Chris Pepper / MPU9150_DMP

The MPU9150s biggest selling point was its internal Motion Processor to offload the sensor fusion from the host processor, this library uploads the firmware to generate quaternions from the sensors. The API needs work but as other libraries don't support the DMP supplying as is.

Dependents:   MPU9150_Example CANSAT_COMBINED MPU9150_Example mbed_rifletool

dmpdata.h@2:e523a92390b6, 2014-09-01 (annotated)

Committer:
p3p
Date:
Mon Sep 01 14:25:06 2014 +0000
Revision:
2:e523a92390b6
Parent:
0:74f0ae286b03 
Fix Copyright

Who changed what in which revision?

UserRevisionLine numberNew contents of line
p3p 0:74f0ae286b03 1 //ripped from sparkfun github
p3p 0:74f0ae286b03 2
p3p 0:74f0ae286b03 3 /* ============================================
p3p 0:74f0ae286b03 4 I2Cdev device library code is placed under the MIT license
p3p 0:74f0ae286b03 5 Copyright (c) 2012 Jeff Rowberg
p3p 0:74f0ae286b03 6
p3p 0:74f0ae286b03 7 Permission is hereby granted, free of charge, to any person obtaining a copy
p3p 0:74f0ae286b03 8 of this software and associated documentation files (the "Software"), to deal
p3p 0:74f0ae286b03 9 in the Software without restriction, including without limitation the rights
p3p 0:74f0ae286b03 10 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
p3p 0:74f0ae286b03 11 copies of the Software, and to permit persons to whom the Software is
p3p 0:74f0ae286b03 12 furnished to do so, subject to the following conditions:
p3p 0:74f0ae286b03 13
p3p 0:74f0ae286b03 14 The above copyright notice and this permission notice shall be included in
p3p 0:74f0ae286b03 15 all copies or substantial portions of the Software.
p3p 0:74f0ae286b03 16
p3p 0:74f0ae286b03 17 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
p3p 0:74f0ae286b03 18 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
p3p 0:74f0ae286b03 19 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
p3p 0:74f0ae286b03 20 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
p3p 0:74f0ae286b03 21 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
p3p 0:74f0ae286b03 22 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
p3p 0:74f0ae286b03 23 THE SOFTWARE.
p3p 0:74f0ae286b03 24 ===============================================
p3p 0:74f0ae286b03 25 */
p3p 0:74f0ae286b03 26 #define MPU6050_DMP_CODE_SIZE 1962 // dmpMemory[]
p3p 0:74f0ae286b03 27 #define MPU6050_DMP_CONFIG_SIZE 232 // dmpConfig[]
p3p 0:74f0ae286b03 28 #define MPU6050_DMP_UPDATES_SIZE 140 // dmpUpdates[]
p3p 0:74f0ae286b03 29
p3p 0:74f0ae286b03 30 /* ================================================================================================ *
p3p 0:74f0ae286b03 31 | Default MotionApps v4.1 48-byte FIFO packet structure: |
p3p 0:74f0ae286b03 32 | |
p3p 0:74f0ae286b03 33 | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
p3p 0:74f0ae286b03 34 | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 |
p3p 0:74f0ae286b03 35 | |
p3p 0:74f0ae286b03 36 | [GYRO Z][ ][MAG X ][MAG Y ][MAG Z ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
p3p 0:74f0ae286b03 37 | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 |
p3p 0:74f0ae286b03 38 * ================================================================================================ */
p3p 0:74f0ae286b03 39
p3p 0:74f0ae286b03 40 // this block of memory gets written to the MPU on start-up, and it seems
p3p 0:74f0ae286b03 41 // to be volatile memory, so it has to be done each time (it only takes ~1
p3p 0:74f0ae286b03 42 // second though)
p3p 0:74f0ae286b03 43 const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] = {
p3p 0:74f0ae286b03 44 // bank 0, 256 bytes
p3p 0:74f0ae286b03 45 0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
p3p 0:74f0ae286b03 46 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
p3p 0:74f0ae286b03 47 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 48 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 49 0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
p3p 0:74f0ae286b03 50 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 51 0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
p3p 0:74f0ae286b03 52 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 53 0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
p3p 0:74f0ae286b03 54 0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
p3p 0:74f0ae286b03 55 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
p3p 0:74f0ae286b03 56 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
p3p 0:74f0ae286b03 57 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 58 0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
p3p 0:74f0ae286b03 59 0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
p3p 0:74f0ae286b03 60 0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
p3p 0:74f0ae286b03 61
p3p 0:74f0ae286b03 62 // bank 1, 256 bytes
p3p 0:74f0ae286b03 63 0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 64 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 65 0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
p3p 0:74f0ae286b03 66 0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
p3p 0:74f0ae286b03 67 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
p3p 0:74f0ae286b03 68 0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 69 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
p3p 0:74f0ae286b03 70 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 71 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 72 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 73 0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
p3p 0:74f0ae286b03 74 0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 75 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
p3p 0:74f0ae286b03 76 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 77 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 78 0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
p3p 0:74f0ae286b03 79
p3p 0:74f0ae286b03 80 // bank 2, 256 bytes
p3p 0:74f0ae286b03 81 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 82 0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
p3p 0:74f0ae286b03 83 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
p3p 0:74f0ae286b03 84 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 85 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 86 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 87 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 88 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 89 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 90 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 91 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 92 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 93 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 94 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 95 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x47, 0x78, 0xA2,
p3p 0:74f0ae286b03 96 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 97
p3p 0:74f0ae286b03 98 // bank 3, 256 bytes
p3p 0:74f0ae286b03 99 0xD8, 0xDC, 0xF4, 0xD8, 0xB9, 0xAB, 0xF3, 0xF8, 0xFA, 0xF1, 0xBA, 0xA2, 0xDE, 0xB2, 0xB8, 0xB4,
p3p 0:74f0ae286b03 100 0xA8, 0x81, 0x98, 0xF7, 0x4A, 0x90, 0x7F, 0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA,
p3p 0:74f0ae286b03 101 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2, 0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80,
p3p 0:74f0ae286b03 102 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF, 0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0,
p3p 0:74f0ae286b03 103 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C, 0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1,
p3p 0:74f0ae286b03 104 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1, 0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3,
p3p 0:74f0ae286b03 105 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01, 0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88,
p3p 0:74f0ae286b03 106 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80, 0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF,
p3p 0:74f0ae286b03 107 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89,
p3p 0:74f0ae286b03 108 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80, 0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9,
p3p 0:74f0ae286b03 109 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E, 0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A,
p3p 0:74f0ae286b03 110 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9, 0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11,
p3p 0:74f0ae286b03 111 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55,
p3p 0:74f0ae286b03 112 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xF0, 0x00, 0x28, 0x50, 0xF5, 0xBA, 0xAD, 0x8F, 0x9F, 0x28, 0x54,
p3p 0:74f0ae286b03 113 0x7C, 0xB9, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xDB, 0xB2, 0xB6, 0x8E, 0x9D,
p3p 0:74f0ae286b03 114 0xAE, 0xF5, 0x60, 0x68, 0x70, 0xB1, 0xB5, 0xF1, 0xDA, 0xA6, 0xDF, 0xD9, 0xA6, 0xFA, 0xA3, 0x86,
p3p 0:74f0ae286b03 115
p3p 0:74f0ae286b03 116 // bank 4, 256 bytes
p3p 0:74f0ae286b03 117 0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
p3p 0:74f0ae286b03 118 0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
p3p 0:74f0ae286b03 119 0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
p3p 0:74f0ae286b03 120 0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
p3p 0:74f0ae286b03 121 0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
p3p 0:74f0ae286b03 122 0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
p3p 0:74f0ae286b03 123 0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
p3p 0:74f0ae286b03 124 0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
p3p 0:74f0ae286b03 125 0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
p3p 0:74f0ae286b03 126 0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
p3p 0:74f0ae286b03 127 0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
p3p 0:74f0ae286b03 128 0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
p3p 0:74f0ae286b03 129 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
p3p 0:74f0ae286b03 130 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
p3p 0:74f0ae286b03 131 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
p3p 0:74f0ae286b03 132 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
p3p 0:74f0ae286b03 133
p3p 0:74f0ae286b03 134 // bank 5, 256 bytes
p3p 0:74f0ae286b03 135 0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
p3p 0:74f0ae286b03 136 0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
p3p 0:74f0ae286b03 137 0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
p3p 0:74f0ae286b03 138 0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
p3p 0:74f0ae286b03 139 0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
p3p 0:74f0ae286b03 140 0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
p3p 0:74f0ae286b03 141 0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
p3p 0:74f0ae286b03 142 0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
p3p 0:74f0ae286b03 143 0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
p3p 0:74f0ae286b03 144 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
p3p 0:74f0ae286b03 145 0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0x97, 0x86,
p3p 0:74f0ae286b03 146 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97, 0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40,
p3p 0:74f0ae286b03 147 0xB9, 0xA3, 0x8A, 0xC3, 0xC5, 0xC7, 0x9A, 0xA3, 0x28, 0x50, 0x78, 0xF1, 0xB5, 0x93, 0x01, 0xD9,
p3p 0:74f0ae286b03 148 0xDF, 0xDF, 0xDF, 0xD8, 0xB8, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04, 0x28, 0x51, 0x79, 0x1D, 0x30,
p3p 0:74f0ae286b03 149 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78, 0x78, 0x9B, 0xF1, 0x1A, 0xB0,
p3p 0:74f0ae286b03 150 0xF0, 0xB1, 0x83, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0xB0, 0x8B, 0x29, 0x51, 0x79, 0xB1, 0x83, 0x24,
p3p 0:74f0ae286b03 151
p3p 0:74f0ae286b03 152 // bank 6, 256 bytes
p3p 0:74f0ae286b03 153 0x70, 0x59, 0xB0, 0x8B, 0x20, 0x58, 0x71, 0xB1, 0x83, 0x44, 0x69, 0x38, 0xB0, 0x8B, 0x39, 0x40,
p3p 0:74f0ae286b03 154 0x68, 0xB1, 0x83, 0x64, 0x48, 0x31, 0xB0, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71,
p3p 0:74f0ae286b03 155 0x58, 0x44, 0x68, 0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0,
p3p 0:74f0ae286b03 156 0x8C, 0xA8, 0x04, 0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02,
p3p 0:74f0ae286b03 157 0x26, 0x46, 0x66, 0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38,
p3p 0:74f0ae286b03 158 0x64, 0x48, 0x31, 0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19,
p3p 0:74f0ae286b03 159 0x31, 0x48, 0x60, 0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86,
p3p 0:74f0ae286b03 160 0xA8, 0x6E, 0x76, 0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A,
p3p 0:74f0ae286b03 161 0x6E, 0x8A, 0x56, 0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E,
p3p 0:74f0ae286b03 162 0x9D, 0xB8, 0xAD, 0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55,
p3p 0:74f0ae286b03 163 0x7D, 0x81, 0x91, 0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D,
p3p 0:74f0ae286b03 164 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51,
p3p 0:74f0ae286b03 165 0xD9, 0x04, 0xAE, 0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19,
p3p 0:74f0ae286b03 166 0x81, 0xAD, 0xD9, 0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9,
p3p 0:74f0ae286b03 167 0xAD, 0xAD, 0xAD, 0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76,
p3p 0:74f0ae286b03 168 0xF3, 0xAC, 0x2E, 0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC,
p3p 0:74f0ae286b03 169
p3p 0:74f0ae286b03 170 // bank 7, 170 bytes (remainder)
p3p 0:74f0ae286b03 171 0x30, 0x18, 0xA8, 0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24,
p3p 0:74f0ae286b03 172 0xF2, 0xB0, 0x89, 0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9,
p3p 0:74f0ae286b03 173 0xD8, 0xD8, 0x79, 0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D,
p3p 0:74f0ae286b03 174 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D,
p3p 0:74f0ae286b03 175 0x80, 0x25, 0xDA, 0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34,
p3p 0:74f0ae286b03 176 0x3C, 0xF3, 0xAB, 0x8B, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xB0, 0x87, 0x9C, 0xB9,
p3p 0:74f0ae286b03 177 0xA3, 0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3,
p3p 0:74f0ae286b03 178 0xA3, 0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
p3p 0:74f0ae286b03 179 0xA3, 0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3,
p3p 0:74f0ae286b03 180 0xA3, 0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3,
p3p 0:74f0ae286b03 181 0xDC, 0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
p3p 0:74f0ae286b03 182 };
p3p 0:74f0ae286b03 183
p3p 0:74f0ae286b03 184 const unsigned char dmpConfig[MPU6050_DMP_CONFIG_SIZE] = {
p3p 0:74f0ae286b03 185 // BANK OFFSET LENGTH [DATA]
p3p 0:74f0ae286b03 186 0x02, 0xEC, 0x04, 0x00, 0x47, 0x7D, 0x1A, // ?
p3p 0:74f0ae286b03 187 0x03, 0x82, 0x03, 0x4C, 0xCD, 0x6C, // FCFG_1 inv_set_gyro_calibration
p3p 0:74f0ae286b03 188 0x03, 0xB2, 0x03, 0x36, 0x56, 0x76, // FCFG_3 inv_set_gyro_calibration
p3p 0:74f0ae286b03 189 0x00, 0x68, 0x04, 0x02, 0xCA, 0xE3, 0x09, // D_0_104 inv_set_gyro_calibration
p3p 0:74f0ae286b03 190 0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // D_1_152 inv_set_accel_calibration
p3p 0:74f0ae286b03 191 0x03, 0x86, 0x03, 0x0C, 0xC9, 0x2C, // FCFG_2 inv_set_accel_calibration
p3p 0:74f0ae286b03 192 0x03, 0x90, 0x03, 0x26, 0x46, 0x66, // (continued)...FCFG_2 inv_set_accel_calibration
p3p 0:74f0ae286b03 193 0x00, 0x6C, 0x02, 0x40, 0x00, // D_0_108 inv_set_accel_calibration
p3p 0:74f0ae286b03 194
p3p 0:74f0ae286b03 195 0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_00 inv_set_compass_calibration
p3p 0:74f0ae286b03 196 0x02, 0x44, 0x04, 0x40, 0x00, 0x00, 0x00, // CPASS_MTX_01
p3p 0:74f0ae286b03 197 0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02
p3p 0:74f0ae286b03 198 0x02, 0x4C, 0x04, 0x40, 0x00, 0x00, 0x00, // CPASS_MTX_10
p3p 0:74f0ae286b03 199 0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_11
p3p 0:74f0ae286b03 200 0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_12
p3p 0:74f0ae286b03 201 0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_20
p3p 0:74f0ae286b03 202 0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_21
p3p 0:74f0ae286b03 203 0x02, 0xBC, 0x04, 0xC0, 0x00, 0x00, 0x00, // CPASS_MTX_22
p3p 0:74f0ae286b03 204
p3p 0:74f0ae286b03 205 0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00, // D_1_236 inv_apply_endian_accel
p3p 0:74f0ae286b03 206 0x03, 0x86, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors
p3p 0:74f0ae286b03 207 0x04, 0x22, 0x03, 0x0D, 0x35, 0x5D, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
p3p 0:74f0ae286b03 208 0x00, 0xA3, 0x01, 0x00, // ?
p3p 0:74f0ae286b03 209 0x04, 0x29, 0x04, 0x87, 0x2D, 0x35, 0x3D, // FCFG_5 inv_set_bias_update
p3p 0:74f0ae286b03 210 0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion
p3p 0:74f0ae286b03 211 0x07, 0x9F, 0x01, 0x30, // CFG_16 inv_set_footer
p3p 0:74f0ae286b03 212 0x07, 0x67, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro
p3p 0:74f0ae286b03 213 0x07, 0x68, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo
p3p 0:74f0ae286b03 214 0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // ?
p3p 0:74f0ae286b03 215 0x02, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // ?
p3p 0:74f0ae286b03 216 0x07, 0x83, 0x06, 0xC2, 0xCA, 0xC4, 0xA3, 0xA3, 0xA3, // ?
p3p 0:74f0ae286b03 217 // SPECIAL 0x01 = enable interrupts
p3p 0:74f0ae286b03 218 0x00, 0x00, 0x00, 0x01, // SET INT_ENABLE, SPECIAL INSTRUCTION
p3p 0:74f0ae286b03 219 0x07, 0xA7, 0x01, 0xFE, // ?
p3p 0:74f0ae286b03 220 0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // ?
p3p 0:74f0ae286b03 221 0x07, 0x67, 0x01, 0x9A, // ?
p3p 0:74f0ae286b03 222 0x07, 0x68, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo
p3p 0:74f0ae286b03 223 0x07, 0x8D, 0x04, 0xF1, 0x28, 0x30, 0x38, // ??? CFG_12 inv_send_mag -> inv_construct3_fifo
p3p 0:74f0ae286b03 224 0x02, 0x16, 0x02, 0x00, 0x09 // D_0_22 inv_set_fifo_rate
p3p 0:74f0ae286b03 225
p3p 0:74f0ae286b03 226 // This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
p3p 0:74f0ae286b03 227 // 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
p3p 0:74f0ae286b03 228 // DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
p3p 0:74f0ae286b03 229
p3p 0:74f0ae286b03 230 // It is important to make sure the host processor can keep up with reading and processing
p3p 0:74f0ae286b03 231 // the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.
p3p 0:74f0ae286b03 232 };
p3p 0:74f0ae286b03 233
p3p 0:74f0ae286b03 234 const unsigned char dmpUpdates[MPU6050_DMP_UPDATES_SIZE] = {
p3p 0:74f0ae286b03 235 0x01, 0xB2, 0x02, 0xFF, 0xF5,
p3p 0:74f0ae286b03 236 0x01, 0x90, 0x04, 0x0A, 0x0D, 0x97, 0xC0,
p3p 0:74f0ae286b03 237 0x00, 0xA3, 0x01, 0x00,
p3p 0:74f0ae286b03 238 0x04, 0x29, 0x04, 0x87, 0x2D, 0x35, 0x3D,
p3p 0:74f0ae286b03 239 0x01, 0x6A, 0x02, 0x06, 0x00,
p3p 0:74f0ae286b03 240 0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 241 0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 242 0x02, 0x60, 0x0C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 243 0x01, 0x08, 0x02, 0x01, 0x20,
p3p 0:74f0ae286b03 244 0x01, 0x0A, 0x02, 0x00, 0x4E,
p3p 0:74f0ae286b03 245 0x01, 0x02, 0x02, 0xFE, 0xB3,
p3p 0:74f0ae286b03 246 0x02, 0x6C, 0x04, 0x00, 0x00, 0x00, 0x00, // READ
p3p 0:74f0ae286b03 247 0x02, 0x6C, 0x04, 0xFA, 0xFE, 0x00, 0x00,
p3p 0:74f0ae286b03 248 0x02, 0x60, 0x0C, 0xFF, 0xFF, 0xCB, 0x4D, 0x00, 0x01, 0x08, 0xC1, 0xFF, 0xFF, 0xBC, 0x2C,
p3p 0:74f0ae286b03 249 0x02, 0xF4, 0x04, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 250 0x02, 0xF8, 0x04, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 251 0x02, 0xFC, 0x04, 0x00, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 252 0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
p3p 0:74f0ae286b03 253 0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00
p3p 0:74f0ae286b03 254 };