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Quadcopter Attitude Control(Yaw-Pitch-Roll)
Revision 0:e63996fd7d3e, committed 2015-07-03
- Comitter:
- khaledelmadawi
- Date:
- Fri Jul 03 11:16:02 2015 +0000
- Commit message:
- Quadcopter Attitude Control(Yaw-Pitch-Roll)
Changed in this revision
diff -r 000000000000 -r e63996fd7d3e AngularDataAcquizition.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AngularDataAcquizition.h Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,181 @@ +#ifndef MBED_AngularDataAcquizition_H +#define MBED_AngularDataAcquizition_H + +#include "I2Cdev.h" +#include "mbed.h" +#include "MPU6050_6Axis_MotionApps20.h" // works +#include <math.h> + +#ifndef M_PI +#define M_PI 3.1415 +#endif +#define D_BAUDRATE 115200 + +class AngularDataAcquizition{ + public: + AngularDataAcquizition(PinName D_SDA, PinName D_SCL); + void BeginInterrupt(float InterruptDuration); + void StopInterrupt(); + void UpdateTheta(); + void MeanValue(float *FilteredVal, int num); + void FilterVariablesAquizition(float *variable,int number); + void callMeanFilteredReadings(); + + float Meanypr[3]; + bool dmpReady; // set true if DMP init was successful + + private: + I2C _i2c; + MPU6050 mpuLocal; + Ticker timer; + uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU + uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) + uint16_t packetSize; // expected DMP packet size (default is 42 bytes) + uint16_t fifoCount; // count of all bytes currently in FIFO + uint8_t fifoBuffer[64]; // FIFO storage buffer + // orientation/motion vars + Quaternion q; // [w, x, y, z] quaternion container + VectorInt16 aa; // [x, y, z] accel sensor measurements + VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements + VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements + VectorFloat gravity; // [x, y, z] gravity vector + float euler[3]; // [psi, theta, phi] Euler angle container + float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector + Serial pc; + // packet structure for InvenSense teapot demo + uint8_t teapotPacket[15]; + + }; + + + + + + + +AngularDataAcquizition::AngularDataAcquizition(PinName D_SDA, PinName D_SCL): _i2c(D_SDA, D_SCL),pc(USBTX, USBRX) { + dmpReady = false; + teapotPacket[0] = '$',teapotPacket[1] = 0x02,teapotPacket[2] = 0,teapotPacket[3] = 0,teapotPacket[4] = 0,teapotPacket[5] = 0,teapotPacket[6] = 0, + teapotPacket[7] = 0,teapotPacket[8] = 0,teapotPacket[9] = 0,teapotPacket[10] = 0x00,teapotPacket[11] = 0x00,teapotPacket[12] = '\r',teapotPacket[13] = '\n',teapotPacket[14] = 0 ; + //Serial pc(USBTX, USBRX); // tx, rx + + pc.baud(D_BAUDRATE); + // initialize device + pc.printf("Initializing I2C devices...\n"); + mpuLocal.initialize(); + // verify connection + pc.printf("Testing device connections...\n"); + + bool mpu6050TestResult = mpuLocal.testConnection(); + if(mpu6050TestResult){ + pc.printf("mpuLocalLocalLocal6050 test passed \n"); + } else{ + pc.printf("mpuLocalLocalLocal6050 test failed \n"); + } + + // wait for ready + pc.printf("\nSend any character to begin DMP programming and demo: "); + + //while(!pc.readable()); + // pc.getc(); + pc.printf("\n"); + + // load and configure the DMP + pc.printf("Initializing DMP...\n"); + devStatus = mpuLocal.dmpInitialize(); + + // supply your own gyro offsets here, scaled for min sensitivity + mpuLocal.setXGyroOffset(-61); + mpuLocal.setYGyroOffset(-127); + mpuLocal.setZGyroOffset(19); + mpuLocal.setZAccelOffset(16282); // 1688 factory default for my test chip + + // make sure it worked (returns 0 if so) + if (devStatus == 0) { + // turn on the DMP, now that it's ready + pc.printf("Enabling DMP...\n"); + mpuLocal.setDMPEnabled(true); + + // enable Arduino interrupt detection + pc.printf("Enabling interrupt detection (Arduino external interrupt 0)...\n"); +// attachInterrupt(0, dmpDataReady, RISING); + mpuIntStatus = mpuLocal.getIntStatus(); + + // set our DMP Ready flag so the main loop() function knows it's okay to use it + pc.printf("DMP ready! Waiting for first interrupt...\n"); + dmpReady = true; + + // get expected DMP packet size for later comparison + packetSize = mpuLocal.dmpGetFIFOPacketSize(); + } else { + // ERROR! + // 1 = initial memory load failed + // 2 = DMP configuration updates failed + // (if it's going to break, usually the code will be 1) + pc.printf("DMP Initialization failed (code "); + pc.printf("%u",devStatus); + pc.printf(")\n"); + } + + +} + +void AngularDataAcquizition::UpdateTheta(){ + // reset interrupt flag and get INT_STATUS byte + mpuIntStatus = mpuLocal.getIntStatus(); + + // get current FIFO count + fifoCount = mpuLocal.getFIFOCount(); + + // check for overflow (this should never happen unless our code is too inefficient) + if ((mpuIntStatus & 0x10) || fifoCount == 1024) { + // reset so we can continue cleanly + mpuLocal.resetFIFO(); + pc.printf("FIFO overflow!"); + + // otherwise, check for DMP data ready interrupt (this should happen frequently) + } else if (mpuIntStatus & 0x02) { + // wait for correct available data length, should be a VERY short wait + while (fifoCount < packetSize) fifoCount = mpuLocal.getFIFOCount(); + + // read a packet from FIFO + mpuLocal.getFIFOBytes(fifoBuffer, packetSize); + + // track FIFO count here in case there is > 1 packet available + // (this lets us immediately read more without waiting for an interrupt) + fifoCount -= packetSize; + // display Euler angles in degrees + mpuLocal.dmpGetQuaternion(&q, fifoBuffer); + mpuLocal.dmpGetGravity(&gravity, &q); + mpuLocal.dmpGetYawPitchRoll(ypr, &q, &gravity); + } +} +void AngularDataAcquizition::MeanValue(float *FilteredVal, int num){ + int i,j; + for(j=0;j<3;j++) + FilteredVal[j]=0; + for (i=0;i<num;i++){ + UpdateTheta(); + for(j=0;j<3;j++) + FilteredVal[j]=FilteredVal[j]+ypr[j]; + } + for(j=0;j<3;j++) + FilteredVal[j]=FilteredVal[j]/num; +} +void AngularDataAcquizition::callMeanFilteredReadings(){ + MeanValue(Meanypr,20); + Meanypr[1]=Meanypr[1]-(1.19284-0.00716-0.7679)*3.14/180; + Meanypr[2]=Meanypr[2]-(-0.96533+0.021043+0.107681)*3.14/180; + +} +void AngularDataAcquizition::BeginInterrupt(float InterruptDuration){ + if(dmpReady) + timer.attach(this,&AngularDataAcquizition::callMeanFilteredReadings, InterruptDuration); + } +void AngularDataAcquizition::StopInterrupt(){ + if(dmpReady) + timer.detach(); + } + +#endif +
diff -r 000000000000 -r e63996fd7d3e Counter.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Counter.cpp Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,66 @@ +#include "Counter.h" + + + +Counter::Counter(PinName channel, + float inc_enc_constant) : _interrupt(channel) // create the InterruptIn on the pin specified to Counter +{ + _interrupt.fall(this, &Counter::increment); // attach increment function of this counter instance + delta_time = 0; + rpm = 0; + t.start(); + _inc_enc_constant=inc_enc_constant; +} + +void Counter::increment() +{ + delta_time = t.read_us(); + t.reset(); + rpm = ( _inc_enc_constant / (delta_time/1000000) ) *60 ; // rev / m + + _count++; + +} + +int Counter::read_count() +{ + return _count; +} +float Counter::read_rpm() +{ + return rpm; +} +void Counter::reset() +{ + rpm=0; + _count=0; +} + +float Counter::medianFilter(int Window_Size) +{ + float *array; + float return_val; + int i,j,return_idx; + array=(float*)malloc(sizeof(float)*Window_Size); + for (i=0; i<Window_Size; i++) { + array[i]=read_rpm(); + if(i>0) { + for (j=0; j<i; j++) { + if(array[j]<array[i]) { + swap(&array[j],&array[i]); + } + } + } + + } + delete array; + return_idx=Window_Size/2; + return_val=array[return_idx]; + return return_val; +} +void Counter::swap(float *x,float *y){ + float z; + z=*x; + *x=*y; + *y=z; +} \ No newline at end of file
diff -r 000000000000 -r e63996fd7d3e Counter.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Counter.h Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,24 @@ +#ifndef Counter_H +#define Counter_H +#include "mbed.h" +class Counter { + +public: +Counter(PinName channel,float inc_enc_constant); +void increment(); +int read_count(); +float read_rpm(); +void reset(); +float medianFilter(int Window_Size); +void swap(float *x,float *y); + +private: + long float delta_time; + float rpm; + InterruptIn _interrupt; + Timer t; + volatile int _count; + float _inc_enc_constant; +}; + +#endif /* Counter_H */
diff -r 000000000000 -r e63996fd7d3e I2Cdev.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/I2Cdev.cpp Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,275 @@ +// ported from arduino library: https://github.com/jrowberg/i2cdevlib +// written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl) +// Changelog: +// 2013-01-08 - first release + +#include "I2Cdev.h" + +#define useDebugSerial + +I2Cdev::I2Cdev(): i2c(I2C_SDA,I2C_SCL), debugSerial(USBTX, USBRX) +{ + +} + +I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): i2c(i2cSda,i2cScl), debugSerial(USBTX, USBRX) +{ + +} + +/** Read a single bit from an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to read from + * @param bitNum Bit position to read (0-7) + * @param data Container for single bit value + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Status of read operation (true = success) + */ +int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) { + uint8_t b; + uint8_t count = readByte(devAddr, regAddr, &b, timeout); + *data = b & (1 << bitNum); + return count; +} + +/** Read a single bit from a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to read from + * @param bitNum Bit position to read (0-15) + * @param data Container for single bit value + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Status of read operation (true = success) + */ +int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) { + uint16_t b; + uint8_t count = readWord(devAddr, regAddr, &b, timeout); + *data = b & (1 << bitNum); + return count; +} + +/** Read multiple bits from an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to read from + * @param bitStart First bit position to read (0-7) + * @param length Number of bits to read (not more than 8) + * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Status of read operation (true = success) + */ +int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) { + // 01101001 read byte + // 76543210 bit numbers + // xxx args: bitStart=4, length=3 + // 010 masked + // -> 010 shifted + uint8_t count, b; + if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) { + uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); + b &= mask; + b >>= (bitStart - length + 1); + *data = b; + } + return count; +} + +/** Read multiple bits from a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to read from + * @param bitStart First bit position to read (0-15) + * @param length Number of bits to read (not more than 16) + * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Status of read operation (1 = success, 0 = failure, -1 = timeout) + */ +int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) { + // 1101011001101001 read byte + // fedcba9876543210 bit numbers + // xxx args: bitStart=12, length=3 + // 010 masked + // -> 010 shifted + uint8_t count; + uint16_t w; + if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) { + uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); + w &= mask; + w >>= (bitStart - length + 1); + *data = w; + } + return count; +} +/** Read single byte from an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to read from + * @param data Container for byte value read from device + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Status of read operation (true = success) + */ +int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) { + return readBytes(devAddr, regAddr, 1, data, timeout); +} + +/** Read single word from a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to read from + * @param data Container for word value read from device + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Status of read operation (true = success) + */ +int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) { + return readWords(devAddr, regAddr, 1, data, timeout); +} + +/** Read multiple bytes from an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr First register regAddr to read from + * @param length Number of bytes to read + * @param data Buffer to store read data in + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Number of bytes read (-1 indicates failure) + */ +int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) +{ + char command[1]; + command[0] = regAddr; + char *redData = (char*)malloc(length); + i2c.write(devAddr<<1, command, 1, true); + i2c.read(devAddr<<1, redData, length); + for(int i =0; i < length; i++) { + data[i] = redData[i]; + } + free (redData); + return length; +} + +int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) +{ + return 0; +} + +/** write a single bit in an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to write to + * @param bitNum Bit position to write (0-7) + * @param value New bit value to write + * @return Status of operation (true = success) + */ +bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) { + uint8_t b; + readByte(devAddr, regAddr, &b); + b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); + return writeByte(devAddr, regAddr, b); +} + +/** write a single bit in a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to write to + * @param bitNum Bit position to write (0-15) + * @param value New bit value to write + * @return Status of operation (true = success) + */ +bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) { + uint16_t w; + readWord(devAddr, regAddr, &w); + w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum)); + return writeWord(devAddr, regAddr, w); +} + +/** Write multiple bits in an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to write to + * @param bitStart First bit position to write (0-7) + * @param length Number of bits to write (not more than 8) + * @param data Right-aligned value to write + * @return Status of operation (true = success) + */ +bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) { + // 010 value to write + // 76543210 bit numbers + // xxx args: bitStart=4, length=3 + // 00011100 mask byte + // 10101111 original value (sample) + // 10100011 original & ~mask + // 10101011 masked | value + uint8_t b; + if (readByte(devAddr, regAddr, &b) != 0) { + uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); + data <<= (bitStart - length + 1); // shift data into correct position + data &= mask; // zero all non-important bits in data + b &= ~(mask); // zero all important bits in existing byte + b |= data; // combine data with existing byte + return writeByte(devAddr, regAddr, b); + } else { + return false; + } +} + +/** Write multiple bits in a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to write to + * @param bitStart First bit position to write (0-15) + * @param length Number of bits to write (not more than 16) + * @param data Right-aligned value to write + * @return Status of operation (true = success) + */ +bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) { + // 010 value to write + // fedcba9876543210 bit numbers + // xxx args: bitStart=12, length=3 + // 0001110000000000 mask byte + // 1010111110010110 original value (sample) + // 1010001110010110 original & ~mask + // 1010101110010110 masked | value + uint16_t w; + if (readWord(devAddr, regAddr, &w) != 0) { + uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); + data <<= (bitStart - length + 1); // shift data into correct position + data &= mask; // zero all non-important bits in data + w &= ~(mask); // zero all important bits in existing word + w |= data; // combine data with existing word + return writeWord(devAddr, regAddr, w); + } else { + return false; + } +} + +/** Write single byte to an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register address to write to + * @param data New byte value to write + * @return Status of operation (true = success) + */ +bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) { + return writeBytes(devAddr, regAddr, 1, &data); +} + +/** Write single word to a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register address to write to + * @param data New word value to write + * @return Status of operation (true = success) + */ +bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { + return writeWords(devAddr, regAddr, 1, &data); +} + +bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data) +{ + i2c.start(); + i2c.write(devAddr<<1); + i2c.write(regAddr); + for(int i = 0; i < length; i++) { + i2c.write(data[i]); + } + i2c.stop(); + return true; +} + +bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data) +{ + return true; +} + +uint16_t I2Cdev::readTimeout(void) +{ + return 0; +} \ No newline at end of file
diff -r 000000000000 -r e63996fd7d3e I2Cdev.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/I2Cdev.h Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,44 @@ +//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 +//written by szymon gaertig (email: szymon@gaertig.com.pl) +// +//Changelog: +//2013-01-08 - first beta release + +#ifndef I2Cdev_h +#define I2Cdev_h + +#include "mbed.h" + +#define I2C_SDA p9 +#define I2C_SCL p10 + +class I2Cdev { + private: + I2C i2c; + Serial debugSerial; + public: + I2Cdev(); + I2Cdev(PinName i2cSda, PinName i2cScl); + + int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); + int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); + + bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data); + bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data); + bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data); + bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data); + bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data); + bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data); + bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data); + bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data); + + static uint16_t readTimeout(void); +}; + +#endif \ No newline at end of file
diff -r 000000000000 -r e63996fd7d3e MPU6050.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.cpp Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,3442 @@ +//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 +//written by szymon gaertig (email: szymon@gaertig.com.pl) +// +//Changelog: +//2013-01-08 - first beta release + +// I2Cdev library collection - MPU6050 I2C device class +// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) +// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net> +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// ... - ongoing debug release + +// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE +// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF +// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING. + +/* ============================================ +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. +=============================================== +*/ + +#include "MPU6050.h" + +#define useDebugSerial + +//instead of using pgmspace.h +typedef const unsigned char prog_uchar; +#define pgm_read_byte_near(x) (*(prog_uchar*)(x))//<- I modified here +#define pgm_read_byte(x) (*(prog_uchar*)(x))//<- I modified here + +/** Default constructor, uses default I2C address. + * @see MPU6050_DEFAULT_ADDRESS + */ +MPU6050::MPU6050() : debugSerial(USBTX, USBRX) +{ + devAddr = MPU6050_DEFAULT_ADDRESS; +} + +/** Specific address constructor. + * @param address I2C address + * @see MPU6050_DEFAULT_ADDRESS + * @see MPU6050_ADDRESS_AD0_LOW + * @see MPU6050_ADDRESS_AD0_HIGH + */ +MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX) +{ + devAddr = address; +} + +/** Power on and prepare for general usage. + * This will activate the device and take it out of sleep mode (which must be done + * after start-up). This function also sets both the accelerometer and the gyroscope + * to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets + * the clock source to use the X Gyro for reference, which is slightly better than + * the default internal clock source. + */ +void MPU6050::initialize() +{ + +#ifdef useDebugSerial + debugSerial.printf("MPU6050::initialize start\n"); +#endif + + setClockSource(MPU6050_CLOCK_PLL_XGYRO); + setFullScaleGyroRange(MPU6050_GYRO_FS_250); + setFullScaleAccelRange(MPU6050_ACCEL_FS_2); + setSleepEnabled(false); // thanks to Jack Elston for pointing this one out! + +#ifdef useDebugSerial + debugSerial.printf("MPU6050::initialize end\n"); +#endif +} + +/** Verify the I2C connection. + * Make sure the device is connected and responds as expected. + * @return True if connection is valid, false otherwise + */ +bool MPU6050::testConnection() +{ +#ifdef useDebugSerial + debugSerial.printf("MPU6050::testConnection start\n"); +#endif + uint8_t deviceId = getDeviceID(); +#ifdef useDebugSerial + debugSerial.printf("DeviceId = %d\n",deviceId); +#endif + return deviceId == 0x34; +} + +// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC) + +/** Get the auxiliary I2C supply voltage level. + * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to + * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to + * the MPU-6000, which does not have a VLOGIC pin. + * @return I2C supply voltage level (0=VLOGIC, 1=VDD) + */ +uint8_t MPU6050::getAuxVDDIOLevel() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer); + return buffer[0]; +} +/** Set the auxiliary I2C supply voltage level. + * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to + * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to + * the MPU-6000, which does not have a VLOGIC pin. + * @param level I2C supply voltage level (0=VLOGIC, 1=VDD) + */ +void MPU6050::setAuxVDDIOLevel(uint8_t level) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level); +} + +// SMPLRT_DIV register + +/** Get gyroscope output rate divider. + * The sensor register output, FIFO output, DMP sampling, Motion detection, Zero + * Motion detection, and Free Fall detection are all based on the Sample Rate. + * The Sample Rate is generated by dividing the gyroscope output rate by + * SMPLRT_DIV: + * + * Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) + * + * where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or + * 7), and 1kHz when the DLPF is enabled (see Register 26). + * + * Note: The accelerometer output rate is 1kHz. This means that for a Sample + * Rate greater than 1kHz, the same accelerometer sample may be output to the + * FIFO, DMP, and sensor registers more than once. + * + * For a diagram of the gyroscope and accelerometer signal paths, see Section 8 + * of the MPU-6000/MPU-6050 Product Specification document. + * + * @return Current sample rate + * @see MPU6050_RA_SMPLRT_DIV + */ +uint8_t MPU6050::getRate() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer); + return buffer[0]; +} +/** Set gyroscope sample rate divider. + * @param rate New sample rate divider + * @see getRate() + * @see MPU6050_RA_SMPLRT_DIV + */ +void MPU6050::setRate(uint8_t rate) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate); +} + +// CONFIG register + +/** Get external FSYNC configuration. + * Configures the external Frame Synchronization (FSYNC) pin sampling. An + * external signal connected to the FSYNC pin can be sampled by configuring + * EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short + * strobes may be captured. The latched FSYNC signal will be sampled at the + * Sampling Rate, as defined in register 25. After sampling, the latch will + * reset to the current FSYNC signal state. + * + * The sampled value will be reported in place of the least significant bit in + * a sensor data register determined by the value of EXT_SYNC_SET according to + * the following table. + * + * <pre> + * EXT_SYNC_SET | FSYNC Bit Location + * -------------+------------------- + * 0 | Input disabled + * 1 | TEMP_OUT_L[0] + * 2 | GYRO_XOUT_L[0] + * 3 | GYRO_YOUT_L[0] + * 4 | GYRO_ZOUT_L[0] + * 5 | ACCEL_XOUT_L[0] + * 6 | ACCEL_YOUT_L[0] + * 7 | ACCEL_ZOUT_L[0] + * </pre> + * + * @return FSYNC configuration value + */ +uint8_t MPU6050::getExternalFrameSync() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer); + return buffer[0]; +} +/** Set external FSYNC configuration. + * @see getExternalFrameSync() + * @see MPU6050_RA_CONFIG + * @param sync New FSYNC configuration value + */ +void MPU6050::setExternalFrameSync(uint8_t sync) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync); +} +/** Get digital low-pass filter configuration. + * The DLPF_CFG parameter sets the digital low pass filter configuration. It + * also determines the internal sampling rate used by the device as shown in + * the table below. + * + * Note: The accelerometer output rate is 1kHz. This means that for a Sample + * Rate greater than 1kHz, the same accelerometer sample may be output to the + * FIFO, DMP, and sensor registers more than once. + * + * <pre> + * | ACCELEROMETER | GYROSCOPE + * DLPF_CFG | Bandwidth | Delay | Bandwidth | Delay | Sample Rate + * ---------+-----------+--------+-----------+--------+------------- + * 0 | 260Hz | 0ms | 256Hz | 0.98ms | 8kHz + * 1 | 184Hz | 2.0ms | 188Hz | 1.9ms | 1kHz + * 2 | 94Hz | 3.0ms | 98Hz | 2.8ms | 1kHz + * 3 | 44Hz | 4.9ms | 42Hz | 4.8ms | 1kHz + * 4 | 21Hz | 8.5ms | 20Hz | 8.3ms | 1kHz + * 5 | 10Hz | 13.8ms | 10Hz | 13.4ms | 1kHz + * 6 | 5Hz | 19.0ms | 5Hz | 18.6ms | 1kHz + * 7 | -- Reserved -- | -- Reserved -- | Reserved + * </pre> + * + * @return DLFP configuration + * @see MPU6050_RA_CONFIG + * @see MPU6050_CFG_DLPF_CFG_BIT + * @see MPU6050_CFG_DLPF_CFG_LENGTH + */ +uint8_t MPU6050::getDLPFMode() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer); + return buffer[0]; +} +/** Set digital low-pass filter configuration. + * @param mode New DLFP configuration setting + * @see getDLPFBandwidth() + * @see MPU6050_DLPF_BW_256 + * @see MPU6050_RA_CONFIG + * @see MPU6050_CFG_DLPF_CFG_BIT + * @see MPU6050_CFG_DLPF_CFG_LENGTH + */ +void MPU6050::setDLPFMode(uint8_t mode) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode); +} + +// GYRO_CONFIG register + +/** Get full-scale gyroscope range. + * The FS_SEL parameter allows setting the full-scale range of the gyro sensors, + * as described in the table below. + * + * <pre> + * 0 = +/- 250 degrees/sec + * 1 = +/- 500 degrees/sec + * 2 = +/- 1000 degrees/sec + * 3 = +/- 2000 degrees/sec + * </pre> + * + * @return Current full-scale gyroscope range setting + * @see MPU6050_GYRO_FS_250 + * @see MPU6050_RA_GYRO_CONFIG + * @see MPU6050_GCONFIG_FS_SEL_BIT + * @see MPU6050_GCONFIG_FS_SEL_LENGTH + */ +uint8_t MPU6050::getFullScaleGyroRange() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer); + return buffer[0]; +} +/** Set full-scale gyroscope range. + * @param range New full-scale gyroscope range value + * @see getFullScaleRange() + * @see MPU6050_GYRO_FS_250 + * @see MPU6050_RA_GYRO_CONFIG + * @see MPU6050_GCONFIG_FS_SEL_BIT + * @see MPU6050_GCONFIG_FS_SEL_LENGTH + */ +void MPU6050::setFullScaleGyroRange(uint8_t range) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range); +} + +// ACCEL_CONFIG register + +/** Get self-test enabled setting for accelerometer X axis. + * @return Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ +bool MPU6050::getAccelXSelfTest() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer); + return buffer[0]; +} +/** Get self-test enabled setting for accelerometer X axis. + * @param enabled Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ +void MPU6050::setAccelXSelfTest(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled); +} +/** Get self-test enabled value for accelerometer Y axis. + * @return Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ +bool MPU6050::getAccelYSelfTest() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer); + return buffer[0]; +} +/** Get self-test enabled value for accelerometer Y axis. + * @param enabled Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ +void MPU6050::setAccelYSelfTest(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled); +} +/** Get self-test enabled value for accelerometer Z axis. + * @return Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ +bool MPU6050::getAccelZSelfTest() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer); + return buffer[0]; +} +/** Set self-test enabled value for accelerometer Z axis. + * @param enabled Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ +void MPU6050::setAccelZSelfTest(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled); +} +/** Get full-scale accelerometer range. + * The FS_SEL parameter allows setting the full-scale range of the accelerometer + * sensors, as described in the table below. + * + * <pre> + * 0 = +/- 2g + * 1 = +/- 4g + * 2 = +/- 8g + * 3 = +/- 16g + * </pre> + * + * @return Current full-scale accelerometer range setting + * @see MPU6050_ACCEL_FS_2 + * @see MPU6050_RA_ACCEL_CONFIG + * @see MPU6050_ACONFIG_AFS_SEL_BIT + * @see MPU6050_ACONFIG_AFS_SEL_LENGTH + */ +uint8_t MPU6050::getFullScaleAccelRange() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer); + return buffer[0]; +} +/** Set full-scale accelerometer range. + * @param range New full-scale accelerometer range setting + * @see getFullScaleAccelRange() + */ +void MPU6050::setFullScaleAccelRange(uint8_t range) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range); +} +/** Get the high-pass filter configuration. + * The DHPF is a filter module in the path leading to motion detectors (Free + * Fall, Motion threshold, and Zero Motion). The high pass filter output is not + * available to the data registers (see Figure in Section 8 of the MPU-6000/ + * MPU-6050 Product Specification document). + * + * The high pass filter has three modes: + * + * <pre> + * Reset: The filter output settles to zero within one sample. This + * effectively disables the high pass filter. This mode may be toggled + * to quickly settle the filter. + * + * On: The high pass filter will pass signals above the cut off frequency. + * + * Hold: When triggered, the filter holds the present sample. The filter + * output will be the difference between the input sample and the held + * sample. + * </pre> + * + * <pre> + * ACCEL_HPF | Filter Mode | Cut-off Frequency + * ----------+-------------+------------------ + * 0 | Reset | None + * 1 | On | 5Hz + * 2 | On | 2.5Hz + * 3 | On | 1.25Hz + * 4 | On | 0.63Hz + * 7 | Hold | None + * </pre> + * + * @return Current high-pass filter configuration + * @see MPU6050_DHPF_RESET + * @see MPU6050_RA_ACCEL_CONFIG + */ +uint8_t MPU6050::getDHPFMode() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer); + return buffer[0]; +} +/** Set the high-pass filter configuration. + * @param bandwidth New high-pass filter configuration + * @see setDHPFMode() + * @see MPU6050_DHPF_RESET + * @see MPU6050_RA_ACCEL_CONFIG + */ +void MPU6050::setDHPFMode(uint8_t bandwidth) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth); +} + +// FF_THR register + +/** Get free-fall event acceleration threshold. + * This register configures the detection threshold for Free Fall event + * detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the + * absolute value of the accelerometer measurements for the three axes are each + * less than the detection threshold. This condition increments the Free Fall + * duration counter (Register 30). The Free Fall interrupt is triggered when the + * Free Fall duration counter reaches the time specified in FF_DUR. + * + * For more details on the Free Fall detection interrupt, see Section 8.2 of the + * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and + * 58 of this document. + * + * @return Current free-fall acceleration threshold value (LSB = 2mg) + * @see MPU6050_RA_FF_THR + */ +uint8_t MPU6050::getFreefallDetectionThreshold() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer); + return buffer[0]; +} +/** Get free-fall event acceleration threshold. + * @param threshold New free-fall acceleration threshold value (LSB = 2mg) + * @see getFreefallDetectionThreshold() + * @see MPU6050_RA_FF_THR + */ +void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold); +} + +// FF_DUR register + +/** Get free-fall event duration threshold. + * This register configures the duration counter threshold for Free Fall event + * detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit + * of 1 LSB = 1 ms. + * + * The Free Fall duration counter increments while the absolute value of the + * accelerometer measurements are each less than the detection threshold + * (Register 29). The Free Fall interrupt is triggered when the Free Fall + * duration counter reaches the time specified in this register. + * + * For more details on the Free Fall detection interrupt, see Section 8.2 of + * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 + * and 58 of this document. + * + * @return Current free-fall duration threshold value (LSB = 1ms) + * @see MPU6050_RA_FF_DUR + */ +uint8_t MPU6050::getFreefallDetectionDuration() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer); + return buffer[0]; +} +/** Get free-fall event duration threshold. + * @param duration New free-fall duration threshold value (LSB = 1ms) + * @see getFreefallDetectionDuration() + * @see MPU6050_RA_FF_DUR + */ +void MPU6050::setFreefallDetectionDuration(uint8_t duration) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration); +} + +// MOT_THR register + +/** Get motion detection event acceleration threshold. + * This register configures the detection threshold for Motion interrupt + * generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the + * absolute value of any of the accelerometer measurements exceeds this Motion + * detection threshold. This condition increments the Motion detection duration + * counter (Register 32). The Motion detection interrupt is triggered when the + * Motion Detection counter reaches the time count specified in MOT_DUR + * (Register 32). + * + * The Motion interrupt will indicate the axis and polarity of detected motion + * in MOT_DETECT_STATUS (Register 97). + * + * For more details on the Motion detection interrupt, see Section 8.3 of the + * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and + * 58 of this document. + * + * @return Current motion detection acceleration threshold value (LSB = 2mg) + * @see MPU6050_RA_MOT_THR + */ +uint8_t MPU6050::getMotionDetectionThreshold() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer); + return buffer[0]; +} +/** Set free-fall event acceleration threshold. + * @param threshold New motion detection acceleration threshold value (LSB = 2mg) + * @see getMotionDetectionThreshold() + * @see MPU6050_RA_MOT_THR + */ +void MPU6050::setMotionDetectionThreshold(uint8_t threshold) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold); +} + +// MOT_DUR register + +/** Get motion detection event duration threshold. + * This register configures the duration counter threshold for Motion interrupt + * generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit + * of 1LSB = 1ms. The Motion detection duration counter increments when the + * absolute value of any of the accelerometer measurements exceeds the Motion + * detection threshold (Register 31). The Motion detection interrupt is + * triggered when the Motion detection counter reaches the time count specified + * in this register. + * + * For more details on the Motion detection interrupt, see Section 8.3 of the + * MPU-6000/MPU-6050 Product Specification document. + * + * @return Current motion detection duration threshold value (LSB = 1ms) + * @see MPU6050_RA_MOT_DUR + */ +uint8_t MPU6050::getMotionDetectionDuration() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer); + return buffer[0]; +} +/** Set motion detection event duration threshold. + * @param duration New motion detection duration threshold value (LSB = 1ms) + * @see getMotionDetectionDuration() + * @see MPU6050_RA_MOT_DUR + */ +void MPU6050::setMotionDetectionDuration(uint8_t duration) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration); +} + +// ZRMOT_THR register + +/** Get zero motion detection event acceleration threshold. + * This register configures the detection threshold for Zero Motion interrupt + * generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when + * the absolute value of the accelerometer measurements for the 3 axes are each + * less than the detection threshold. This condition increments the Zero Motion + * duration counter (Register 34). The Zero Motion interrupt is triggered when + * the Zero Motion duration counter reaches the time count specified in + * ZRMOT_DUR (Register 34). + * + * Unlike Free Fall or Motion detection, Zero Motion detection triggers an + * interrupt both when Zero Motion is first detected and when Zero Motion is no + * longer detected. + * + * When a zero motion event is detected, a Zero Motion Status will be indicated + * in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion + * condition is detected, the status bit is set to 1. When a zero-motion-to- + * motion condition is detected, the status bit is set to 0. + * + * For more details on the Zero Motion detection interrupt, see Section 8.4 of + * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 + * and 58 of this document. + * + * @return Current zero motion detection acceleration threshold value (LSB = 2mg) + * @see MPU6050_RA_ZRMOT_THR + */ +uint8_t MPU6050::getZeroMotionDetectionThreshold() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer); + return buffer[0]; +} +/** Set zero motion detection event acceleration threshold. + * @param threshold New zero motion detection acceleration threshold value (LSB = 2mg) + * @see getZeroMotionDetectionThreshold() + * @see MPU6050_RA_ZRMOT_THR + */ +void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold); +} + +// ZRMOT_DUR register + +/** Get zero motion detection event duration threshold. + * This register configures the duration counter threshold for Zero Motion + * interrupt generation. The duration counter ticks at 16 Hz, therefore + * ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter + * increments while the absolute value of the accelerometer measurements are + * each less than the detection threshold (Register 33). The Zero Motion + * interrupt is triggered when the Zero Motion duration counter reaches the time + * count specified in this register. + * + * For more details on the Zero Motion detection interrupt, see Section 8.4 of + * the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56 + * and 58 of this document. + * + * @return Current zero motion detection duration threshold value (LSB = 64ms) + * @see MPU6050_RA_ZRMOT_DUR + */ +uint8_t MPU6050::getZeroMotionDetectionDuration() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer); + return buffer[0]; +} +/** Set zero motion detection event duration threshold. + * @param duration New zero motion detection duration threshold value (LSB = 1ms) + * @see getZeroMotionDetectionDuration() + * @see MPU6050_RA_ZRMOT_DUR + */ +void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration); +} + +// FIFO_EN register + +/** Get temperature FIFO enabled value. + * When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and + * 66) to be written into the FIFO buffer. + * @return Current temperature FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getTempFIFOEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set temperature FIFO enabled value. + * @param enabled New temperature FIFO enabled value + * @see getTempFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setTempFIFOEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled); +} +/** Get gyroscope X-axis FIFO enabled value. + * When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and + * 68) to be written into the FIFO buffer. + * @return Current gyroscope X-axis FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getXGyroFIFOEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set gyroscope X-axis FIFO enabled value. + * @param enabled New gyroscope X-axis FIFO enabled value + * @see getXGyroFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setXGyroFIFOEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled); +} +/** Get gyroscope Y-axis FIFO enabled value. + * When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and + * 70) to be written into the FIFO buffer. + * @return Current gyroscope Y-axis FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getYGyroFIFOEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set gyroscope Y-axis FIFO enabled value. + * @param enabled New gyroscope Y-axis FIFO enabled value + * @see getYGyroFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setYGyroFIFOEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled); +} +/** Get gyroscope Z-axis FIFO enabled value. + * When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and + * 72) to be written into the FIFO buffer. + * @return Current gyroscope Z-axis FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getZGyroFIFOEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set gyroscope Z-axis FIFO enabled value. + * @param enabled New gyroscope Z-axis FIFO enabled value + * @see getZGyroFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setZGyroFIFOEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled); +} +/** Get accelerometer FIFO enabled value. + * When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, + * ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be + * written into the FIFO buffer. + * @return Current accelerometer FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getAccelFIFOEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set accelerometer FIFO enabled value. + * @param enabled New accelerometer FIFO enabled value + * @see getAccelFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setAccelFIFOEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled); +} +/** Get Slave 2 FIFO enabled value. + * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) + * associated with Slave 2 to be written into the FIFO buffer. + * @return Current Slave 2 FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getSlave2FIFOEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set Slave 2 FIFO enabled value. + * @param enabled New Slave 2 FIFO enabled value + * @see getSlave2FIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setSlave2FIFOEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled); +} +/** Get Slave 1 FIFO enabled value. + * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) + * associated with Slave 1 to be written into the FIFO buffer. + * @return Current Slave 1 FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getSlave1FIFOEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set Slave 1 FIFO enabled value. + * @param enabled New Slave 1 FIFO enabled value + * @see getSlave1FIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setSlave1FIFOEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled); +} +/** Get Slave 0 FIFO enabled value. + * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) + * associated with Slave 0 to be written into the FIFO buffer. + * @return Current Slave 0 FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getSlave0FIFOEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set Slave 0 FIFO enabled value. + * @param enabled New Slave 0 FIFO enabled value + * @see getSlave0FIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setSlave0FIFOEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled); +} + +// I2C_MST_CTRL register + +/** Get multi-master enabled value. + * Multi-master capability allows multiple I2C masters to operate on the same + * bus. In circuits where multi-master capability is required, set MULT_MST_EN + * to 1. This will increase current drawn by approximately 30uA. + * + * In circuits where multi-master capability is required, the state of the I2C + * bus must always be monitored by each separate I2C Master. Before an I2C + * Master can assume arbitration of the bus, it must first confirm that no other + * I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the + * MPU-60X0's bus arbitration detection logic is turned on, enabling it to + * detect when the bus is available. + * + * @return Current multi-master enabled value + * @see MPU6050_RA_I2C_MST_CTRL + */ +bool MPU6050::getMultiMasterEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer); + return buffer[0]; +} +/** Set multi-master enabled value. + * @param enabled New multi-master enabled value + * @see getMultiMasterEnabled() + * @see MPU6050_RA_I2C_MST_CTRL + */ +void MPU6050::setMultiMasterEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled); +} +/** Get wait-for-external-sensor-data enabled value. + * When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be + * delayed until External Sensor data from the Slave Devices are loaded into the + * EXT_SENS_DATA registers. This is used to ensure that both the internal sensor + * data (i.e. from gyro and accel) and external sensor data have been loaded to + * their respective data registers (i.e. the data is synced) when the Data Ready + * interrupt is triggered. + * + * @return Current wait-for-external-sensor-data enabled value + * @see MPU6050_RA_I2C_MST_CTRL + */ +bool MPU6050::getWaitForExternalSensorEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer); + return buffer[0]; +} +/** Set wait-for-external-sensor-data enabled value. + * @param enabled New wait-for-external-sensor-data enabled value + * @see getWaitForExternalSensorEnabled() + * @see MPU6050_RA_I2C_MST_CTRL + */ +void MPU6050::setWaitForExternalSensorEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled); +} +/** Get Slave 3 FIFO enabled value. + * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) + * associated with Slave 3 to be written into the FIFO buffer. + * @return Current Slave 3 FIFO enabled value + * @see MPU6050_RA_MST_CTRL + */ +bool MPU6050::getSlave3FIFOEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set Slave 3 FIFO enabled value. + * @param enabled New Slave 3 FIFO enabled value + * @see getSlave3FIFOEnabled() + * @see MPU6050_RA_MST_CTRL + */ +void MPU6050::setSlave3FIFOEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled); +} +/** Get slave read/write transition enabled value. + * The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave + * read to the next slave read. If the bit equals 0, there will be a restart + * between reads. If the bit equals 1, there will be a stop followed by a start + * of the following read. When a write transaction follows a read transaction, + * the stop followed by a start of the successive write will be always used. + * + * @return Current slave read/write transition enabled value + * @see MPU6050_RA_I2C_MST_CTRL + */ +bool MPU6050::getSlaveReadWriteTransitionEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer); + return buffer[0]; +} +/** Set slave read/write transition enabled value. + * @param enabled New slave read/write transition enabled value + * @see getSlaveReadWriteTransitionEnabled() + * @see MPU6050_RA_I2C_MST_CTRL + */ +void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled); +} +/** Get I2C master clock speed. + * I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the + * MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to + * the following table: + * + * <pre> + * I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider + * ------------+------------------------+------------------- + * 0 | 348kHz | 23 + * 1 | 333kHz | 24 + * 2 | 320kHz | 25 + * 3 | 308kHz | 26 + * 4 | 296kHz | 27 + * 5 | 286kHz | 28 + * 6 | 276kHz | 29 + * 7 | 267kHz | 30 + * 8 | 258kHz | 31 + * 9 | 500kHz | 16 + * 10 | 471kHz | 17 + * 11 | 444kHz | 18 + * 12 | 421kHz | 19 + * 13 | 400kHz | 20 + * 14 | 381kHz | 21 + * 15 | 364kHz | 22 + * </pre> + * + * @return Current I2C master clock speed + * @see MPU6050_RA_I2C_MST_CTRL + */ +uint8_t MPU6050::getMasterClockSpeed() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer); + return buffer[0]; +} +/** Set I2C master clock speed. + * @reparam speed Current I2C master clock speed + * @see MPU6050_RA_I2C_MST_CTRL + */ +void MPU6050::setMasterClockSpeed(uint8_t speed) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed); +} + +// I2C_SLV* registers (Slave 0-3) + +/** Get the I2C address of the specified slave (0-3). + * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read + * operation, and if it is cleared, then it's a write operation. The remaining + * bits (6-0) are the 7-bit device address of the slave device. + * + * In read mode, the result of the read is placed in the lowest available + * EXT_SENS_DATA register. For further information regarding the allocation of + * read results, please refer to the EXT_SENS_DATA register description + * (Registers 73 - 96). + * + * The MPU-6050 supports a total of five slaves, but Slave 4 has unique + * characteristics, and so it has its own functions (getSlave4* and setSlave4*). + * + * I2C data transactions are performed at the Sample Rate, as defined in + * Register 25. The user is responsible for ensuring that I2C data transactions + * to and from each enabled Slave can be completed within a single period of the + * Sample Rate. + * + * The I2C slave access rate can be reduced relative to the Sample Rate. This + * reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a + * slave's access rate is reduced relative to the Sample Rate is determined by + * I2C_MST_DELAY_CTRL (Register 103). + * + * The processing order for the slaves is fixed. The sequence followed for + * processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a + * particular Slave is disabled it will be skipped. + * + * Each slave can either be accessed at the sample rate or at a reduced sample + * rate. In a case where some slaves are accessed at the Sample Rate and some + * slaves are accessed at the reduced rate, the sequence of accessing the slaves + * (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will + * be skipped if their access rate dictates that they should not be accessed + * during that particular cycle. For further information regarding the reduced + * access rate, please refer to Register 52. Whether a slave is accessed at the + * Sample Rate or at the reduced rate is determined by the Delay Enable bits in + * Register 103. + * + * @param num Slave number (0-3) + * @return Current address for specified slave + * @see MPU6050_RA_I2C_SLV0_ADDR + */ +uint8_t MPU6050::getSlaveAddress(uint8_t num) +{ + if (num > 3) return 0; + i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer); + return buffer[0]; +} +/** Set the I2C address of the specified slave (0-3). + * @param num Slave number (0-3) + * @param address New address for specified slave + * @see getSlaveAddress() + * @see MPU6050_RA_I2C_SLV0_ADDR + */ +void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) +{ + if (num > 3) return; + i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address); +} +/** Get the active internal register for the specified slave (0-3). + * Read/write operations for this slave will be done to whatever internal + * register address is stored in this MPU register. + * + * The MPU-6050 supports a total of five slaves, but Slave 4 has unique + * characteristics, and so it has its own functions. + * + * @param num Slave number (0-3) + * @return Current active register for specified slave + * @see MPU6050_RA_I2C_SLV0_REG + */ +uint8_t MPU6050::getSlaveRegister(uint8_t num) +{ + if (num > 3) return 0; + i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer); + return buffer[0]; +} +/** Set the active internal register for the specified slave (0-3). + * @param num Slave number (0-3) + * @param reg New active register for specified slave + * @see getSlaveRegister() + * @see MPU6050_RA_I2C_SLV0_REG + */ +void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) +{ + if (num > 3) return; + i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg); +} +/** Get the enabled value for the specified slave (0-3). + * When set to 1, this bit enables Slave 0 for data transfer operations. When + * cleared to 0, this bit disables Slave 0 from data transfer operations. + * @param num Slave number (0-3) + * @return Current enabled value for specified slave + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +bool MPU6050::getSlaveEnabled(uint8_t num) +{ + if (num > 3) return 0; + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer); + return buffer[0]; +} +/** Set the enabled value for the specified slave (0-3). + * @param num Slave number (0-3) + * @param enabled New enabled value for specified slave + * @see getSlaveEnabled() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) +{ + if (num > 3) return; + i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled); +} +/** Get word pair byte-swapping enabled for the specified slave (0-3). + * When set to 1, this bit enables byte swapping. When byte swapping is enabled, + * the high and low bytes of a word pair are swapped. Please refer to + * I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0, + * bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA + * registers in the order they were transferred. + * + * @param num Slave number (0-3) + * @return Current word pair byte-swapping enabled value for specified slave + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +bool MPU6050::getSlaveWordByteSwap(uint8_t num) +{ + if (num > 3) return 0; + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer); + return buffer[0]; +} +/** Set word pair byte-swapping enabled for the specified slave (0-3). + * @param num Slave number (0-3) + * @param enabled New word pair byte-swapping enabled value for specified slave + * @see getSlaveWordByteSwap() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) +{ + if (num > 3) return; + i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled); +} +/** Get write mode for the specified slave (0-3). + * When set to 1, the transaction will read or write data only. When cleared to + * 0, the transaction will write a register address prior to reading or writing + * data. This should equal 0 when specifying the register address within the + * Slave device to/from which the ensuing data transaction will take place. + * + * @param num Slave number (0-3) + * @return Current write mode for specified slave (0 = register address + data, 1 = data only) + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +bool MPU6050::getSlaveWriteMode(uint8_t num) +{ + if (num > 3) return 0; + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer); + return buffer[0]; +} +/** Set write mode for the specified slave (0-3). + * @param num Slave number (0-3) + * @param mode New write mode for specified slave (0 = register address + data, 1 = data only) + * @see getSlaveWriteMode() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) +{ + if (num > 3) return; + i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode); +} +/** Get word pair grouping order offset for the specified slave (0-3). + * This sets specifies the grouping order of word pairs received from registers. + * When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even, + * then odd register addresses) are paired to form a word. When set to 1, bytes + * from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even + * register addresses) are paired to form a word. + * + * @param num Slave number (0-3) + * @return Current word pair grouping order offset for specified slave + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +bool MPU6050::getSlaveWordGroupOffset(uint8_t num) +{ + if (num > 3) return 0; + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer); + return buffer[0]; +} +/** Set word pair grouping order offset for the specified slave (0-3). + * @param num Slave number (0-3) + * @param enabled New word pair grouping order offset for specified slave + * @see getSlaveWordGroupOffset() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) +{ + if (num > 3) return; + i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled); +} +/** Get number of bytes to read for the specified slave (0-3). + * Specifies the number of bytes transferred to and from Slave 0. Clearing this + * bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN. + * @param num Slave number (0-3) + * @return Number of bytes to read for specified slave + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +uint8_t MPU6050::getSlaveDataLength(uint8_t num) +{ + if (num > 3) return 0; + i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer); + return buffer[0]; +} +/** Set number of bytes to read for the specified slave (0-3). + * @param num Slave number (0-3) + * @param length Number of bytes to read for specified slave + * @see getSlaveDataLength() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) +{ + if (num > 3) return; + i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length); +} + +// I2C_SLV* registers (Slave 4) + +/** Get the I2C address of Slave 4. + * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read + * operation, and if it is cleared, then it's a write operation. The remaining + * bits (6-0) are the 7-bit device address of the slave device. + * + * @return Current address for Slave 4 + * @see getSlaveAddress() + * @see MPU6050_RA_I2C_SLV4_ADDR + */ +uint8_t MPU6050::getSlave4Address() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer); + return buffer[0]; +} +/** Set the I2C address of Slave 4. + * @param address New address for Slave 4 + * @see getSlave4Address() + * @see MPU6050_RA_I2C_SLV4_ADDR + */ +void MPU6050::setSlave4Address(uint8_t address) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address); +} +/** Get the active internal register for the Slave 4. + * Read/write operations for this slave will be done to whatever internal + * register address is stored in this MPU register. + * + * @return Current active register for Slave 4 + * @see MPU6050_RA_I2C_SLV4_REG + */ +uint8_t MPU6050::getSlave4Register() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer); + return buffer[0]; +} +/** Set the active internal register for Slave 4. + * @param reg New active register for Slave 4 + * @see getSlave4Register() + * @see MPU6050_RA_I2C_SLV4_REG + */ +void MPU6050::setSlave4Register(uint8_t reg) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg); +} +/** Set new byte to write to Slave 4. + * This register stores the data to be written into the Slave 4. If I2C_SLV4_RW + * is set 1 (set to read), this register has no effect. + * @param data New byte to write to Slave 4 + * @see MPU6050_RA_I2C_SLV4_DO + */ +void MPU6050::setSlave4OutputByte(uint8_t data) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data); +} +/** Get the enabled value for the Slave 4. + * When set to 1, this bit enables Slave 4 for data transfer operations. When + * cleared to 0, this bit disables Slave 4 from data transfer operations. + * @return Current enabled value for Slave 4 + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +bool MPU6050::getSlave4Enabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer); + return buffer[0]; +} +/** Set the enabled value for Slave 4. + * @param enabled New enabled value for Slave 4 + * @see getSlave4Enabled() + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +void MPU6050::setSlave4Enabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled); +} +/** Get the enabled value for Slave 4 transaction interrupts. + * When set to 1, this bit enables the generation of an interrupt signal upon + * completion of a Slave 4 transaction. When cleared to 0, this bit disables the + * generation of an interrupt signal upon completion of a Slave 4 transaction. + * The interrupt status can be observed in Register 54. + * + * @return Current enabled value for Slave 4 transaction interrupts. + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +bool MPU6050::getSlave4InterruptEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer); + return buffer[0]; +} +/** Set the enabled value for Slave 4 transaction interrupts. + * @param enabled New enabled value for Slave 4 transaction interrupts. + * @see getSlave4InterruptEnabled() + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +void MPU6050::setSlave4InterruptEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled); +} +/** Get write mode for Slave 4. + * When set to 1, the transaction will read or write data only. When cleared to + * 0, the transaction will write a register address prior to reading or writing + * data. This should equal 0 when specifying the register address within the + * Slave device to/from which the ensuing data transaction will take place. + * + * @return Current write mode for Slave 4 (0 = register address + data, 1 = data only) + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +bool MPU6050::getSlave4WriteMode() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer); + return buffer[0]; +} +/** Set write mode for the Slave 4. + * @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only) + * @see getSlave4WriteMode() + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +void MPU6050::setSlave4WriteMode(bool mode) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode); +} +/** Get Slave 4 master delay value. + * This configures the reduced access rate of I2C slaves relative to the Sample + * Rate. When a slave's access rate is decreased relative to the Sample Rate, + * the slave is accessed every: + * + * 1 / (1 + I2C_MST_DLY) samples + * + * This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and + * DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to + * the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For + * further information regarding the Sample Rate, please refer to register 25. + * + * @return Current Slave 4 master delay value + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +uint8_t MPU6050::getSlave4MasterDelay() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer); + return buffer[0]; +} +/** Set Slave 4 master delay value. + * @param delay New Slave 4 master delay value + * @see getSlave4MasterDelay() + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +void MPU6050::setSlave4MasterDelay(uint8_t delay) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay); +} +/** Get last available byte read from Slave 4. + * This register stores the data read from Slave 4. This field is populated + * after a read transaction. + * @return Last available byte read from to Slave 4 + * @see MPU6050_RA_I2C_SLV4_DI + */ +uint8_t MPU6050::getSlate4InputByte() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer); + return buffer[0]; +} + +// I2C_MST_STATUS register + +/** Get FSYNC interrupt status. + * This bit reflects the status of the FSYNC interrupt from an external device + * into the MPU-60X0. This is used as a way to pass an external interrupt + * through the MPU-60X0 to the host application processor. When set to 1, this + * bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG + * (Register 55). + * @return FSYNC interrupt status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getPassthroughStatus() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer); + return buffer[0]; +} +/** Get Slave 4 transaction done status. + * Automatically sets to 1 when a Slave 4 transaction has completed. This + * triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register + * (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the + * I2C_SLV4_CTRL register (Register 52). + * @return Slave 4 transaction done status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getSlave4IsDone() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer); + return buffer[0]; +} +/** Get master arbitration lost status. + * This bit automatically sets to 1 when the I2C Master has lost arbitration of + * the auxiliary I2C bus (an error condition). This triggers an interrupt if the + * I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted. + * @return Master arbitration lost status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getLostArbitration() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer); + return buffer[0]; +} +/** Get Slave 4 NACK status. + * This bit automatically sets to 1 when the I2C Master receives a NACK in a + * transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN + * bit in the INT_ENABLE register (Register 56) is asserted. + * @return Slave 4 NACK interrupt status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getSlave4Nack() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer); + return buffer[0]; +} +/** Get Slave 3 NACK status. + * This bit automatically sets to 1 when the I2C Master receives a NACK in a + * transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN + * bit in the INT_ENABLE register (Register 56) is asserted. + * @return Slave 3 NACK interrupt status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getSlave3Nack() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer); + return buffer[0]; +} +/** Get Slave 2 NACK status. + * This bit automatically sets to 1 when the I2C Master receives a NACK in a + * transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN + * bit in the INT_ENABLE register (Register 56) is asserted. + * @return Slave 2 NACK interrupt status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getSlave2Nack() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer); + return buffer[0]; +} +/** Get Slave 1 NACK status. + * This bit automatically sets to 1 when the I2C Master receives a NACK in a + * transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN + * bit in the INT_ENABLE register (Register 56) is asserted. + * @return Slave 1 NACK interrupt status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getSlave1Nack() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer); + return buffer[0]; +} +/** Get Slave 0 NACK status. + * This bit automatically sets to 1 when the I2C Master receives a NACK in a + * transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN + * bit in the INT_ENABLE register (Register 56) is asserted. + * @return Slave 0 NACK interrupt status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getSlave0Nack() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer); + return buffer[0]; +} + +// INT_PIN_CFG register + +/** Get interrupt logic level mode. + * Will be set 0 for active-high, 1 for active-low. + * @return Current interrupt mode (0=active-high, 1=active-low) + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_INT_LEVEL_BIT + */ +bool MPU6050::getInterruptMode() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer); + return buffer[0]; +} +/** Set interrupt logic level mode. + * @param mode New interrupt mode (0=active-high, 1=active-low) + * @see getInterruptMode() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_INT_LEVEL_BIT + */ +void MPU6050::setInterruptMode(bool mode) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode); +} +/** Get interrupt drive mode. + * Will be set 0 for push-pull, 1 for open-drain. + * @return Current interrupt drive mode (0=push-pull, 1=open-drain) + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_INT_OPEN_BIT + */ +bool MPU6050::getInterruptDrive() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer); + return buffer[0]; +} +/** Set interrupt drive mode. + * @param drive New interrupt drive mode (0=push-pull, 1=open-drain) + * @see getInterruptDrive() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_INT_OPEN_BIT + */ +void MPU6050::setInterruptDrive(bool drive) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive); +} +/** Get interrupt latch mode. + * Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared. + * @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared) + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_LATCH_INT_EN_BIT + */ +bool MPU6050::getInterruptLatch() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer); + return buffer[0]; +} +/** Set interrupt latch mode. + * @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared) + * @see getInterruptLatch() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_LATCH_INT_EN_BIT + */ +void MPU6050::setInterruptLatch(bool latch) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch); +} +/** Get interrupt latch clear mode. + * Will be set 0 for status-read-only, 1 for any-register-read. + * @return Current latch clear mode (0=status-read-only, 1=any-register-read) + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT + */ +bool MPU6050::getInterruptLatchClear() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer); + return buffer[0]; +} +/** Set interrupt latch clear mode. + * @param clear New latch clear mode (0=status-read-only, 1=any-register-read) + * @see getInterruptLatchClear() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT + */ +void MPU6050::setInterruptLatchClear(bool clear) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear); +} +/** Get FSYNC interrupt logic level mode. + * @return Current FSYNC interrupt mode (0=active-high, 1=active-low) + * @see getFSyncInterruptMode() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT + */ +bool MPU6050::getFSyncInterruptLevel() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer); + return buffer[0]; +} +/** Set FSYNC interrupt logic level mode. + * @param mode New FSYNC interrupt mode (0=active-high, 1=active-low) + * @see getFSyncInterruptMode() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT + */ +void MPU6050::setFSyncInterruptLevel(bool level) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level); +} +/** Get FSYNC pin interrupt enabled setting. + * Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled setting + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT + */ +bool MPU6050::getFSyncInterruptEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer); + return buffer[0]; +} +/** Set FSYNC pin interrupt enabled setting. + * @param enabled New FSYNC pin interrupt enabled setting + * @see getFSyncInterruptEnabled() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT + */ +void MPU6050::setFSyncInterruptEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled); +} +/** Get I2C bypass enabled status. + * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to + * 0, the host application processor will be able to directly access the + * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host + * application processor will not be able to directly access the auxiliary I2C + * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 + * bit[5]). + * @return Current I2C bypass enabled status + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT + */ +bool MPU6050::getI2CBypassEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer); + return buffer[0]; +} +/** Set I2C bypass enabled status. + * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to + * 0, the host application processor will be able to directly access the + * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host + * application processor will not be able to directly access the auxiliary I2C + * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 + * bit[5]). + * @param enabled New I2C bypass enabled status + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT + */ +void MPU6050::setI2CBypassEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled); +} +/** Get reference clock output enabled status. + * When this bit is equal to 1, a reference clock output is provided at the + * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For + * further information regarding CLKOUT, please refer to the MPU-60X0 Product + * Specification document. + * @return Current reference clock output enabled status + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_CLKOUT_EN_BIT + */ +bool MPU6050::getClockOutputEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer); + return buffer[0]; +} +/** Set reference clock output enabled status. + * When this bit is equal to 1, a reference clock output is provided at the + * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For + * further information regarding CLKOUT, please refer to the MPU-60X0 Product + * Specification document. + * @param enabled New reference clock output enabled status + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_CLKOUT_EN_BIT + */ +void MPU6050::setClockOutputEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled); +} + +// INT_ENABLE register + +/** Get full interrupt enabled status. + * Full register byte for all interrupts, for quick reading. Each bit will be + * set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_FF_BIT + **/ +uint8_t MPU6050::getIntEnabled() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer); + return buffer[0]; +} +/** Set full interrupt enabled status. + * Full register byte for all interrupts, for quick reading. Each bit should be + * set 0 for disabled, 1 for enabled. + * @param enabled New interrupt enabled status + * @see getIntFreefallEnabled() + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_FF_BIT + **/ +void MPU6050::setIntEnabled(uint8_t enabled) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled); +} +/** Get Free Fall interrupt enabled status. + * Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_FF_BIT + **/ +bool MPU6050::getIntFreefallEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer); + return buffer[0]; +} +/** Set Free Fall interrupt enabled status. + * @param enabled New interrupt enabled status + * @see getIntFreefallEnabled() + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_FF_BIT + **/ +void MPU6050::setIntFreefallEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled); +} +/** Get Motion Detection interrupt enabled status. + * Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_MOT_BIT + **/ +bool MPU6050::getIntMotionEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer); + return buffer[0]; +} +/** Set Motion Detection interrupt enabled status. + * @param enabled New interrupt enabled status + * @see getIntMotionEnabled() + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_MOT_BIT + **/ +void MPU6050::setIntMotionEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled); +} +/** Get Zero Motion Detection interrupt enabled status. + * Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_ZMOT_BIT + **/ +bool MPU6050::getIntZeroMotionEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer); + return buffer[0]; +} +/** Set Zero Motion Detection interrupt enabled status. + * @param enabled New interrupt enabled status + * @see getIntZeroMotionEnabled() + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_ZMOT_BIT + **/ +void MPU6050::setIntZeroMotionEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled); +} +/** Get FIFO Buffer Overflow interrupt enabled status. + * Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT + **/ +bool MPU6050::getIntFIFOBufferOverflowEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer); + return buffer[0]; +} +/** Set FIFO Buffer Overflow interrupt enabled status. + * @param enabled New interrupt enabled status + * @see getIntFIFOBufferOverflowEnabled() + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT + **/ +void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled); +} +/** Get I2C Master interrupt enabled status. + * This enables any of the I2C Master interrupt sources to generate an + * interrupt. Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT + **/ +bool MPU6050::getIntI2CMasterEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer); + return buffer[0]; +} +/** Set I2C Master interrupt enabled status. + * @param enabled New interrupt enabled status + * @see getIntI2CMasterEnabled() + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT + **/ +void MPU6050::setIntI2CMasterEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled); +} +/** Get Data Ready interrupt enabled setting. + * This event occurs each time a write operation to all of the sensor registers + * has been completed. Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_DATA_RDY_BIT + */ +bool MPU6050::getIntDataReadyEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer); + return buffer[0]; +} +/** Set Data Ready interrupt enabled status. + * @param enabled New interrupt enabled status + * @see getIntDataReadyEnabled() + * @see MPU6050_RA_INT_CFG + * @see MPU6050_INTERRUPT_DATA_RDY_BIT + */ +void MPU6050::setIntDataReadyEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled); +} + +// INT_STATUS register + +/** Get full set of interrupt status bits. + * These bits clear to 0 after the register has been read. Very useful + * for getting multiple INT statuses, since each single bit read clears + * all of them because it has to read the whole byte. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + */ +uint8_t MPU6050::getIntStatus() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer); + return buffer[0]; +} +/** Get Free Fall interrupt status. + * This bit automatically sets to 1 when a Free Fall interrupt has been + * generated. The bit clears to 0 after the register has been read. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + * @see MPU6050_INTERRUPT_FF_BIT + */ +bool MPU6050::getIntFreefallStatus() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer); + return buffer[0]; +} +/** Get Motion Detection interrupt status. + * This bit automatically sets to 1 when a Motion Detection interrupt has been + * generated. The bit clears to 0 after the register has been read. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + * @see MPU6050_INTERRUPT_MOT_BIT + */ +bool MPU6050::getIntMotionStatus() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer); + return buffer[0]; +} +/** Get Zero Motion Detection interrupt status. + * This bit automatically sets to 1 when a Zero Motion Detection interrupt has + * been generated. The bit clears to 0 after the register has been read. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + * @see MPU6050_INTERRUPT_ZMOT_BIT + */ +bool MPU6050::getIntZeroMotionStatus() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer); + return buffer[0]; +} +/** Get FIFO Buffer Overflow interrupt status. + * This bit automatically sets to 1 when a Free Fall interrupt has been + * generated. The bit clears to 0 after the register has been read. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT + */ +bool MPU6050::getIntFIFOBufferOverflowStatus() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer); + return buffer[0]; +} +/** Get I2C Master interrupt status. + * This bit automatically sets to 1 when an I2C Master interrupt has been + * generated. For a list of I2C Master interrupts, please refer to Register 54. + * The bit clears to 0 after the register has been read. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT + */ +bool MPU6050::getIntI2CMasterStatus() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer); + return buffer[0]; +} +/** Get Data Ready interrupt status. + * This bit automatically sets to 1 when a Data Ready interrupt has been + * generated. The bit clears to 0 after the register has been read. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + * @see MPU6050_INTERRUPT_DATA_RDY_BIT + */ +bool MPU6050::getIntDataReadyStatus() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer); + return buffer[0]; +} + +// ACCEL_*OUT_* registers + +/** Get raw 9-axis motion sensor readings (accel/gyro/compass). + * FUNCTION NOT FULLY IMPLEMENTED YET. + * @param ax 16-bit signed integer container for accelerometer X-axis value + * @param ay 16-bit signed integer container for accelerometer Y-axis value + * @param az 16-bit signed integer container for accelerometer Z-axis value + * @param gx 16-bit signed integer container for gyroscope X-axis value + * @param gy 16-bit signed integer container for gyroscope Y-axis value + * @param gz 16-bit signed integer container for gyroscope Z-axis value + * @param mx 16-bit signed integer container for magnetometer X-axis value + * @param my 16-bit signed integer container for magnetometer Y-axis value + * @param mz 16-bit signed integer container for magnetometer Z-axis value + * @see getMotion6() + * @see getAcceleration() + * @see getRotation() + * @see MPU6050_RA_ACCEL_XOUT_H + */ +void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz) +{ + getMotion6(ax, ay, az, gx, gy, gz); + + // magnetometer reading + i2Cdev.writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer + wait_ms(10); // necessary wait >=6ms + i2Cdev.writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); // enable the magnetometer + wait_ms(10); // necessary wait >=6ms + i2Cdev.readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer); + *mx = (((int16_t)buffer[0]) << 8) | buffer[1]; + *my = (((int16_t)buffer[2]) << 8) | buffer[3]; + *mz = (((int16_t)buffer[4]) << 8) | buffer[5]; +} +/** Get raw 6-axis motion sensor readings (accel/gyro). + * Retrieves all currently available motion sensor values. + * @param ax 16-bit signed integer container for accelerometer X-axis value + * @param ay 16-bit signed integer container for accelerometer Y-axis value + * @param az 16-bit signed integer container for accelerometer Z-axis value + * @param gx 16-bit signed integer container for gyroscope X-axis value + * @param gy 16-bit signed integer container for gyroscope Y-axis value + * @param gz 16-bit signed integer container for gyroscope Z-axis value + * @see getAcceleration() + * @see getRotation() + * @see MPU6050_RA_ACCEL_XOUT_H + */ +void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer); + *ax = (((int16_t)buffer[0]) << 8) | buffer[1]; + *ay = (((int16_t)buffer[2]) << 8) | buffer[3]; + *az = (((int16_t)buffer[4]) << 8) | buffer[5]; + *gx = (((int16_t)buffer[8]) << 8) | buffer[9]; + *gy = (((int16_t)buffer[10]) << 8) | buffer[11]; + *gz = (((int16_t)buffer[12]) << 8) | buffer[13]; +} +/** Get 3-axis accelerometer readings. + * These registers store the most recent accelerometer measurements. + * Accelerometer measurements are written to these registers at the Sample Rate + * as defined in Register 25. + * + * The accelerometer measurement registers, along with the temperature + * measurement registers, gyroscope measurement registers, and external sensor + * data registers, are composed of two sets of registers: an internal register + * set and a user-facing read register set. + * + * The data within the accelerometer sensors' internal register set is always + * updated at the Sample Rate. Meanwhile, the user-facing read register set + * duplicates the internal register set's data values whenever the serial + * interface is idle. This guarantees that a burst read of sensor registers will + * read measurements from the same sampling instant. Note that if burst reads + * are not used, the user is responsible for ensuring a set of single byte reads + * correspond to a single sampling instant by checking the Data Ready interrupt. + * + * Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS + * (Register 28). For each full scale setting, the accelerometers' sensitivity + * per LSB in ACCEL_xOUT is shown in the table below: + * + * <pre> + * AFS_SEL | Full Scale Range | LSB Sensitivity + * --------+------------------+---------------- + * 0 | +/- 2g | 8192 LSB/mg + * 1 | +/- 4g | 4096 LSB/mg + * 2 | +/- 8g | 2048 LSB/mg + * 3 | +/- 16g | 1024 LSB/mg + * </pre> + * + * @param x 16-bit signed integer container for X-axis acceleration + * @param y 16-bit signed integer container for Y-axis acceleration + * @param z 16-bit signed integer container for Z-axis acceleration + * @see MPU6050_RA_GYRO_XOUT_H + */ +void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer); + *x = (((int16_t)buffer[0]) << 8) | buffer[1]; + *y = (((int16_t)buffer[2]) << 8) | buffer[3]; + *z = (((int16_t)buffer[4]) << 8) | buffer[5]; +} +/** Get X-axis accelerometer reading. + * @return X-axis acceleration measurement in 16-bit 2's complement format + * @see getMotion6() + * @see MPU6050_RA_ACCEL_XOUT_H + */ +int16_t MPU6050::getAccelerationX() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +/** Get Y-axis accelerometer reading. + * @return Y-axis acceleration measurement in 16-bit 2's complement format + * @see getMotion6() + * @see MPU6050_RA_ACCEL_YOUT_H + */ +int16_t MPU6050::getAccelerationY() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +/** Get Z-axis accelerometer reading. + * @return Z-axis acceleration measurement in 16-bit 2's complement format + * @see getMotion6() + * @see MPU6050_RA_ACCEL_ZOUT_H + */ +int16_t MPU6050::getAccelerationZ() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} + +// TEMP_OUT_* registers + +/** Get current internal temperature. + * @return Temperature reading in 16-bit 2's complement format + * @see MPU6050_RA_TEMP_OUT_H + */ +int16_t MPU6050::getTemperature() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} + +// GYRO_*OUT_* registers + +/** Get 3-axis gyroscope readings. + * These gyroscope measurement registers, along with the accelerometer + * measurement registers, temperature measurement registers, and external sensor + * data registers, are composed of two sets of registers: an internal register + * set and a user-facing read register set. + * The data within the gyroscope sensors' internal register set is always + * updated at the Sample Rate. Meanwhile, the user-facing read register set + * duplicates the internal register set's data values whenever the serial + * interface is idle. This guarantees that a burst read of sensor registers will + * read measurements from the same sampling instant. Note that if burst reads + * are not used, the user is responsible for ensuring a set of single byte reads + * correspond to a single sampling instant by checking the Data Ready interrupt. + * + * Each 16-bit gyroscope measurement has a full scale defined in FS_SEL + * (Register 27). For each full scale setting, the gyroscopes' sensitivity per + * LSB in GYRO_xOUT is shown in the table below: + * + * <pre> + * FS_SEL | Full Scale Range | LSB Sensitivity + * -------+--------------------+---------------- + * 0 | +/- 250 degrees/s | 131 LSB/deg/s + * 1 | +/- 500 degrees/s | 65.5 LSB/deg/s + * 2 | +/- 1000 degrees/s | 32.8 LSB/deg/s + * 3 | +/- 2000 degrees/s | 16.4 LSB/deg/s + * </pre> + * + * @param x 16-bit signed integer container for X-axis rotation + * @param y 16-bit signed integer container for Y-axis rotation + * @param z 16-bit signed integer container for Z-axis rotation + * @see getMotion6() + * @see MPU6050_RA_GYRO_XOUT_H + */ +void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer); + *x = (((int16_t)buffer[0]) << 8) | buffer[1]; + *y = (((int16_t)buffer[2]) << 8) | buffer[3]; + *z = (((int16_t)buffer[4]) << 8) | buffer[5]; +} +/** Get X-axis gyroscope reading. + * @return X-axis rotation measurement in 16-bit 2's complement format + * @see getMotion6() + * @see MPU6050_RA_GYRO_XOUT_H + */ +int16_t MPU6050::getRotationX() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +/** Get Y-axis gyroscope reading. + * @return Y-axis rotation measurement in 16-bit 2's complement format + * @see getMotion6() + * @see MPU6050_RA_GYRO_YOUT_H + */ +int16_t MPU6050::getRotationY() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +/** Get Z-axis gyroscope reading. + * @return Z-axis rotation measurement in 16-bit 2's complement format + * @see getMotion6() + * @see MPU6050_RA_GYRO_ZOUT_H + */ +int16_t MPU6050::getRotationZ() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} + +// EXT_SENS_DATA_* registers + +/** Read single byte from external sensor data register. + * These registers store data read from external sensors by the Slave 0, 1, 2, + * and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in + * I2C_SLV4_DI (Register 53). + * + * External sensor data is written to these registers at the Sample Rate as + * defined in Register 25. This access rate can be reduced by using the Slave + * Delay Enable registers (Register 103). + * + * External sensor data registers, along with the gyroscope measurement + * registers, accelerometer measurement registers, and temperature measurement + * registers, are composed of two sets of registers: an internal register set + * and a user-facing read register set. + * + * The data within the external sensors' internal register set is always updated + * at the Sample Rate (or the reduced access rate) whenever the serial interface + * is idle. This guarantees that a burst read of sensor registers will read + * measurements from the same sampling instant. Note that if burst reads are not + * used, the user is responsible for ensuring a set of single byte reads + * correspond to a single sampling instant by checking the Data Ready interrupt. + * + * Data is placed in these external sensor data registers according to + * I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39, + * 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from + * an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as + * defined in Register 25) or delayed rate (if specified in Register 52 and + * 103). During each Sample cycle, slave reads are performed in order of Slave + * number. If all slaves are enabled with more than zero bytes to be read, the + * order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3. + * + * Each enabled slave will have EXT_SENS_DATA registers associated with it by + * number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from + * EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may + * change the higher numbered slaves' associated registers. Furthermore, if + * fewer total bytes are being read from the external sensors as a result of + * such a change, then the data remaining in the registers which no longer have + * an associated slave device (i.e. high numbered registers) will remain in + * these previously allocated registers unless reset. + * + * If the sum of the read lengths of all SLVx transactions exceed the number of + * available EXT_SENS_DATA registers, the excess bytes will be dropped. There + * are 24 EXT_SENS_DATA registers and hence the total read lengths between all + * the slaves cannot be greater than 24 or some bytes will be lost. + * + * Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further + * information regarding the characteristics of Slave 4, please refer to + * Registers 49 to 53. + * + * EXAMPLE: + * Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and + * I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that + * I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00 + * through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05 + * will be associated with Slave 1. If Slave 2 is enabled as well, registers + * starting from EXT_SENS_DATA_06 will be allocated to Slave 2. + * + * If Slave 2 is disabled while Slave 3 is enabled in this same situation, then + * registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3 + * instead. + * + * REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE: + * If a slave is disabled at any time, the space initially allocated to the + * slave in the EXT_SENS_DATA register, will remain associated with that slave. + * This is to avoid dynamic adjustment of the register allocation. + * + * The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all + * slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106). + * + * This above is also true if one of the slaves gets NACKed and stops + * functioning. + * + * @param position Starting position (0-23) + * @return Byte read from register + */ +uint8_t MPU6050::getExternalSensorByte(int position) +{ + i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer); + return buffer[0]; +} +/** Read word (2 bytes) from external sensor data registers. + * @param position Starting position (0-21) + * @return Word read from register + * @see getExternalSensorByte() + */ +uint16_t MPU6050::getExternalSensorWord(int position) +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer); + return (((uint16_t)buffer[0]) << 8) | buffer[1]; +} +/** Read double word (4 bytes) from external sensor data registers. + * @param position Starting position (0-20) + * @return Double word read from registers + * @see getExternalSensorByte() + */ +uint32_t MPU6050::getExternalSensorDWord(int position) +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer); + return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3]; +} + +// MOT_DETECT_STATUS register + +/** Get X-axis negative motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_XNEG_BIT + */ +bool MPU6050::getXNegMotionDetected() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer); + return buffer[0]; +} +/** Get X-axis positive motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_XPOS_BIT + */ +bool MPU6050::getXPosMotionDetected() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer); + return buffer[0]; +} +/** Get Y-axis negative motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_YNEG_BIT + */ +bool MPU6050::getYNegMotionDetected() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer); + return buffer[0]; +} +/** Get Y-axis positive motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_YPOS_BIT + */ +bool MPU6050::getYPosMotionDetected() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer); + return buffer[0]; +} +/** Get Z-axis negative motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_ZNEG_BIT + */ +bool MPU6050::getZNegMotionDetected() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer); + return buffer[0]; +} +/** Get Z-axis positive motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_ZPOS_BIT + */ +bool MPU6050::getZPosMotionDetected() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer); + return buffer[0]; +} +/** Get zero motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_ZRMOT_BIT + */ +bool MPU6050::getZeroMotionDetected() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer); + return buffer[0]; +} + +// I2C_SLV*_DO register + +/** Write byte to Data Output container for specified slave. + * This register holds the output data written into Slave when Slave is set to + * write mode. For further information regarding Slave control, please + * refer to Registers 37 to 39 and immediately following. + * @param num Slave number (0-3) + * @param data Byte to write + * @see MPU6050_RA_I2C_SLV0_DO + */ +void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) +{ + if (num > 3) return; + i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data); +} + +// I2C_MST_DELAY_CTRL register + +/** Get external data shadow delay enabled status. + * This register is used to specify the timing of external sensor data + * shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external + * sensor data is delayed until all data has been received. + * @return Current external data shadow delay enabled status. + * @see MPU6050_RA_I2C_MST_DELAY_CTRL + * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT + */ +bool MPU6050::getExternalShadowDelayEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer); + return buffer[0]; +} +/** Set external data shadow delay enabled status. + * @param enabled New external data shadow delay enabled status. + * @see getExternalShadowDelayEnabled() + * @see MPU6050_RA_I2C_MST_DELAY_CTRL + * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT + */ +void MPU6050::setExternalShadowDelayEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled); +} +/** Get slave delay enabled status. + * When a particular slave delay is enabled, the rate of access for the that + * slave device is reduced. When a slave's access rate is decreased relative to + * the Sample Rate, the slave is accessed every: + * + * 1 / (1 + I2C_MST_DLY) Samples + * + * This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25) + * and DLPF_CFG (register 26). + * + * For further information regarding I2C_MST_DLY, please refer to register 52. + * For further information regarding the Sample Rate, please refer to register 25. + * + * @param num Slave number (0-4) + * @return Current slave delay enabled status. + * @see MPU6050_RA_I2C_MST_DELAY_CTRL + * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT + */ +bool MPU6050::getSlaveDelayEnabled(uint8_t num) +{ + // MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc. + if (num > 4) return 0; + i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer); + return buffer[0]; +} +/** Set slave delay enabled status. + * @param num Slave number (0-4) + * @param enabled New slave delay enabled status. + * @see MPU6050_RA_I2C_MST_DELAY_CTRL + * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT + */ +void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled); +} + +// SIGNAL_PATH_RESET register + +/** Reset gyroscope signal path. + * The reset will revert the signal path analog to digital converters and + * filters to their power up configurations. + * @see MPU6050_RA_SIGNAL_PATH_RESET + * @see MPU6050_PATHRESET_GYRO_RESET_BIT + */ +void MPU6050::resetGyroscopePath() +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true); +} +/** Reset accelerometer signal path. + * The reset will revert the signal path analog to digital converters and + * filters to their power up configurations. + * @see MPU6050_RA_SIGNAL_PATH_RESET + * @see MPU6050_PATHRESET_ACCEL_RESET_BIT + */ +void MPU6050::resetAccelerometerPath() +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true); +} +/** Reset temperature sensor signal path. + * The reset will revert the signal path analog to digital converters and + * filters to their power up configurations. + * @see MPU6050_RA_SIGNAL_PATH_RESET + * @see MPU6050_PATHRESET_TEMP_RESET_BIT + */ +void MPU6050::resetTemperaturePath() +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true); +} + +// MOT_DETECT_CTRL register + +/** Get accelerometer power-on delay. + * The accelerometer data path provides samples to the sensor registers, Motion + * detection, Zero Motion detection, and Free Fall detection modules. The + * signal path contains filters which must be flushed on wake-up with new + * samples before the detection modules begin operations. The default wake-up + * delay, of 4ms can be lengthened by up to 3ms. This additional delay is + * specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select + * any value above zero unless instructed otherwise by InvenSense. Please refer + * to Section 8 of the MPU-6000/MPU-6050 Product Specification document for + * further information regarding the detection modules. + * @return Current accelerometer power-on delay + * @see MPU6050_RA_MOT_DETECT_CTRL + * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT + */ +uint8_t MPU6050::getAccelerometerPowerOnDelay() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer); + return buffer[0]; +} +/** Set accelerometer power-on delay. + * @param delay New accelerometer power-on delay (0-3) + * @see getAccelerometerPowerOnDelay() + * @see MPU6050_RA_MOT_DETECT_CTRL + * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT + */ +void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay); +} +/** Get Free Fall detection counter decrement configuration. + * Detection is registered by the Free Fall detection module after accelerometer + * measurements meet their respective threshold conditions over a specified + * number of samples. When the threshold conditions are met, the corresponding + * detection counter increments by 1. The user may control the rate at which the + * detection counter decrements when the threshold condition is not met by + * configuring FF_COUNT. The decrement rate can be set according to the + * following table: + * + * <pre> + * FF_COUNT | Counter Decrement + * ---------+------------------ + * 0 | Reset + * 1 | 1 + * 2 | 2 + * 3 | 4 + * </pre> + * + * When FF_COUNT is configured to 0 (reset), any non-qualifying sample will + * reset the counter to 0. For further information on Free Fall detection, + * please refer to Registers 29 to 32. + * + * @return Current decrement configuration + * @see MPU6050_RA_MOT_DETECT_CTRL + * @see MPU6050_DETECT_FF_COUNT_BIT + */ +uint8_t MPU6050::getFreefallDetectionCounterDecrement() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer); + return buffer[0]; +} +/** Set Free Fall detection counter decrement configuration. + * @param decrement New decrement configuration value + * @see getFreefallDetectionCounterDecrement() + * @see MPU6050_RA_MOT_DETECT_CTRL + * @see MPU6050_DETECT_FF_COUNT_BIT + */ +void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement); +} +/** Get Motion detection counter decrement configuration. + * Detection is registered by the Motion detection module after accelerometer + * measurements meet their respective threshold conditions over a specified + * number of samples. When the threshold conditions are met, the corresponding + * detection counter increments by 1. The user may control the rate at which the + * detection counter decrements when the threshold condition is not met by + * configuring MOT_COUNT. The decrement rate can be set according to the + * following table: + * + * <pre> + * MOT_COUNT | Counter Decrement + * ----------+------------------ + * 0 | Reset + * 1 | 1 + * 2 | 2 + * 3 | 4 + * </pre> + * + * When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will + * reset the counter to 0. For further information on Motion detection, + * please refer to Registers 29 to 32. + * + */ +uint8_t MPU6050::getMotionDetectionCounterDecrement() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer); + return buffer[0]; +} +/** Set Motion detection counter decrement configuration. + * @param decrement New decrement configuration value + * @see getMotionDetectionCounterDecrement() + * @see MPU6050_RA_MOT_DETECT_CTRL + * @see MPU6050_DETECT_MOT_COUNT_BIT + */ +void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement); +} + +// USER_CTRL register + +/** Get FIFO enabled status. + * When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer + * cannot be written to or read from while disabled. The FIFO buffer's state + * does not change unless the MPU-60X0 is power cycled. + * @return Current FIFO enabled status + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_FIFO_EN_BIT + */ +bool MPU6050::getFIFOEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set FIFO enabled status. + * @param enabled New FIFO enabled status + * @see getFIFOEnabled() + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_FIFO_EN_BIT + */ +void MPU6050::setFIFOEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled); +} +/** Get I2C Master Mode enabled status. + * When this mode is enabled, the MPU-60X0 acts as the I2C Master to the + * external sensor slave devices on the auxiliary I2C bus. When this bit is + * cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically + * driven by the primary I2C bus (SDA and SCL). This is a precondition to + * enabling Bypass Mode. For further information regarding Bypass Mode, please + * refer to Register 55. + * @return Current I2C Master Mode enabled status + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_I2C_MST_EN_BIT + */ +bool MPU6050::getI2CMasterModeEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer); + return buffer[0]; +} +/** Set I2C Master Mode enabled status. + * @param enabled New I2C Master Mode enabled status + * @see getI2CMasterModeEnabled() + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_I2C_MST_EN_BIT + */ +void MPU6050::setI2CMasterModeEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled); +} +/** Switch from I2C to SPI mode (MPU-6000 only) + * If this is set, the primary SPI interface will be enabled in place of the + * disabled primary I2C interface. + */ +void MPU6050::switchSPIEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled); +} +/** Reset the FIFO. + * This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This + * bit automatically clears to 0 after the reset has been triggered. + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_FIFO_RESET_BIT + */ +void MPU6050::resetFIFO() +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true); +} +/** Reset the I2C Master. + * This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0. + * This bit automatically clears to 0 after the reset has been triggered. + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_I2C_MST_RESET_BIT + */ +void MPU6050::resetI2CMaster() +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true); +} +/** Reset all sensor registers and signal paths. + * When set to 1, this bit resets the signal paths for all sensors (gyroscopes, + * accelerometers, and temperature sensor). This operation will also clear the + * sensor registers. This bit automatically clears to 0 after the reset has been + * triggered. + * + * When resetting only the signal path (and not the sensor registers), please + * use Register 104, SIGNAL_PATH_RESET. + * + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_SIG_COND_RESET_BIT + */ +void MPU6050::resetSensors() +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true); +} + +// PWR_MGMT_1 register + +/** Trigger a full device reset. + * A small delay of ~50ms may be desirable after triggering a reset. + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_DEVICE_RESET_BIT + */ +void MPU6050::reset() +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true); +} +/** Get sleep mode status. + * Setting the SLEEP bit in the register puts the device into very low power + * sleep mode. In this mode, only the serial interface and internal registers + * remain active, allowing for a very low standby current. Clearing this bit + * puts the device back into normal mode. To save power, the individual standby + * selections for each of the gyros should be used if any gyro axis is not used + * by the application. + * @return Current sleep mode enabled status + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_SLEEP_BIT + */ +bool MPU6050::getSleepEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer); + return buffer[0]; +} +/** Set sleep mode status. + * @param enabled New sleep mode enabled status + * @see getSleepEnabled() + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_SLEEP_BIT + */ +void MPU6050::setSleepEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled); +} +/** Get wake cycle enabled status. + * When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle + * between sleep mode and waking up to take a single sample of data from active + * sensors at a rate determined by LP_WAKE_CTRL (register 108). + * @return Current sleep mode enabled status + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_CYCLE_BIT + */ +bool MPU6050::getWakeCycleEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer); + return buffer[0]; +} +/** Set wake cycle enabled status. + * @param enabled New sleep mode enabled status + * @see getWakeCycleEnabled() + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_CYCLE_BIT + */ +void MPU6050::setWakeCycleEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled); +} +/** Get temperature sensor enabled status. + * Control the usage of the internal temperature sensor. + * + * Note: this register stores the *disabled* value, but for consistency with the + * rest of the code, the function is named and used with standard true/false + * values to indicate whether the sensor is enabled or disabled, respectively. + * + * @return Current temperature sensor enabled status + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_TEMP_DIS_BIT + */ +bool MPU6050::getTempSensorEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer); + return buffer[0] == 0; // 1 is actually disabled here +} +/** Set temperature sensor enabled status. + * Note: this register stores the *disabled* value, but for consistency with the + * rest of the code, the function is named and used with standard true/false + * values to indicate whether the sensor is enabled or disabled, respectively. + * + * @param enabled New temperature sensor enabled status + * @see getTempSensorEnabled() + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_TEMP_DIS_BIT + */ +void MPU6050::setTempSensorEnabled(bool enabled) +{ + // 1 is actually disabled here + i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled); +} +/** Get clock source setting. + * @return Current clock source setting + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_CLKSEL_BIT + * @see MPU6050_PWR1_CLKSEL_LENGTH + */ +uint8_t MPU6050::getClockSource() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer); + return buffer[0]; +} +/** Set clock source setting. + * An internal 8MHz oscillator, gyroscope based clock, or external sources can + * be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator + * or an external source is chosen as the clock source, the MPU-60X0 can operate + * in low power modes with the gyroscopes disabled. + * + * Upon power up, the MPU-60X0 clock source defaults to the internal oscillator. + * However, it is highly recommended that the device be configured to use one of + * the gyroscopes (or an external clock source) as the clock reference for + * improved stability. The clock source can be selected according to the following table: + * + * <pre> + * CLK_SEL | Clock Source + * --------+-------------------------------------- + * 0 | Internal oscillator + * 1 | PLL with X Gyro reference + * 2 | PLL with Y Gyro reference + * 3 | PLL with Z Gyro reference + * 4 | PLL with external 32.768kHz reference + * 5 | PLL with external 19.2MHz reference + * 6 | Reserved + * 7 | Stops the clock and keeps the timing generator in reset + * </pre> + * + * @param source New clock source setting + * @see getClockSource() + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_CLKSEL_BIT + * @see MPU6050_PWR1_CLKSEL_LENGTH + */ +void MPU6050::setClockSource(uint8_t source) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source); +} + +// PWR_MGMT_2 register + +/** Get wake frequency in Accel-Only Low Power Mode. + * The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting + * PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode, + * the device will power off all devices except for the primary I2C interface, + * waking only the accelerometer at fixed intervals to take a single + * measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL + * as shown below: + * + * <pre> + * LP_WAKE_CTRL | Wake-up Frequency + * -------------+------------------ + * 0 | 1.25 Hz + * 1 | 2.5 Hz + * 2 | 5 Hz + * 3 | 10 Hz + * <pre> + * + * For further information regarding the MPU-60X0's power modes, please refer to + * Register 107. + * + * @return Current wake frequency + * @see MPU6050_RA_PWR_MGMT_2 + */ +uint8_t MPU6050::getWakeFrequency() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer); + return buffer[0]; +} +/** Set wake frequency in Accel-Only Low Power Mode. + * @param frequency New wake frequency + * @see MPU6050_RA_PWR_MGMT_2 + */ +void MPU6050::setWakeFrequency(uint8_t frequency) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency); +} + +/** Get X-axis accelerometer standby enabled status. + * If enabled, the X-axis will not gather or report data (or use power). + * @return Current X-axis standby enabled status + * @see MPU6050_RA_PWR_MGMT_2 + * @see MPU6050_PWR2_STBY_XA_BIT + */ +bool MPU6050::getStandbyXAccelEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer); + return buffer[0]; +} +/** Set X-axis accelerometer standby enabled status. + * @param New X-axis standby enabled status + * @see getStandbyXAccelEnabled() + * @see MPU6050_RA_PWR_MGMT_2 + * @see MPU6050_PWR2_STBY_XA_BIT + */ +void MPU6050::setStandbyXAccelEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled); +} +/** Get Y-axis accelerometer standby enabled status. + * If enabled, the Y-axis will not gather or report data (or use power). + * @return Current Y-axis standby enabled status + * @see MPU6050_RA_PWR_MGMT_2 + * @see MPU6050_PWR2_STBY_YA_BIT + */ +bool MPU6050::getStandbyYAccelEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer); + return buffer[0]; +} +/** Set Y-axis accelerometer standby enabled status. + * @param New Y-axis standby enabled status + * @see getStandbyYAccelEnabled() + * @see MPU6050_RA_PWR_MGMT_2 + * @see MPU6050_PWR2_STBY_YA_BIT + */ +void MPU6050::setStandbyYAccelEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled); +} +/** Get Z-axis accelerometer standby enabled status. + * If enabled, the Z-axis will not gather or report data (or use power). + * @return Current Z-axis standby enabled status + * @see MPU6050_RA_PWR_MGMT_2 + * @see MPU6050_PWR2_STBY_ZA_BIT + */ +bool MPU6050::getStandbyZAccelEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer); + return buffer[0]; +} +/** Set Z-axis accelerometer standby enabled status. + * @param New Z-axis standby enabled status + * @see getStandbyZAccelEnabled() + * @see MPU6050_RA_PWR_MGMT_2 + * @see MPU6050_PWR2_STBY_ZA_BIT + */ +void MPU6050::setStandbyZAccelEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled); +} +/** Get X-axis gyroscope standby enabled status. + * If enabled, the X-axis will not gather or report data (or use power). + * @return Current X-axis standby enabled status + * @see MPU6050_RA_PWR_MGMT_2 + * @see MPU6050_PWR2_STBY_XG_BIT + */ +bool MPU6050::getStandbyXGyroEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer); + return buffer[0]; +} +/** Set X-axis gyroscope standby enabled status. + * @param New X-axis standby enabled status + * @see getStandbyXGyroEnabled() + * @see MPU6050_RA_PWR_MGMT_2 + * @see MPU6050_PWR2_STBY_XG_BIT + */ +void MPU6050::setStandbyXGyroEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled); +} +/** Get Y-axis gyroscope standby enabled status. + * If enabled, the Y-axis will not gather or report data (or use power). + * @return Current Y-axis standby enabled status + * @see MPU6050_RA_PWR_MGMT_2 + * @see MPU6050_PWR2_STBY_YG_BIT + */ +bool MPU6050::getStandbyYGyroEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer); + return buffer[0]; +} +/** Set Y-axis gyroscope standby enabled status. + * @param New Y-axis standby enabled status + * @see getStandbyYGyroEnabled() + * @see MPU6050_RA_PWR_MGMT_2 + * @see MPU6050_PWR2_STBY_YG_BIT + */ +void MPU6050::setStandbyYGyroEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled); +} +/** Get Z-axis gyroscope standby enabled status. + * If enabled, the Z-axis will not gather or report data (or use power). + * @return Current Z-axis standby enabled status + * @see MPU6050_RA_PWR_MGMT_2 + * @see MPU6050_PWR2_STBY_ZG_BIT + */ +bool MPU6050::getStandbyZGyroEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer); + return buffer[0]; +} +/** Set Z-axis gyroscope standby enabled status. + * @param New Z-axis standby enabled status + * @see getStandbyZGyroEnabled() + * @see MPU6050_RA_PWR_MGMT_2 + * @see MPU6050_PWR2_STBY_ZG_BIT + */ +void MPU6050::setStandbyZGyroEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled); +} + +// FIFO_COUNT* registers + +/** Get current FIFO buffer size. + * This value indicates the number of bytes stored in the FIFO buffer. This + * number is in turn the number of bytes that can be read from the FIFO buffer + * and it is directly proportional to the number of samples available given the + * set of sensor data bound to be stored in the FIFO (register 35 and 36). + * @return Current FIFO buffer size + */ +uint16_t MPU6050::getFIFOCount() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer); + return (((uint16_t)buffer[0]) << 8) | buffer[1]; +} + +// FIFO_R_W register + +/** Get byte from FIFO buffer. + * This register is used to read and write data from the FIFO buffer. Data is + * written to the FIFO in order of register number (from lowest to highest). If + * all the FIFO enable flags (see below) are enabled and all External Sensor + * Data registers (Registers 73 to 96) are associated with a Slave device, the + * contents of registers 59 through 96 will be written in order at the Sample + * Rate. + * + * The contents of the sensor data registers (Registers 59 to 96) are written + * into the FIFO buffer when their corresponding FIFO enable flags are set to 1 + * in FIFO_EN (Register 35). An additional flag for the sensor data registers + * associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36). + * + * If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is + * automatically set to 1. This bit is located in INT_STATUS (Register 58). + * When the FIFO buffer has overflowed, the oldest data will be lost and new + * data will be written to the FIFO. + * + * If the FIFO buffer is empty, reading this register will return the last byte + * that was previously read from the FIFO until new data is available. The user + * should check FIFO_COUNT to ensure that the FIFO buffer is not read when + * empty. + * + * @return Byte from FIFO buffer + */ +uint8_t MPU6050::getFIFOByte() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer); + return buffer[0]; +} +void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data); +} +/** Write byte to FIFO buffer. + * @see getFIFOByte() + * @see MPU6050_RA_FIFO_R_W + */ +void MPU6050::setFIFOByte(uint8_t data) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data); +} + +// WHO_AM_I register + +/** Get Device ID. + * This register is used to verify the identity of the device (0b110100, 0x34). + * @return Device ID (6 bits only! should be 0x34) + * @see MPU6050_RA_WHO_AM_I + * @see MPU6050_WHO_AM_I_BIT + * @see MPU6050_WHO_AM_I_LENGTH + */ +uint8_t MPU6050::getDeviceID() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer); + return buffer[0]; +} +/** Set Device ID. + * Write a new ID into the WHO_AM_I register (no idea why this should ever be + * necessary though). + * @param id New device ID to set. + * @see getDeviceID() + * @see MPU6050_RA_WHO_AM_I + * @see MPU6050_WHO_AM_I_BIT + * @see MPU6050_WHO_AM_I_LENGTH + */ +void MPU6050::setDeviceID(uint8_t id) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id); +} + +// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ======== + +// XG_OFFS_TC register + +uint8_t MPU6050::getOTPBankValid() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer); + return buffer[0]; +} +void MPU6050::setOTPBankValid(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled); +} +int8_t MPU6050::getXGyroOffset() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer); + return buffer[0]; +} +void MPU6050::setXGyroOffset(int8_t offset) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset); +} + +// YG_OFFS_TC register + +int8_t MPU6050::getYGyroOffset() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer); + return buffer[0]; +} +void MPU6050::setYGyroOffset(int8_t offset) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset); +} + +// ZG_OFFS_TC register + +int8_t MPU6050::getZGyroOffset() +{ + i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer); + return buffer[0]; +} +void MPU6050::setZGyroOffset(int8_t offset) +{ + i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset); +} + +// X_FINE_GAIN register + +int8_t MPU6050::getXFineGain() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer); + return buffer[0]; +} +void MPU6050::setXFineGain(int8_t gain) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain); +} + +// Y_FINE_GAIN register + +int8_t MPU6050::getYFineGain() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer); + return buffer[0]; +} +void MPU6050::setYFineGain(int8_t gain) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain); +} + +// Z_FINE_GAIN register + +int8_t MPU6050::getZFineGain() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer); + return buffer[0]; +} +void MPU6050::setZFineGain(int8_t gain) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain); +} + +// XA_OFFS_* registers + +int16_t MPU6050::getXAccelOffset() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +void MPU6050::setXAccelOffset(int16_t offset) +{ + i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset); +} + +// YA_OFFS_* register + +int16_t MPU6050::getYAccelOffset() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +void MPU6050::setYAccelOffset(int16_t offset) +{ + i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset); +} + +// ZA_OFFS_* register + +int16_t MPU6050::getZAccelOffset() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +void MPU6050::setZAccelOffset(int16_t offset) +{ + i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset); +} + +// XG_OFFS_USR* registers + +int16_t MPU6050::getXGyroOffsetUser() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +void MPU6050::setXGyroOffsetUser(int16_t offset) +{ + i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset); +} + +// YG_OFFS_USR* register + +int16_t MPU6050::getYGyroOffsetUser() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +void MPU6050::setYGyroOffsetUser(int16_t offset) +{ + i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset); +} + +// ZG_OFFS_USR* register + +int16_t MPU6050::getZGyroOffsetUser() +{ + i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +void MPU6050::setZGyroOffsetUser(int16_t offset) +{ + i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset); +} + +// INT_ENABLE register (DMP functions) + +bool MPU6050::getIntPLLReadyEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer); + return buffer[0]; +} +void MPU6050::setIntPLLReadyEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled); +} +bool MPU6050::getIntDMPEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer); + return buffer[0]; +} +void MPU6050::setIntDMPEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled); +} + +// DMP_INT_STATUS + +bool MPU6050::getDMPInt5Status() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer); + return buffer[0]; +} +bool MPU6050::getDMPInt4Status() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer); + return buffer[0]; +} +bool MPU6050::getDMPInt3Status() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer); + return buffer[0]; +} +bool MPU6050::getDMPInt2Status() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer); + return buffer[0]; +} +bool MPU6050::getDMPInt1Status() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer); + return buffer[0]; +} +bool MPU6050::getDMPInt0Status() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer); + return buffer[0]; +} + +// INT_STATUS register (DMP functions) + +bool MPU6050::getIntPLLReadyStatus() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer); + return buffer[0]; +} +bool MPU6050::getIntDMPStatus() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer); + return buffer[0]; +} + +// USER_CTRL register (DMP functions) + +bool MPU6050::getDMPEnabled() +{ + i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer); + return buffer[0]; +} +void MPU6050::setDMPEnabled(bool enabled) +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled); +} +void MPU6050::resetDMP() +{ + i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true); +} + +// BANK_SEL register + +void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) +{ + bank &= 0x1F; + if (userBank) bank |= 0x20; + if (prefetchEnabled) bank |= 0x40; + i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank); +} + +// MEM_START_ADDR register + +void MPU6050::setMemoryStartAddress(uint8_t address) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address); +} + +// MEM_R_W register + +uint8_t MPU6050::readMemoryByte() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer); + return buffer[0]; +} +void MPU6050::writeMemoryByte(uint8_t data) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data); +} +void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) +{ + setMemoryBank(bank); + setMemoryStartAddress(address); + uint8_t chunkSize; + for (uint16_t i = 0; i < dataSize;) { + // determine correct chunk size according to bank position and data size + chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE; + + // make sure we don't go past the data size + if (i + chunkSize > dataSize) chunkSize = dataSize - i; + + // make sure this chunk doesn't go past the bank boundary (256 bytes) + if (chunkSize > 256 - address) chunkSize = 256 - address; + + // read the chunk of data as specified + i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i); + + // increase byte index by [chunkSize] + i += chunkSize; + + // uint8_t automatically wraps to 0 at 256 + address += chunkSize; + + // if we aren't done, update bank (if necessary) and address + if (i < dataSize) { + if (address == 0) bank++; + setMemoryBank(bank); + setMemoryStartAddress(address); + } + } +} +bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) +{ + setMemoryBank(bank); + setMemoryStartAddress(address); + uint8_t chunkSize; + uint8_t *verifyBuffer = NULL; + uint8_t *progBuffer = NULL; + uint16_t i; + uint8_t j; + if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE); + if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE); + for (i = 0; i < dataSize;) { + // determine correct chunk size according to bank position and data size + chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE; + + // make sure we don't go past the data size + if (i + chunkSize > dataSize) chunkSize = dataSize - i; + + // make sure this chunk doesn't go past the bank boundary (256 bytes) + if (chunkSize > 256 - address) chunkSize = 256 - address; + + if (useProgMem) { + // write the chunk of data as specified + for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j); + } else { + // write the chunk of data as specified + progBuffer = (uint8_t *)data + i; + } + + i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer); + + // verify data if needed + if (verify && verifyBuffer) { + setMemoryBank(bank); + setMemoryStartAddress(address); + i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer); + if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) { + /*Serial.print("Block write verification error, bank "); + Serial.print(bank, DEC); + Serial.print(", address "); + Serial.print(address, DEC); + Serial.print("!\nExpected:"); + for (j = 0; j < chunkSize; j++) { + Serial.print(" 0x"); + if (progBuffer[j] < 16) Serial.print("0"); + Serial.print(progBuffer[j], HEX); + } + Serial.print("\nReceived:"); + for (uint8_t j = 0; j < chunkSize; j++) { + Serial.print(" 0x"); + if (verifyBuffer[i + j] < 16) Serial.print("0"); + Serial.print(verifyBuffer[i + j], HEX); + } + Serial.print("\n");*/ + free(verifyBuffer); + if (useProgMem) free(progBuffer); + return false; // uh oh. + } + } + + // increase byte index by [chunkSize] + i += chunkSize; + + // uint8_t automatically wraps to 0 at 256 + address += chunkSize; + + // if we aren't done, update bank (if necessary) and address + if (i < dataSize) { + if (address == 0) bank++; + setMemoryBank(bank); + setMemoryStartAddress(address); + } + } + if (verify) free(verifyBuffer); + if (useProgMem) free(progBuffer); + return true; +} +bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) +{ + return writeMemoryBlock(data, dataSize, bank, address, verify, true); +} +bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) +{ + uint8_t success, special; + uint8_t *progBuffer = NULL; + uint16_t i, j; + if (useProgMem) { + progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary + } + + // config set data is a long string of blocks with the following structure: + // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]] + uint8_t bank, offset, length; + for (i = 0; i < dataSize;) { + if (useProgMem) { + bank = pgm_read_byte(data + i++); + offset = pgm_read_byte(data + i++); + length = pgm_read_byte(data + i++); + } else { + bank = data[i++]; + offset = data[i++]; + length = data[i++]; + } + + // write data or perform special action + if (length > 0) { + // regular block of data to write + /*Serial.print("Writing config block to bank "); + Serial.print(bank); + Serial.print(", offset "); + Serial.print(offset); + Serial.print(", length="); + Serial.println(length);*/ + if (useProgMem) { + if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length); + for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j); + } else { + progBuffer = (uint8_t *)data + i; + } + success = writeMemoryBlock(progBuffer, length, bank, offset, true); + i += length; + } else { + // special instruction + // NOTE: this kind of behavior (what and when to do certain things) + // is totally undocumented. This code is in here based on observed + // behavior only, and exactly why (or even whether) it has to be here + // is anybody's guess for now. + if (useProgMem) { + special = pgm_read_byte(data + i++); + } else { + special = data[i++]; + } + /*Serial.print("Special command code "); + Serial.print(special, HEX); + Serial.println(" found...");*/ + if (special == 0x01) { + // enable DMP-related interrupts + + //setIntZeroMotionEnabled(true); + //setIntFIFOBufferOverflowEnabled(true); + //setIntDMPEnabled(true); + i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation + + success = true; + } else { + // unknown special command + success = false; + } + } + + if (!success) { + if (useProgMem) free(progBuffer); + return false; // uh oh + } + } + if (useProgMem) free(progBuffer); + return true; +} +bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) +{ + return writeDMPConfigurationSet(data, dataSize, false); +} + +// DMP_CFG_1 register + +uint8_t MPU6050::getDMPConfig1() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer); + return buffer[0]; +} +void MPU6050::setDMPConfig1(uint8_t config) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config); +} + +// DMP_CFG_2 register + +uint8_t MPU6050::getDMPConfig2() +{ + i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer); + return buffer[0]; +} +void MPU6050::setDMPConfig2(uint8_t config) +{ + i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config); +} \ No newline at end of file
diff -r 000000000000 -r e63996fd7d3e MPU6050.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.h Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,1006 @@ +//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 +//written by szymon gaertig (email: szymon@gaertig.com.pl) +// +//Changelog: +//2013-01-08 - first beta release + +// I2Cdev library collection - MPU6050 I2C device class +// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) +// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net> +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// ... - ongoing debug release + +// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE +// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF +// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING. + +/* ============================================ +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_H_ +#define _MPU6050_H_ + +#include "I2Cdev.h" +#include "helper_3dmath.h" + +#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board +#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) +#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_HIGH + +#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN +#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN +#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN +#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS +#define MPU6050_RA_XA_OFFS_L_TC 0x07 +#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS +#define MPU6050_RA_YA_OFFS_L_TC 0x09 +#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS +#define MPU6050_RA_ZA_OFFS_L_TC 0x0B +#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR +#define MPU6050_RA_XG_OFFS_USRL 0x14 +#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR +#define MPU6050_RA_YG_OFFS_USRL 0x16 +#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR +#define MPU6050_RA_ZG_OFFS_USRL 0x18 +#define MPU6050_RA_SMPLRT_DIV 0x19 +#define MPU6050_RA_CONFIG 0x1A +#define MPU6050_RA_GYRO_CONFIG 0x1B +#define MPU6050_RA_ACCEL_CONFIG 0x1C +#define MPU6050_RA_FF_THR 0x1D +#define MPU6050_RA_FF_DUR 0x1E +#define MPU6050_RA_MOT_THR 0x1F +#define MPU6050_RA_MOT_DUR 0x20 +#define MPU6050_RA_ZRMOT_THR 0x21 +#define MPU6050_RA_ZRMOT_DUR 0x22 +#define MPU6050_RA_FIFO_EN 0x23 +#define MPU6050_RA_I2C_MST_CTRL 0x24 +#define MPU6050_RA_I2C_SLV0_ADDR 0x25 +#define MPU6050_RA_I2C_SLV0_REG 0x26 +#define MPU6050_RA_I2C_SLV0_CTRL 0x27 +#define MPU6050_RA_I2C_SLV1_ADDR 0x28 +#define MPU6050_RA_I2C_SLV1_REG 0x29 +#define MPU6050_RA_I2C_SLV1_CTRL 0x2A +#define MPU6050_RA_I2C_SLV2_ADDR 0x2B +#define MPU6050_RA_I2C_SLV2_REG 0x2C +#define MPU6050_RA_I2C_SLV2_CTRL 0x2D +#define MPU6050_RA_I2C_SLV3_ADDR 0x2E +#define MPU6050_RA_I2C_SLV3_REG 0x2F +#define MPU6050_RA_I2C_SLV3_CTRL 0x30 +#define MPU6050_RA_I2C_SLV4_ADDR 0x31 +#define MPU6050_RA_I2C_SLV4_REG 0x32 +#define MPU6050_RA_I2C_SLV4_DO 0x33 +#define MPU6050_RA_I2C_SLV4_CTRL 0x34 +#define MPU6050_RA_I2C_SLV4_DI 0x35 +#define MPU6050_RA_I2C_MST_STATUS 0x36 +#define MPU6050_RA_INT_PIN_CFG 0x37 +#define MPU6050_RA_INT_ENABLE 0x38 +#define MPU6050_RA_DMP_INT_STATUS 0x39 +#define MPU6050_RA_INT_STATUS 0x3A + +#define MPU6050_RA_ACCEL_XOUT_H 0x3B +#define MPU6050_RA_ACCEL_XOUT_L 0x3C +#define MPU6050_RA_ACCEL_YOUT_H 0x3D +#define MPU6050_RA_ACCEL_YOUT_L 0x3E +#define MPU6050_RA_ACCEL_ZOUT_H 0x3F +#define MPU6050_RA_ACCEL_ZOUT_L 0x40 + +#define MPU6050_RA_TEMP_OUT_H 0x41 +#define MPU6050_RA_TEMP_OUT_L 0x42 + +#define MPU6050_RA_GYRO_XOUT_H 0x43 +#define MPU6050_RA_GYRO_XOUT_L 0x44 +#define MPU6050_RA_GYRO_YOUT_H 0x45 +#define MPU6050_RA_GYRO_YOUT_L 0x46 +#define MPU6050_RA_GYRO_ZOUT_H 0x47 +#define MPU6050_RA_GYRO_ZOUT_L 0x48 + +#define MPU9150_RA_MAG_ADDRESS 0x0C +#define MPU9150_RA_MAG_XOUT_L 0x03 +#define MPU9150_RA_MAG_XOUT_H 0x04 +#define MPU9150_RA_MAG_YOUT_L 0x05 +#define MPU9150_RA_MAG_YOUT_H 0x06 +#define MPU9150_RA_MAG_ZOUT_L 0x07 +#define MPU9150_RA_MAG_ZOUT_H 0x08 + +#define MPU6050_RA_EXT_SENS_DATA_00 0x49 +#define MPU6050_RA_EXT_SENS_DATA_01 0x4A +#define MPU6050_RA_EXT_SENS_DATA_02 0x4B +#define MPU6050_RA_EXT_SENS_DATA_03 0x4C +#define MPU6050_RA_EXT_SENS_DATA_04 0x4D +#define MPU6050_RA_EXT_SENS_DATA_05 0x4E +#define MPU6050_RA_EXT_SENS_DATA_06 0x4F +#define MPU6050_RA_EXT_SENS_DATA_07 0x50 +#define MPU6050_RA_EXT_SENS_DATA_08 0x51 +#define MPU6050_RA_EXT_SENS_DATA_09 0x52 +#define MPU6050_RA_EXT_SENS_DATA_10 0x53 +#define MPU6050_RA_EXT_SENS_DATA_11 0x54 +#define MPU6050_RA_EXT_SENS_DATA_12 0x55 +#define MPU6050_RA_EXT_SENS_DATA_13 0x56 +#define MPU6050_RA_EXT_SENS_DATA_14 0x57 +#define MPU6050_RA_EXT_SENS_DATA_15 0x58 +#define MPU6050_RA_EXT_SENS_DATA_16 0x59 +#define MPU6050_RA_EXT_SENS_DATA_17 0x5A +#define MPU6050_RA_EXT_SENS_DATA_18 0x5B +#define MPU6050_RA_EXT_SENS_DATA_19 0x5C +#define MPU6050_RA_EXT_SENS_DATA_20 0x5D +#define MPU6050_RA_EXT_SENS_DATA_21 0x5E +#define MPU6050_RA_EXT_SENS_DATA_22 0x5F +#define MPU6050_RA_EXT_SENS_DATA_23 0x60 +#define MPU6050_RA_MOT_DETECT_STATUS 0x61 +#define MPU6050_RA_I2C_SLV0_DO 0x63 +#define MPU6050_RA_I2C_SLV1_DO 0x64 +#define MPU6050_RA_I2C_SLV2_DO 0x65 +#define MPU6050_RA_I2C_SLV3_DO 0x66 +#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 +#define MPU6050_RA_SIGNAL_PATH_RESET 0x68 +#define MPU6050_RA_MOT_DETECT_CTRL 0x69 +#define MPU6050_RA_USER_CTRL 0x6A +#define MPU6050_RA_PWR_MGMT_1 0x6B +#define MPU6050_RA_PWR_MGMT_2 0x6C +#define MPU6050_RA_BANK_SEL 0x6D +#define MPU6050_RA_MEM_START_ADDR 0x6E +#define MPU6050_RA_MEM_R_W 0x6F +#define MPU6050_RA_DMP_CFG_1 0x70 +#define MPU6050_RA_DMP_CFG_2 0x71 +#define MPU6050_RA_FIFO_COUNTH 0x72 +#define MPU6050_RA_FIFO_COUNTL 0x73 +#define MPU6050_RA_FIFO_R_W 0x74 +#define MPU6050_RA_WHO_AM_I 0x75 + +#define MPU6050_TC_PWR_MODE_BIT 7 +#define MPU6050_TC_OFFSET_BIT 6 +#define MPU6050_TC_OFFSET_LENGTH 6 +#define MPU6050_TC_OTP_BNK_VLD_BIT 0 + +#define MPU6050_VDDIO_LEVEL_VLOGIC 0 +#define MPU6050_VDDIO_LEVEL_VDD 1 + +#define MPU6050_CFG_EXT_SYNC_SET_BIT 5 +#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3 +#define MPU6050_CFG_DLPF_CFG_BIT 2 +#define MPU6050_CFG_DLPF_CFG_LENGTH 3 + +#define MPU6050_EXT_SYNC_DISABLED 0x0 +#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1 +#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2 +#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3 +#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4 +#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5 +#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6 +#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7 + +#define MPU6050_DLPF_BW_256 0x00 +#define MPU6050_DLPF_BW_188 0x01 +#define MPU6050_DLPF_BW_98 0x02 +#define MPU6050_DLPF_BW_42 0x03 +#define MPU6050_DLPF_BW_20 0x04 +#define MPU6050_DLPF_BW_10 0x05 +#define MPU6050_DLPF_BW_5 0x06 + +#define MPU6050_GCONFIG_FS_SEL_BIT 4 +#define MPU6050_GCONFIG_FS_SEL_LENGTH 2 + +#define MPU6050_GYRO_FS_250 0x00 +#define MPU6050_GYRO_FS_500 0x01 +#define MPU6050_GYRO_FS_1000 0x02 +#define MPU6050_GYRO_FS_2000 0x03 + +#define MPU6050_ACONFIG_XA_ST_BIT 7 +#define MPU6050_ACONFIG_YA_ST_BIT 6 +#define MPU6050_ACONFIG_ZA_ST_BIT 5 +#define MPU6050_ACONFIG_AFS_SEL_BIT 4 +#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2 +#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2 +#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3 + +#define MPU6050_ACCEL_FS_2 0x00 +#define MPU6050_ACCEL_FS_4 0x01 +#define MPU6050_ACCEL_FS_8 0x02 +#define MPU6050_ACCEL_FS_16 0x03 + +#define MPU6050_DHPF_RESET 0x00 +#define MPU6050_DHPF_5 0x01 +#define MPU6050_DHPF_2P5 0x02 +#define MPU6050_DHPF_1P25 0x03 +#define MPU6050_DHPF_0P63 0x04 +#define MPU6050_DHPF_HOLD 0x07 + +#define MPU6050_TEMP_FIFO_EN_BIT 7 +#define MPU6050_XG_FIFO_EN_BIT 6 +#define MPU6050_YG_FIFO_EN_BIT 5 +#define MPU6050_ZG_FIFO_EN_BIT 4 +#define MPU6050_ACCEL_FIFO_EN_BIT 3 +#define MPU6050_SLV2_FIFO_EN_BIT 2 +#define MPU6050_SLV1_FIFO_EN_BIT 1 +#define MPU6050_SLV0_FIFO_EN_BIT 0 + +#define MPU6050_MULT_MST_EN_BIT 7 +#define MPU6050_WAIT_FOR_ES_BIT 6 +#define MPU6050_SLV_3_FIFO_EN_BIT 5 +#define MPU6050_I2C_MST_P_NSR_BIT 4 +#define MPU6050_I2C_MST_CLK_BIT 3 +#define MPU6050_I2C_MST_CLK_LENGTH 4 + +#define MPU6050_CLOCK_DIV_348 0x0 +#define MPU6050_CLOCK_DIV_333 0x1 +#define MPU6050_CLOCK_DIV_320 0x2 +#define MPU6050_CLOCK_DIV_308 0x3 +#define MPU6050_CLOCK_DIV_296 0x4 +#define MPU6050_CLOCK_DIV_286 0x5 +#define MPU6050_CLOCK_DIV_276 0x6 +#define MPU6050_CLOCK_DIV_267 0x7 +#define MPU6050_CLOCK_DIV_258 0x8 +#define MPU6050_CLOCK_DIV_500 0x9 +#define MPU6050_CLOCK_DIV_471 0xA +#define MPU6050_CLOCK_DIV_444 0xB +#define MPU6050_CLOCK_DIV_421 0xC +#define MPU6050_CLOCK_DIV_400 0xD +#define MPU6050_CLOCK_DIV_381 0xE +#define MPU6050_CLOCK_DIV_364 0xF + +#define MPU6050_I2C_SLV_RW_BIT 7 +#define MPU6050_I2C_SLV_ADDR_BIT 6 +#define MPU6050_I2C_SLV_ADDR_LENGTH 7 +#define MPU6050_I2C_SLV_EN_BIT 7 +#define MPU6050_I2C_SLV_BYTE_SW_BIT 6 +#define MPU6050_I2C_SLV_REG_DIS_BIT 5 +#define MPU6050_I2C_SLV_GRP_BIT 4 +#define MPU6050_I2C_SLV_LEN_BIT 3 +#define MPU6050_I2C_SLV_LEN_LENGTH 4 + +#define MPU6050_I2C_SLV4_RW_BIT 7 +#define MPU6050_I2C_SLV4_ADDR_BIT 6 +#define MPU6050_I2C_SLV4_ADDR_LENGTH 7 +#define MPU6050_I2C_SLV4_EN_BIT 7 +#define MPU6050_I2C_SLV4_INT_EN_BIT 6 +#define MPU6050_I2C_SLV4_REG_DIS_BIT 5 +#define MPU6050_I2C_SLV4_MST_DLY_BIT 4 +#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5 + +#define MPU6050_MST_PASS_THROUGH_BIT 7 +#define MPU6050_MST_I2C_SLV4_DONE_BIT 6 +#define MPU6050_MST_I2C_LOST_ARB_BIT 5 +#define MPU6050_MST_I2C_SLV4_NACK_BIT 4 +#define MPU6050_MST_I2C_SLV3_NACK_BIT 3 +#define MPU6050_MST_I2C_SLV2_NACK_BIT 2 +#define MPU6050_MST_I2C_SLV1_NACK_BIT 1 +#define MPU6050_MST_I2C_SLV0_NACK_BIT 0 + +#define MPU6050_INTCFG_INT_LEVEL_BIT 7 +#define MPU6050_INTCFG_INT_OPEN_BIT 6 +#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5 +#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4 +#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3 +#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2 +#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1 +#define MPU6050_INTCFG_CLKOUT_EN_BIT 0 + +#define MPU6050_INTMODE_ACTIVEHIGH 0x00 +#define MPU6050_INTMODE_ACTIVELOW 0x01 + +#define MPU6050_INTDRV_PUSHPULL 0x00 +#define MPU6050_INTDRV_OPENDRAIN 0x01 + +#define MPU6050_INTLATCH_50USPULSE 0x00 +#define MPU6050_INTLATCH_WAITCLEAR 0x01 + +#define MPU6050_INTCLEAR_STATUSREAD 0x00 +#define MPU6050_INTCLEAR_ANYREAD 0x01 + +#define MPU6050_INTERRUPT_FF_BIT 7 +#define MPU6050_INTERRUPT_MOT_BIT 6 +#define MPU6050_INTERRUPT_ZMOT_BIT 5 +#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4 +#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3 +#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2 +#define MPU6050_INTERRUPT_DMP_INT_BIT 1 +#define MPU6050_INTERRUPT_DATA_RDY_BIT 0 + +// TODO: figure out what these actually do +// UMPL source code is not very obivous +#define MPU6050_DMPINT_5_BIT 5 +#define MPU6050_DMPINT_4_BIT 4 +#define MPU6050_DMPINT_3_BIT 3 +#define MPU6050_DMPINT_2_BIT 2 +#define MPU6050_DMPINT_1_BIT 1 +#define MPU6050_DMPINT_0_BIT 0 + +#define MPU6050_MOTION_MOT_XNEG_BIT 7 +#define MPU6050_MOTION_MOT_XPOS_BIT 6 +#define MPU6050_MOTION_MOT_YNEG_BIT 5 +#define MPU6050_MOTION_MOT_YPOS_BIT 4 +#define MPU6050_MOTION_MOT_ZNEG_BIT 3 +#define MPU6050_MOTION_MOT_ZPOS_BIT 2 +#define MPU6050_MOTION_MOT_ZRMOT_BIT 0 + +#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7 +#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4 +#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3 +#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2 +#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1 +#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0 + +#define MPU6050_PATHRESET_GYRO_RESET_BIT 2 +#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1 +#define MPU6050_PATHRESET_TEMP_RESET_BIT 0 + +#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5 +#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2 +#define MPU6050_DETECT_FF_COUNT_BIT 3 +#define MPU6050_DETECT_FF_COUNT_LENGTH 2 +#define MPU6050_DETECT_MOT_COUNT_BIT 1 +#define MPU6050_DETECT_MOT_COUNT_LENGTH 2 + +#define MPU6050_DETECT_DECREMENT_RESET 0x0 +#define MPU6050_DETECT_DECREMENT_1 0x1 +#define MPU6050_DETECT_DECREMENT_2 0x2 +#define MPU6050_DETECT_DECREMENT_4 0x3 + +#define MPU6050_USERCTRL_DMP_EN_BIT 7 +#define MPU6050_USERCTRL_FIFO_EN_BIT 6 +#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5 +#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4 +#define MPU6050_USERCTRL_DMP_RESET_BIT 3 +#define MPU6050_USERCTRL_FIFO_RESET_BIT 2 +#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1 +#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0 + +#define MPU6050_PWR1_DEVICE_RESET_BIT 7 +#define MPU6050_PWR1_SLEEP_BIT 6 +#define MPU6050_PWR1_CYCLE_BIT 5 +#define MPU6050_PWR1_TEMP_DIS_BIT 3 +#define MPU6050_PWR1_CLKSEL_BIT 2 +#define MPU6050_PWR1_CLKSEL_LENGTH 3 + +#define MPU6050_CLOCK_INTERNAL 0x00 +#define MPU6050_CLOCK_PLL_XGYRO 0x01 +#define MPU6050_CLOCK_PLL_YGYRO 0x02 +#define MPU6050_CLOCK_PLL_ZGYRO 0x03 +#define MPU6050_CLOCK_PLL_EXT32K 0x04 +#define MPU6050_CLOCK_PLL_EXT19M 0x05 +#define MPU6050_CLOCK_KEEP_RESET 0x07 + +#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7 +#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2 +#define MPU6050_PWR2_STBY_XA_BIT 5 +#define MPU6050_PWR2_STBY_YA_BIT 4 +#define MPU6050_PWR2_STBY_ZA_BIT 3 +#define MPU6050_PWR2_STBY_XG_BIT 2 +#define MPU6050_PWR2_STBY_YG_BIT 1 +#define MPU6050_PWR2_STBY_ZG_BIT 0 + +#define MPU6050_WAKE_FREQ_1P25 0x0 +#define MPU6050_WAKE_FREQ_2P5 0x1 +#define MPU6050_WAKE_FREQ_5 0x2 +#define MPU6050_WAKE_FREQ_10 0x3 + +#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6 +#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5 +#define MPU6050_BANKSEL_MEM_SEL_BIT 4 +#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5 + +#define MPU6050_WHO_AM_I_BIT 6 +#define MPU6050_WHO_AM_I_LENGTH 6 + +#define MPU6050_DMP_MEMORY_BANKS 8 +#define MPU6050_DMP_MEMORY_BANK_SIZE 256 +#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16 + +// note: DMP code memory blocks defined at end of header file + +class MPU6050 { + private: + I2Cdev i2Cdev; + Serial debugSerial; + public: + MPU6050(); + MPU6050(uint8_t address); + + void initialize(); + bool testConnection(); + + // AUX_VDDIO register + uint8_t getAuxVDDIOLevel(); + void setAuxVDDIOLevel(uint8_t level); + + // SMPLRT_DIV register + uint8_t getRate(); + void setRate(uint8_t rate); + + // CONFIG register + uint8_t getExternalFrameSync(); + void setExternalFrameSync(uint8_t sync); + uint8_t getDLPFMode(); + void setDLPFMode(uint8_t bandwidth); + + // GYRO_CONFIG register + uint8_t getFullScaleGyroRange(); + void setFullScaleGyroRange(uint8_t range); + + // ACCEL_CONFIG register + bool getAccelXSelfTest(); + void setAccelXSelfTest(bool enabled); + bool getAccelYSelfTest(); + void setAccelYSelfTest(bool enabled); + bool getAccelZSelfTest(); + void setAccelZSelfTest(bool enabled); + uint8_t getFullScaleAccelRange(); + void setFullScaleAccelRange(uint8_t range); + uint8_t getDHPFMode(); + void setDHPFMode(uint8_t mode); + + // FF_THR register + uint8_t getFreefallDetectionThreshold(); + void setFreefallDetectionThreshold(uint8_t threshold); + + // FF_DUR register + uint8_t getFreefallDetectionDuration(); + void setFreefallDetectionDuration(uint8_t duration); + + // MOT_THR register + uint8_t getMotionDetectionThreshold(); + void setMotionDetectionThreshold(uint8_t threshold); + + // MOT_DUR register + uint8_t getMotionDetectionDuration(); + void setMotionDetectionDuration(uint8_t duration); + + // ZRMOT_THR register + uint8_t getZeroMotionDetectionThreshold(); + void setZeroMotionDetectionThreshold(uint8_t threshold); + + // ZRMOT_DUR register + uint8_t getZeroMotionDetectionDuration(); + void setZeroMotionDetectionDuration(uint8_t duration); + + // FIFO_EN register + bool getTempFIFOEnabled(); + void setTempFIFOEnabled(bool enabled); + bool getXGyroFIFOEnabled(); + void setXGyroFIFOEnabled(bool enabled); + bool getYGyroFIFOEnabled(); + void setYGyroFIFOEnabled(bool enabled); + bool getZGyroFIFOEnabled(); + void setZGyroFIFOEnabled(bool enabled); + bool getAccelFIFOEnabled(); + void setAccelFIFOEnabled(bool enabled); + bool getSlave2FIFOEnabled(); + void setSlave2FIFOEnabled(bool enabled); + bool getSlave1FIFOEnabled(); + void setSlave1FIFOEnabled(bool enabled); + bool getSlave0FIFOEnabled(); + void setSlave0FIFOEnabled(bool enabled); + + // I2C_MST_CTRL register + bool getMultiMasterEnabled(); + void setMultiMasterEnabled(bool enabled); + bool getWaitForExternalSensorEnabled(); + void setWaitForExternalSensorEnabled(bool enabled); + bool getSlave3FIFOEnabled(); + void setSlave3FIFOEnabled(bool enabled); + bool getSlaveReadWriteTransitionEnabled(); + void setSlaveReadWriteTransitionEnabled(bool enabled); + uint8_t getMasterClockSpeed(); + void setMasterClockSpeed(uint8_t speed); + + // I2C_SLV* registers (Slave 0-3) + uint8_t getSlaveAddress(uint8_t num); + void setSlaveAddress(uint8_t num, uint8_t address); + uint8_t getSlaveRegister(uint8_t num); + void setSlaveRegister(uint8_t num, uint8_t reg); + bool getSlaveEnabled(uint8_t num); + void setSlaveEnabled(uint8_t num, bool enabled); + bool getSlaveWordByteSwap(uint8_t num); + void setSlaveWordByteSwap(uint8_t num, bool enabled); + bool getSlaveWriteMode(uint8_t num); + void setSlaveWriteMode(uint8_t num, bool mode); + bool getSlaveWordGroupOffset(uint8_t num); + void setSlaveWordGroupOffset(uint8_t num, bool enabled); + uint8_t getSlaveDataLength(uint8_t num); + void setSlaveDataLength(uint8_t num, uint8_t length); + + // I2C_SLV* registers (Slave 4) + uint8_t getSlave4Address(); + void setSlave4Address(uint8_t address); + uint8_t getSlave4Register(); + void setSlave4Register(uint8_t reg); + void setSlave4OutputByte(uint8_t data); + bool getSlave4Enabled(); + void setSlave4Enabled(bool enabled); + bool getSlave4InterruptEnabled(); + void setSlave4InterruptEnabled(bool enabled); + bool getSlave4WriteMode(); + void setSlave4WriteMode(bool mode); + uint8_t getSlave4MasterDelay(); + void setSlave4MasterDelay(uint8_t delay); + uint8_t getSlate4InputByte(); + + // I2C_MST_STATUS register + bool getPassthroughStatus(); + bool getSlave4IsDone(); + bool getLostArbitration(); + bool getSlave4Nack(); + bool getSlave3Nack(); + bool getSlave2Nack(); + bool getSlave1Nack(); + bool getSlave0Nack(); + + // INT_PIN_CFG register + bool getInterruptMode(); + void setInterruptMode(bool mode); + bool getInterruptDrive(); + void setInterruptDrive(bool drive); + bool getInterruptLatch(); + void setInterruptLatch(bool latch); + bool getInterruptLatchClear(); + void setInterruptLatchClear(bool clear); + bool getFSyncInterruptLevel(); + void setFSyncInterruptLevel(bool level); + bool getFSyncInterruptEnabled(); + void setFSyncInterruptEnabled(bool enabled); + bool getI2CBypassEnabled(); + void setI2CBypassEnabled(bool enabled); + bool getClockOutputEnabled(); + void setClockOutputEnabled(bool enabled); + + // INT_ENABLE register + uint8_t getIntEnabled(); + void setIntEnabled(uint8_t enabled); + bool getIntFreefallEnabled(); + void setIntFreefallEnabled(bool enabled); + bool getIntMotionEnabled(); + void setIntMotionEnabled(bool enabled); + bool getIntZeroMotionEnabled(); + void setIntZeroMotionEnabled(bool enabled); + bool getIntFIFOBufferOverflowEnabled(); + void setIntFIFOBufferOverflowEnabled(bool enabled); + bool getIntI2CMasterEnabled(); + void setIntI2CMasterEnabled(bool enabled); + bool getIntDataReadyEnabled(); + void setIntDataReadyEnabled(bool enabled); + + // INT_STATUS register + uint8_t getIntStatus(); + bool getIntFreefallStatus(); + bool getIntMotionStatus(); + bool getIntZeroMotionStatus(); + bool getIntFIFOBufferOverflowStatus(); + bool getIntI2CMasterStatus(); + bool getIntDataReadyStatus(); + + // ACCEL_*OUT_* registers + void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz); + void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz); + void getAcceleration(int16_t* x, int16_t* y, int16_t* z); + int16_t getAccelerationX(); + int16_t getAccelerationY(); + int16_t getAccelerationZ(); + + // TEMP_OUT_* registers + int16_t getTemperature(); + + // GYRO_*OUT_* registers + void getRotation(int16_t* x, int16_t* y, int16_t* z); + int16_t getRotationX(); + int16_t getRotationY(); + int16_t getRotationZ(); + + // EXT_SENS_DATA_* registers + uint8_t getExternalSensorByte(int position); + uint16_t getExternalSensorWord(int position); + uint32_t getExternalSensorDWord(int position); + + // MOT_DETECT_STATUS register + bool getXNegMotionDetected(); + bool getXPosMotionDetected(); + bool getYNegMotionDetected(); + bool getYPosMotionDetected(); + bool getZNegMotionDetected(); + bool getZPosMotionDetected(); + bool getZeroMotionDetected(); + + // I2C_SLV*_DO register + void setSlaveOutputByte(uint8_t num, uint8_t data); + + // I2C_MST_DELAY_CTRL register + bool getExternalShadowDelayEnabled(); + void setExternalShadowDelayEnabled(bool enabled); + bool getSlaveDelayEnabled(uint8_t num); + void setSlaveDelayEnabled(uint8_t num, bool enabled); + + // SIGNAL_PATH_RESET register + void resetGyroscopePath(); + void resetAccelerometerPath(); + void resetTemperaturePath(); + + // MOT_DETECT_CTRL register + uint8_t getAccelerometerPowerOnDelay(); + void setAccelerometerPowerOnDelay(uint8_t delay); + uint8_t getFreefallDetectionCounterDecrement(); + void setFreefallDetectionCounterDecrement(uint8_t decrement); + uint8_t getMotionDetectionCounterDecrement(); + void setMotionDetectionCounterDecrement(uint8_t decrement); + + // USER_CTRL register + bool getFIFOEnabled(); + void setFIFOEnabled(bool enabled); + bool getI2CMasterModeEnabled(); + void setI2CMasterModeEnabled(bool enabled); + void switchSPIEnabled(bool enabled); + void resetFIFO(); + void resetI2CMaster(); + void resetSensors(); + + // PWR_MGMT_1 register + void reset(); + bool getSleepEnabled(); + void setSleepEnabled(bool enabled); + bool getWakeCycleEnabled(); + void setWakeCycleEnabled(bool enabled); + bool getTempSensorEnabled(); + void setTempSensorEnabled(bool enabled); + uint8_t getClockSource(); + void setClockSource(uint8_t source); + + // PWR_MGMT_2 register + uint8_t getWakeFrequency(); + void setWakeFrequency(uint8_t frequency); + bool getStandbyXAccelEnabled(); + void setStandbyXAccelEnabled(bool enabled); + bool getStandbyYAccelEnabled(); + void setStandbyYAccelEnabled(bool enabled); + bool getStandbyZAccelEnabled(); + void setStandbyZAccelEnabled(bool enabled); + bool getStandbyXGyroEnabled(); + void setStandbyXGyroEnabled(bool enabled); + bool getStandbyYGyroEnabled(); + void setStandbyYGyroEnabled(bool enabled); + bool getStandbyZGyroEnabled(); + void setStandbyZGyroEnabled(bool enabled); + + // FIFO_COUNT_* registers + uint16_t getFIFOCount(); + + // FIFO_R_W register + uint8_t getFIFOByte(); + void setFIFOByte(uint8_t data); + void getFIFOBytes(uint8_t *data, uint8_t length); + + // WHO_AM_I register + uint8_t getDeviceID(); + void setDeviceID(uint8_t id); + + // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ======== + + // XG_OFFS_TC register + uint8_t getOTPBankValid(); + void setOTPBankValid(bool enabled); + int8_t getXGyroOffset(); + void setXGyroOffset(int8_t offset); + + // YG_OFFS_TC register + int8_t getYGyroOffset(); + void setYGyroOffset(int8_t offset); + + // ZG_OFFS_TC register + int8_t getZGyroOffset(); + void setZGyroOffset(int8_t offset); + + // X_FINE_GAIN register + int8_t getXFineGain(); + void setXFineGain(int8_t gain); + + // Y_FINE_GAIN register + int8_t getYFineGain(); + void setYFineGain(int8_t gain); + + // Z_FINE_GAIN register + int8_t getZFineGain(); + void setZFineGain(int8_t gain); + + // XA_OFFS_* registers + int16_t getXAccelOffset(); + void setXAccelOffset(int16_t offset); + + // YA_OFFS_* register + int16_t getYAccelOffset(); + void setYAccelOffset(int16_t offset); + + // ZA_OFFS_* register + int16_t getZAccelOffset(); + void setZAccelOffset(int16_t offset); + + // XG_OFFS_USR* registers + int16_t getXGyroOffsetUser(); + void setXGyroOffsetUser(int16_t offset); + + // YG_OFFS_USR* register + int16_t getYGyroOffsetUser(); + void setYGyroOffsetUser(int16_t offset); + + // ZG_OFFS_USR* register + int16_t getZGyroOffsetUser(); + void setZGyroOffsetUser(int16_t offset); + + // INT_ENABLE register (DMP functions) + bool getIntPLLReadyEnabled(); + void setIntPLLReadyEnabled(bool enabled); + bool getIntDMPEnabled(); + void setIntDMPEnabled(bool enabled); + + // DMP_INT_STATUS + bool getDMPInt5Status(); + bool getDMPInt4Status(); + bool getDMPInt3Status(); + bool getDMPInt2Status(); + bool getDMPInt1Status(); + bool getDMPInt0Status(); + + // INT_STATUS register (DMP functions) + bool getIntPLLReadyStatus(); + bool getIntDMPStatus(); + + // USER_CTRL register (DMP functions) + bool getDMPEnabled(); + void setDMPEnabled(bool enabled); + void resetDMP(); + + // BANK_SEL register + void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false); + + // MEM_START_ADDR register + void setMemoryStartAddress(uint8_t address); + + // MEM_R_W register + uint8_t readMemoryByte(); + void writeMemoryByte(uint8_t data); + void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0); + bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false); + bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true); + + bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false); + bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize); + + // DMP_CFG_1 register + uint8_t getDMPConfig1(); + void setDMPConfig1(uint8_t config); + + // DMP_CFG_2 register + uint8_t getDMPConfig2(); + void setDMPConfig2(uint8_t config); + + // special methods for MotionApps 2.0 implementation + #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20 + uint8_t *dmpPacketBuffer; + uint16_t dmpPacketSize; + + uint8_t dmpInitialize(); + bool dmpPacketAvailable(); + + uint8_t dmpSetFIFORate(uint8_t fifoRate); + uint8_t dmpGetFIFORate(); + uint8_t dmpGetSampleStepSizeMS(); + uint8_t dmpGetSampleFrequency(); + int32_t dmpDecodeTemperature(int8_t tempReg); + + // Register callbacks after a packet of FIFO data is processed + //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); + //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); + uint8_t dmpRunFIFORateProcesses(); + + // Setup FIFO for various output + uint8_t dmpSendQuaternion(uint_fast16_t accuracy); + uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); + uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); + + // Get Fixed Point data from FIFO + uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); + uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); + uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); + uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpSetLinearAccelFilterCoefficient(float coef); + uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); + uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); + uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); + uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); + uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); + uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); + + uint8_t dmpGetEuler(float *data, Quaternion *q); + uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); + + // Get Floating Point data from FIFO + uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); + uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); + + uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); + uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); + + uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); + + uint8_t dmpInitFIFOParam(); + uint8_t dmpCloseFIFO(); + uint8_t dmpSetGyroDataSource(uint8_t source); + uint8_t dmpDecodeQuantizedAccel(); + uint32_t dmpGetGyroSumOfSquare(); + uint32_t dmpGetAccelSumOfSquare(); + void dmpOverrideQuaternion(long *q); + uint16_t dmpGetFIFOPacketSize(); + #endif + + // special methods for MotionApps 4.1 implementation + #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41 + uint8_t *dmpPacketBuffer; + uint16_t dmpPacketSize; + + uint8_t dmpInitialize(); + bool dmpPacketAvailable(); + + uint8_t dmpSetFIFORate(uint8_t fifoRate); + uint8_t dmpGetFIFORate(); + uint8_t dmpGetSampleStepSizeMS(); + uint8_t dmpGetSampleFrequency(); + int32_t dmpDecodeTemperature(int8_t tempReg); + + // Register callbacks after a packet of FIFO data is processed + //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); + //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); + uint8_t dmpRunFIFORateProcesses(); + + // Setup FIFO for various output + uint8_t dmpSendQuaternion(uint_fast16_t accuracy); + uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); + uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); + uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); + + // Get Fixed Point data from FIFO + uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); + uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); + uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); + uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0); + uint8_t dmpSetLinearAccelFilterCoefficient(float coef); + uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); + uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); + uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); + uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); + uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); + uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); + uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); + uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); + + uint8_t dmpGetEuler(float *data, Quaternion *q); + uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); + + // Get Floating Point data from FIFO + uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); + uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); + + uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); + uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); + + uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); + + uint8_t dmpInitFIFOParam(); + uint8_t dmpCloseFIFO(); + uint8_t dmpSetGyroDataSource(uint8_t source); + uint8_t dmpDecodeQuantizedAccel(); + uint32_t dmpGetGyroSumOfSquare(); + uint32_t dmpGetAccelSumOfSquare(); + void dmpOverrideQuaternion(long *q); + uint16_t dmpGetFIFOPacketSize(); + #endif + + private: + uint8_t devAddr; + uint8_t buffer[14]; +}; + +#endif /* _MPU6050_H_ */ \ No newline at end of file
diff -r 000000000000 -r e63996fd7d3e MPU6050_6Axis_MotionApps20.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050_6Axis_MotionApps20.h Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,751 @@ +// 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 <iostream> + +#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) pc.printf(x) //Serial.print(x) + #define DEBUG_PRINTF(x, y) pc.printf(x,y) //Serial.print(x, y) + + #define F(x) x +#else + #define DEBUG_PRINT(x) + #define DEBUG_PRINTF(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 + Serial pc(USBTX, USBRX); // tx, rx + pc.baud(115200); + wait_ms(50); + + pc.printf("\n\nSet USB Baudrate to 115200...\n"); + + pc.printf("\n\nResetting MPU6050...\n"); + 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_PRINT("Disabling sleep mode...\n"); + setSleepEnabled(false); + + // get MPU hardware revision + DEBUG_PRINT("Selecting user bank 16...\n"); + setMemoryBank(0x10, true, true); + DEBUG_PRINT("Selecting memory byte 6...\n"); + setMemoryStartAddress(0x06); + DEBUG_PRINT("Checking hardware revision...\n"); + uint8_t hwRevision = readMemoryByte(); + DEBUG_PRINT("Revision @ user[16][6] = "); + DEBUG_PRINTF("%x\n",hwRevision); + DEBUG_PRINT("Resetting memory bank selection to 0...\n"); + setMemoryBank(0, false, false); + + // check OTP bank valid + DEBUG_PRINT("Reading OTP bank valid flag...\n"); + uint8_t otpValid = getOTPBankValid(); + + DEBUG_PRINT("OTP bank is "); + if(otpValid) DEBUG_PRINT("valid!\n"); + else DEBUG_PRINT("invalid!\n"); + + // get X/Y/Z gyro offsets + /* + DEBUG_PRINT("\nReading gyro offset TC values...\n"); + int8_t xgOffsetTC = mpu.getXGyroOffsetTC(); + int8_t ygOffsetTC = getYGyroOffsetTC(); + int8_t zgOffsetTC = getZGyroOffsetTC(); + DEBUG_PRINTF("X gyro offset = %u\n",xgOffset); + DEBUG_PRINTF("Y gyro offset = %u\n",ygOffset); + DEBUG_PRINTF("Z gyro offset = %u\n",zgOffset); + */ + // setup weird slave stuff (?) + DEBUG_PRINT("Setting slave 0 address to 0x7F...\n"); + setSlaveAddress(0, 0x7F); + + DEBUG_PRINT("Disabling I2C Master mode..."); + setI2CMasterModeEnabled(false); + DEBUG_PRINT("Setting slave 0 address to 0x68 (self)..."); + setSlaveAddress(0, 0x68); + DEBUG_PRINT("Resetting I2C Master control...\n"); + resetI2CMaster(); + + wait_ms(20); + + // load DMP code into memory banks + DEBUG_PRINT("Writing DMP code to MPU memory banks ("); + DEBUG_PRINTF("%u",MPU6050_DMP_CODE_SIZE); + DEBUG_PRINT(" bytes)\n"); + if (writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) { + DEBUG_PRINT("Success! DMP code written and verified.\n"); + + // write DMP configuration + DEBUG_PRINT("Writing DMP configuration to MPU memory banks ("); + DEBUG_PRINTF("%u",MPU6050_DMP_CONFIG_SIZE); + DEBUG_PRINT(" bytes in config def)\n"); + if (writeProgDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) { + DEBUG_PRINT("Success! DMP configuration written and verified.\n"); + + DEBUG_PRINT("Setting clock source to Z Gyro...\n"); + setClockSource(MPU6050_CLOCK_PLL_ZGYRO); + + DEBUG_PRINT("Setting DMP and FIFO_OFLOW interrupts enabled...\n"); + setIntEnabled(0x12); + + DEBUG_PRINT("Setting sample rate to 200Hz..."); + setRate(4); // 1khz / (1 + 4) = 200 Hz + + DEBUG_PRINT("Setting external frame sync to TEMP_OUT_L[0]...\n"); + setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L); + + DEBUG_PRINT("Setting DLPF bandwidth to 42Hz...\n"); + setDLPFMode(MPU6050_DLPF_BW_42); + + DEBUG_PRINT("Setting gyro sensitivity to +/- 2000 deg/sec...\n"); + setFullScaleGyroRange(MPU6050_GYRO_FS_2000); + + DEBUG_PRINT("Setting DMP configuration bytes (function unknown)...\n"); + setDMPConfig1(0x03); + setDMPConfig2(0x00); + + DEBUG_PRINT("Clearing OTP Bank flag..."); + setOTPBankValid(false); + + DEBUG_PRINT("Setting X/Y/Z gyro offset TCs to previous values...\n"); + //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_PRINT("Writing final memory update 1/7 (function unknown)...\n"); + 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_PRINT("Writing final memory update 2/7 (function unknown)...\n"); + 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_PRINT("Resetting FIFO...\n"); + resetFIFO(); + + DEBUG_PRINT("Reading FIFO count...\n"); + uint16_t fifoCount = getFIFOCount(); + uint8_t fifoBuffer[128]; + + DEBUG_PRINT("Current FIFO count="); + DEBUG_PRINTF("%u\n",fifoCount); + getFIFOBytes(fifoBuffer, fifoCount); + + DEBUG_PRINT("Setting motion detection threshold to 2...\n"); + setMotionDetectionThreshold(2); + + DEBUG_PRINT("Setting zero-motion detection threshold to 156...\n"); + setZeroMotionDetectionThreshold(156); + + DEBUG_PRINT("Setting motion detection duration to 80..."); + setMotionDetectionDuration(80); + + DEBUG_PRINT("Setting zero-motion detection duration to 0..."); + setZeroMotionDetectionDuration(0); + + DEBUG_PRINT("Resetting FIFO...\n"); + resetFIFO(); + + DEBUG_PRINT("Enabling FIFO...\n"); + setFIFOEnabled(true); + + DEBUG_PRINT("Enabling DMP...\n"); + setDMPEnabled(true); + + DEBUG_PRINT("Resetting DMP...\n"); + resetDMP(); + + DEBUG_PRINT("Writing final memory update 3/7 (function unknown)...\n"); + 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_PRINT("Writing final memory update 4/7 (function unknown)...\n"); + 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_PRINT("Writing final memory update 5/7 (function unknown)...\n"); + 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_PRINT("Waiting for FIFO count > 2...\n"); + while ((fifoCount = getFIFOCount()) < 3); + + DEBUG_PRINT("Current FIFO count="); + DEBUG_PRINTF("%u\n",fifoCount); + DEBUG_PRINT("Reading FIFO data...\n"); + getFIFOBytes(fifoBuffer, fifoCount); + + DEBUG_PRINT("Reading interrupt status...\n"); + uint8_t mpuIntStatus = getIntStatus(); + + DEBUG_PRINT("Current interrupt status="); + DEBUG_PRINTF("%x\n",mpuIntStatus); + + DEBUG_PRINT("Reading final memory update 6/7 (function unknown)...\n"); + 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_PRINT("Waiting for FIFO count > 2...\n"); + while ((fifoCount = getFIFOCount()) < 3); + + DEBUG_PRINT("Current FIFO count="); + DEBUG_PRINTF("%u\n",fifoCount); + + DEBUG_PRINT("Reading FIFO data...\n"); + getFIFOBytes(fifoBuffer, fifoCount); + + DEBUG_PRINT("Reading interrupt status...\n"); + mpuIntStatus = getIntStatus(); + + DEBUG_PRINT("Current interrupt status="); + DEBUG_PRINTF("%x\n",mpuIntStatus); + + DEBUG_PRINT("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_PRINT("DMP is good to go! Finally.\n"); + + DEBUG_PRINT("Disabling DMP (you turn it on later)...\n"); + setDMPEnabled(false); + + DEBUG_PRINT("Setting up internal 42-byte (default) DMP packet buffer...\n"); + dmpPacketSize = 42; + /*if ((dmpPacketBuffer = (uint8_t *)malloc(42)) == 0) { + return 3; // TODO: proper error code for no memory + }*/ + + DEBUG_PRINT("Resetting FIFO and clearing INT status one last time...\n"); + resetFIFO(); + getIntStatus(); + } else { + DEBUG_PRINT("ERROR! DMP configuration verification failed.\n"); + return 2; // configuration block loading failed + } + } else { + DEBUG_PRINT("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_ */
diff -r 000000000000 -r e63996fd7d3e MPU6050_9Axis_MotionApps41.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050_9Axis_MotionApps41.h Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,865 @@ +// I2Cdev library collection - MPU6050 I2C device class, 9-axis MotionApps 4.1 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. +=============================================== +*/ + +#ifndef _MPU6050_9AXIS_MOTIONAPPS41_H_ +#define _MPU6050_9AXIS_MOTIONAPPS41_H_ + +#include <iostream> + +#include "I2Cdev.h" +#include "helper_3dmath.h" + +// MotionApps 4.1 DMP implementation, built using the MPU-9150 "MotionFit" board +#define MPU6050_INCLUDE_DMP_MOTIONAPPS41 + +#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 + +#define min(a,b) (((a)<(b))?(a):(b)) + +// 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) pc.printf(x) //Serial.print(x) + #define DEBUG_PRINTF(x, y) pc.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 1962 // dmpMemory[] +#define MPU6050_DMP_CONFIG_SIZE 232 // dmpConfig[] +#define MPU6050_DMP_UPDATES_SIZE 140 // dmpUpdates[] + +/* ================================================================================================ * +| Default MotionApps v4.1 48-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][ ][MAG X ][MAG Y ][MAG 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 42 43 44 45 46 47 | +* ================================================================================================ */ + +// 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, 0x47, 0x78, 0xA2, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + + // bank 3, 256 bytes + 0xD8, 0xDC, 0xF4, 0xD8, 0xB9, 0xAB, 0xF3, 0xF8, 0xFA, 0xF1, 0xBA, 0xA2, 0xDE, 0xB2, 0xB8, 0xB4, + 0xA8, 0x81, 0x98, 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, 0xF0, 0x00, 0x28, 0x50, 0xF5, 0xBA, 0xAD, 0x8F, 0x9F, 0x28, 0x54, + 0x7C, 0xB9, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xDB, 0xB2, 0xB6, 0x8E, 0x9D, + 0xAE, 0xF5, 0x60, 0x68, 0x70, 0xB1, 0xB5, 0xF1, 0xDA, 0xA6, 0xDF, 0xD9, 0xA6, 0xFA, 0xA3, 0x86, + + // bank 4, 256 bytes + 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, + 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, + + // bank 5, 256 bytes + 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, + 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, 0x97, 0x86, + 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97, 0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, + 0xB9, 0xA3, 0x8A, 0xC3, 0xC5, 0xC7, 0x9A, 0xA3, 0x28, 0x50, 0x78, 0xF1, 0xB5, 0x93, 0x01, 0xD9, + 0xDF, 0xDF, 0xDF, 0xD8, 0xB8, 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, 0xB1, 0x83, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0xB0, 0x8B, 0x29, 0x51, 0x79, 0xB1, 0x83, 0x24, + + // bank 6, 256 bytes + 0x70, 0x59, 0xB0, 0x8B, 0x20, 0x58, 0x71, 0xB1, 0x83, 0x44, 0x69, 0x38, 0xB0, 0x8B, 0x39, 0x40, + 0x68, 0xB1, 0x83, 0x64, 0x48, 0x31, 0xB0, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, + 0x58, 0x44, 0x68, 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, + + // bank 7, 170 bytes (remainder) + 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, 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, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 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 +}; + +const prog_uchar dmpConfig[MPU6050_DMP_CONFIG_SIZE] PROGMEM = { +// BANK OFFSET LENGTH [DATA] + 0x02, 0xEC, 0x04, 0x00, 0x47, 0x7D, 0x1A, // ? + 0x03, 0x82, 0x03, 0x4C, 0xCD, 0x6C, // FCFG_1 inv_set_gyro_calibration + 0x03, 0xB2, 0x03, 0x36, 0x56, 0x76, // FCFG_3 inv_set_gyro_calibration + 0x00, 0x68, 0x04, 0x02, 0xCA, 0xE3, 0x09, // D_0_104 inv_set_gyro_calibration + 0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // D_1_152 inv_set_accel_calibration + 0x03, 0x86, 0x03, 0x0C, 0xC9, 0x2C, // FCFG_2 inv_set_accel_calibration + 0x03, 0x90, 0x03, 0x26, 0x46, 0x66, // (continued)...FCFG_2 inv_set_accel_calibration + 0x00, 0x6C, 0x02, 0x40, 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, 0x40, 0x00, 0x00, 0x00, // CPASS_MTX_01 + 0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02 + 0x02, 0x4C, 0x04, 0x40, 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, 0xC0, 0x00, 0x00, 0x00, // CPASS_MTX_22 + + 0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00, // D_1_236 inv_apply_endian_accel + 0x03, 0x86, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors + 0x04, 0x22, 0x03, 0x0D, 0x35, 0x5D, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion + 0x00, 0xA3, 0x01, 0x00, // ? + 0x04, 0x29, 0x04, 0x87, 0x2D, 0x35, 0x3D, // FCFG_5 inv_set_bias_update + 0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion + 0x07, 0x9F, 0x01, 0x30, // CFG_16 inv_set_footer + 0x07, 0x67, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro + 0x07, 0x68, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo + 0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // ? + 0x02, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // ? + 0x07, 0x83, 0x06, 0xC2, 0xCA, 0xC4, 0xA3, 0xA3, 0xA3, // ? + // SPECIAL 0x01 = enable interrupts + 0x00, 0x00, 0x00, 0x01, // SET INT_ENABLE, SPECIAL INSTRUCTION + 0x07, 0xA7, 0x01, 0xFE, // ? + 0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // ? + 0x07, 0x67, 0x01, 0x9A, // ? + 0x07, 0x68, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo + 0x07, 0x8D, 0x04, 0xF1, 0x28, 0x30, 0x38, // ??? CFG_12 inv_send_mag -> inv_construct3_fifo + 0x02, 0x16, 0x02, 0x00, 0x03 // 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, 0xF5, + 0x01, 0x90, 0x04, 0x0A, 0x0D, 0x97, 0xC0, + 0x00, 0xA3, 0x01, 0x00, + 0x04, 0x29, 0x04, 0x87, 0x2D, 0x35, 0x3D, + 0x01, 0x6A, 0x02, 0x06, 0x00, + 0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00, + 0x02, 0x60, 0x0C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x08, 0x02, 0x01, 0x20, + 0x01, 0x0A, 0x02, 0x00, 0x4E, + 0x01, 0x02, 0x02, 0xFE, 0xB3, + 0x02, 0x6C, 0x04, 0x00, 0x00, 0x00, 0x00, // READ + 0x02, 0x6C, 0x04, 0xFA, 0xFE, 0x00, 0x00, + 0x02, 0x60, 0x0C, 0xFF, 0xFF, 0xCB, 0x4D, 0x00, 0x01, 0x08, 0xC1, 0xFF, 0xFF, 0xBC, 0x2C, + 0x02, 0xF4, 0x04, 0x00, 0x00, 0x00, 0x00, + 0x02, 0xF8, 0x04, 0x00, 0x00, 0x00, 0x00, + 0x02, 0xFC, 0x04, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00, + 0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00 +}; + +uint8_t MPU6050::dmpInitialize() { + Serial pc(USBTX, USBRX); // tx, rx + pc.baud(115200); + wait_ms(50); + + pc.printf("\n\nSet USB Baudrate to 115200...\n"); + + // reset device + DEBUG_PRINT("\n\nResetting MPU6050..."); + reset(); + wait_ms(30); + + // disable sleep mode + DEBUG_PRINT("Disabling sleep mode..."); + setSleepEnabled(false); + + // get MPU product ID +// DEBUG_PRINT("Getting product ID..."); +// uint8_t productID = 0; +// getProductID(); +// DEBUG_PRINT("Product ID = "); +// DEBUG_PRINTF("%u", productID); + + // get MPU hardware revision + DEBUG_PRINT("Selecting user bank 16...\n"); + setMemoryBank(0x10, true, true); + DEBUG_PRINT("Selecting memory byte 6...\n"); + setMemoryStartAddress(0x06); + DEBUG_PRINT("Checking hardware revision...\n"); + uint8_t hwRevision = readMemoryByte(); + DEBUG_PRINT("Revision @ user[16][6] = "); + DEBUG_PRINTF("%x\n",hwRevision); + DEBUG_PRINT("Resetting memory bank selection to 0..."); + setMemoryBank(0, false, false); + + // check OTP bank valid + DEBUG_PRINT("Reading OTP bank valid flag...\n"); + uint8_t otpValid = getOTPBankValid(); + DEBUG_PRINT("OTP bank is "); + + if(otpValid)DEBUG_PRINT("valid!\n"); + else DEBUG_PRINT("invalid!\n"); + + // get X/Y/Z gyro offsets + DEBUG_PRINT("Reading gyro offset values...\n"); + int8_t xgOffset = getXGyroOffset(); + int8_t ygOffset = getYGyroOffset(); + int8_t zgOffset = getZGyroOffset(); + DEBUG_PRINT("X gyro offset = "); + DEBUG_PRINTF("%u\n",xgOffset); + DEBUG_PRINT("Y gyro offset = "); + DEBUG_PRINTF("%u\n",ygOffset); + DEBUG_PRINT("Z gyro offset = "); + DEBUG_PRINTF("%u\n",zgOffset); + + i2Cdev.readByte(devAddr, MPU6050_RA_USER_CTRL, buffer); // ? + + DEBUG_PRINT("Enabling interrupt latch, clear on any read, AUX bypass enabled\n"); + i2Cdev.writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x32); + + // enable MPU AUX I2C bypass mode + //DEBUG_PRINT("Enabling AUX I2C bypass mode...")); + //setI2CBypassEnabled(true); + + DEBUG_PRINT("Setting magnetometer mode to power-down...\n"); + //mag -> setMode(0); + i2Cdev.writeByte(0x0E, 0x0A, 0x00); + + DEBUG_PRINT("Setting magnetometer mode to fuse access...\n"); + //mag -> setMode(0x0F); + i2Cdev.writeByte(0x0E, 0x0A, 0x0F); + + DEBUG_PRINT("Reading mag magnetometer factory calibration...\n"); + + int8_t asax, asay, asaz; + + //mag -> getAdjustment(&asax, &asay, &asaz); + + i2Cdev.readBytes(0x0E, 0x10, 3, buffer); + asax = (int8_t)buffer[0]; + asay = (int8_t)buffer[1]; + asaz = (int8_t)buffer[2]; + DEBUG_PRINT("Adjustment X/Y/Z = "); + DEBUG_PRINTF("%u",asax); + DEBUG_PRINT(" / "); + DEBUG_PRINTF("%u",asay); + DEBUG_PRINT(" / "); + DEBUG_PRINTF("%u\n",asaz); + + DEBUG_PRINT("Setting magnetometer mode to power-down...\n"); + //mag -> setMode(0); + i2Cdev.writeByte(0x0E, 0x0A, 0x00); + + // load DMP code into memory banks + DEBUG_PRINT("Writing DMP code to MPU memory banks ("); + DEBUG_PRINTF("%u",MPU6050_DMP_CODE_SIZE); + DEBUG_PRINT(" bytes)\n"); + if (writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) { + DEBUG_PRINT("Success! DMP code written and verified.\n"); + + DEBUG_PRINT("Configuring DMP and related settings...\n"); + + // write DMP configuration + DEBUG_PRINT("Writing DMP configuration to MPU memory banks ("); + DEBUG_PRINTF("%u ",MPU6050_DMP_CONFIG_SIZE); + DEBUG_PRINT(" bytes in config def)\n"); + if (writeProgDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) { + DEBUG_PRINT("Success! DMP configuration written and verified.\n"); + + DEBUG_PRINT("Setting DMP and FIFO_OFLOW interrupts enabled...\n"); + setIntEnabled(0x12); + + DEBUG_PRINT("Setting sample rate to 200Hz...\n"); + setRate(4); // 1khz / (1 + 4) = 200 Hz + + DEBUG_PRINT("Setting clock source to Z Gyro...\n"); + setClockSource(MPU6050_CLOCK_PLL_ZGYRO); + + DEBUG_PRINT("Setting DLPF bandwidth to 42Hz...\n"); + setDLPFMode(MPU6050_DLPF_BW_42); + + DEBUG_PRINT("Setting external frame sync to TEMP_OUT_L[0]...\n"); + setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L); + + DEBUG_PRINT("Setting gyro sensitivity to +/- 2000 deg/sec...\n"); + setFullScaleGyroRange(MPU6050_GYRO_FS_2000); + + DEBUG_PRINT("Setting DMP configuration bytes (function unknown)...\n"); + setDMPConfig1(0x03); + setDMPConfig2(0x00); + + DEBUG_PRINT("Clearing OTP Bank flag...\n"); + setOTPBankValid(false); + + DEBUG_PRINT("Setting X/Y/Z gyro offsets to previous values...\n"); + setXGyroOffset(xgOffset); + setYGyroOffset(ygOffset); + setZGyroOffset(zgOffset); + + DEBUG_PRINT("Setting X/Y/Z gyro user offsets to zero...\n"); + setXGyroOffsetUser(0); + setYGyroOffsetUser(0); + setZGyroOffsetUser(0); + + DEBUG_PRINT("Writing final memory update 1/19 (function unknown)...\n"); + 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_PRINT("Writing final memory update 2/19 (function unknown)...\n"); + 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_PRINT("Resetting FIFO...\n"); + resetFIFO(); + + DEBUG_PRINT("Reading FIFO count...\n"); + uint8_t fifoCount = getFIFOCount(); + + DEBUG_PRINT("Current FIFO count="); + DEBUG_PRINTF("%u\n",fifoCount); + uint8_t fifoBuffer[128]; + getFIFOBytes(fifoBuffer, fifoCount); + + DEBUG_PRINT("Writing final memory update 3/19 (function unknown)...\n"); + 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_PRINT("Writing final memory update 4/19 (function unknown)...\n"); + 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_PRINT("Disabling all standby flags...\n"); + i2Cdev.writeByte(0x68, MPU6050_RA_PWR_MGMT_2, 0x00); + + DEBUG_PRINT("Setting accelerometer sensitivity to +/- 2g...\n"); + i2Cdev.writeByte(0x68, MPU6050_RA_ACCEL_CONFIG, 0x00); + + DEBUG_PRINT("Setting motion detection threshold to 2...\n"); + setMotionDetectionThreshold(2); + + DEBUG_PRINT("Setting zero-motion detection threshold to 156...\n"); + setZeroMotionDetectionThreshold(156); + + DEBUG_PRINT("Setting motion detection duration to 80...\n"); + setMotionDetectionDuration(80); + + DEBUG_PRINT("Setting zero-motion detection duration to 0...\n"); + setZeroMotionDetectionDuration(0); + + DEBUG_PRINT("Setting AK8975 to single measurement mode...\n"); + //mag -> setMode(1); + i2Cdev.writeByte(0x0E, 0x0A, 0x01); + + // setup AK8975 (0x0E) as Slave 0 in read mode + DEBUG_PRINT("Setting up AK8975 read slave 0...\n"); + i2Cdev.writeByte(0x68, MPU6050_RA_I2C_SLV0_ADDR, 0x8E); + i2Cdev.writeByte(0x68, MPU6050_RA_I2C_SLV0_REG, 0x01); + i2Cdev.writeByte(0x68, MPU6050_RA_I2C_SLV0_CTRL, 0xDA); + + // setup AK8975 (0x0E) as Slave 2 in write mode + DEBUG_PRINT("Setting up AK8975 write slave 2...\n"); + i2Cdev.writeByte(0x68, MPU6050_RA_I2C_SLV2_ADDR, 0x0E); + i2Cdev.writeByte(0x68, MPU6050_RA_I2C_SLV2_REG, 0x0A); + i2Cdev.writeByte(0x68, MPU6050_RA_I2C_SLV2_CTRL, 0x81); + i2Cdev.writeByte(0x68, MPU6050_RA_I2C_SLV2_DO, 0x01); + + // setup I2C timing/delay control + DEBUG_PRINT("Setting up slave access delay...\n"); + i2Cdev.writeByte(0x68, MPU6050_RA_I2C_SLV4_CTRL, 0x18); + i2Cdev.writeByte(0x68, MPU6050_RA_I2C_MST_DELAY_CTRL, 0x05); + + // enable interrupts + DEBUG_PRINT("Enabling default interrupt behavior/no bypass...\n"); + i2Cdev.writeByte(0x68, MPU6050_RA_INT_PIN_CFG, 0x00); + + // enable I2C master mode and reset DMP/FIFO + DEBUG_PRINT("Enabling I2C master mode...\n"); + i2Cdev.writeByte(0x68, MPU6050_RA_USER_CTRL, 0x20); + DEBUG_PRINT("Resetting FIFO..."); + i2Cdev.writeByte(0x68, MPU6050_RA_USER_CTRL, 0x24); + DEBUG_PRINT("Rewriting I2C master mode enabled because...I don't know\n"); + i2Cdev.writeByte(0x68, MPU6050_RA_USER_CTRL, 0x20); + DEBUG_PRINT("Enabling and resetting DMP/FIFO...\n"); + i2Cdev.writeByte(0x68, MPU6050_RA_USER_CTRL, 0xE8); + + DEBUG_PRINT("Writing final memory update 5/19 (function unknown)...\n"); + 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_PRINT("Writing final memory update 6/19 (function unknown)...\n"); + 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_PRINT("Writing final memory update 7/19 (function unknown)...\n"); + 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_PRINT("Writing final memory update 8/19 (function unknown)...\n"); + 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_PRINT("Writing final memory update 9/19 (function unknown)...\n"); + 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_PRINT("Writing final memory update 10/19 (function unknown)...\n"); + 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_PRINT("Writing final memory update 11/19 (function unknown)...\n"); + 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_PRINT("Reading final memory update 12/19 (function unknown)...\n"); + 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]); +#ifdef DEBUG + DEBUG_PRINT("Read bytes: "); + for (j = 0; j < 4; j++) { + DEBUG_PRINTF("%u",dmpUpdate[3 + j]); + DEBUG_PRINT("\n"); + } + DEBUG_PRINT("\n"); +#endif + + DEBUG_PRINT("Writing final memory update 13/19 (function unknown)...\n"); + 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_PRINT("Writing final memory update 14/19 (function unknown)...\n"); + 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_PRINT("Writing final memory update 15/19 (function unknown)...\n"); + 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_PRINT("Writing final memory update 16/19 (function unknown)...\n"); + 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_PRINT("Writing final memory update 17/19 (function unknown)...\n"); + 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_PRINT("Waiting for FIFO count >= 46...\n"); + while ((fifoCount = getFIFOCount()) < 46); + DEBUG_PRINT("Reading FIFO...\n"); + getFIFOBytes(fifoBuffer, min(fifoCount, 128)); // safeguard only 128 bytes + DEBUG_PRINT("Reading interrupt status...\n"); + getIntStatus(); + + DEBUG_PRINT("Writing final memory update 18/19 (function unknown)...\n"); + 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_PRINT("Waiting for FIRO count >= 48...\n"); + while ((fifoCount = getFIFOCount()) < 48); + DEBUG_PRINT("Reading FIFO..."); + getFIFOBytes(fifoBuffer, min(fifoCount, 128)); // safeguard only 128 bytes + DEBUG_PRINT("Reading interrupt status...\n"); + getIntStatus(); + DEBUG_PRINT("Waiting for FIRO count >= 48...\n"); + while ((fifoCount = getFIFOCount()) < 48); + DEBUG_PRINT("Reading FIFO...\n"); + getFIFOBytes(fifoBuffer, min(fifoCount, 128)); // safeguard only 128 bytes + DEBUG_PRINT("Reading interrupt status...\n"); + getIntStatus(); + + DEBUG_PRINT("Writing final memory update 19/19 (function unknown)...\n"); + 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_PRINT("Disabling DMP (you turn it on later)...\n"); + setDMPEnabled(false); + + DEBUG_PRINT("Setting up internal 48-byte (default) DMP packet buffer...\n"); + dmpPacketSize = 48; + /*if ((dmpPacketBuffer = (uint8_t *)malloc(42)) == 0) { +return 3; // TODO: proper error code for no memory +}*/ + + DEBUG_PRINT("Resetting FIFO and clearing INT status one last time...\n"); + resetFIFO(); + getIntStatus(); + } else { + DEBUG_PRINT("ERROR! DMP configuration verification failed.\n"); + return 2; // configuration block loading failed + } + } else { + DEBUG_PRINT("ERROR! DMP code verification failed.\n"); + 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[34] << 24) + (packet[35] << 16) + (packet[36] << 8) + packet[37]); + data[1] = ((packet[38] << 24) + (packet[39] << 16) + (packet[40] << 8) + packet[41]); + data[2] = ((packet[42] << 24) + (packet[43] << 16) + (packet[44] << 8) + packet[45]); + 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[34] << 8) + packet[35]; + data[1] = (packet[38] << 8) + packet[39]; + data[2] = (packet[42] << 8) + packet[43]; + 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[34] << 8) + packet[35]; + v -> y = (packet[38] << 8) + packet[39]; + v -> z = (packet[42] << 8) + packet[43]; + 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::dmpGetMag(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[30] << 8) + packet[31]; + data[2] = (packet[32] << 8) + packet[33]; + 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_9AXIS_MOTIONAPPS41_H_ */
diff -r 000000000000 -r e63996fd7d3e PIDTheta.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PIDTheta.cpp Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,92 @@ +#ifndef _MBED_H +#define _MBED_H +#include "mbed.h" +#endif +#include "PIDTheta.h" +#define Error_operation_limits 0.25 +#define sigmoid_fun(h) (2/(1+exp(-h)))-1 +#define NULLAREA 0.015 +//constructor +PIDTheta::PIDTheta( PinName pwm,PinName pwm2,float Listen_time_ms,float KP,float KI,float KD,float KDD ): _pwm(pwm),_pwm2(pwm2)/*, debugSerial(USBTX, USBRX)*/ +{ + //debugSerial.baud(D_BAUDRATE); + Motor_init(Listen_time_ms); + _pwm = 0; + _pwm2 = 0; + Out_PWM=0.001; + Out_PWM2=0.001; + _KP=KP; + _KD=KD; + _KI=KI; + _KDD=KDD; + h=0; + ErrorDD=0; + ErrorD=0; + //debugSerial.printf("\r\n\r\n\r\nhere\r\n"); + Motor_Control_signal(); + PowerSetPoint=0.001; +} +void PIDTheta::Motor_init(float Listen_time_ms) +{ + _pwm.period_ms(Listen_time_ms); + _pwm2.period_ms(Listen_time_ms); +} +void PIDTheta::Motor_Control_signal() +{ + //debugSerial.printf("\r\n\r\n\r\n1:%f 2:%f\r\n",Out_PWM,Out_PWM2); + + _pwm.pulsewidth(Out_PWM); + _pwm2.pulsewidth(Out_PWM2); +} +void PIDTheta::PWM_cal(float Theta_req,float Theta_curr,float req_power_SP) +{ + PowerSetPoint=req_power_SP; + + //debugSerial.printf("\r\nthetareq:%f thetacurr:%f\r\n",Theta_req,Theta_curr); + + Check_IN_Limits(&Theta_req); + Pulse_Error_cal(Theta_req,Theta_curr); + + Out_PWM= PowerSetPoint-h; + Out_PWM2= PowerSetPoint+h; + Check_OUT_Limits(&Out_PWM); + Check_OUT_Limits(&Out_PWM2); + Motor_Control_signal(); +} +//error calculating and out the relative output to the relative error. +void PIDTheta::Pulse_Error_cal(float RPM_req,float RPM_curr) +{ + //debugSerial.printf("req:%f curr:%f",RPM_req,RPM_curr); + Error=RPM_req-RPM_curr; + ErrorI=ErrorI+Error; + ErrorD=Error-ErrorOLD; + ErrorOLD=Error; + ErrorDD=ErrorD-ErrorDOLD; + ErrorDOLD=ErrorD; + h=_KP*Error+_KI*ErrorI+_KD*ErrorD+_KDD*ErrorDD; + +} +//setting Output Limits. +void PIDTheta::Set_OUT_Limits(float LowerLimt,float UpperLimit) +{ + O_Upper_Limit=UpperLimit; + O_Lower_Limit=LowerLimt; +} +//setting Input Limits. +void PIDTheta::Set_IN_Limits(float LowerLimit,float UpperLimit) +{ + I_Upper_Limit=UpperLimit; + I_Lower_Limit=LowerLimit; +} +//checking Input Limits in the Realtime operation. +void PIDTheta::Check_OUT_Limits(float *RPMSetPoint) +{ + if(*RPMSetPoint>O_Upper_Limit)*RPMSetPoint=O_Upper_Limit; + if(*RPMSetPoint<O_Lower_Limit)*RPMSetPoint=O_Lower_Limit; +} +//checking Output Limits in Realtime operation. +void PIDTheta::Check_IN_Limits(float *O_PWM) +{ + if(*O_PWM>I_Upper_Limit)*O_PWM=I_Upper_Limit; + if(*O_PWM<I_Lower_Limit)*O_PWM=I_Lower_Limit; +}
diff -r 000000000000 -r e63996fd7d3e PIDTheta.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PIDTheta.h Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,44 @@ +//Includes// +#ifndef _QuadCopter_H +#define _QuadCopter_H +#ifndef _MBED_H +#define _MBED_H +#include "mbed.h" +#endif +#ifndef _IOSTREAM_ +#define _IOSTREAM_ +#include "iostream" +#endif +#ifndef _MATH_H +#define _MATH_H +#define D_BAUDRATE 115200 +//#include "math.h" +#endif +class PIDTheta{ + public: + PIDTheta( PinName pwm,PinName pwm2,float Listen_time_ms,float KP,float KI,float KD,float KDD);//constructor + void Motor_init(float Listen_time_ms);//initialization motors + void Motor_Control_signal();//giving control signal to the motor. + + void PWM_cal(float RPM_req,float RPM_curr,float req_power_SP);//calculating the PWM taking in mind upper/lower limits and error calculation/estimation. + void Set_OUT_Limits(float LowerLimit,float UpperLimit);//setting Output Limits. + void Set_IN_Limits(float LowerLimit,float UpperLimit);//setting Input Limits. + void Check_OUT_Limits(float *RPMSetPoint);//checking Input Limits in the Realtime operation. + void Check_IN_Limits(float *O_PWM);//checking Output Limits in Realtime operation. + + private: + void Pulse_Error_cal(float RPM_req,float RPM_curr);//error calculating and out the relative output to the relative error. + //variables and PinRoles + float PowerSetPoint;//,RPMSetPoint; + float Out_PWM,Out_PWM2; + float O_Upper_Limit,O_Lower_Limit; + float I_Upper_Limit,I_Lower_Limit; + float Error,ErrorI,ErrorD,ErrorOLD,ErrorDD,ErrorDOLD; + float h; + float _KP,_KD,_KI,_KDD; + //Serial debugSerial; + PwmOut _pwm; + PwmOut _pwm2; +}; + +#endif \ No newline at end of file
diff -r 000000000000 -r e63996fd7d3e PID_Alt.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID_Alt.h Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,149 @@ +#ifndef _PID_Alt +#define _PID_Alt +#include "SHARPIR.h" +#include "mbed.h" +#define D_BAUDRATE 115200 + +class PID_Alt{ + public: + PID_Alt(int Mnum,float KP,float KI,float KD,float KDD,PinName AnalogPort); + float findNominalVal(float altitude,float CosR,float CosP,char Calibrated); + void Set_OUT_Limits(float LowerLimit,float UpperLimit);//setting Output Limits. + void Set_IN_Limits(float LowerLimit,float UpperLimit);//setting Input Limits. + void Check_OUT_Limits(float *RPMSetPoint);//checking Input Limits in the Realtime operation. + void Check_IN_Limits(float *O_PWM);//checking Output Limits in Realtime operation. + float Get_IR_Readings(); + float Get_OUT_POWER_SP(); + float Get_Current_IR(); + float GetErrorV(); + float GetErrorVD(); + float GetErrorVDD(); + float GetErrorVDOLD(); + float Get_reqestedAlt(); + + float MeanIR(int num); + private: + SHARPIR _IR; + float PowerSetPoint;//,RPMSetPoint; + float Out_PWM,Out_PWM2; + float O_Upper_Limit,O_Lower_Limit; + float I_Upper_Limit,I_Lower_Limit; + float ErrorV,ErrorI,ErrorVD,ErrorVold,ErrorVDD,ErrorVDOLD,altitudeOld,nominalVal2; + float V_req,V_curr,CURRENT_Alt; + float h; + float EVDOLDGetter,reqestedAlt; + float _KP,_KD,_KI,_KDD; + int Meannum; + Serial debugSerial; + + }; +PID_Alt::PID_Alt(int Mnum,float KP,float KI,float KD,float KDD,PinName AnalogPort):_IR(AnalogPort), debugSerial(USBTX, USBRX){ + _KP=KP; + _KD=KD; + _KI=KI; + _KDD=KDD; + Meannum=Mnum; + V_req=0; + V_curr=0; + ErrorV=0; + ErrorI=0; + ErrorVD=0; + ErrorVold=0; + ErrorVDD=0; + ErrorVDOLD=0; + altitudeOld=0; + nominalVal2=0.00115; + debugSerial.baud(D_BAUDRATE); + + + } +float PID_Alt::findNominalVal(float altitude,float CosR,float CosP,char Calibrated){ + float curr_alt=0; + Check_IN_Limits(&altitude); + reqestedAlt=altitude; + curr_alt=MeanIR(Meannum)*CosR*CosP; + if(curr_alt<=9){ + curr_alt=150; + } + CURRENT_Alt=curr_alt; + Check_IN_Limits(&curr_alt); + V_req=altitude-curr_alt; + V_curr=curr_alt-altitudeOld; + altitudeOld=curr_alt; + ErrorV= V_curr-V_req; + ErrorVD= ErrorV-ErrorVold; + ErrorVDD=ErrorVD-ErrorVDOLD; + EVDOLDGetter=ErrorVDOLD; + debugSerial.printf("E:%f ED:%f EDD:%f EDOld:%f\r\n",ErrorV,ErrorVD,ErrorVDD,ErrorVDOLD); + if(Calibrated) + nominalVal2=nominalVal2-_KP*ErrorV-_KD*ErrorVD-_KDD*ErrorVDD; + ErrorVold=ErrorV; + ErrorVDOLD=ErrorVD; + + //debugSerial.printf("error:%f aError:%f alt:%f NV:%f Real:%f\r\n",(MeanIR(Meannum)-altitude), alpha*(MeanIR(Meannum)-altitude),altitude,nominalVal2,MeanIR(Meannum)); + Check_OUT_Limits(&nominalVal2); + return nominalVal2; + } +float PID_Alt::MeanIR(int num) +{ + float MeanReading=0; + for(int i=0;i<num;i++)MeanReading+=Get_IR_Readings(); + return MeanReading/num; +} +float PID_Alt::Get_reqestedAlt(){ + return reqestedAlt; + } +float PID_Alt::GetErrorVDOLD(){ + return EVDOLDGetter; + } +float PID_Alt::GetErrorV(){ + return ErrorV; + } +float PID_Alt::GetErrorVD(){ + return ErrorVD; + } +float PID_Alt::GetErrorVDD(){ + return ErrorVDD; + } +float PID_Alt::Get_OUT_POWER_SP() +{ + return nominalVal2; +} +float PID_Alt::Get_IR_Readings() +{ + return _IR.cm(); +} +float PID_Alt::Get_Current_IR() +{ + return CURRENT_Alt; +} +//setting Output Limits. +void PID_Alt::Set_OUT_Limits(float LowerLimt,float UpperLimit) +{ + O_Upper_Limit=UpperLimit; + O_Lower_Limit=LowerLimt; + //initializations + // power=O_Lower_Limit; + // prev_power=O_Lower_Limit; +} +//setting Input Limits. +void PID_Alt::Set_IN_Limits(float LowerLimit,float UpperLimit) +{ + I_Upper_Limit=UpperLimit; + I_Lower_Limit=LowerLimit; + // prev_alt=I_Lower_Limit; +} +//checking Input Limits in the Realtime operation. +void PID_Alt::Check_OUT_Limits(float *RPMSetPoint) +{ + if(*RPMSetPoint>O_Upper_Limit)*RPMSetPoint=O_Upper_Limit; + if(*RPMSetPoint<O_Lower_Limit)*RPMSetPoint=O_Lower_Limit; +} +//checking Output Limits in Realtime operation. +void PID_Alt::Check_IN_Limits(float *O_PWM) +{ + if(*O_PWM>I_Upper_Limit)*O_PWM=I_Upper_Limit; + if(*O_PWM<I_Lower_Limit)*O_PWM=I_Lower_Limit; +} + +#endif \ No newline at end of file
diff -r 000000000000 -r e63996fd7d3e PID_Yaw.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID_Yaw.cpp Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,77 @@ +#ifndef _MBED_H +#define _MBED_H +#include "mbed.h" +#endif +#include "PID_Yaw.h" +#define Error_operation_limits 0.25 +#define sigmoid_fun(h) (2/(1+exp(-h)))-1 +#define NULLAREA 0.015 +//constructor +PID_Yaw::PID_Yaw(float KP,float KI,float KD,float KDD ) /*, debugSerial(USBTX, USBRX)*/ +{ + //debugSerial.baud(D_BAUDRATE); + Out_PWM=0.001; + Out_PWM2=0.001; + _KP=KP; + _KD=KD; + _KI=KI; + _KDD=KDD; + h=0; + ErrorDD=0; + ErrorD=0; + //debugSerial.printf("\r\n\r\n\r\nhere\r\n"); + PowerSetPoint=0.001; +} +void PID_Yaw::PWM_cal(float Theta_req,float Theta_curr,float req_power_SP,float * xPlanePWM,float *yPlanePWM ) +{ + PowerSetPoint=req_power_SP; + + //debugSerial.printf("\r\nthetareq:%f thetacurr:%f\r\n",Theta_req,Theta_curr); + + Check_IN_Limits(&Theta_req); + Pulse_Error_cal(Theta_req,Theta_curr); + + Out_PWM= PowerSetPoint-h; + Out_PWM2= PowerSetPoint+h; + Check_OUT_Limits(&Out_PWM); + Check_OUT_Limits(&Out_PWM2); + *xPlanePWM=Out_PWM; + *yPlanePWM=Out_PWM2; +} +//error calculating and out the relative output to the relative error. +void PID_Yaw::Pulse_Error_cal(float RPM_req,float RPM_curr) +{ + //debugSerial.printf("req:%f curr:%f",RPM_req,RPM_curr); + Error=RPM_req-RPM_curr; + ErrorI=ErrorI+Error; + ErrorD=Error-ErrorOLD; + ErrorOLD=Error; + ErrorDD=ErrorD-ErrorDOLD; + ErrorDOLD=ErrorD; + h=_KP*Error+_KI*ErrorI+_KD*ErrorD+_KDD*ErrorDD; + +} +//setting Output Limits. +void PID_Yaw::Set_OUT_Limits(float LowerLimt,float UpperLimit) +{ + O_Upper_Limit=UpperLimit; + O_Lower_Limit=LowerLimt; +} +//setting Input Limits. +void PID_Yaw::Set_IN_Limits(float LowerLimit,float UpperLimit) +{ + I_Upper_Limit=UpperLimit; + I_Lower_Limit=LowerLimit; +} +//checking Input Limits in the Realtime operation. +void PID_Yaw::Check_OUT_Limits(float *RPMSetPoint) +{ + if(*RPMSetPoint>O_Upper_Limit)*RPMSetPoint=O_Upper_Limit; + if(*RPMSetPoint<O_Lower_Limit)*RPMSetPoint=O_Lower_Limit; +} +//checking Output Limits in Realtime operation. +void PID_Yaw::Check_IN_Limits(float *O_PWM) +{ + if(*O_PWM>I_Upper_Limit)*O_PWM=I_Upper_Limit; + if(*O_PWM<I_Lower_Limit)*O_PWM=I_Lower_Limit; +}
diff -r 000000000000 -r e63996fd7d3e PID_Yaw.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID_Yaw.h Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,41 @@ +//Includes// +#ifndef _QuadCopter_H_yaw +#define _QuadCopter_H_yaw +#ifndef _MBED_H +#define _MBED_H +#include "mbed.h" +#endif +#ifndef _IOSTREAM_ +#define _IOSTREAM_ +#include "iostream" +#endif +#ifndef _MATH_H +#define _MATH_H +#define D_BAUDRATE 115200 +//#include "math.h" +#endif +class PID_Yaw{ + public: + PID_Yaw(float KP,float KI,float KD,float KDD);//constructor + + void PWM_cal(float RPM_req,float RPM_curr,float req_power_SP,float * xPlanePWM,float *yPlanePWM );//calculating the PWM taking in mind upper/lower limits and error calculation/estimation. + void Set_OUT_Limits(float LowerLimit,float UpperLimit);//setting Output Limits. + void Set_IN_Limits(float LowerLimit,float UpperLimit);//setting Input Limits. + void Check_OUT_Limits(float *RPMSetPoint);//checking Input Limits in the Realtime operation. + void Check_IN_Limits(float *O_PWM);//checking Output Limits in Realtime operation. + + private: + void Pulse_Error_cal(float RPM_req,float RPM_curr);//error calculating and out the relative output to the relative error. + //variables and PinRoles + float PowerSetPoint;//,RPMSetPoint; + float Out_PWM,Out_PWM2; + float O_Upper_Limit,O_Lower_Limit; + float I_Upper_Limit,I_Lower_Limit; + float Error,ErrorI,ErrorD,ErrorOLD,ErrorDD,ErrorDOLD; + float h; + float _KP,_KD,_KI,_KDD; + //Serial debugSerial; + +}; + +#endif \ No newline at end of file
diff -r 000000000000 -r e63996fd7d3e SHARPIR.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SHARPIR.cpp Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,97 @@ +/* mbed SHARPIR distance sensor + * Copyright (c) 2010 Tomas Johansen + * + * 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. + */ + + +#include "mbed.h" +#include "SHARPIR.h" + + +/* This function is currently only working for the Sharp GP2Y0A02YK0F sensor + * which measures from around 20cm to 150cm. To adapt this to other Sharp IR + * sensors, you have to calculate the variables reg and exp. + * + * To quickly calculate reg and exp, use microsoft excel to plot the graph + * provided in the datasheet. You should create a scatterplot (except that + * the y-axis is [cm], and x-axis is [V]). + * + * When you get the values, right click the line in the graph and select + * "Add Trendline". Select "power". Also, in the trendline options, check + * that you want to see the function. It will then be printed in your + * scatterplot. + * + * This is the function: Reg*x^exp. + * + * + * Example: + * + * SHARPIR sensor(p20); + * sensor.calibrate(57.373, 1.3166, 0.45, 2.5); + * while(1){ + * serial.printf("cm: %f ", sensor.cm()); + * wait_ms(50); + * } + * + * You can also use this method to manually plot values you've measured with + * the "volt" function, which in the end should give a result similar to the + * values provided below. + * + * Feel free to contact me with improvements for the source code, and + * especially for values that would work for other sensors. + */ + + +SHARPIR::SHARPIR(PinName AnalogPort) + : _analogin(AnalogPort) { + higherrange=2.5; + lowerrange=0.45; + reg=57.373; //60.495 + exp=-1.3166; //-1.1904 +} + +void calibrate(double reg, float exp, double lowerrange, double higherrange) { //sets new reg and exp value +} + +float SHARPIR::volt() { + return(_analogin.read()*3.3); //analogin function returns a percentage which describes how much of 3.3v it's reading, therefor multiply it by 3,3 to get the correct analogin voltage. +} + +float SHARPIR::cm() { + float v; + v=volt(); + if (v>higherrange) //sensor is out of higher range + return(reg*pow(v, exp));//0 + else if (v<lowerrange) + return(-1.0); //sensor is out of lower range + else + return(reg*pow(v, exp)); +} + +float SHARPIR::inch() { + float v; + v=volt(); + if (v>higherrange) //sensor is out of higher range + return(0); + else if (v<lowerrange) + return(-1.0); //sensor is out of range + else + return(0.393700787*reg*pow(v, exp)); +} \ No newline at end of file
diff -r 000000000000 -r e63996fd7d3e SHARPIR.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SHARPIR.h Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,27 @@ +/* mbed SHARPIR distance sensor + * Copyright (c) 2010 Tomas Johansen + * Released under the MIT License: http://mbed.org/license/mit + */ + +#ifndef MBED_SHARPIR_H +#define MBED_SHARPIR_H + +#include "mbed.h" + +class SHARPIR { +public: + SHARPIR(PinName AnalogPort); + float cm(); + float inch(); + float volt(); + void calibrate(double reg, float exp, double lowerrange, double higherrange); + +private: + AnalogIn _analogin; + double lowerrange; + double higherrange; + double reg; + float exp; //trendline excel + datasheet +}; + +#endif \ No newline at end of file
diff -r 000000000000 -r e63996fd7d3e helper_3dmath.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/helper_3dmath.h Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,216 @@ +// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class, 3D math helper +// 6/5/2012 by Jeff Rowberg <jeff@rowberg.net> +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// 2012-06-05 - add 3D math helper file to DMP6 example sketch + +/* ============================================ +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 _HELPER_3DMATH_H_ +#define _HELPER_3DMATH_H_ + +class Quaternion { + public: + float w; + float x; + float y; + float z; + + Quaternion() { + w = 1.0f; + x = 0.0f; + y = 0.0f; + z = 0.0f; + } + + Quaternion(float nw, float nx, float ny, float nz) { + w = nw; + x = nx; + y = ny; + z = nz; + } + + Quaternion getProduct(Quaternion q) { + // Quaternion multiplication is defined by: + // (Q1 * Q2).w = (w1w2 - x1x2 - y1y2 - z1z2) + // (Q1 * Q2).x = (w1x2 + x1w2 + y1z2 - z1y2) + // (Q1 * Q2).y = (w1y2 - x1z2 + y1w2 + z1x2) + // (Q1 * Q2).z = (w1z2 + x1y2 - y1x2 + z1w2 + return Quaternion( + w*q.w - x*q.x - y*q.y - z*q.z, // new w + w*q.x + x*q.w + y*q.z - z*q.y, // new x + w*q.y - x*q.z + y*q.w + z*q.x, // new y + w*q.z + x*q.y - y*q.x + z*q.w); // new z + } + + Quaternion getConjugate() { + return Quaternion(w, -x, -y, -z); + } + + float getMagnitude() { + return sqrt(w*w + x*x + y*y + z*z); + } + + void normalize() { + float m = getMagnitude(); + w /= m; + x /= m; + y /= m; + z /= m; + } + + Quaternion getNormalized() { + Quaternion r(w, x, y, z); + r.normalize(); + return r; + } +}; + +class VectorInt16 { + public: + int16_t x; + int16_t y; + int16_t z; + + VectorInt16() { + x = 0; + y = 0; + z = 0; + } + + VectorInt16(int16_t nx, int16_t ny, int16_t nz) { + x = nx; + y = ny; + z = nz; + } + + float getMagnitude() { + return sqrt((float)(x*x + y*y + z*z)); + } + + void normalize() { + float m = getMagnitude(); + x /= m; + y /= m; + z /= m; + } + + VectorInt16 getNormalized() { + VectorInt16 r(x, y, z); + r.normalize(); + return r; + } + + void rotate(Quaternion *q) { + // http://www.cprogramming.com/tutorial/3d/quaternions.html + // http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm + // http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation + // ^ or: http://webcache.googleusercontent.com/search?q=cache:xgJAp3bDNhQJ:content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation&hl=en&gl=us&strip=1 + + // P_out = q * P_in * conj(q) + // - P_out is the output vector + // - q is the orientation quaternion + // - P_in is the input vector (a*aReal) + // - conj(q) is the conjugate of the orientation quaternion (q=[w,x,y,z], q*=[w,-x,-y,-z]) + Quaternion p(0, x, y, z); + + // quaternion multiplication: q * p, stored back in p + p = q -> getProduct(p); + + // quaternion multiplication: p * conj(q), stored back in p + p = p.getProduct(q -> getConjugate()); + + // p quaternion is now [0, x', y', z'] + x = p.x; + y = p.y; + z = p.z; + } + + VectorInt16 getRotated(Quaternion *q) { + VectorInt16 r(x, y, z); + r.rotate(q); + return r; + } +}; + +class VectorFloat { + public: + float x; + float y; + float z; + + VectorFloat() { + x = 0; + y = 0; + z = 0; + } + + VectorFloat(float nx, float ny, float nz) { + x = nx; + y = ny; + z = nz; + } + + float getMagnitude() { + return sqrt(x*x + y*y + z*z); + } + + void normalize() { + float m = getMagnitude(); + x /= m; + y /= m; + z /= m; + } + + VectorFloat getNormalized() { + VectorFloat r(x, y, z); + r.normalize(); + return r; + } + + void rotate(Quaternion *q) { + Quaternion p(0, x, y, z); + + // quaternion multiplication: q * p, stored back in p + p = q -> getProduct(p); + + // quaternion multiplication: p * conj(q), stored back in p + p = p.getProduct(q -> getConjugate()); + + // p quaternion is now [0, x', y', z'] + x = p.x; + y = p.y; + z = p.z; + } + + VectorFloat getRotated(Quaternion *q) { + VectorFloat r(x, y, z); + r.rotate(q); + return r; + } +}; + +#endif /* _HELPER_3DMATH_H_ */ \ No newline at end of file
diff -r 000000000000 -r e63996fd7d3e main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,321 @@ +/* +this program is to test yaw controlling plane. +*/ + +#include "mbed.h" +#include "AngularDataAcquizition.h" +//#define CascadedPID +#include "PIDTheta.h" +#include "PID_Alt.h" +#include "PID_Yaw.h" + +#define Listen_time_ms 20 +#define ILowerRPM -3.14 +#define IUpperRPM 3.14 +#define OLowerPWM 0.001 +#define OUpperPWM 0.002 +#define OLowerPWM_yaw 0.001 +#define OUpperPWM_yaw 0.0016 + + +#define ILowerIR 27 +#define IUpperIR 125 +#define OLowerPower 0.00115 +#define OUpperPower 0.0018 + +#define newILowerIR 27 +#define newIUpperIR 125 +#define newOLowerPower 0.00135 +#define newOUpperPower 0.00145 + + +#define KPgain 0.0000755/*0.000055 /*0.0000759*/ +#define KDgain 0.0009/*0.0007 /*0.001106*/ +#define KDDgain 0.0014/*0.0014*/ + +#define Yaw_KP 0.0000755/*00025*/ +#define Yaw_KI 0.000 +#define Yaw_KD 0.0009/*001*/ +#define Yaw_KDD 0.0014/*0011*/ + + +#define Pitch_KP KPgain +#define Pitch_KI 0.000 +#define Pitch_KD KDgain + +#define Roll_KP KPgain +#define Roll_KI 0.000 +#define Roll_KD KDgain + +#define IR_KP 00.00000005 +#define IR_KI 0.00 +#define IR_KD 0.000001 +#define IR_KDD 0.000000 + +#define MeanNum 5 +#define learningRate 0.00000001 + +#define _sig_A_Kp 50 +#define _sig_A_Kd 100 +Timer t; +//Serial pc(USBTX, USBRX); +Serial pc(p13, p14); +DigitalOut myled(LED1); +LocalFileSystem local("local"); //////setting the destination of the file that will be saved + +AngularDataAcquizition Angle(p9, p10); +PID_Yaw Yaw_Plane(Yaw_KP,Yaw_KI,Yaw_KD,Yaw_KDD); +PIDTheta Pitch_Plan(p21,p23,Listen_time_ms,Pitch_KP,Pitch_KI,Pitch_KD,KDDgain); +PIDTheta Roll_Plan(p22,p24,Listen_time_ms,Roll_KP,Roll_KI,Roll_KD,KDDgain); +PID_Alt PID_IR(MeanNum,IR_KP,IR_KI,IR_KD,IR_KDD,p20); + +//prototypes +void PWM_change(); +void PWM_change2(); +void alt_update_Val(); +void sendstatus(); +float val,val2=0,val_test=0,x_plane,y_plane; +char Calibrated; +char flag=0; +char selected_plane=3; +float KD_NEW,KP_NEW; +float AngleRoll,AnglePitch,AngleOffset[2],AngleYaw,yawOffset,y_old; +Ticker timer,timer2; +float acc_PitchPlane,acc_RollPlane,Pitchacc_Req,Rollacc_Req,Req_Pitch,Req_Roll; + +int main() { + KD_NEW=Pitch_KD; + KP_NEW=Pitch_KP; + //pc.baud(9600); + pc.baud(115200); + //PID_IR + PID_IR.Set_IN_Limits(ILowerIR,IUpperIR); + PID_IR.Set_OUT_Limits(OLowerPower,OUpperPower); + + AngleOffset[0]=0; + AngleOffset[1]=0; + yawOffset=0; + + //Yaw_Plan + Yaw_Plane.Set_IN_Limits(ILowerRPM,IUpperRPM); + Yaw_Plane.Set_OUT_Limits(OLowerPWM_yaw,OUpperPWM_yaw); + //Pitch_Plan + Pitch_Plan.Set_IN_Limits(ILowerRPM,IUpperRPM); + Pitch_Plan.Set_OUT_Limits(OLowerPWM,OUpperPWM); + //Roll_Plan + Roll_Plan.Set_IN_Limits(ILowerRPM,IUpperRPM); + Roll_Plan.Set_OUT_Limits(OLowerPWM,OUpperPWM); + //Angle.BeginInterrupt(0.039); + acc_PitchPlane=0; + acc_RollPlane=0; + Pitchacc_Req=0; + Rollacc_Req=0; + Req_Pitch=0; + Req_Roll=0; + val=0.00115; + Calibrated=0; + val2=0; + while(1){ + while(!pc.readable()); + pc.getc(); + // timer.attach(alt_update_Val, 0.15); + timer2.attach(sendstatus,0.25); + + t.reset(); + t.start(); + FILE *fp=fopen("/local/out.xls","a"); + + while(1) { + if(Angle.dmpReady) + { + PWM_change(); + Angle.callMeanFilteredReadings(); + //PWM_change2(); + //val_test=PID_IR.findNominalVal(val2,cos(AnglePitch),cos(AngleRoll),Calibrated); + + AngleYaw=Angle.Meanypr[0]-yawOffset; + AnglePitch=(Angle.Meanypr[1]-AngleOffset[0]); + AngleRoll=(Angle.Meanypr[2]-AngleOffset[1]); + if(abs(AngleYaw-y_old)<0.1*M_PI/180)yawOffset=yawOffset+(AngleYaw-y_old); + y_old=AngleYaw; + /* + acc_PitchPlane=sin(AngleRoll); + acc_RollPlane=sin(AnglePitch); + Req_Pitch=asin(Pitchacc_Req-acc_PitchPlane); + Req_Roll=asin(Rollacc_Req-acc_RollPlane); + if(Req_Pitch>5)Req_Pitch=10; + if(Req_Pitch<-5)Req_Pitch=-10; + if(Req_Roll>5)Req_Roll=10; + if(Req_Roll<-5)Req_Roll=-10;*/ + + Yaw_Plane.PWM_cal(0,AngleYaw,val,&x_plane,&y_plane); + + if(selected_plane==1||selected_plane==3){ + Pitch_Plan.PWM_cal(0*3.14/180/*0*/,-1*AnglePitch,x_plane/*val*/); + } + if(selected_plane==2||selected_plane==3){ + Roll_Plan.PWM_cal(0,1*AngleRoll,y_plane/*val*/); + } + //fprintf(fp,"%f \t %f \t %f \t\r\n",AnglePitch*180/3.14,AngleRoll*180/3.14,AngleYaw*180/3.14); + + //pc.printf("A1:%f A2:%f OP:%f OP2:%f\r\n",AnglePitch*180/3.14,AngleRoll*180/3.14,val,val_test); + //pc.printf("A1:%f A2:%f OP:%f RAlt:%f OP_test:%f alt:%f t:%f\r\n",AnglePitch*180/3.14,AngleRoll*180/3.14,val,val2,val_test,PID_IR.MeanIR(3),t.read()); + // fprintf(fp,"%f \t %f \t %f \t %f \t %f \t",AngleRoll,Req_Roll,AnglePitch,Req_Pitch,t.read()); + +/* fprintf(fp,"%f \t %f \t %f \t %f \t %f \t %f \t %f \t %f \t %f \t %f \t %f \t %f\r\n",(AnglePitch)*180/3.14,Pitch_Plan.readErrorVal(),Pitch_Plan.readErrorDVal(),Pitch_Plan.readGradientFunction(),Pitch_Plan.readSigmoindFunVal() + ,(AngleRoll)*180/3.14,Roll_Plan.readErrorVal(),Roll_Plan.readErrorDVal(),Roll_Plan.readGradientFunction(),Roll_Plan.readSigmoindFunVal() + ,val,t.read()); +*/ } + if(flag){ + flag=0; + Pitch_Plan.PWM_cal(0,0,0.001); + Roll_Plan.PWM_cal(0,0,0.001); + Pitch_Plan.PWM_cal(0,0,0.001); + Roll_Plan.PWM_cal(0,0,0.001); + //timer.detach(); + val2=0; + break;} + } + fclose(fp); + + } +} +void PWM_change() +{ + if(pc.readable()) { + switch (pc.getc()) { + case 'u': + val += 0.00005; + val2 += 10; + break; + case 'd': + val -= 0.00005; + val2 -= 5; + break; + case 'w': + val += 0.00001; + break; + case 'x': + val -= 0.00001; + break; + case 'e': + val+= 0.000005; + break; + case 'f': + val-=0.000005; + break; + case '*': + val = 0.002; + break; + case 'm': + val =0.001; + break; + case 's': + val = 0.001; + flag=1; + break; + case'1': + KD_NEW+=0.1; + // Pitch_Plan.ChangeKDval(KD_NEW); + // Roll_Plan.ChangeKDval(KD_NEW); + break; + case'2': + KD_NEW-=0.1; + // Pitch_Plan.ChangeKDval(KD_NEW); + // Roll_Plan.ChangeKDval(KD_NEW); + break; + case'4': + KP_NEW+=0.001; + // Pitch_Plan.ChangeKDval(KD_NEW); + // Roll_Plan.ChangeKDval(KD_NEW); + break; + case'5': + KP_NEW-=0.001; + // Pitch_Plan.ChangeKPval(KD_NEW); + // Roll_Plan.ChangeKPval(KD_NEW); + break; + case 'c': + AngleOffset[0]=Angle.Meanypr[1]; + AngleOffset[1]=Angle.Meanypr[2]; + yawOffset=Angle.Meanypr[0]; + + Calibrated=1; + + break; + /*case '1': + case '2': + case '4': + case '5': + */case '7': + selected_plane=1; + val = 0.001; + break; + case '8': + selected_plane=2; + val = 0.001; + break; + case '9': + selected_plane=3; + val = 0.001; + break; + + case 'l': + PID_IR.Set_IN_Limits(newILowerIR,newIUpperIR); + PID_IR.Set_OUT_Limits(newOLowerPower,newOUpperPower); + break; + case 'p': + PID_IR.Set_IN_Limits(ILowerIR,IUpperIR); + PID_IR.Set_OUT_Limits(OLowerPower,OUpperPower); + break; + + } + // pc.printf("char:%c",pc.getc()); + + } + +} + + +void PWM_change2(){//distance in cm + if(pc.readable()) { + switch (pc.getc()) { + case 'u': + val2 += 5; + break; + case 'd': + val2-=5; + break; + case 's': + val2=0; + flag=1; + break; + case 'c': + AngleOffset[0]=Angle.Meanypr[1]; + AngleOffset[1]=Angle.Meanypr[2]; + yawOffset=Angle.Meanypr[0]; + Calibrated=1; + break; + case 'm': + PID_IR.Set_IN_Limits(newILowerIR,newIUpperIR); + PID_IR.Set_OUT_Limits(newOLowerPower,newOUpperPower); + break; + case 'p': + PID_IR.Set_IN_Limits(ILowerIR,IUpperIR); + PID_IR.Set_OUT_Limits(OLowerPower,OUpperPower); + break; + + } + } + } +void alt_update_Val(){ + val_test=PID_IR.findNominalVal(val2,cos(AnglePitch),cos(AngleRoll),Calibrated); + //val=PID_IR.findNominalVal(val2,cos(AnglePitch),cos(AngleRoll),Calibrated); + + //pc.printf("here\r\n"); + + } +void sendstatus(){ + //pc.printf("A1:%f A2:%f OP:%f OP2:%f\r\n",AnglePitch*180/3.14,AngleRoll*180/3.14,val,val_test); + //pc.printf("A1:%f A2:%f OP:%f RAlt:%f OP_test:%f alt:%f t:%f\r\n",AnglePitch*180/3.14,AngleRoll*180/3.14,val,val2,val_test,PID_IR.MeanIR(3),t.read()); + pc.printf("A1:%f A2:%f A3:%f OP:%f RA:%f\r\n",AnglePitch*180/3.14,AngleRoll*180/3.14,AngleYaw*180/3.14,val,val2); + } \ No newline at end of file
diff -r 000000000000 -r e63996fd7d3e mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Jul 03 11:16:02 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7cff1c4259d7 \ No newline at end of file