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Fork of MPU6050-DMP-Ian by
MPU/inc/MPU6050_6Axis_MotionApps20.h@14:3f0bc381e1dd, 2014-05-27 (annotated)
- Committer:
- majik
- Date:
- Tue May 27 09:21:09 2014 +0000
- Revision:
- 14:3f0bc381e1dd
- Parent:
- 13:b1b98e5c61df
tempory code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pHysiX | 13:b1b98e5c61df | 1 | // I2Cdev library collection - MPU6050 I2C device class, 6-axis MotionApps 2.0 implementation |
pHysiX | 13:b1b98e5c61df | 2 | // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) |
pHysiX | 13:b1b98e5c61df | 3 | // 5/20/2013 by Jeff Rowberg <jeff@rowberg.net> |
pHysiX | 13:b1b98e5c61df | 4 | // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib |
pHysiX | 13:b1b98e5c61df | 5 | // |
pHysiX | 13:b1b98e5c61df | 6 | // Changelog: |
pHysiX | 13:b1b98e5c61df | 7 | // ... - ongoing debug release |
pHysiX | 13:b1b98e5c61df | 8 | |
pHysiX | 13:b1b98e5c61df | 9 | /* ============================================ |
pHysiX | 13:b1b98e5c61df | 10 | I2Cdev device library code is placed under the MIT license |
pHysiX | 13:b1b98e5c61df | 11 | Copyright (c) 2012 Jeff Rowberg |
pHysiX | 13:b1b98e5c61df | 12 | |
pHysiX | 13:b1b98e5c61df | 13 | Permission is hereby granted, free of charge, to any person obtaining a copy |
pHysiX | 13:b1b98e5c61df | 14 | of this software and associated documentation files (the "Software"), to deal |
pHysiX | 13:b1b98e5c61df | 15 | in the Software without restriction, including without limitation the rights |
pHysiX | 13:b1b98e5c61df | 16 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
pHysiX | 13:b1b98e5c61df | 17 | copies of the Software, and to permit persons to whom the Software is |
pHysiX | 13:b1b98e5c61df | 18 | furnished to do so, subject to the following conditions: |
pHysiX | 13:b1b98e5c61df | 19 | |
pHysiX | 13:b1b98e5c61df | 20 | The above copyright notice and this permission notice shall be included in |
pHysiX | 13:b1b98e5c61df | 21 | all copies or substantial portions of the Software. |
pHysiX | 13:b1b98e5c61df | 22 | |
pHysiX | 13:b1b98e5c61df | 23 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
pHysiX | 13:b1b98e5c61df | 24 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
pHysiX | 13:b1b98e5c61df | 25 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
pHysiX | 13:b1b98e5c61df | 26 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
pHysiX | 13:b1b98e5c61df | 27 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
pHysiX | 13:b1b98e5c61df | 28 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
pHysiX | 13:b1b98e5c61df | 29 | THE SOFTWARE. |
pHysiX | 13:b1b98e5c61df | 30 | =============================================== |
pHysiX | 13:b1b98e5c61df | 31 | */ |
pHysiX | 13:b1b98e5c61df | 32 | |
majik | 14:3f0bc381e1dd | 33 | //#include "tasks.h" |
pHysiX | 10:500c00d7b667 | 34 | |
pHysiX | 6:2dc23167c8d8 | 35 | #ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_ |
pHysiX | 6:2dc23167c8d8 | 36 | #define _MPU6050_6AXIS_MOTIONAPPS20_H_ |
pHysiX | 6:2dc23167c8d8 | 37 | |
pHysiX | 12:b46e84d27a32 | 38 | //#include <iostream> |
pHysiX | 6:2dc23167c8d8 | 39 | |
pHysiX | 6:2dc23167c8d8 | 40 | #include "I2Cdev.h" |
pHysiX | 6:2dc23167c8d8 | 41 | #include "helper_3dmath.h" |
pHysiX | 6:2dc23167c8d8 | 42 | |
pHysiX | 6:2dc23167c8d8 | 43 | // MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board |
pHysiX | 6:2dc23167c8d8 | 44 | #define MPU6050_INCLUDE_DMP_MOTIONAPPS20 |
pHysiX | 6:2dc23167c8d8 | 45 | |
pHysiX | 6:2dc23167c8d8 | 46 | #include "MPU6050.h" |
pHysiX | 6:2dc23167c8d8 | 47 | |
pHysiX | 6:2dc23167c8d8 | 48 | // Tom Carpenter's conditional PROGMEM code |
pHysiX | 6:2dc23167c8d8 | 49 | // http://forum.arduino.cc/index.php?topic=129407.0 |
pHysiX | 6:2dc23167c8d8 | 50 | #ifndef __arm__ |
pHysiX | 6:2dc23167c8d8 | 51 | #include <avr/pgmspace.h> |
pHysiX | 6:2dc23167c8d8 | 52 | #else |
pHysiX | 6:2dc23167c8d8 | 53 | // Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen |
pHysiX | 6:2dc23167c8d8 | 54 | #ifndef __PGMSPACE_H_ |
pHysiX | 6:2dc23167c8d8 | 55 | #define __PGMSPACE_H_ 1 |
pHysiX | 6:2dc23167c8d8 | 56 | #include <inttypes.h> |
pHysiX | 6:2dc23167c8d8 | 57 | |
pHysiX | 6:2dc23167c8d8 | 58 | #define PROGMEM |
pHysiX | 6:2dc23167c8d8 | 59 | #define PGM_P const char * |
pHysiX | 6:2dc23167c8d8 | 60 | #define PSTR(str) (str) |
pHysiX | 6:2dc23167c8d8 | 61 | #define F(x) x |
pHysiX | 6:2dc23167c8d8 | 62 | |
pHysiX | 6:2dc23167c8d8 | 63 | typedef void prog_void; |
pHysiX | 6:2dc23167c8d8 | 64 | typedef char prog_char; |
pHysiX | 6:2dc23167c8d8 | 65 | typedef unsigned char prog_uchar; |
pHysiX | 6:2dc23167c8d8 | 66 | typedef int8_t prog_int8_t; |
pHysiX | 6:2dc23167c8d8 | 67 | typedef uint8_t prog_uint8_t; |
pHysiX | 6:2dc23167c8d8 | 68 | typedef int16_t prog_int16_t; |
pHysiX | 6:2dc23167c8d8 | 69 | typedef uint16_t prog_uint16_t; |
pHysiX | 6:2dc23167c8d8 | 70 | typedef int32_t prog_int32_t; |
pHysiX | 6:2dc23167c8d8 | 71 | typedef uint32_t prog_uint32_t; |
pHysiX | 6:2dc23167c8d8 | 72 | |
pHysiX | 6:2dc23167c8d8 | 73 | #define strcpy_P(dest, src) strcpy((dest), (src)) |
pHysiX | 6:2dc23167c8d8 | 74 | #define strcat_P(dest, src) strcat((dest), (src)) |
pHysiX | 6:2dc23167c8d8 | 75 | #define strcmp_P(a, b) strcmp((a), (b)) |
pHysiX | 6:2dc23167c8d8 | 76 | |
pHysiX | 6:2dc23167c8d8 | 77 | #define pgm_read_byte(addr) (*(const unsigned char *)(addr)) |
pHysiX | 6:2dc23167c8d8 | 78 | #define pgm_read_word(addr) (*(const unsigned short *)(addr)) |
pHysiX | 6:2dc23167c8d8 | 79 | #define pgm_read_dword(addr) (*(const unsigned long *)(addr)) |
pHysiX | 6:2dc23167c8d8 | 80 | #define pgm_read_float(addr) (*(const float *)(addr)) |
pHysiX | 6:2dc23167c8d8 | 81 | |
pHysiX | 6:2dc23167c8d8 | 82 | #define pgm_read_byte_near(addr) pgm_read_byte(addr) |
pHysiX | 6:2dc23167c8d8 | 83 | #define pgm_read_word_near(addr) pgm_read_word(addr) |
pHysiX | 6:2dc23167c8d8 | 84 | #define pgm_read_dword_near(addr) pgm_read_dword(addr) |
pHysiX | 6:2dc23167c8d8 | 85 | #define pgm_read_float_near(addr) pgm_read_float(addr) |
pHysiX | 6:2dc23167c8d8 | 86 | #define pgm_read_byte_far(addr) pgm_read_byte(addr) |
pHysiX | 6:2dc23167c8d8 | 87 | #define pgm_read_word_far(addr) pgm_read_word(addr) |
pHysiX | 6:2dc23167c8d8 | 88 | #define pgm_read_dword_far(addr) pgm_read_dword(addr) |
pHysiX | 6:2dc23167c8d8 | 89 | #define pgm_read_float_far(addr) pgm_read_float(addr) |
pHysiX | 6:2dc23167c8d8 | 90 | #endif |
pHysiX | 6:2dc23167c8d8 | 91 | #endif |
pHysiX | 6:2dc23167c8d8 | 92 | |
pHysiX | 6:2dc23167c8d8 | 93 | /* Source is from the InvenSense MotionApps v2 demo code. Original source is |
pHysiX | 6:2dc23167c8d8 | 94 | * unavailable, unless you happen to be amazing as decompiling binary by |
pHysiX | 6:2dc23167c8d8 | 95 | * hand (in which case, please contact me, and I'm totally serious). |
pHysiX | 6:2dc23167c8d8 | 96 | * |
pHysiX | 6:2dc23167c8d8 | 97 | * Also, I'd like to offer many, many thanks to Noah Zerkin for all of the |
pHysiX | 6:2dc23167c8d8 | 98 | * DMP reverse-engineering he did to help make this bit of wizardry |
pHysiX | 6:2dc23167c8d8 | 99 | * possible. |
pHysiX | 6:2dc23167c8d8 | 100 | */ |
pHysiX | 6:2dc23167c8d8 | 101 | |
pHysiX | 6:2dc23167c8d8 | 102 | // NOTE! Enabling DEBUG adds about 3.3kB to the flash program size. |
pHysiX | 6:2dc23167c8d8 | 103 | // Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno) |
pHysiX | 6:2dc23167c8d8 | 104 | // after moving string constants to flash memory storage using the F() |
pHysiX | 6:2dc23167c8d8 | 105 | // compiler macro (Arduino IDE 1.0+ required). |
pHysiX | 6:2dc23167c8d8 | 106 | |
pHysiX | 6:2dc23167c8d8 | 107 | //#define DEBUG |
pHysiX | 6:2dc23167c8d8 | 108 | #ifdef DEBUG |
pHysiX | 6:2dc23167c8d8 | 109 | #define DEBUG_PRINT(x) pc.printf(x) //Serial.print(x) |
pHysiX | 6:2dc23167c8d8 | 110 | #define DEBUG_PRINTF(x, y) pc.printf(x,y) //Serial.print(x, y) |
pHysiX | 6:2dc23167c8d8 | 111 | |
pHysiX | 6:2dc23167c8d8 | 112 | #define F(x) x |
pHysiX | 6:2dc23167c8d8 | 113 | #else |
pHysiX | 6:2dc23167c8d8 | 114 | #define DEBUG_PRINT(x) |
pHysiX | 6:2dc23167c8d8 | 115 | #define DEBUG_PRINTF(x, y) |
pHysiX | 6:2dc23167c8d8 | 116 | |
pHysiX | 6:2dc23167c8d8 | 117 | #endif |
pHysiX | 6:2dc23167c8d8 | 118 | |
pHysiX | 6:2dc23167c8d8 | 119 | #define MPU6050_DMP_CODE_SIZE 1929 // dmpMemory[] |
pHysiX | 6:2dc23167c8d8 | 120 | #define MPU6050_DMP_CONFIG_SIZE 192 // dmpConfig[] |
pHysiX | 6:2dc23167c8d8 | 121 | #define MPU6050_DMP_UPDATES_SIZE 47 // dmpUpdates[] |
pHysiX | 6:2dc23167c8d8 | 122 | |
pHysiX | 6:2dc23167c8d8 | 123 | /* ================================================================================================ * |
pHysiX | 6:2dc23167c8d8 | 124 | | Default MotionApps v2.0 42-byte FIFO packet structure: | |
pHysiX | 6:2dc23167c8d8 | 125 | | | |
pHysiX | 6:2dc23167c8d8 | 126 | | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] | |
pHysiX | 6:2dc23167c8d8 | 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 | |
pHysiX | 6:2dc23167c8d8 | 128 | | | |
pHysiX | 6:2dc23167c8d8 | 129 | | [GYRO Z][ ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] | |
pHysiX | 6:2dc23167c8d8 | 130 | | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 | |
pHysiX | 6:2dc23167c8d8 | 131 | * ================================================================================================ */ |
pHysiX | 6:2dc23167c8d8 | 132 | |
pHysiX | 6:2dc23167c8d8 | 133 | // this block of memory gets written to the MPU on start-up, and it seems |
pHysiX | 6:2dc23167c8d8 | 134 | // to be volatile memory, so it has to be done each time (it only takes ~1 |
pHysiX | 6:2dc23167c8d8 | 135 | // second though) |
pHysiX | 6:2dc23167c8d8 | 136 | const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = { |
pHysiX | 6:2dc23167c8d8 | 137 | // bank 0, 256 bytes |
pHysiX | 6:2dc23167c8d8 | 138 | 0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 139 | 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01, |
pHysiX | 6:2dc23167c8d8 | 140 | 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 141 | 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 142 | 0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01, |
pHysiX | 6:2dc23167c8d8 | 143 | 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 144 | 0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 145 | 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 146 | 0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82, |
pHysiX | 6:2dc23167c8d8 | 147 | 0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00, |
pHysiX | 6:2dc23167c8d8 | 148 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 149 | 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0, |
pHysiX | 6:2dc23167c8d8 | 150 | 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 151 | 0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC, |
pHysiX | 6:2dc23167c8d8 | 152 | 0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4, |
pHysiX | 6:2dc23167c8d8 | 153 | 0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10, |
pHysiX | 6:2dc23167c8d8 | 154 | |
pHysiX | 6:2dc23167c8d8 | 155 | // bank 1, 256 bytes |
pHysiX | 6:2dc23167c8d8 | 156 | 0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 157 | 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 158 | 0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8, |
pHysiX | 6:2dc23167c8d8 | 159 | 0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7, |
pHysiX | 6:2dc23167c8d8 | 160 | 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C, |
pHysiX | 6:2dc23167c8d8 | 161 | 0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 162 | 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14, |
pHysiX | 6:2dc23167c8d8 | 163 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 164 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 165 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 166 | 0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C, |
pHysiX | 6:2dc23167c8d8 | 167 | 0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 168 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30, |
pHysiX | 6:2dc23167c8d8 | 169 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 170 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 171 | 0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0, |
pHysiX | 6:2dc23167c8d8 | 172 | |
pHysiX | 6:2dc23167c8d8 | 173 | // bank 2, 256 bytes |
pHysiX | 6:2dc23167c8d8 | 174 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 175 | 0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00, |
pHysiX | 6:2dc23167c8d8 | 176 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 177 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 178 | 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 179 | 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 180 | 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 181 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 182 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 183 | 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 184 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 185 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 186 | 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 187 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 188 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 189 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 190 | |
pHysiX | 6:2dc23167c8d8 | 191 | // bank 3, 256 bytes |
pHysiX | 6:2dc23167c8d8 | 192 | 0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F, |
pHysiX | 6:2dc23167c8d8 | 193 | 0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2, |
pHysiX | 6:2dc23167c8d8 | 194 | 0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF, |
pHysiX | 6:2dc23167c8d8 | 195 | 0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C, |
pHysiX | 6:2dc23167c8d8 | 196 | 0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1, |
pHysiX | 6:2dc23167c8d8 | 197 | 0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01, |
pHysiX | 6:2dc23167c8d8 | 198 | 0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80, |
pHysiX | 6:2dc23167c8d8 | 199 | 0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C, |
pHysiX | 6:2dc23167c8d8 | 200 | 0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80, |
pHysiX | 6:2dc23167c8d8 | 201 | 0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E, |
pHysiX | 6:2dc23167c8d8 | 202 | 0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9, |
pHysiX | 6:2dc23167c8d8 | 203 | 0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24, |
pHysiX | 6:2dc23167c8d8 | 204 | 0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0, |
pHysiX | 6:2dc23167c8d8 | 205 | 0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86, |
pHysiX | 6:2dc23167c8d8 | 206 | 0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1, |
pHysiX | 6:2dc23167c8d8 | 207 | 0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86, |
pHysiX | 6:2dc23167c8d8 | 208 | |
pHysiX | 6:2dc23167c8d8 | 209 | // bank 4, 256 bytes |
pHysiX | 6:2dc23167c8d8 | 210 | 0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA, |
pHysiX | 6:2dc23167c8d8 | 211 | 0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C, |
pHysiX | 6:2dc23167c8d8 | 212 | 0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8, |
pHysiX | 6:2dc23167c8d8 | 213 | 0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3, |
pHysiX | 6:2dc23167c8d8 | 214 | 0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84, |
pHysiX | 6:2dc23167c8d8 | 215 | 0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5, |
pHysiX | 6:2dc23167c8d8 | 216 | 0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3, |
pHysiX | 6:2dc23167c8d8 | 217 | 0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1, |
pHysiX | 6:2dc23167c8d8 | 218 | 0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5, |
pHysiX | 6:2dc23167c8d8 | 219 | 0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D, |
pHysiX | 6:2dc23167c8d8 | 220 | 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9, |
pHysiX | 6:2dc23167c8d8 | 221 | 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D, |
pHysiX | 6:2dc23167c8d8 | 222 | 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9, |
pHysiX | 6:2dc23167c8d8 | 223 | 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A, |
pHysiX | 6:2dc23167c8d8 | 224 | 0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8, |
pHysiX | 6:2dc23167c8d8 | 225 | 0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87, |
pHysiX | 6:2dc23167c8d8 | 226 | |
pHysiX | 6:2dc23167c8d8 | 227 | // bank 5, 256 bytes |
pHysiX | 6:2dc23167c8d8 | 228 | 0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8, |
pHysiX | 6:2dc23167c8d8 | 229 | 0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68, |
pHysiX | 6:2dc23167c8d8 | 230 | 0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D, |
pHysiX | 6:2dc23167c8d8 | 231 | 0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94, |
pHysiX | 6:2dc23167c8d8 | 232 | 0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA, |
pHysiX | 6:2dc23167c8d8 | 233 | 0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56, |
pHysiX | 6:2dc23167c8d8 | 234 | 0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, |
pHysiX | 6:2dc23167c8d8 | 235 | 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA, |
pHysiX | 6:2dc23167c8d8 | 236 | 0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A, |
pHysiX | 6:2dc23167c8d8 | 237 | 0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60, |
pHysiX | 6:2dc23167c8d8 | 238 | 0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97, |
pHysiX | 6:2dc23167c8d8 | 239 | 0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04, |
pHysiX | 6:2dc23167c8d8 | 240 | 0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78, |
pHysiX | 6:2dc23167c8d8 | 241 | 0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79, |
pHysiX | 6:2dc23167c8d8 | 242 | 0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68, |
pHysiX | 6:2dc23167c8d8 | 243 | 0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68, |
pHysiX | 6:2dc23167c8d8 | 244 | |
pHysiX | 6:2dc23167c8d8 | 245 | // bank 6, 256 bytes |
pHysiX | 6:2dc23167c8d8 | 246 | 0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04, |
pHysiX | 6:2dc23167c8d8 | 247 | 0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66, |
pHysiX | 6:2dc23167c8d8 | 248 | 0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, |
pHysiX | 6:2dc23167c8d8 | 249 | 0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60, |
pHysiX | 6:2dc23167c8d8 | 250 | 0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76, |
pHysiX | 6:2dc23167c8d8 | 251 | 0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56, |
pHysiX | 6:2dc23167c8d8 | 252 | 0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD, |
pHysiX | 6:2dc23167c8d8 | 253 | 0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91, |
pHysiX | 6:2dc23167c8d8 | 254 | 0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8, |
pHysiX | 6:2dc23167c8d8 | 255 | 0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE, |
pHysiX | 6:2dc23167c8d8 | 256 | 0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9, |
pHysiX | 6:2dc23167c8d8 | 257 | 0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD, |
pHysiX | 6:2dc23167c8d8 | 258 | 0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E, |
pHysiX | 6:2dc23167c8d8 | 259 | 0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8, |
pHysiX | 6:2dc23167c8d8 | 260 | 0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89, |
pHysiX | 6:2dc23167c8d8 | 261 | 0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79, |
pHysiX | 6:2dc23167c8d8 | 262 | |
pHysiX | 6:2dc23167c8d8 | 263 | // bank 7, 138 bytes (remainder) |
pHysiX | 6:2dc23167c8d8 | 264 | 0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8, |
pHysiX | 6:2dc23167c8d8 | 265 | 0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA, |
pHysiX | 6:2dc23167c8d8 | 266 | 0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB, |
pHysiX | 6:2dc23167c8d8 | 267 | 0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3, |
pHysiX | 6:2dc23167c8d8 | 268 | 0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3, |
pHysiX | 6:2dc23167c8d8 | 269 | 0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, |
pHysiX | 6:2dc23167c8d8 | 270 | 0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3, |
pHysiX | 6:2dc23167c8d8 | 271 | 0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC, |
pHysiX | 6:2dc23167c8d8 | 272 | 0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF |
pHysiX | 6:2dc23167c8d8 | 273 | }; |
pHysiX | 6:2dc23167c8d8 | 274 | |
pHysiX | 6:2dc23167c8d8 | 275 | // thanks to Noah Zerkin for piecing this stuff together! |
pHysiX | 6:2dc23167c8d8 | 276 | const unsigned char dmpConfig[MPU6050_DMP_CONFIG_SIZE] PROGMEM = { |
pHysiX | 6:2dc23167c8d8 | 277 | // BANK OFFSET LENGTH [DATA] |
pHysiX | 6:2dc23167c8d8 | 278 | 0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C, // FCFG_1 inv_set_gyro_calibration |
pHysiX | 6:2dc23167c8d8 | 279 | 0x03, 0xAB, 0x03, 0x36, 0x56, 0x76, // FCFG_3 inv_set_gyro_calibration |
pHysiX | 6:2dc23167c8d8 | 280 | 0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2, // D_0_104 inv_set_gyro_calibration |
pHysiX | 6:2dc23167c8d8 | 281 | 0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1, // D_0_24 inv_set_gyro_calibration |
pHysiX | 6:2dc23167c8d8 | 282 | 0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // D_1_152 inv_set_accel_calibration |
pHysiX | 6:2dc23167c8d8 | 283 | 0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_accel_calibration |
pHysiX | 6:2dc23167c8d8 | 284 | 0x03, 0x89, 0x03, 0x26, 0x46, 0x66, // FCFG_7 inv_set_accel_calibration |
pHysiX | 6:2dc23167c8d8 | 285 | 0x00, 0x6C, 0x02, 0x20, 0x00, // D_0_108 inv_set_accel_calibration |
pHysiX | 6:2dc23167c8d8 | 286 | 0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_00 inv_set_compass_calibration |
pHysiX | 6:2dc23167c8d8 | 287 | 0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_01 |
pHysiX | 6:2dc23167c8d8 | 288 | 0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02 |
pHysiX | 6:2dc23167c8d8 | 289 | 0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_10 |
pHysiX | 6:2dc23167c8d8 | 290 | 0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_11 |
pHysiX | 6:2dc23167c8d8 | 291 | 0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_12 |
pHysiX | 6:2dc23167c8d8 | 292 | 0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_20 |
pHysiX | 6:2dc23167c8d8 | 293 | 0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_21 |
pHysiX | 6:2dc23167c8d8 | 294 | 0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_22 |
pHysiX | 6:2dc23167c8d8 | 295 | 0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00, // D_1_236 inv_apply_endian_accel |
pHysiX | 6:2dc23167c8d8 | 296 | 0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors |
pHysiX | 6:2dc23167c8d8 | 297 | 0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion |
pHysiX | 6:2dc23167c8d8 | 298 | 0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D, // FCFG_5 inv_set_bias_update |
pHysiX | 6:2dc23167c8d8 | 299 | 0x00, 0xA3, 0x01, 0x00, // D_0_163 inv_set_dead_zone |
pHysiX | 6:2dc23167c8d8 | 300 | // SPECIAL 0x01 = enable interrupts |
pHysiX | 6:2dc23167c8d8 | 301 | 0x00, 0x00, 0x00, 0x01, // SET INT_ENABLE at i=22, SPECIAL INSTRUCTION |
pHysiX | 6:2dc23167c8d8 | 302 | 0x07, 0x86, 0x01, 0xFE, // CFG_6 inv_set_fifo_interupt |
pHysiX | 6:2dc23167c8d8 | 303 | 0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion |
pHysiX | 6:2dc23167c8d8 | 304 | 0x07, 0x7E, 0x01, 0x30, // CFG_16 inv_set_footer |
pHysiX | 6:2dc23167c8d8 | 305 | 0x07, 0x46, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro |
pHysiX | 6:2dc23167c8d8 | 306 | 0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo |
pHysiX | 6:2dc23167c8d8 | 307 | 0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo |
majik | 14:3f0bc381e1dd | 308 | 0x02, 0x16, 0x02, 0x00, 0x01 // D_0_22 inv_set_fifo_rate |
pHysiX | 6:2dc23167c8d8 | 309 | |
pHysiX | 6:2dc23167c8d8 | 310 | // This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz, |
pHysiX | 6:2dc23167c8d8 | 311 | // 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data. |
pHysiX | 6:2dc23167c8d8 | 312 | // DMP output frequency is calculated easily using this equation: (200Hz / (1 + value)) |
pHysiX | 6:2dc23167c8d8 | 313 | |
pHysiX | 6:2dc23167c8d8 | 314 | // It is important to make sure the host processor can keep up with reading and processing |
pHysiX | 6:2dc23167c8d8 | 315 | // the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea. |
pHysiX | 6:2dc23167c8d8 | 316 | }; |
pHysiX | 6:2dc23167c8d8 | 317 | |
pHysiX | 6:2dc23167c8d8 | 318 | const unsigned char dmpUpdates[MPU6050_DMP_UPDATES_SIZE] PROGMEM = { |
pHysiX | 6:2dc23167c8d8 | 319 | 0x01, 0xB2, 0x02, 0xFF, 0xFF, |
pHysiX | 6:2dc23167c8d8 | 320 | 0x01, 0x90, 0x04, 0x09, 0x23, 0xA1, 0x35, |
pHysiX | 6:2dc23167c8d8 | 321 | 0x01, 0x6A, 0x02, 0x06, 0x00, |
pHysiX | 6:2dc23167c8d8 | 322 | 0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 323 | 0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 324 | 0x01, 0x62, 0x02, 0x00, 0x00, |
pHysiX | 6:2dc23167c8d8 | 325 | 0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00 |
pHysiX | 6:2dc23167c8d8 | 326 | }; |
pHysiX | 6:2dc23167c8d8 | 327 | |
pHysiX | 6:2dc23167c8d8 | 328 | /* See MPU6050 under MotionApps 2.0 Section */ |
pHysiX | 6:2dc23167c8d8 | 329 | |
pHysiX | 6:2dc23167c8d8 | 330 | // uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate); |
pHysiX | 6:2dc23167c8d8 | 331 | // uint8_t MPU6050::dmpGetFIFORate(); |
pHysiX | 6:2dc23167c8d8 | 332 | // uint8_t MPU6050::dmpGetSampleStepSizeMS(); |
pHysiX | 6:2dc23167c8d8 | 333 | // uint8_t MPU6050::dmpGetSampleFrequency(); |
pHysiX | 6:2dc23167c8d8 | 334 | // int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg); |
pHysiX | 6:2dc23167c8d8 | 335 | |
pHysiX | 6:2dc23167c8d8 | 336 | //uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); |
pHysiX | 6:2dc23167c8d8 | 337 | //uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func); |
pHysiX | 6:2dc23167c8d8 | 338 | //uint8_t MPU6050::dmpRunFIFORateProcesses(); |
pHysiX | 6:2dc23167c8d8 | 339 | |
pHysiX | 6:2dc23167c8d8 | 340 | // uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy); |
pHysiX | 6:2dc23167c8d8 | 341 | // uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); |
pHysiX | 6:2dc23167c8d8 | 342 | // uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); |
pHysiX | 6:2dc23167c8d8 | 343 | // uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); |
pHysiX | 6:2dc23167c8d8 | 344 | // uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); |
pHysiX | 6:2dc23167c8d8 | 345 | // uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); |
pHysiX | 6:2dc23167c8d8 | 346 | // uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); |
pHysiX | 6:2dc23167c8d8 | 347 | // uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); |
pHysiX | 6:2dc23167c8d8 | 348 | // uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); |
pHysiX | 6:2dc23167c8d8 | 349 | // uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy); |
pHysiX | 6:2dc23167c8d8 | 350 | // uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); |
pHysiX | 6:2dc23167c8d8 | 351 | // uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); |
pHysiX | 6:2dc23167c8d8 | 352 | |
pHysiX | 6:2dc23167c8d8 | 353 | // uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 354 | // uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 355 | |
pHysiX | 6:2dc23167c8d8 | 356 | // uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef); |
pHysiX | 6:2dc23167c8d8 | 357 | // uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 358 | |
pHysiX | 6:2dc23167c8d8 | 359 | // uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 360 | |
pHysiX | 6:2dc23167c8d8 | 361 | // uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 362 | // uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 363 | // uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 364 | // uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 365 | // uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 366 | |
pHysiX | 6:2dc23167c8d8 | 367 | // uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 368 | // uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 369 | // uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 370 | // uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 371 | |
pHysiX | 6:2dc23167c8d8 | 372 | // uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 373 | // uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet); |
pHysiX | 6:2dc23167c8d8 | 374 | |
pHysiX | 6:2dc23167c8d8 | 375 | // uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void)); |
pHysiX | 6:2dc23167c8d8 | 376 | // uint8_t MPU6050::dmpInitFIFOParam(); |
pHysiX | 6:2dc23167c8d8 | 377 | // uint8_t MPU6050::dmpCloseFIFO(); |
pHysiX | 6:2dc23167c8d8 | 378 | // uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source); |
pHysiX | 6:2dc23167c8d8 | 379 | // uint8_t MPU6050::dmpDecodeQuantizedAccel(); |
pHysiX | 6:2dc23167c8d8 | 380 | // uint32_t MPU6050::dmpGetGyroSumOfSquare(); |
pHysiX | 6:2dc23167c8d8 | 381 | // uint32_t MPU6050::dmpGetAccelSumOfSquare(); |
pHysiX | 6:2dc23167c8d8 | 382 | // void MPU6050::dmpOverrideQuaternion(long *q); |
pHysiX | 6:2dc23167c8d8 | 383 | |
pHysiX | 6:2dc23167c8d8 | 384 | |
pHysiX | 6:2dc23167c8d8 | 385 | #endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */ |