NagaokaRoboticsClub_mbedTeam
MPU6050 DMP Library
Diff: MPU6050_6Axis_MotionApps20.h
- Revision:
- 3:25e1a5a10e53
- Child:
- 4:a1c169138c71
diff -r f8bfb37b2e1f -r 25e1a5a10e53 MPU6050_6Axis_MotionApps20.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050_6Axis_MotionApps20.h Tue Nov 19 19:05:55 2013 +0000
@@ -0,0 +1,743 @@
+// 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)
+// 5/20/2013 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.
+===============================================
+*/
+
+#ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
+#define _MPU6050_6AXIS_MOTIONAPPS20_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"
+
+// Tom Carpenter's conditional PROGMEM code
+// http://forum.arduino.cc/index.php?topic=129407.0
+#ifndef __arm__
+ #include <avr/pgmspace.h>
+#else
+ // Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
+ #ifndef __PGMSPACE_H_
+ #define __PGMSPACE_H_ 1
+ #include <inttypes.h>
+
+ #define PROGMEM
+ #define PGM_P const char *
+ #define PSTR(str) (str)
+ #define F(x) x
+
+ 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;
+
+ #define strcpy_P(dest, src) strcpy((dest), (src))
+ #define strcat_P(dest, src) strcat((dest), (src))
+ #define strcmp_P(a, b) strcmp((a), (b))
+
+ #define pgm_read_byte(addr) (*(const unsigned char *)(addr))
+ #define pgm_read_word(addr) (*(const unsigned short *)(addr))
+ #define pgm_read_dword(addr) (*(const unsigned long *)(addr))
+ #define pgm_read_float(addr) (*(const float *)(addr))
+
+ #define pgm_read_byte_near(addr) pgm_read_byte(addr)
+ #define pgm_read_word_near(addr) pgm_read_word(addr)
+ #define pgm_read_dword_near(addr) pgm_read_dword(addr)
+ #define pgm_read_float_near(addr) pgm_read_float(addr)
+ #define pgm_read_byte_far(addr) pgm_read_byte(addr)
+ #define pgm_read_word_far(addr) pgm_read_word(addr)
+ #define pgm_read_dword_far(addr) pgm_read_dword(addr)
+ #define pgm_read_float_far(addr) pgm_read_float(addr)
+ #endif
+#endif
+
+/* 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) 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)
+#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[]
+
+/* ================================================================================================ *
+ | 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 unsigned char 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 unsigned char 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 unsigned char 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..."));
+ reset();
+ //delay(30); // wait after reset
+ wait_ms(30);
+
+ // 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..."));
+ 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!"));
+
+ // 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);
+
+ // setup weird slave stuff (?)
+ DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
+ setSlaveAddress(0, 0x7F);
+ DEBUG_PRINTLN(F("Disabling I2C Master mode..."));
+ setI2CMasterModeEnabled(false);
+ DEBUG_PRINTLN(F("Setting slave 0 address to 0x68 (self)..."));
+ setSlaveAddress(0, 0x68);
+ DEBUG_PRINTLN(F("Resetting I2C Master control..."));
+ resetI2CMaster();
+ //delay(20);
+ wait_ms(20);
+
+ // load DMP code into memory banks
+ DEBUG_PRINT(F("Writing DMP code to MPU memory banks ("));
+ DEBUG_PRINT(MPU6050_DMP_CODE_SIZE);
+ DEBUG_PRINTLN(F(" bytes)"));
+ if (writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) {
+ DEBUG_PRINTLN(F("Success! DMP code written and verified."));
+
+ // 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."));
+
+ DEBUG_PRINTLN(F("Setting clock source to Z Gyro..."));
+ setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
+
+ DEBUG_PRINTLN(F("Setting DMP and FIFO_OFLOW interrupts enabled..."));
+ setIntEnabled(0x12);
+
+ DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
+ setRate(4); // 1khz / (1 + 4) = 200 Hz
+
+ DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
+ setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
+
+ DEBUG_PRINTLN(F("Setting DLPF bandwidth to 42Hz..."));
+ setDLPFMode(MPU6050_DLPF_BW_42);
+
+ DEBUG_PRINTLN(F("Setting gyro sensitivity to +/- 2000 deg/sec..."));
+ setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
+
+ DEBUG_PRINTLN(F("Setting DMP configuration bytes (function unknown)..."));
+ setDMPConfig1(0x03);
+ setDMPConfig2(0x00);
+
+ DEBUG_PRINTLN(F("Clearing OTP Bank flag..."));
+ setOTPBankValid(false);
+
+ DEBUG_PRINTLN(F("Setting X/Y/Z gyro offset TCs to previous values..."));
+ //setXGyroOffsetTC(xgOffsetTC);
+ //setYGyroOffsetTC(ygOffsetTC);
+ //setZGyroOffsetTC(zgOffsetTC);
+
+ //DEBUG_PRINTLN(F("Setting X/Y/Z gyro user offsets to zero..."));
+ //setXGyroOffset(0);
+ //setYGyroOffset(0);
+ //setZGyroOffset(0);
+
+ DEBUG_PRINTLN(F("Writing final memory update 1/7 (function unknown)..."));
+ uint8_t dmpUpdate[16], j;
+ uint16_t pos = 0;
+ for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = 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)..."));
+ for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
+ writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+ DEBUG_PRINTLN(F("Resetting FIFO..."));
+ resetFIFO();
+
+ DEBUG_PRINTLN(F("Reading FIFO count..."));
+ uint16_t fifoCount = getFIFOCount();
+ uint8_t fifoBuffer[128];
+
+ DEBUG_PRINT(F("Current FIFO count="));
+ DEBUG_PRINTLN(fifoCount);
+ getFIFOBytes(fifoBuffer, fifoCount);
+
+ DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
+ setMotionDetectionThreshold(2);
+
+ DEBUG_PRINTLN(F("Setting zero-motion detection threshold to 156..."));
+ setZeroMotionDetectionThreshold(156);
+
+ DEBUG_PRINTLN(F("Setting motion detection duration to 80..."));
+ setMotionDetectionDuration(80);
+
+ DEBUG_PRINTLN(F("Setting zero-motion detection duration to 0..."));
+ setZeroMotionDetectionDuration(0);
+
+ DEBUG_PRINTLN(F("Resetting FIFO..."));
+ resetFIFO();
+
+ DEBUG_PRINTLN(F("Enabling FIFO..."));
+ setFIFOEnabled(true);
+
+ DEBUG_PRINTLN(F("Enabling DMP..."));
+ setDMPEnabled(true);
+
+ DEBUG_PRINTLN(F("Resetting DMP..."));
+ resetDMP();
+
+ DEBUG_PRINTLN(F("Writing final memory update 3/7 (function unknown)..."));
+ for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = 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)..."));
+ for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = 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)..."));
+ for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
+ writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+ DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
+ while ((fifoCount = getFIFOCount()) < 3);
+
+ DEBUG_PRINT(F("Current FIFO count="));
+ DEBUG_PRINTLN(fifoCount);
+ DEBUG_PRINTLN(F("Reading FIFO data..."));
+ getFIFOBytes(fifoBuffer, fifoCount);
+
+ DEBUG_PRINTLN(F("Reading interrupt status..."));
+ uint8_t mpuIntStatus = getIntStatus();
+
+ DEBUG_PRINT(F("Current interrupt status="));
+ DEBUG_PRINTLNF(mpuIntStatus, HEX);
+
+ DEBUG_PRINTLN(F("Reading final memory update 6/7 (function unknown)..."));
+ for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
+ readMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+ DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
+ while ((fifoCount = getFIFOCount()) < 3);
+
+ DEBUG_PRINT(F("Current FIFO count="));
+ DEBUG_PRINTLN(fifoCount);
+
+ DEBUG_PRINTLN(F("Reading FIFO data..."));
+ getFIFOBytes(fifoBuffer, fifoCount);
+
+ DEBUG_PRINTLN(F("Reading interrupt status..."));
+ mpuIntStatus = getIntStatus();
+
+ DEBUG_PRINT(F("Current interrupt status="));
+ DEBUG_PRINTLNF(mpuIntStatus, HEX);
+
+ DEBUG_PRINTLN(F("Writing final memory update 7/7 (function unknown)..."));
+ for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
+ writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+ DEBUG_PRINTLN(F("DMP is good to go! Finally."));
+
+ DEBUG_PRINTLN(F("Disabling DMP (you turn it on later)..."));
+ setDMPEnabled(false);
+
+ DEBUG_PRINTLN(F("Setting up internal 42-byte (default) DMP packet buffer..."));
+ 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..."));
+ 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 = +8192 in standard DMP FIFO packet, sensitivity is 2g)
+ v -> x = vRaw -> x - gravity -> x*8192;
+ v -> y = vRaw -> y - gravity -> y*8192;
+ v -> z = vRaw -> z - gravity -> z*8192;
+ 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_ */
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