Ian Hua / MPU6050-DMP-Ian

Rearranged original code port/fork to: * Make library compatible with TiltyQuad IMU; * Prevent multiple definition, and added inclusion guard; * Cleaner access to library functions and file structure; and * "Broke out" code to control Sampling Rate and FIFO buffer update rate. By Trung Tin Ian HUA 2014. Credit to Jeff Rowberg for his original code, the best DMP implementation thus far; and szymon gaertig for porting the arduino library to mbed.

Dependents:   MPU6050-DMP_test

Fork of MPU6050 by Shundo Kishi

MPU/inc/MPU6050_6Axis_MotionApps20.h@7:4619a083f289, 2014-04-29 (annotated)

Committer:
pHysiX
Date:
Tue Apr 29 11:01:59 2014 +0000
Revision:
7:4619a083f289
Parent:
MPU/MPU6050_6Axis_MotionApps20.h@6:2dc23167c8d8
Child:
10:500c00d7b667
Tidy file structure

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 6:2dc23167c8d8 1 #ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
pHysiX 6:2dc23167c8d8 2 #define _MPU6050_6AXIS_MOTIONAPPS20_H_
pHysiX 6:2dc23167c8d8 3
pHysiX 6:2dc23167c8d8 4 #include <iostream>
pHysiX 6:2dc23167c8d8 5
pHysiX 6:2dc23167c8d8 6 #include "I2Cdev.h"
pHysiX 6:2dc23167c8d8 7 #include "helper_3dmath.h"
pHysiX 6:2dc23167c8d8 8
pHysiX 6:2dc23167c8d8 9 // MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board
pHysiX 6:2dc23167c8d8 10 #define MPU6050_INCLUDE_DMP_MOTIONAPPS20
pHysiX 6:2dc23167c8d8 11
pHysiX 6:2dc23167c8d8 12 #include "MPU6050.h"
pHysiX 6:2dc23167c8d8 13
pHysiX 6:2dc23167c8d8 14 // Tom Carpenter's conditional PROGMEM code
pHysiX 6:2dc23167c8d8 15 // http://forum.arduino.cc/index.php?topic=129407.0
pHysiX 6:2dc23167c8d8 16 #ifndef __arm__
pHysiX 6:2dc23167c8d8 17 #include <avr/pgmspace.h>
pHysiX 6:2dc23167c8d8 18 #else
pHysiX 6:2dc23167c8d8 19 // Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
pHysiX 6:2dc23167c8d8 20 #ifndef __PGMSPACE_H_
pHysiX 6:2dc23167c8d8 21 #define __PGMSPACE_H_ 1
pHysiX 6:2dc23167c8d8 22 #include <inttypes.h>
pHysiX 6:2dc23167c8d8 23
pHysiX 6:2dc23167c8d8 24 #define PROGMEM
pHysiX 6:2dc23167c8d8 25 #define PGM_P const char *
pHysiX 6:2dc23167c8d8 26 #define PSTR(str) (str)
pHysiX 6:2dc23167c8d8 27 #define F(x) x
pHysiX 6:2dc23167c8d8 28
pHysiX 6:2dc23167c8d8 29 typedef void prog_void;
pHysiX 6:2dc23167c8d8 30 typedef char prog_char;
pHysiX 6:2dc23167c8d8 31 typedef unsigned char prog_uchar;
pHysiX 6:2dc23167c8d8 32 typedef int8_t prog_int8_t;
pHysiX 6:2dc23167c8d8 33 typedef uint8_t prog_uint8_t;
pHysiX 6:2dc23167c8d8 34 typedef int16_t prog_int16_t;
pHysiX 6:2dc23167c8d8 35 typedef uint16_t prog_uint16_t;
pHysiX 6:2dc23167c8d8 36 typedef int32_t prog_int32_t;
pHysiX 6:2dc23167c8d8 37 typedef uint32_t prog_uint32_t;
pHysiX 6:2dc23167c8d8 38
pHysiX 6:2dc23167c8d8 39 #define strcpy_P(dest, src) strcpy((dest), (src))
pHysiX 6:2dc23167c8d8 40 #define strcat_P(dest, src) strcat((dest), (src))
pHysiX 6:2dc23167c8d8 41 #define strcmp_P(a, b) strcmp((a), (b))
pHysiX 6:2dc23167c8d8 42
pHysiX 6:2dc23167c8d8 43 #define pgm_read_byte(addr) (*(const unsigned char *)(addr))
pHysiX 6:2dc23167c8d8 44 #define pgm_read_word(addr) (*(const unsigned short *)(addr))
pHysiX 6:2dc23167c8d8 45 #define pgm_read_dword(addr) (*(const unsigned long *)(addr))
pHysiX 6:2dc23167c8d8 46 #define pgm_read_float(addr) (*(const float *)(addr))
pHysiX 6:2dc23167c8d8 47
pHysiX 6:2dc23167c8d8 48 #define pgm_read_byte_near(addr) pgm_read_byte(addr)
pHysiX 6:2dc23167c8d8 49 #define pgm_read_word_near(addr) pgm_read_word(addr)
pHysiX 6:2dc23167c8d8 50 #define pgm_read_dword_near(addr) pgm_read_dword(addr)
pHysiX 6:2dc23167c8d8 51 #define pgm_read_float_near(addr) pgm_read_float(addr)
pHysiX 6:2dc23167c8d8 52 #define pgm_read_byte_far(addr) pgm_read_byte(addr)
pHysiX 6:2dc23167c8d8 53 #define pgm_read_word_far(addr) pgm_read_word(addr)
pHysiX 6:2dc23167c8d8 54 #define pgm_read_dword_far(addr) pgm_read_dword(addr)
pHysiX 6:2dc23167c8d8 55 #define pgm_read_float_far(addr) pgm_read_float(addr)
pHysiX 6:2dc23167c8d8 56 #endif
pHysiX 6:2dc23167c8d8 57 #endif
pHysiX 6:2dc23167c8d8 58
pHysiX 6:2dc23167c8d8 59 /* Source is from the InvenSense MotionApps v2 demo code. Original source is
pHysiX 6:2dc23167c8d8 60 * unavailable, unless you happen to be amazing as decompiling binary by
pHysiX 6:2dc23167c8d8 61 * hand (in which case, please contact me, and I'm totally serious).
pHysiX 6:2dc23167c8d8 62 *
pHysiX 6:2dc23167c8d8 63 * Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
pHysiX 6:2dc23167c8d8 64 * DMP reverse-engineering he did to help make this bit of wizardry
pHysiX 6:2dc23167c8d8 65 * possible.
pHysiX 6:2dc23167c8d8 66 */
pHysiX 6:2dc23167c8d8 67
pHysiX 6:2dc23167c8d8 68 // NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
pHysiX 6:2dc23167c8d8 69 // Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
pHysiX 6:2dc23167c8d8 70 // after moving string constants to flash memory storage using the F()
pHysiX 6:2dc23167c8d8 71 // compiler macro (Arduino IDE 1.0+ required).
pHysiX 6:2dc23167c8d8 72
pHysiX 6:2dc23167c8d8 73 //#define DEBUG
pHysiX 6:2dc23167c8d8 74 #ifdef DEBUG
pHysiX 6:2dc23167c8d8 75 #define DEBUG_PRINT(x) pc.printf(x) //Serial.print(x)
pHysiX 6:2dc23167c8d8 76 #define DEBUG_PRINTF(x, y) pc.printf(x,y) //Serial.print(x, y)
pHysiX 6:2dc23167c8d8 77
pHysiX 6:2dc23167c8d8 78 #define F(x) x
pHysiX 6:2dc23167c8d8 79 #else
pHysiX 6:2dc23167c8d8 80 #define DEBUG_PRINT(x)
pHysiX 6:2dc23167c8d8 81 #define DEBUG_PRINTF(x, y)
pHysiX 6:2dc23167c8d8 82
pHysiX 6:2dc23167c8d8 83 #endif
pHysiX 6:2dc23167c8d8 84
pHysiX 6:2dc23167c8d8 85 #define MPU6050_DMP_CODE_SIZE 1929 // dmpMemory[]
pHysiX 6:2dc23167c8d8 86 #define MPU6050_DMP_CONFIG_SIZE 192 // dmpConfig[]
pHysiX 6:2dc23167c8d8 87 #define MPU6050_DMP_UPDATES_SIZE 47 // dmpUpdates[]
pHysiX 6:2dc23167c8d8 88
pHysiX 6:2dc23167c8d8 89 /* ================================================================================================ *
pHysiX 6:2dc23167c8d8 90 | Default MotionApps v2.0 42-byte FIFO packet structure: |
pHysiX 6:2dc23167c8d8 91 | |
pHysiX 6:2dc23167c8d8 92 | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
pHysiX 6:2dc23167c8d8 93 | 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 94 | |
pHysiX 6:2dc23167c8d8 95 | [GYRO Z][ ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
pHysiX 6:2dc23167c8d8 96 | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 |
pHysiX 6:2dc23167c8d8 97 * ================================================================================================ */
pHysiX 6:2dc23167c8d8 98
pHysiX 6:2dc23167c8d8 99 // this block of memory gets written to the MPU on start-up, and it seems
pHysiX 6:2dc23167c8d8 100 // to be volatile memory, so it has to be done each time (it only takes ~1
pHysiX 6:2dc23167c8d8 101 // second though)
pHysiX 6:2dc23167c8d8 102 const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
pHysiX 6:2dc23167c8d8 103 // bank 0, 256 bytes
pHysiX 6:2dc23167c8d8 104 0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 105 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
pHysiX 6:2dc23167c8d8 106 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 107 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 108 0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
pHysiX 6:2dc23167c8d8 109 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 110 0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 111 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 112 0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
pHysiX 6:2dc23167c8d8 113 0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
pHysiX 6:2dc23167c8d8 114 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 115 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
pHysiX 6:2dc23167c8d8 116 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 117 0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
pHysiX 6:2dc23167c8d8 118 0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
pHysiX 6:2dc23167c8d8 119 0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
pHysiX 6:2dc23167c8d8 120
pHysiX 6:2dc23167c8d8 121 // bank 1, 256 bytes
pHysiX 6:2dc23167c8d8 122 0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 123 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 124 0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
pHysiX 6:2dc23167c8d8 125 0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
pHysiX 6:2dc23167c8d8 126 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
pHysiX 6:2dc23167c8d8 127 0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 128 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
pHysiX 6:2dc23167c8d8 129 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 130 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 131 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 132 0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
pHysiX 6:2dc23167c8d8 133 0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 134 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
pHysiX 6:2dc23167c8d8 135 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 136 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 137 0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
pHysiX 6:2dc23167c8d8 138
pHysiX 6:2dc23167c8d8 139 // bank 2, 256 bytes
pHysiX 6:2dc23167c8d8 140 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 141 0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
pHysiX 6:2dc23167c8d8 142 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 143 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 144 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 145 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 146 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 147 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 148 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 149 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 150 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 151 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 152 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 153 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 154 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 155 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 156
pHysiX 6:2dc23167c8d8 157 // bank 3, 256 bytes
pHysiX 6:2dc23167c8d8 158 0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
pHysiX 6:2dc23167c8d8 159 0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
pHysiX 6:2dc23167c8d8 160 0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
pHysiX 6:2dc23167c8d8 161 0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
pHysiX 6:2dc23167c8d8 162 0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
pHysiX 6:2dc23167c8d8 163 0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
pHysiX 6:2dc23167c8d8 164 0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
pHysiX 6:2dc23167c8d8 165 0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C,
pHysiX 6:2dc23167c8d8 166 0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
pHysiX 6:2dc23167c8d8 167 0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
pHysiX 6:2dc23167c8d8 168 0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
pHysiX 6:2dc23167c8d8 169 0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
pHysiX 6:2dc23167c8d8 170 0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
pHysiX 6:2dc23167c8d8 171 0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
pHysiX 6:2dc23167c8d8 172 0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
pHysiX 6:2dc23167c8d8 173 0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
pHysiX 6:2dc23167c8d8 174
pHysiX 6:2dc23167c8d8 175 // bank 4, 256 bytes
pHysiX 6:2dc23167c8d8 176 0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
pHysiX 6:2dc23167c8d8 177 0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
pHysiX 6:2dc23167c8d8 178 0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
pHysiX 6:2dc23167c8d8 179 0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
pHysiX 6:2dc23167c8d8 180 0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
pHysiX 6:2dc23167c8d8 181 0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
pHysiX 6:2dc23167c8d8 182 0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
pHysiX 6:2dc23167c8d8 183 0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
pHysiX 6:2dc23167c8d8 184 0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
pHysiX 6:2dc23167c8d8 185 0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
pHysiX 6:2dc23167c8d8 186 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
pHysiX 6:2dc23167c8d8 187 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
pHysiX 6:2dc23167c8d8 188 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
pHysiX 6:2dc23167c8d8 189 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
pHysiX 6:2dc23167c8d8 190 0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
pHysiX 6:2dc23167c8d8 191 0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
pHysiX 6:2dc23167c8d8 192
pHysiX 6:2dc23167c8d8 193 // bank 5, 256 bytes
pHysiX 6:2dc23167c8d8 194 0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
pHysiX 6:2dc23167c8d8 195 0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
pHysiX 6:2dc23167c8d8 196 0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
pHysiX 6:2dc23167c8d8 197 0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
pHysiX 6:2dc23167c8d8 198 0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
pHysiX 6:2dc23167c8d8 199 0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
pHysiX 6:2dc23167c8d8 200 0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
pHysiX 6:2dc23167c8d8 201 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
pHysiX 6:2dc23167c8d8 202 0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
pHysiX 6:2dc23167c8d8 203 0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
pHysiX 6:2dc23167c8d8 204 0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
pHysiX 6:2dc23167c8d8 205 0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
pHysiX 6:2dc23167c8d8 206 0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
pHysiX 6:2dc23167c8d8 207 0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
pHysiX 6:2dc23167c8d8 208 0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
pHysiX 6:2dc23167c8d8 209 0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,
pHysiX 6:2dc23167c8d8 210
pHysiX 6:2dc23167c8d8 211 // bank 6, 256 bytes
pHysiX 6:2dc23167c8d8 212 0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
pHysiX 6:2dc23167c8d8 213 0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
pHysiX 6:2dc23167c8d8 214 0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
pHysiX 6:2dc23167c8d8 215 0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
pHysiX 6:2dc23167c8d8 216 0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
pHysiX 6:2dc23167c8d8 217 0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
pHysiX 6:2dc23167c8d8 218 0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
pHysiX 6:2dc23167c8d8 219 0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
pHysiX 6:2dc23167c8d8 220 0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
pHysiX 6:2dc23167c8d8 221 0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
pHysiX 6:2dc23167c8d8 222 0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
pHysiX 6:2dc23167c8d8 223 0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
pHysiX 6:2dc23167c8d8 224 0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
pHysiX 6:2dc23167c8d8 225 0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
pHysiX 6:2dc23167c8d8 226 0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
pHysiX 6:2dc23167c8d8 227 0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,
pHysiX 6:2dc23167c8d8 228
pHysiX 6:2dc23167c8d8 229 // bank 7, 138 bytes (remainder)
pHysiX 6:2dc23167c8d8 230 0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
pHysiX 6:2dc23167c8d8 231 0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
pHysiX 6:2dc23167c8d8 232 0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
pHysiX 6:2dc23167c8d8 233 0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
pHysiX 6:2dc23167c8d8 234 0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
pHysiX 6:2dc23167c8d8 235 0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
pHysiX 6:2dc23167c8d8 236 0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3,
pHysiX 6:2dc23167c8d8 237 0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC,
pHysiX 6:2dc23167c8d8 238 0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
pHysiX 6:2dc23167c8d8 239 };
pHysiX 6:2dc23167c8d8 240
pHysiX 6:2dc23167c8d8 241 // thanks to Noah Zerkin for piecing this stuff together!
pHysiX 6:2dc23167c8d8 242 const unsigned char dmpConfig[MPU6050_DMP_CONFIG_SIZE] PROGMEM = {
pHysiX 6:2dc23167c8d8 243 // BANK OFFSET LENGTH [DATA]
pHysiX 6:2dc23167c8d8 244 0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C, // FCFG_1 inv_set_gyro_calibration
pHysiX 6:2dc23167c8d8 245 0x03, 0xAB, 0x03, 0x36, 0x56, 0x76, // FCFG_3 inv_set_gyro_calibration
pHysiX 6:2dc23167c8d8 246 0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2, // D_0_104 inv_set_gyro_calibration
pHysiX 6:2dc23167c8d8 247 0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1, // D_0_24 inv_set_gyro_calibration
pHysiX 6:2dc23167c8d8 248 0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // D_1_152 inv_set_accel_calibration
pHysiX 6:2dc23167c8d8 249 0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_accel_calibration
pHysiX 6:2dc23167c8d8 250 0x03, 0x89, 0x03, 0x26, 0x46, 0x66, // FCFG_7 inv_set_accel_calibration
pHysiX 6:2dc23167c8d8 251 0x00, 0x6C, 0x02, 0x20, 0x00, // D_0_108 inv_set_accel_calibration
pHysiX 6:2dc23167c8d8 252 0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_00 inv_set_compass_calibration
pHysiX 6:2dc23167c8d8 253 0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_01
pHysiX 6:2dc23167c8d8 254 0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02
pHysiX 6:2dc23167c8d8 255 0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_10
pHysiX 6:2dc23167c8d8 256 0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_11
pHysiX 6:2dc23167c8d8 257 0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_12
pHysiX 6:2dc23167c8d8 258 0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_20
pHysiX 6:2dc23167c8d8 259 0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_21
pHysiX 6:2dc23167c8d8 260 0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_22
pHysiX 6:2dc23167c8d8 261 0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00, // D_1_236 inv_apply_endian_accel
pHysiX 6:2dc23167c8d8 262 0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors
pHysiX 6:2dc23167c8d8 263 0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
pHysiX 6:2dc23167c8d8 264 0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D, // FCFG_5 inv_set_bias_update
pHysiX 6:2dc23167c8d8 265 0x00, 0xA3, 0x01, 0x00, // D_0_163 inv_set_dead_zone
pHysiX 6:2dc23167c8d8 266 // SPECIAL 0x01 = enable interrupts
pHysiX 6:2dc23167c8d8 267 0x00, 0x00, 0x00, 0x01, // SET INT_ENABLE at i=22, SPECIAL INSTRUCTION
pHysiX 6:2dc23167c8d8 268 0x07, 0x86, 0x01, 0xFE, // CFG_6 inv_set_fifo_interupt
pHysiX 6:2dc23167c8d8 269 0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion
pHysiX 6:2dc23167c8d8 270 0x07, 0x7E, 0x01, 0x30, // CFG_16 inv_set_footer
pHysiX 6:2dc23167c8d8 271 0x07, 0x46, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro
pHysiX 6:2dc23167c8d8 272 0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo
pHysiX 6:2dc23167c8d8 273 0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo
pHysiX 6:2dc23167c8d8 274 0x02, 0x16, 0x02, 0x00, 0x01 // D_0_22 inv_set_fifo_rate
pHysiX 6:2dc23167c8d8 275
pHysiX 6:2dc23167c8d8 276 // This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
pHysiX 6:2dc23167c8d8 277 // 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
pHysiX 6:2dc23167c8d8 278 // DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
pHysiX 6:2dc23167c8d8 279
pHysiX 6:2dc23167c8d8 280 // It is important to make sure the host processor can keep up with reading and processing
pHysiX 6:2dc23167c8d8 281 // the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.
pHysiX 6:2dc23167c8d8 282 };
pHysiX 6:2dc23167c8d8 283
pHysiX 6:2dc23167c8d8 284 const unsigned char dmpUpdates[MPU6050_DMP_UPDATES_SIZE] PROGMEM = {
pHysiX 6:2dc23167c8d8 285 0x01, 0xB2, 0x02, 0xFF, 0xFF,
pHysiX 6:2dc23167c8d8 286 0x01, 0x90, 0x04, 0x09, 0x23, 0xA1, 0x35,
pHysiX 6:2dc23167c8d8 287 0x01, 0x6A, 0x02, 0x06, 0x00,
pHysiX 6:2dc23167c8d8 288 0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 289 0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 290 0x01, 0x62, 0x02, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 291 0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00
pHysiX 6:2dc23167c8d8 292 };
pHysiX 6:2dc23167c8d8 293
pHysiX 6:2dc23167c8d8 294 /* See MPU6050 under MotionApps 2.0 Section */
pHysiX 6:2dc23167c8d8 295
pHysiX 6:2dc23167c8d8 296 // uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
pHysiX 6:2dc23167c8d8 297 // uint8_t MPU6050::dmpGetFIFORate();
pHysiX 6:2dc23167c8d8 298 // uint8_t MPU6050::dmpGetSampleStepSizeMS();
pHysiX 6:2dc23167c8d8 299 // uint8_t MPU6050::dmpGetSampleFrequency();
pHysiX 6:2dc23167c8d8 300 // int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);
pHysiX 6:2dc23167c8d8 301
pHysiX 6:2dc23167c8d8 302 //uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
pHysiX 6:2dc23167c8d8 303 //uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
pHysiX 6:2dc23167c8d8 304 //uint8_t MPU6050::dmpRunFIFORateProcesses();
pHysiX 6:2dc23167c8d8 305
pHysiX 6:2dc23167c8d8 306 // uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 307 // uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 308 // uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 309 // uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 310 // uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 311 // uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 312 // uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 313 // uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 314 // uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 315 // uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 316 // uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 317 // uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 318
pHysiX 6:2dc23167c8d8 319 // uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 320 // uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 321
pHysiX 6:2dc23167c8d8 322 // uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
pHysiX 6:2dc23167c8d8 323 // uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 324
pHysiX 6:2dc23167c8d8 325 // uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 326
pHysiX 6:2dc23167c8d8 327 // uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 328 // uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 329 // uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 330 // uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 331 // uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 332
pHysiX 6:2dc23167c8d8 333 // uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 334 // uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 335 // uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 336 // uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 337
pHysiX 6:2dc23167c8d8 338 // uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 339 // uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 340
pHysiX 6:2dc23167c8d8 341 // uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));
pHysiX 6:2dc23167c8d8 342 // uint8_t MPU6050::dmpInitFIFOParam();
pHysiX 6:2dc23167c8d8 343 // uint8_t MPU6050::dmpCloseFIFO();
pHysiX 6:2dc23167c8d8 344 // uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
pHysiX 6:2dc23167c8d8 345 // uint8_t MPU6050::dmpDecodeQuantizedAccel();
pHysiX 6:2dc23167c8d8 346 // uint32_t MPU6050::dmpGetGyroSumOfSquare();
pHysiX 6:2dc23167c8d8 347 // uint32_t MPU6050::dmpGetAccelSumOfSquare();
pHysiX 6:2dc23167c8d8 348 // void MPU6050::dmpOverrideQuaternion(long *q);
pHysiX 6:2dc23167c8d8 349
pHysiX 6:2dc23167c8d8 350
pHysiX 6:2dc23167c8d8 351 #endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */