Diff: DMP/DMP.h

Revision:

0:964eb6a2ef00

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DMP/DMP.h	Wed Mar 18 22:23:48 2015 +0000
@@ -0,0 +1,39 @@
+#ifndef DMP_H
+#define DMP_H
+
+#include "MPU6050_6Axis_MotionApps20.h"
+#include "IMUDATA.h"
+#include "robot.h"
+
+#define PRINT_GYR     //uncomment this to print gyro data
+//#define PRINT_ACC     //uncomment this to print accel data
+
+#define PI 3.1415926
+
+#define DMP_RESET_PIN           IMU_RESET_PIN
+#define DMP_SDA_PIN             IMU_SDA_PIN
+#define DMP_NOTUSED_PIN         IMU_NOTUSED_PIN
+#define  MPU_LED_ON              LED_ON  
+#define  MPU_LED_OFF             LED_OFF      
+
+#define DMP_DBG_MSG(...)        //bt.printf(__VA_ARGS__);   //uncomment this to print debug messages
+
+#define  RESET_BAUD_RATE        bt.baud(BT_BAUD_RATE);     
+    
+extern volatile bool mpuInterrupt; //indicates whether interrupt pin has gone high
+extern uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
+extern uint16_t fifoCount;     // count of all bytes currently in FIFO
+
+int test_dmp();
+int test_dmp2();
+void start_dmp(MPU6050 mpu1);    //this will get the DMP ready
+void start_dmp2(MPU6051 mpu1);    //this will get the DMP ready
+void update_dmp();   //call this frequently
+void update_dmp2();   //call this frequently
+void update_yaw(MPU6050);   //this only updates yaw
+void update_acc();   //this only updates the acceleration
+void calibrate_1();
+void calibrate_optFlow();
+
+
+#endif
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