Code for our FYDP -only one IMU works right now -RTOS is working
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 \ No newline at end of file