PRINTLN(F("Resetting FIFO and clearing INT status one last time..."));
- pc.printf("Resetting FIFO and clearing INT status one last time...\r\n");
- resetFIFO();
- getIntStatus();
- } else {
- DEBUG_PRINTLN(F("ERROR! DMP configuration verification failed."));
- return 2; // configuration block loading failed
- }
- } else {
- DEBUG_PRINTLN(F("ERROR! DMP code verification failed."));
- return 1; // main binary block loading failed
- }
- return 0; // success
-}
-
-bool MPU6050::dmpPacketAvailable() {
- return getFIFOCount() >= dmpGetFIFOPacketSize();
-}
-
-// uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
-// uint8_t MPU6050::dmpGetFIFORate();
-// uint8_t MPU6050::dmpGetSampleStepSizeMS();
-// uint8_t MPU6050::dmpGetSampleFrequency();
-// int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);
-
-//uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
-//uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
-//uint8_t MPU6050::dmpRunFIFORateProcesses();
-
-// uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
-
-uint8_t MPU6050::dmpGetAccel(int32_t *data, const uint8_t* packet) {
- // TODO: accommodate different arrangements of sent data (ONLY default supported now)
- if (packet == 0) packet = dmpPacketBuffer;
- data[0] = ((packet[28] << 24) + (packet[29] << 16) + (packet[30] << 8) + packet[31]);
- data[1] = ((packet[32] << 24) + (packet[33] << 16) + (packet[34] << 8) + packet[35]);
- data[2] = ((packet[36] << 24) + (packet[37] << 16) + (packet[38] << 8) + packet[39]);
- return 0;
-}
-uint8_t MPU6050::dmpGetAccel(int16_t *data, const uint8_t* packet) {
- // TODO: accommodate different arrangements of sent data (ONLY default supported now)
- if (packet == 0) packet = dmpPacketBuffer;
- data[0] = (packet[28] << 8) + packet[29];
- data[1] = (packet[32] << 8) + packet[33];
- data[2] = (packet[36] << 8) + packet[37];
- return 0;
-}
-uint8_t MPU6050::dmpGetAccel(VectorInt16 *v, const uint8_t* packet) {
- // TODO: accommodate different arrangements of sent data (ONLY default supported now)
- if (packet == 0) packet = dmpPacketBuffer;
- v -> x = (packet[28] << 8) + packet[29];
- v -> y = (packet[32] << 8) + packet[33];
- v -> z = (packet[36] << 8) + packet[37];
- return 0;
-}
-uint8_t MPU6050::dmpGetQuaternion(int32_t *data, const uint8_t* packet) {
- // TODO: accommodate different arrangements of sent data (ONLY default supported now)
- if (packet == 0) packet = dmpPacketBuffer;
- data[0] = ((packet[0] << 24) + (packet[1] << 16) + (packet[2] << 8) + packet[3]);
- data[1] = ((packet[4] << 24) + (packet[5] << 16) + (packet[6] << 8) + packet[7]);
- data[2] = ((packet[8] << 24) + (packet[9] << 16) + (packet[10] << 8) + packet[11]);
- data[3] = ((packet[12] << 24) + (packet[13] << 16) + (packet[14] << 8) + packet[15]);
- return 0;
-}
-uint8_t MPU6050::dmpGetQuaternion(int16_t *data, const uint8_t* packet) {
- // TODO: accommodate different arrangements of sent data (ONLY default supported now)
- if (packet == 0) packet = dmpPacketBuffer;
- data[0] = ((packet[0] << 8) + packet[1]);
- data[1] = ((packet[4] << 8) + packet[5]);
- data[2] = ((packet[8] << 8) + packet[9]);
- data[3] = ((packet[12] << 8) + packet[13]);
- return 0;
-}
-uint8_t MPU6050::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) {
- // TODO: accommodate different arrangements of sent data (ONLY default supported now)
- int16_t qI[4];
- uint8_t status = dmpGetQuaternion(qI, packet);
- if (status == 0) {
- q -> w = (float)qI[0] / 16384.0f;
- q -> x = (float)qI[1] / 16384.0f;
- q -> y = (float)qI[2] / 16384.0f;
- q -> z = (float)qI[3] / 16384.0f;
- return 0;
- }
- return status; // int16 return value, indicates error if this line is reached
-}
-// uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet);
-uint8_t MPU6050::dmpGetGyro(int32_t *data, const uint8_t* packet) {
- // TODO: accommodate different arrangements of sent data (ONLY default supported now)
- if (packet == 0) packet = dmpPacketBuffer;
- data[0] = ((packet[16] << 24) + (packet[17] << 16) + (packet[18] << 8) + packet[19]);
- data[1] = ((packet[20] << 24) + (packet[21] << 16) + (packet[22] << 8) + packet[23]);
- data[2] = ((packet[24] << 24) + (packet[25] << 16) + (packet[26] << 8) + packet[27]);
- return 0;
-}
-uint8_t MPU6050::dmpGetGyro(int16_t *data, const uint8_t* packet) {
- // TODO: accommodate different arrangements of sent data (ONLY default supported now)
- if (packet == 0) packet = dmpPacketBuffer;
- data[0] = (packet[16] << 8) + packet[17];
- data[1] = (packet[20] << 8) + packet[21];
- data[2] = (packet[24] << 8) + packet[25];
- return 0;
-}
-// uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
-// uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet);
-uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) {
- // get rid of the gravity component (+1g = +4096 in standard DMP FIFO packet)
- v -> x = vRaw -> x - gravity -> x*4096;
- v -> y = vRaw -> y - gravity -> y*4096;
- v -> z = vRaw -> z - gravity -> z*4096;
- return 0;
-}
-// uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet);
-uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q) {
- // rotate measured 3D acceleration vector into original state
- // frame of reference based on orientation quaternion
- memcpy(v, vReal, sizeof(VectorInt16));
- v -> rotate(q);
- return 0;
-}
-// uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
-uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
- v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
- v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
- v -> z = q -> w*q -> w - q -> x*q -> x - q -> y*q -> y + q -> z*q -> z;
- return 0;
-}
-// uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet);
-
-uint8_t MPU6050::dmpGetEuler(float *data, Quaternion *q) {
- data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1); // psi
- data[1] = -asin(2*q -> x*q -> z + 2*q -> w*q -> y); // theta
- data[2] = atan2(2*q -> y*q -> z - 2*q -> w*q -> x, 2*q -> w*q -> w + 2*q -> z*q -> z - 1); // phi
- return 0;
-}
-uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
- // yaw: (about Z axis)
- data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
- // pitch: (nose up/down, about Y axis)
- data[1] = atan(gravity -> x / sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
- // roll: (tilt left/right, about X axis)
- data[2] = atan(gravity -> y / sqrt(gravity -> x*gravity -> x + gravity -> z*gravity -> z));
- return 0;
-}
-
-// uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet);
-
-uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char *dmpData) {
- /*for (uint8_t k = 0; k < dmpPacketSize; k++) {
- if (dmpData[k] < 0x10) Serial.print("0");
- Serial.print(dmpData[k], HEX);
- Serial.print(" ");
- }
- Serial.print("\n");*/
- //Serial.println((uint16_t)dmpPacketBuffer);
- return 0;
-}
-uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed) {
- uint8_t status;
- uint8_t buf[dmpPacketSize];
- for (uint8_t i = 0; i < numPackets; i++) {
- // read packet from FIFO
- getFIFOBytes(buf, dmpPacketSize);
-
- // process packet
- if ((status = dmpProcessFIFOPacket(buf)) > 0) return status;
-
- // increment external process count variable, if supplied
- if (processed != 0) *processed++;
- }
- return 0;
-}
-
-// uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));
-
-// uint8_t MPU6050::dmpInitFIFOParam();
-// uint8_t MPU6050::dmpCloseFIFO();
-// uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
-// uint8_t MPU6050::dmpDecodeQuantizedAccel();
-// uint32_t MPU6050::dmpGetGyroSumOfSquare();
-// uint32_t MPU6050::dmpGetAccelSumOfSquare();
-// void MPU6050::dmpOverrideQuaternion(long *q);
-uint16_t MPU6050::dmpGetFIFOPacketSize() {
- return dmpPacketSize;
-}
-
-#endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */
\ No newline at end of file