Mark Vandermeulen / FYDP_Final

Code for our FYDP -only one IMU works right now -RTOS is working

Dependencies:   mbed

drivers/MPU6050-DMP-Ian/MPU/inc/MPU6051_6Axis_MotionApps20.h@0:964eb6a2ef00, 2015-03-18 (annotated)

Committer:
majik
Date:
Wed Mar 18 22:23:48 2015 +0000
Revision:
0:964eb6a2ef00
This is our FYDP code, but only one IMU works with the RTOS.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:964eb6a2ef00 1 // I2Cdev library collection - MPU6050 I2C device class, 6-axis MotionApps 2.0 implementation
majik 0:964eb6a2ef00 2 // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
majik 0:964eb6a2ef00 3 // 5/20/2013 by Jeff Rowberg <jeff@rowberg.net>
majik 0:964eb6a2ef00 4 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
majik 0:964eb6a2ef00 5 //
majik 0:964eb6a2ef00 6 // Changelog:
majik 0:964eb6a2ef00 7 // ... - ongoing debug release
majik 0:964eb6a2ef00 8
majik 0:964eb6a2ef00 9 /* ============================================
majik 0:964eb6a2ef00 10 I2Cdev device library code is placed under the MIT license
majik 0:964eb6a2ef00 11 Copyright (c) 2012 Jeff Rowberg
majik 0:964eb6a2ef00 12
majik 0:964eb6a2ef00 13 Permission is hereby granted, free of charge, to any person obtaining a copy
majik 0:964eb6a2ef00 14 of this software and associated documentation files (the "Software"), to deal
majik 0:964eb6a2ef00 15 in the Software without restriction, including without limitation the rights
majik 0:964eb6a2ef00 16 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
majik 0:964eb6a2ef00 17 copies of the Software, and to permit persons to whom the Software is
majik 0:964eb6a2ef00 18 furnished to do so, subject to the following conditions:
majik 0:964eb6a2ef00 19
majik 0:964eb6a2ef00 20 The above copyright notice and this permission notice shall be included in
majik 0:964eb6a2ef00 21 all copies or substantial portions of the Software.
majik 0:964eb6a2ef00 22
majik 0:964eb6a2ef00 23 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
majik 0:964eb6a2ef00 24 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
majik 0:964eb6a2ef00 25 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
majik 0:964eb6a2ef00 26 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
majik 0:964eb6a2ef00 27 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
majik 0:964eb6a2ef00 28 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
majik 0:964eb6a2ef00 29 THE SOFTWARE.
majik 0:964eb6a2ef00 30 ===============================================
majik 0:964eb6a2ef00 31 */
majik 0:964eb6a2ef00 32
majik 0:964eb6a2ef00 33 //#include "tasks.h"
majik 0:964eb6a2ef00 34
majik 0:964eb6a2ef00 35 #ifndef _MPU6051_6AXIS_MOTIONAPPS20_H_
majik 0:964eb6a2ef00 36 #define _MPU6051_6AXIS_MOTIONAPPS20_H_
majik 0:964eb6a2ef00 37
majik 0:964eb6a2ef00 38 //#include <iostream>
majik 0:964eb6a2ef00 39
majik 0:964eb6a2ef00 40 #include "I2Cdev2.h"
majik 0:964eb6a2ef00 41 #include "helper_3dmath.h"
majik 0:964eb6a2ef00 42
majik 0:964eb6a2ef00 43 // MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board
majik 0:964eb6a2ef00 44 #define MPU6050_INCLUDE_DMP_MOTIONAPPS20
majik 0:964eb6a2ef00 45
majik 0:964eb6a2ef00 46 #include "MPU6051.h"
majik 0:964eb6a2ef00 47
majik 0:964eb6a2ef00 48 // Tom Carpenter's conditional PROGMEM code
majik 0:964eb6a2ef00 49 // http://forum.arduino.cc/index.php?topic=129407.0
majik 0:964eb6a2ef00 50 #ifndef __arm__
majik 0:964eb6a2ef00 51 #include <avr/pgmspace.h>
majik 0:964eb6a2ef00 52 #else
majik 0:964eb6a2ef00 53 // Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
majik 0:964eb6a2ef00 54 #ifndef __PGMSPACE_H_
majik 0:964eb6a2ef00 55 #define __PGMSPACE_H_ 1
majik 0:964eb6a2ef00 56 #include <inttypes.h>
majik 0:964eb6a2ef00 57
majik 0:964eb6a2ef00 58 #define PROGMEM
majik 0:964eb6a2ef00 59 #define PGM_P const char *
majik 0:964eb6a2ef00 60 #define PSTR(str) (str)
majik 0:964eb6a2ef00 61 #define F(x) x
majik 0:964eb6a2ef00 62
majik 0:964eb6a2ef00 63 typedef void prog_void;
majik 0:964eb6a2ef00 64 typedef char prog_char;
majik 0:964eb6a2ef00 65 typedef unsigned char prog_uchar;
majik 0:964eb6a2ef00 66 typedef int8_t prog_int8_t;
majik 0:964eb6a2ef00 67 typedef uint8_t prog_uint8_t;
majik 0:964eb6a2ef00 68 typedef int16_t prog_int16_t;
majik 0:964eb6a2ef00 69 typedef uint16_t prog_uint16_t;
majik 0:964eb6a2ef00 70 typedef int32_t prog_int32_t;
majik 0:964eb6a2ef00 71 typedef uint32_t prog_uint32_t;
majik 0:964eb6a2ef00 72
majik 0:964eb6a2ef00 73 #define strcpy_P(dest, src) strcpy((dest), (src))
majik 0:964eb6a2ef00 74 #define strcat_P(dest, src) strcat((dest), (src))
majik 0:964eb6a2ef00 75 #define strcmp_P(a, b) strcmp((a), (b))
majik 0:964eb6a2ef00 76
majik 0:964eb6a2ef00 77 #define pgm_read_byte(addr) (*(const unsigned char *)(addr))
majik 0:964eb6a2ef00 78 #define pgm_read_word(addr) (*(const unsigned short *)(addr))
majik 0:964eb6a2ef00 79 #define pgm_read_dword(addr) (*(const unsigned long *)(addr))
majik 0:964eb6a2ef00 80 #define pgm_read_float(addr) (*(const float *)(addr))
majik 0:964eb6a2ef00 81
majik 0:964eb6a2ef00 82 #define pgm_read_byte_near(addr) pgm_read_byte(addr)
majik 0:964eb6a2ef00 83 #define pgm_read_word_near(addr) pgm_read_word(addr)
majik 0:964eb6a2ef00 84 #define pgm_read_dword_near(addr) pgm_read_dword(addr)
majik 0:964eb6a2ef00 85 #define pgm_read_float_near(addr) pgm_read_float(addr)
majik 0:964eb6a2ef00 86 #define pgm_read_byte_far(addr) pgm_read_byte(addr)
majik 0:964eb6a2ef00 87 #define pgm_read_word_far(addr) pgm_read_word(addr)
majik 0:964eb6a2ef00 88 #define pgm_read_dword_far(addr) pgm_read_dword(addr)
majik 0:964eb6a2ef00 89 #define pgm_read_float_far(addr) pgm_read_float(addr)
majik 0:964eb6a2ef00 90 #endif
majik 0:964eb6a2ef00 91 #endif
majik 0:964eb6a2ef00 92
majik 0:964eb6a2ef00 93 /* Source is from the InvenSense MotionApps v2 demo code. Original source is
majik 0:964eb6a2ef00 94 * unavailable, unless you happen to be amazing as decompiling binary by
majik 0:964eb6a2ef00 95 * hand (in which case, please contact me, and I'm totally serious).
majik 0:964eb6a2ef00 96 *
majik 0:964eb6a2ef00 97 * Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
majik 0:964eb6a2ef00 98 * DMP reverse-engineering he did to help make this bit of wizardry
majik 0:964eb6a2ef00 99 * possible.
majik 0:964eb6a2ef00 100 */
majik 0:964eb6a2ef00 101
majik 0:964eb6a2ef00 102 // NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
majik 0:964eb6a2ef00 103 // Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
majik 0:964eb6a2ef00 104 // after moving string constants to flash memory storage using the F()
majik 0:964eb6a2ef00 105 // compiler macro (Arduino IDE 1.0+ required).
majik 0:964eb6a2ef00 106
majik 0:964eb6a2ef00 107 //#define DEBUG
majik 0:964eb6a2ef00 108 #ifdef DEBUG
majik 0:964eb6a2ef00 109 #define DEBUG_PRINT(x) pc.printf(x) //Serial.print(x)
majik 0:964eb6a2ef00 110 #define DEBUG_PRINTF(x, y) pc.printf(x,y) //Serial.print(x, y)
majik 0:964eb6a2ef00 111
majik 0:964eb6a2ef00 112 #define F(x) x
majik 0:964eb6a2ef00 113 #else
majik 0:964eb6a2ef00 114 #define DEBUG_PRINT(x)
majik 0:964eb6a2ef00 115 #define DEBUG_PRINTF(x, y)
majik 0:964eb6a2ef00 116
majik 0:964eb6a2ef00 117 #endif
majik 0:964eb6a2ef00 118
majik 0:964eb6a2ef00 119 #define MPU6050_DMP_CODE_SIZE 1929 // dmpMemory[]
majik 0:964eb6a2ef00 120 #define MPU6050_DMP_CONFIG_SIZE 192 // dmpConfig[]
majik 0:964eb6a2ef00 121 #define MPU6050_DMP_UPDATES_SIZE 47 // dmpUpdates[]
majik 0:964eb6a2ef00 122
majik 0:964eb6a2ef00 123 /* ================================================================================================ *
majik 0:964eb6a2ef00 124 | Default MotionApps v2.0 42-byte FIFO packet structure: |
majik 0:964eb6a2ef00 125 | |
majik 0:964eb6a2ef00 126 | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
majik 0:964eb6a2ef00 127 | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 |
majik 0:964eb6a2ef00 128 | |
majik 0:964eb6a2ef00 129 | [GYRO Z][ ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
majik 0:964eb6a2ef00 130 | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 |
majik 0:964eb6a2ef00 131 * ================================================================================================ */
majik 0:964eb6a2ef00 132
majik 0:964eb6a2ef00 133 // this block of memory gets written to the MPU on start-up, and it seems
majik 0:964eb6a2ef00 134 // to be volatile memory, so it has to be done each time (it only takes ~1
majik 0:964eb6a2ef00 135 // second though)
majik 0:964eb6a2ef00 136 const unsigned char dmpMemory2[MPU6050_DMP_CODE_SIZE] PROGMEM = {
majik 0:964eb6a2ef00 137 // bank 0, 256 bytes
majik 0:964eb6a2ef00 138 0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
majik 0:964eb6a2ef00 139 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
majik 0:964eb6a2ef00 140 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 141 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 142 0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
majik 0:964eb6a2ef00 143 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 144 0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
majik 0:964eb6a2ef00 145 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 146 0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
majik 0:964eb6a2ef00 147 0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
majik 0:964eb6a2ef00 148 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
majik 0:964eb6a2ef00 149 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
majik 0:964eb6a2ef00 150 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 151 0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
majik 0:964eb6a2ef00 152 0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
majik 0:964eb6a2ef00 153 0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
majik 0:964eb6a2ef00 154
majik 0:964eb6a2ef00 155 // bank 1, 256 bytes
majik 0:964eb6a2ef00 156 0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 157 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 158 0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
majik 0:964eb6a2ef00 159 0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
majik 0:964eb6a2ef00 160 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
majik 0:964eb6a2ef00 161 0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 162 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
majik 0:964eb6a2ef00 163 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 164 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 165 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 166 0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
majik 0:964eb6a2ef00 167 0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 168 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
majik 0:964eb6a2ef00 169 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 170 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 171 0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
majik 0:964eb6a2ef00 172
majik 0:964eb6a2ef00 173 // bank 2, 256 bytes
majik 0:964eb6a2ef00 174 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 175 0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
majik 0:964eb6a2ef00 176 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
majik 0:964eb6a2ef00 177 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 178 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 179 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 180 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 181 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 182 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 183 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 184 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 185 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 186 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 187 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 188 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 189 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 190
majik 0:964eb6a2ef00 191 // bank 3, 256 bytes
majik 0:964eb6a2ef00 192 0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
majik 0:964eb6a2ef00 193 0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
majik 0:964eb6a2ef00 194 0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
majik 0:964eb6a2ef00 195 0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
majik 0:964eb6a2ef00 196 0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
majik 0:964eb6a2ef00 197 0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
majik 0:964eb6a2ef00 198 0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
majik 0:964eb6a2ef00 199 0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C,
majik 0:964eb6a2ef00 200 0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
majik 0:964eb6a2ef00 201 0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
majik 0:964eb6a2ef00 202 0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
majik 0:964eb6a2ef00 203 0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
majik 0:964eb6a2ef00 204 0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
majik 0:964eb6a2ef00 205 0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
majik 0:964eb6a2ef00 206 0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
majik 0:964eb6a2ef00 207 0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
majik 0:964eb6a2ef00 208
majik 0:964eb6a2ef00 209 // bank 4, 256 bytes
majik 0:964eb6a2ef00 210 0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
majik 0:964eb6a2ef00 211 0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
majik 0:964eb6a2ef00 212 0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
majik 0:964eb6a2ef00 213 0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
majik 0:964eb6a2ef00 214 0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
majik 0:964eb6a2ef00 215 0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
majik 0:964eb6a2ef00 216 0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
majik 0:964eb6a2ef00 217 0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
majik 0:964eb6a2ef00 218 0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
majik 0:964eb6a2ef00 219 0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
majik 0:964eb6a2ef00 220 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
majik 0:964eb6a2ef00 221 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
majik 0:964eb6a2ef00 222 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
majik 0:964eb6a2ef00 223 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
majik 0:964eb6a2ef00 224 0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
majik 0:964eb6a2ef00 225 0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
majik 0:964eb6a2ef00 226
majik 0:964eb6a2ef00 227 // bank 5, 256 bytes
majik 0:964eb6a2ef00 228 0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
majik 0:964eb6a2ef00 229 0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
majik 0:964eb6a2ef00 230 0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
majik 0:964eb6a2ef00 231 0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
majik 0:964eb6a2ef00 232 0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
majik 0:964eb6a2ef00 233 0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
majik 0:964eb6a2ef00 234 0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
majik 0:964eb6a2ef00 235 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
majik 0:964eb6a2ef00 236 0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
majik 0:964eb6a2ef00 237 0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
majik 0:964eb6a2ef00 238 0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
majik 0:964eb6a2ef00 239 0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
majik 0:964eb6a2ef00 240 0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
majik 0:964eb6a2ef00 241 0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
majik 0:964eb6a2ef00 242 0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
majik 0:964eb6a2ef00 243 0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,
majik 0:964eb6a2ef00 244
majik 0:964eb6a2ef00 245 // bank 6, 256 bytes
majik 0:964eb6a2ef00 246 0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
majik 0:964eb6a2ef00 247 0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
majik 0:964eb6a2ef00 248 0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
majik 0:964eb6a2ef00 249 0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
majik 0:964eb6a2ef00 250 0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
majik 0:964eb6a2ef00 251 0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
majik 0:964eb6a2ef00 252 0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
majik 0:964eb6a2ef00 253 0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
majik 0:964eb6a2ef00 254 0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
majik 0:964eb6a2ef00 255 0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
majik 0:964eb6a2ef00 256 0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
majik 0:964eb6a2ef00 257 0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
majik 0:964eb6a2ef00 258 0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
majik 0:964eb6a2ef00 259 0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
majik 0:964eb6a2ef00 260 0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
majik 0:964eb6a2ef00 261 0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,
majik 0:964eb6a2ef00 262
majik 0:964eb6a2ef00 263 // bank 7, 138 bytes (remainder)
majik 0:964eb6a2ef00 264 0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
majik 0:964eb6a2ef00 265 0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
majik 0:964eb6a2ef00 266 0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
majik 0:964eb6a2ef00 267 0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
majik 0:964eb6a2ef00 268 0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
majik 0:964eb6a2ef00 269 0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
majik 0:964eb6a2ef00 270 0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3,
majik 0:964eb6a2ef00 271 0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC,
majik 0:964eb6a2ef00 272 0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
majik 0:964eb6a2ef00 273 };
majik 0:964eb6a2ef00 274
majik 0:964eb6a2ef00 275 // thanks to Noah Zerkin for piecing this stuff together!
majik 0:964eb6a2ef00 276 const unsigned char dmpConfig2[MPU6050_DMP_CONFIG_SIZE] PROGMEM = {
majik 0:964eb6a2ef00 277 // BANK OFFSET LENGTH [DATA]
majik 0:964eb6a2ef00 278 0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C, // FCFG_1 inv_set_gyro_calibration
majik 0:964eb6a2ef00 279 0x03, 0xAB, 0x03, 0x36, 0x56, 0x76, // FCFG_3 inv_set_gyro_calibration
majik 0:964eb6a2ef00 280 0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2, // D_0_104 inv_set_gyro_calibration
majik 0:964eb6a2ef00 281 0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1, // D_0_24 inv_set_gyro_calibration
majik 0:964eb6a2ef00 282 0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // D_1_152 inv_set_accel_calibration
majik 0:964eb6a2ef00 283 0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_accel_calibration
majik 0:964eb6a2ef00 284 0x03, 0x89, 0x03, 0x26, 0x46, 0x66, // FCFG_7 inv_set_accel_calibration
majik 0:964eb6a2ef00 285 0x00, 0x6C, 0x02, 0x20, 0x00, // D_0_108 inv_set_accel_calibration
majik 0:964eb6a2ef00 286 0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_00 inv_set_compass_calibration
majik 0:964eb6a2ef00 287 0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_01
majik 0:964eb6a2ef00 288 0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02
majik 0:964eb6a2ef00 289 0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_10
majik 0:964eb6a2ef00 290 0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_11
majik 0:964eb6a2ef00 291 0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_12
majik 0:964eb6a2ef00 292 0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_20
majik 0:964eb6a2ef00 293 0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_21
majik 0:964eb6a2ef00 294 0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_22
majik 0:964eb6a2ef00 295 0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00, // D_1_236 inv_apply_endian_accel
majik 0:964eb6a2ef00 296 0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors
majik 0:964eb6a2ef00 297 0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
majik 0:964eb6a2ef00 298 0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D, // FCFG_5 inv_set_bias_update
majik 0:964eb6a2ef00 299 0x00, 0xA3, 0x01, 0x00, // D_0_163 inv_set_dead_zone
majik 0:964eb6a2ef00 300 // SPECIAL 0x01 = enable interrupts
majik 0:964eb6a2ef00 301 0x00, 0x00, 0x00, 0x01, // SET INT_ENABLE at i=22, SPECIAL INSTRUCTION
majik 0:964eb6a2ef00 302 0x07, 0x86, 0x01, 0xFE, // CFG_6 inv_set_fifo_interupt
majik 0:964eb6a2ef00 303 0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion
majik 0:964eb6a2ef00 304 0x07, 0x7E, 0x01, 0x30, // CFG_16 inv_set_footer
majik 0:964eb6a2ef00 305 0x07, 0x46, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro
majik 0:964eb6a2ef00 306 0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo
majik 0:964eb6a2ef00 307 0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo
majik 0:964eb6a2ef00 308 0x02, 0x16, 0x02, 0x00, 0x07 // D_0_22 inv_set_fifo_rate
majik 0:964eb6a2ef00 309
majik 0:964eb6a2ef00 310 // This very last 0x01 (0x05) WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
majik 0:964eb6a2ef00 311 // 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
majik 0:964eb6a2ef00 312 // DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
majik 0:964eb6a2ef00 313
majik 0:964eb6a2ef00 314 // It is important to make sure the host processor can keep up with reading and processing
majik 0:964eb6a2ef00 315 // the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.
majik 0:964eb6a2ef00 316 };
majik 0:964eb6a2ef00 317
majik 0:964eb6a2ef00 318 const unsigned char dmpUpdates2[MPU6050_DMP_UPDATES_SIZE] PROGMEM = {
majik 0:964eb6a2ef00 319 0x01, 0xB2, 0x02, 0xFF, 0xFF,
majik 0:964eb6a2ef00 320 0x01, 0x90, 0x04, 0x09, 0x23, 0xA1, 0x35,
majik 0:964eb6a2ef00 321 0x01, 0x6A, 0x02, 0x06, 0x00,
majik 0:964eb6a2ef00 322 0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 323 0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
majik 0:964eb6a2ef00 324 0x01, 0x62, 0x02, 0x00, 0x00,
majik 0:964eb6a2ef00 325 0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00
majik 0:964eb6a2ef00 326 };
majik 0:964eb6a2ef00 327
majik 0:964eb6a2ef00 328 /* See MPU6050 under MotionApps 2.0 Section */
majik 0:964eb6a2ef00 329
majik 0:964eb6a2ef00 330 // uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
majik 0:964eb6a2ef00 331 // uint8_t MPU6050::dmpGetFIFORate();
majik 0:964eb6a2ef00 332 // uint8_t MPU6050::dmpGetSampleStepSizeMS();
majik 0:964eb6a2ef00 333 // uint8_t MPU6050::dmpGetSampleFrequency();
majik 0:964eb6a2ef00 334 // int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);
majik 0:964eb6a2ef00 335
majik 0:964eb6a2ef00 336 //uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
majik 0:964eb6a2ef00 337 //uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
majik 0:964eb6a2ef00 338 //uint8_t MPU6050::dmpRunFIFORateProcesses();
majik 0:964eb6a2ef00 339
majik 0:964eb6a2ef00 340 // uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
majik 0:964eb6a2ef00 341 // uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
majik 0:964eb6a2ef00 342 // uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
majik 0:964eb6a2ef00 343 // uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
majik 0:964eb6a2ef00 344 // uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
majik 0:964eb6a2ef00 345 // uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
majik 0:964eb6a2ef00 346 // uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
majik 0:964eb6a2ef00 347 // uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
majik 0:964eb6a2ef00 348 // uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
majik 0:964eb6a2ef00 349 // uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
majik 0:964eb6a2ef00 350 // uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
majik 0:964eb6a2ef00 351 // uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
majik 0:964eb6a2ef00 352
majik 0:964eb6a2ef00 353 // uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet);
majik 0:964eb6a2ef00 354 // uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet);
majik 0:964eb6a2ef00 355
majik 0:964eb6a2ef00 356 // uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
majik 0:964eb6a2ef00 357 // uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet);
majik 0:964eb6a2ef00 358
majik 0:964eb6a2ef00 359 // uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet);
majik 0:964eb6a2ef00 360
majik 0:964eb6a2ef00 361 // uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet);
majik 0:964eb6a2ef00 362 // uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet);
majik 0:964eb6a2ef00 363 // uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
majik 0:964eb6a2ef00 364 // uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
majik 0:964eb6a2ef00 365 // uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
majik 0:964eb6a2ef00 366
majik 0:964eb6a2ef00 367 // uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet);
majik 0:964eb6a2ef00 368 // uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet);
majik 0:964eb6a2ef00 369 // uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet);
majik 0:964eb6a2ef00 370 // uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet);
majik 0:964eb6a2ef00 371
majik 0:964eb6a2ef00 372 // uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet);
majik 0:964eb6a2ef00 373 // uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet);
majik 0:964eb6a2ef00 374
majik 0:964eb6a2ef00 375 // uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));
majik 0:964eb6a2ef00 376 // uint8_t MPU6050::dmpInitFIFOParam();
majik 0:964eb6a2ef00 377 // uint8_t MPU6050::dmpCloseFIFO();
majik 0:964eb6a2ef00 378 // uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
majik 0:964eb6a2ef00 379 // uint8_t MPU6050::dmpDecodeQuantizedAccel();
majik 0:964eb6a2ef00 380 // uint32_t MPU6050::dmpGetGyroSumOfSquare();
majik 0:964eb6a2ef00 381 // uint32_t MPU6050::dmpGetAccelSumOfSquare();
majik 0:964eb6a2ef00 382 // void MPU6050::dmpOverrideQuaternion(long *q);
majik 0:964eb6a2ef00 383
majik 0:964eb6a2ef00 384
majik 0:964eb6a2ef00 385 #endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */