Akash Vibhute / MPU9150_DMP_Nucleo

Modified I2C write / read methods for ST nucleo platforms. Library and code now works with Nucleo F411. Should also work with Nucleo F401.

Dependents:   MPU9150_nucleo_noni2cdev MPU9150_nucleo_noni2cdev_F401 JPEGCamera_SIM808_MPU9150_STM32F401RE

Fork of MPU9150_DMP by Chris Pepper

dmpdata.h@0:74f0ae286b03, 2014-08-31 (annotated)

Committer:
p3p
Date:
Sun Aug 31 12:52:29 2014 +0000
Revision:
0:74f0ae286b03
MPU9150 api using its DMP for quaternions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
p3p 0:74f0ae286b03 1 //ripped from sparkfun github
p3p 0:74f0ae286b03 2
p3p 0:74f0ae286b03 3 /* ============================================
p3p 0:74f0ae286b03 4 I2Cdev device library code is placed under the MIT license
p3p 0:74f0ae286b03 5 Copyright (c) 2012 Jeff Rowberg
p3p 0:74f0ae286b03 6
p3p 0:74f0ae286b03 7 Permission is hereby granted, free of charge, to any person obtaining a copy
p3p 0:74f0ae286b03 8 of this software and associated documentation files (the "Software"), to deal
p3p 0:74f0ae286b03 9 in the Software without restriction, including without limitation the rights
p3p 0:74f0ae286b03 10 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
p3p 0:74f0ae286b03 11 copies of the Software, and to permit persons to whom the Software is
p3p 0:74f0ae286b03 12 furnished to do so, subject to the following conditions:
p3p 0:74f0ae286b03 13
p3p 0:74f0ae286b03 14 The above copyright notice and this permission notice shall be included in
p3p 0:74f0ae286b03 15 all copies or substantial portions of the Software.
p3p 0:74f0ae286b03 16
p3p 0:74f0ae286b03 17 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
p3p 0:74f0ae286b03 18 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
p3p 0:74f0ae286b03 19 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
p3p 0:74f0ae286b03 20 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
p3p 0:74f0ae286b03 21 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
p3p 0:74f0ae286b03 22 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
p3p 0:74f0ae286b03 23 THE SOFTWARE.
p3p 0:74f0ae286b03 24 ===============================================
p3p 0:74f0ae286b03 25 */
p3p 0:74f0ae286b03 26 #define MPU6050_DMP_CODE_SIZE 1962 // dmpMemory[]
p3p 0:74f0ae286b03 27 #define MPU6050_DMP_CONFIG_SIZE 232 // dmpConfig[]
p3p 0:74f0ae286b03 28 #define MPU6050_DMP_UPDATES_SIZE 140 // dmpUpdates[]
p3p 0:74f0ae286b03 29
p3p 0:74f0ae286b03 30 /* ================================================================================================ *
p3p 0:74f0ae286b03 31 | Default MotionApps v4.1 48-byte FIFO packet structure: |
p3p 0:74f0ae286b03 32 | |
p3p 0:74f0ae286b03 33 | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
p3p 0:74f0ae286b03 34 | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 |
p3p 0:74f0ae286b03 35 | |
p3p 0:74f0ae286b03 36 | [GYRO Z][ ][MAG X ][MAG Y ][MAG Z ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
p3p 0:74f0ae286b03 37 | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 |
p3p 0:74f0ae286b03 38 * ================================================================================================ */
p3p 0:74f0ae286b03 39
p3p 0:74f0ae286b03 40 // this block of memory gets written to the MPU on start-up, and it seems
p3p 0:74f0ae286b03 41 // to be volatile memory, so it has to be done each time (it only takes ~1
p3p 0:74f0ae286b03 42 // second though)
p3p 0:74f0ae286b03 43 const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] = {
p3p 0:74f0ae286b03 44 // bank 0, 256 bytes
p3p 0:74f0ae286b03 45 0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
p3p 0:74f0ae286b03 46 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
p3p 0:74f0ae286b03 47 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 48 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 49 0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
p3p 0:74f0ae286b03 50 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 51 0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
p3p 0:74f0ae286b03 52 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 53 0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
p3p 0:74f0ae286b03 54 0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
p3p 0:74f0ae286b03 55 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
p3p 0:74f0ae286b03 56 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
p3p 0:74f0ae286b03 57 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 58 0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
p3p 0:74f0ae286b03 59 0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
p3p 0:74f0ae286b03 60 0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
p3p 0:74f0ae286b03 61
p3p 0:74f0ae286b03 62 // bank 1, 256 bytes
p3p 0:74f0ae286b03 63 0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 64 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 65 0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
p3p 0:74f0ae286b03 66 0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
p3p 0:74f0ae286b03 67 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
p3p 0:74f0ae286b03 68 0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 69 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
p3p 0:74f0ae286b03 70 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 71 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 72 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 73 0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
p3p 0:74f0ae286b03 74 0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 75 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
p3p 0:74f0ae286b03 76 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 77 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 78 0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
p3p 0:74f0ae286b03 79
p3p 0:74f0ae286b03 80 // bank 2, 256 bytes
p3p 0:74f0ae286b03 81 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 82 0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
p3p 0:74f0ae286b03 83 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
p3p 0:74f0ae286b03 84 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 85 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 86 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 87 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 88 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 89 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 90 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 91 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 92 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 93 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 94 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 95 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x47, 0x78, 0xA2,
p3p 0:74f0ae286b03 96 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 97
p3p 0:74f0ae286b03 98 // bank 3, 256 bytes
p3p 0:74f0ae286b03 99 0xD8, 0xDC, 0xF4, 0xD8, 0xB9, 0xAB, 0xF3, 0xF8, 0xFA, 0xF1, 0xBA, 0xA2, 0xDE, 0xB2, 0xB8, 0xB4,
p3p 0:74f0ae286b03 100 0xA8, 0x81, 0x98, 0xF7, 0x4A, 0x90, 0x7F, 0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA,
p3p 0:74f0ae286b03 101 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2, 0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80,
p3p 0:74f0ae286b03 102 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF, 0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0,
p3p 0:74f0ae286b03 103 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C, 0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1,
p3p 0:74f0ae286b03 104 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1, 0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3,
p3p 0:74f0ae286b03 105 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01, 0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88,
p3p 0:74f0ae286b03 106 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80, 0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF,
p3p 0:74f0ae286b03 107 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89,
p3p 0:74f0ae286b03 108 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80, 0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9,
p3p 0:74f0ae286b03 109 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E, 0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A,
p3p 0:74f0ae286b03 110 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9, 0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11,
p3p 0:74f0ae286b03 111 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55,
p3p 0:74f0ae286b03 112 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xF0, 0x00, 0x28, 0x50, 0xF5, 0xBA, 0xAD, 0x8F, 0x9F, 0x28, 0x54,
p3p 0:74f0ae286b03 113 0x7C, 0xB9, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xDB, 0xB2, 0xB6, 0x8E, 0x9D,
p3p 0:74f0ae286b03 114 0xAE, 0xF5, 0x60, 0x68, 0x70, 0xB1, 0xB5, 0xF1, 0xDA, 0xA6, 0xDF, 0xD9, 0xA6, 0xFA, 0xA3, 0x86,
p3p 0:74f0ae286b03 115
p3p 0:74f0ae286b03 116 // bank 4, 256 bytes
p3p 0:74f0ae286b03 117 0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
p3p 0:74f0ae286b03 118 0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
p3p 0:74f0ae286b03 119 0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
p3p 0:74f0ae286b03 120 0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
p3p 0:74f0ae286b03 121 0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
p3p 0:74f0ae286b03 122 0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
p3p 0:74f0ae286b03 123 0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
p3p 0:74f0ae286b03 124 0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
p3p 0:74f0ae286b03 125 0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
p3p 0:74f0ae286b03 126 0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
p3p 0:74f0ae286b03 127 0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
p3p 0:74f0ae286b03 128 0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
p3p 0:74f0ae286b03 129 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
p3p 0:74f0ae286b03 130 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
p3p 0:74f0ae286b03 131 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
p3p 0:74f0ae286b03 132 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
p3p 0:74f0ae286b03 133
p3p 0:74f0ae286b03 134 // bank 5, 256 bytes
p3p 0:74f0ae286b03 135 0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
p3p 0:74f0ae286b03 136 0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
p3p 0:74f0ae286b03 137 0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
p3p 0:74f0ae286b03 138 0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
p3p 0:74f0ae286b03 139 0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
p3p 0:74f0ae286b03 140 0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
p3p 0:74f0ae286b03 141 0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
p3p 0:74f0ae286b03 142 0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
p3p 0:74f0ae286b03 143 0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
p3p 0:74f0ae286b03 144 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
p3p 0:74f0ae286b03 145 0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0x97, 0x86,
p3p 0:74f0ae286b03 146 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97, 0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40,
p3p 0:74f0ae286b03 147 0xB9, 0xA3, 0x8A, 0xC3, 0xC5, 0xC7, 0x9A, 0xA3, 0x28, 0x50, 0x78, 0xF1, 0xB5, 0x93, 0x01, 0xD9,
p3p 0:74f0ae286b03 148 0xDF, 0xDF, 0xDF, 0xD8, 0xB8, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04, 0x28, 0x51, 0x79, 0x1D, 0x30,
p3p 0:74f0ae286b03 149 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78, 0x78, 0x9B, 0xF1, 0x1A, 0xB0,
p3p 0:74f0ae286b03 150 0xF0, 0xB1, 0x83, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0xB0, 0x8B, 0x29, 0x51, 0x79, 0xB1, 0x83, 0x24,
p3p 0:74f0ae286b03 151
p3p 0:74f0ae286b03 152 // bank 6, 256 bytes
p3p 0:74f0ae286b03 153 0x70, 0x59, 0xB0, 0x8B, 0x20, 0x58, 0x71, 0xB1, 0x83, 0x44, 0x69, 0x38, 0xB0, 0x8B, 0x39, 0x40,
p3p 0:74f0ae286b03 154 0x68, 0xB1, 0x83, 0x64, 0x48, 0x31, 0xB0, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71,
p3p 0:74f0ae286b03 155 0x58, 0x44, 0x68, 0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0,
p3p 0:74f0ae286b03 156 0x8C, 0xA8, 0x04, 0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02,
p3p 0:74f0ae286b03 157 0x26, 0x46, 0x66, 0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38,
p3p 0:74f0ae286b03 158 0x64, 0x48, 0x31, 0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19,
p3p 0:74f0ae286b03 159 0x31, 0x48, 0x60, 0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86,
p3p 0:74f0ae286b03 160 0xA8, 0x6E, 0x76, 0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A,
p3p 0:74f0ae286b03 161 0x6E, 0x8A, 0x56, 0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E,
p3p 0:74f0ae286b03 162 0x9D, 0xB8, 0xAD, 0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55,
p3p 0:74f0ae286b03 163 0x7D, 0x81, 0x91, 0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D,
p3p 0:74f0ae286b03 164 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51,
p3p 0:74f0ae286b03 165 0xD9, 0x04, 0xAE, 0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19,
p3p 0:74f0ae286b03 166 0x81, 0xAD, 0xD9, 0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9,
p3p 0:74f0ae286b03 167 0xAD, 0xAD, 0xAD, 0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76,
p3p 0:74f0ae286b03 168 0xF3, 0xAC, 0x2E, 0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC,
p3p 0:74f0ae286b03 169
p3p 0:74f0ae286b03 170 // bank 7, 170 bytes (remainder)
p3p 0:74f0ae286b03 171 0x30, 0x18, 0xA8, 0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24,
p3p 0:74f0ae286b03 172 0xF2, 0xB0, 0x89, 0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9,
p3p 0:74f0ae286b03 173 0xD8, 0xD8, 0x79, 0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D,
p3p 0:74f0ae286b03 174 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D,
p3p 0:74f0ae286b03 175 0x80, 0x25, 0xDA, 0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34,
p3p 0:74f0ae286b03 176 0x3C, 0xF3, 0xAB, 0x8B, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xB0, 0x87, 0x9C, 0xB9,
p3p 0:74f0ae286b03 177 0xA3, 0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3,
p3p 0:74f0ae286b03 178 0xA3, 0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
p3p 0:74f0ae286b03 179 0xA3, 0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3,
p3p 0:74f0ae286b03 180 0xA3, 0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3,
p3p 0:74f0ae286b03 181 0xDC, 0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
p3p 0:74f0ae286b03 182 };
p3p 0:74f0ae286b03 183
p3p 0:74f0ae286b03 184 const unsigned char dmpConfig[MPU6050_DMP_CONFIG_SIZE] = {
p3p 0:74f0ae286b03 185 // BANK OFFSET LENGTH [DATA]
p3p 0:74f0ae286b03 186 0x02, 0xEC, 0x04, 0x00, 0x47, 0x7D, 0x1A, // ?
p3p 0:74f0ae286b03 187 0x03, 0x82, 0x03, 0x4C, 0xCD, 0x6C, // FCFG_1 inv_set_gyro_calibration
p3p 0:74f0ae286b03 188 0x03, 0xB2, 0x03, 0x36, 0x56, 0x76, // FCFG_3 inv_set_gyro_calibration
p3p 0:74f0ae286b03 189 0x00, 0x68, 0x04, 0x02, 0xCA, 0xE3, 0x09, // D_0_104 inv_set_gyro_calibration
p3p 0:74f0ae286b03 190 0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // D_1_152 inv_set_accel_calibration
p3p 0:74f0ae286b03 191 0x03, 0x86, 0x03, 0x0C, 0xC9, 0x2C, // FCFG_2 inv_set_accel_calibration
p3p 0:74f0ae286b03 192 0x03, 0x90, 0x03, 0x26, 0x46, 0x66, // (continued)...FCFG_2 inv_set_accel_calibration
p3p 0:74f0ae286b03 193 0x00, 0x6C, 0x02, 0x40, 0x00, // D_0_108 inv_set_accel_calibration
p3p 0:74f0ae286b03 194
p3p 0:74f0ae286b03 195 0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_00 inv_set_compass_calibration
p3p 0:74f0ae286b03 196 0x02, 0x44, 0x04, 0x40, 0x00, 0x00, 0x00, // CPASS_MTX_01
p3p 0:74f0ae286b03 197 0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02
p3p 0:74f0ae286b03 198 0x02, 0x4C, 0x04, 0x40, 0x00, 0x00, 0x00, // CPASS_MTX_10
p3p 0:74f0ae286b03 199 0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_11
p3p 0:74f0ae286b03 200 0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_12
p3p 0:74f0ae286b03 201 0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_20
p3p 0:74f0ae286b03 202 0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_21
p3p 0:74f0ae286b03 203 0x02, 0xBC, 0x04, 0xC0, 0x00, 0x00, 0x00, // CPASS_MTX_22
p3p 0:74f0ae286b03 204
p3p 0:74f0ae286b03 205 0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00, // D_1_236 inv_apply_endian_accel
p3p 0:74f0ae286b03 206 0x03, 0x86, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors
p3p 0:74f0ae286b03 207 0x04, 0x22, 0x03, 0x0D, 0x35, 0x5D, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
p3p 0:74f0ae286b03 208 0x00, 0xA3, 0x01, 0x00, // ?
p3p 0:74f0ae286b03 209 0x04, 0x29, 0x04, 0x87, 0x2D, 0x35, 0x3D, // FCFG_5 inv_set_bias_update
p3p 0:74f0ae286b03 210 0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion
p3p 0:74f0ae286b03 211 0x07, 0x9F, 0x01, 0x30, // CFG_16 inv_set_footer
p3p 0:74f0ae286b03 212 0x07, 0x67, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro
p3p 0:74f0ae286b03 213 0x07, 0x68, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo
p3p 0:74f0ae286b03 214 0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // ?
p3p 0:74f0ae286b03 215 0x02, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // ?
p3p 0:74f0ae286b03 216 0x07, 0x83, 0x06, 0xC2, 0xCA, 0xC4, 0xA3, 0xA3, 0xA3, // ?
p3p 0:74f0ae286b03 217 // SPECIAL 0x01 = enable interrupts
p3p 0:74f0ae286b03 218 0x00, 0x00, 0x00, 0x01, // SET INT_ENABLE, SPECIAL INSTRUCTION
p3p 0:74f0ae286b03 219 0x07, 0xA7, 0x01, 0xFE, // ?
p3p 0:74f0ae286b03 220 0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // ?
p3p 0:74f0ae286b03 221 0x07, 0x67, 0x01, 0x9A, // ?
p3p 0:74f0ae286b03 222 0x07, 0x68, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo
p3p 0:74f0ae286b03 223 0x07, 0x8D, 0x04, 0xF1, 0x28, 0x30, 0x38, // ??? CFG_12 inv_send_mag -> inv_construct3_fifo
p3p 0:74f0ae286b03 224 0x02, 0x16, 0x02, 0x00, 0x09 // D_0_22 inv_set_fifo_rate
p3p 0:74f0ae286b03 225
p3p 0:74f0ae286b03 226 // This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
p3p 0:74f0ae286b03 227 // 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
p3p 0:74f0ae286b03 228 // DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
p3p 0:74f0ae286b03 229
p3p 0:74f0ae286b03 230 // It is important to make sure the host processor can keep up with reading and processing
p3p 0:74f0ae286b03 231 // the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.
p3p 0:74f0ae286b03 232 };
p3p 0:74f0ae286b03 233
p3p 0:74f0ae286b03 234 const unsigned char dmpUpdates[MPU6050_DMP_UPDATES_SIZE] = {
p3p 0:74f0ae286b03 235 0x01, 0xB2, 0x02, 0xFF, 0xF5,
p3p 0:74f0ae286b03 236 0x01, 0x90, 0x04, 0x0A, 0x0D, 0x97, 0xC0,
p3p 0:74f0ae286b03 237 0x00, 0xA3, 0x01, 0x00,
p3p 0:74f0ae286b03 238 0x04, 0x29, 0x04, 0x87, 0x2D, 0x35, 0x3D,
p3p 0:74f0ae286b03 239 0x01, 0x6A, 0x02, 0x06, 0x00,
p3p 0:74f0ae286b03 240 0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 241 0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 242 0x02, 0x60, 0x0C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 243 0x01, 0x08, 0x02, 0x01, 0x20,
p3p 0:74f0ae286b03 244 0x01, 0x0A, 0x02, 0x00, 0x4E,
p3p 0:74f0ae286b03 245 0x01, 0x02, 0x02, 0xFE, 0xB3,
p3p 0:74f0ae286b03 246 0x02, 0x6C, 0x04, 0x00, 0x00, 0x00, 0x00, // READ
p3p 0:74f0ae286b03 247 0x02, 0x6C, 0x04, 0xFA, 0xFE, 0x00, 0x00,
p3p 0:74f0ae286b03 248 0x02, 0x60, 0x0C, 0xFF, 0xFF, 0xCB, 0x4D, 0x00, 0x01, 0x08, 0xC1, 0xFF, 0xFF, 0xBC, 0x2C,
p3p 0:74f0ae286b03 249 0x02, 0xF4, 0x04, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 250 0x02, 0xF8, 0x04, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 251 0x02, 0xFC, 0x04, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 252 0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 253 0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00
p3p 0:74f0ae286b03 254 };