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@12:b46e84d27a32, 2014-05-08 (annotated)

Committer:
pHysiX
Date:
Thu May 08 09:32:51 2014 +0000
Revision:
12:b46e84d27a32
Parent:
10:500c00d7b667
Child:
13:b1b98e5c61df
Code cleaning

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 10:500c00d7b667 1 #include "tasks.h"
pHysiX 10:500c00d7b667 2
pHysiX 6:2dc23167c8d8 3 #ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
pHysiX 6:2dc23167c8d8 4 #define _MPU6050_6AXIS_MOTIONAPPS20_H_
pHysiX 6:2dc23167c8d8 5
pHysiX 12:b46e84d27a32 6 //#include <iostream>
pHysiX 6:2dc23167c8d8 7
pHysiX 6:2dc23167c8d8 8 #include "I2Cdev.h"
pHysiX 6:2dc23167c8d8 9 #include "helper_3dmath.h"
pHysiX 6:2dc23167c8d8 10
pHysiX 6:2dc23167c8d8 11 // MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board
pHysiX 6:2dc23167c8d8 12 #define MPU6050_INCLUDE_DMP_MOTIONAPPS20
pHysiX 6:2dc23167c8d8 13
pHysiX 6:2dc23167c8d8 14 #include "MPU6050.h"
pHysiX 6:2dc23167c8d8 15
pHysiX 6:2dc23167c8d8 16 // Tom Carpenter's conditional PROGMEM code
pHysiX 6:2dc23167c8d8 17 // http://forum.arduino.cc/index.php?topic=129407.0
pHysiX 6:2dc23167c8d8 18 #ifndef __arm__
pHysiX 6:2dc23167c8d8 19 #include <avr/pgmspace.h>
pHysiX 6:2dc23167c8d8 20 #else
pHysiX 6:2dc23167c8d8 21 // Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
pHysiX 6:2dc23167c8d8 22 #ifndef __PGMSPACE_H_
pHysiX 6:2dc23167c8d8 23 #define __PGMSPACE_H_ 1
pHysiX 6:2dc23167c8d8 24 #include <inttypes.h>
pHysiX 6:2dc23167c8d8 25
pHysiX 6:2dc23167c8d8 26 #define PROGMEM
pHysiX 6:2dc23167c8d8 27 #define PGM_P const char *
pHysiX 6:2dc23167c8d8 28 #define PSTR(str) (str)
pHysiX 6:2dc23167c8d8 29 #define F(x) x
pHysiX 6:2dc23167c8d8 30
pHysiX 6:2dc23167c8d8 31 typedef void prog_void;
pHysiX 6:2dc23167c8d8 32 typedef char prog_char;
pHysiX 6:2dc23167c8d8 33 typedef unsigned char prog_uchar;
pHysiX 6:2dc23167c8d8 34 typedef int8_t prog_int8_t;
pHysiX 6:2dc23167c8d8 35 typedef uint8_t prog_uint8_t;
pHysiX 6:2dc23167c8d8 36 typedef int16_t prog_int16_t;
pHysiX 6:2dc23167c8d8 37 typedef uint16_t prog_uint16_t;
pHysiX 6:2dc23167c8d8 38 typedef int32_t prog_int32_t;
pHysiX 6:2dc23167c8d8 39 typedef uint32_t prog_uint32_t;
pHysiX 6:2dc23167c8d8 40
pHysiX 6:2dc23167c8d8 41 #define strcpy_P(dest, src) strcpy((dest), (src))
pHysiX 6:2dc23167c8d8 42 #define strcat_P(dest, src) strcat((dest), (src))
pHysiX 6:2dc23167c8d8 43 #define strcmp_P(a, b) strcmp((a), (b))
pHysiX 6:2dc23167c8d8 44
pHysiX 6:2dc23167c8d8 45 #define pgm_read_byte(addr) (*(const unsigned char *)(addr))
pHysiX 6:2dc23167c8d8 46 #define pgm_read_word(addr) (*(const unsigned short *)(addr))
pHysiX 6:2dc23167c8d8 47 #define pgm_read_dword(addr) (*(const unsigned long *)(addr))
pHysiX 6:2dc23167c8d8 48 #define pgm_read_float(addr) (*(const float *)(addr))
pHysiX 6:2dc23167c8d8 49
pHysiX 6:2dc23167c8d8 50 #define pgm_read_byte_near(addr) pgm_read_byte(addr)
pHysiX 6:2dc23167c8d8 51 #define pgm_read_word_near(addr) pgm_read_word(addr)
pHysiX 6:2dc23167c8d8 52 #define pgm_read_dword_near(addr) pgm_read_dword(addr)
pHysiX 6:2dc23167c8d8 53 #define pgm_read_float_near(addr) pgm_read_float(addr)
pHysiX 6:2dc23167c8d8 54 #define pgm_read_byte_far(addr) pgm_read_byte(addr)
pHysiX 6:2dc23167c8d8 55 #define pgm_read_word_far(addr) pgm_read_word(addr)
pHysiX 6:2dc23167c8d8 56 #define pgm_read_dword_far(addr) pgm_read_dword(addr)
pHysiX 6:2dc23167c8d8 57 #define pgm_read_float_far(addr) pgm_read_float(addr)
pHysiX 6:2dc23167c8d8 58 #endif
pHysiX 6:2dc23167c8d8 59 #endif
pHysiX 6:2dc23167c8d8 60
pHysiX 6:2dc23167c8d8 61 /* Source is from the InvenSense MotionApps v2 demo code. Original source is
pHysiX 6:2dc23167c8d8 62 * unavailable, unless you happen to be amazing as decompiling binary by
pHysiX 6:2dc23167c8d8 63 * hand (in which case, please contact me, and I'm totally serious).
pHysiX 6:2dc23167c8d8 64 *
pHysiX 6:2dc23167c8d8 65 * Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
pHysiX 6:2dc23167c8d8 66 * DMP reverse-engineering he did to help make this bit of wizardry
pHysiX 6:2dc23167c8d8 67 * possible.
pHysiX 6:2dc23167c8d8 68 */
pHysiX 6:2dc23167c8d8 69
pHysiX 6:2dc23167c8d8 70 // NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
pHysiX 6:2dc23167c8d8 71 // Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
pHysiX 6:2dc23167c8d8 72 // after moving string constants to flash memory storage using the F()
pHysiX 6:2dc23167c8d8 73 // compiler macro (Arduino IDE 1.0+ required).
pHysiX 6:2dc23167c8d8 74
pHysiX 6:2dc23167c8d8 75 //#define DEBUG
pHysiX 6:2dc23167c8d8 76 #ifdef DEBUG
pHysiX 6:2dc23167c8d8 77 #define DEBUG_PRINT(x) pc.printf(x) //Serial.print(x)
pHysiX 6:2dc23167c8d8 78 #define DEBUG_PRINTF(x, y) pc.printf(x,y) //Serial.print(x, y)
pHysiX 6:2dc23167c8d8 79
pHysiX 6:2dc23167c8d8 80 #define F(x) x
pHysiX 6:2dc23167c8d8 81 #else
pHysiX 6:2dc23167c8d8 82 #define DEBUG_PRINT(x)
pHysiX 6:2dc23167c8d8 83 #define DEBUG_PRINTF(x, y)
pHysiX 6:2dc23167c8d8 84
pHysiX 6:2dc23167c8d8 85 #endif
pHysiX 6:2dc23167c8d8 86
pHysiX 6:2dc23167c8d8 87 #define MPU6050_DMP_CODE_SIZE 1929 // dmpMemory[]
pHysiX 6:2dc23167c8d8 88 #define MPU6050_DMP_CONFIG_SIZE 192 // dmpConfig[]
pHysiX 6:2dc23167c8d8 89 #define MPU6050_DMP_UPDATES_SIZE 47 // dmpUpdates[]
pHysiX 6:2dc23167c8d8 90
pHysiX 6:2dc23167c8d8 91 /* ================================================================================================ *
pHysiX 6:2dc23167c8d8 92 | Default MotionApps v2.0 42-byte FIFO packet structure: |
pHysiX 6:2dc23167c8d8 93 | |
pHysiX 6:2dc23167c8d8 94 | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
pHysiX 6:2dc23167c8d8 95 | 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 96 | |
pHysiX 6:2dc23167c8d8 97 | [GYRO Z][ ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
pHysiX 6:2dc23167c8d8 98 | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 |
pHysiX 6:2dc23167c8d8 99 * ================================================================================================ */
pHysiX 6:2dc23167c8d8 100
pHysiX 6:2dc23167c8d8 101 // this block of memory gets written to the MPU on start-up, and it seems
pHysiX 6:2dc23167c8d8 102 // to be volatile memory, so it has to be done each time (it only takes ~1
pHysiX 6:2dc23167c8d8 103 // second though)
pHysiX 6:2dc23167c8d8 104 const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
pHysiX 6:2dc23167c8d8 105 // bank 0, 256 bytes
pHysiX 6:2dc23167c8d8 106 0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 107 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
pHysiX 6:2dc23167c8d8 108 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 109 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 110 0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
pHysiX 6:2dc23167c8d8 111 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 112 0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 113 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 114 0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
pHysiX 6:2dc23167c8d8 115 0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
pHysiX 6:2dc23167c8d8 116 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 117 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
pHysiX 6:2dc23167c8d8 118 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 119 0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
pHysiX 6:2dc23167c8d8 120 0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
pHysiX 6:2dc23167c8d8 121 0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
pHysiX 6:2dc23167c8d8 122
pHysiX 6:2dc23167c8d8 123 // bank 1, 256 bytes
pHysiX 6:2dc23167c8d8 124 0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 125 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 126 0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
pHysiX 6:2dc23167c8d8 127 0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
pHysiX 6:2dc23167c8d8 128 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
pHysiX 6:2dc23167c8d8 129 0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 130 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
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, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 133 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 134 0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
pHysiX 6:2dc23167c8d8 135 0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 136 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
pHysiX 6:2dc23167c8d8 137 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 138 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 139 0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
pHysiX 6:2dc23167c8d8 140
pHysiX 6:2dc23167c8d8 141 // bank 2, 256 bytes
pHysiX 6:2dc23167c8d8 142 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 143 0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
pHysiX 6:2dc23167c8d8 144 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 145 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 146 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 147 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 148 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 149 0x00, 0x00, 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, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 152 0x00, 0x00, 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, 0x40, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 154 0x00, 0x1B, 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 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 157 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 158
pHysiX 6:2dc23167c8d8 159 // bank 3, 256 bytes
pHysiX 6:2dc23167c8d8 160 0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
pHysiX 6:2dc23167c8d8 161 0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
pHysiX 6:2dc23167c8d8 162 0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
pHysiX 6:2dc23167c8d8 163 0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
pHysiX 6:2dc23167c8d8 164 0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
pHysiX 6:2dc23167c8d8 165 0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
pHysiX 6:2dc23167c8d8 166 0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
pHysiX 6:2dc23167c8d8 167 0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C,
pHysiX 6:2dc23167c8d8 168 0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
pHysiX 6:2dc23167c8d8 169 0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
pHysiX 6:2dc23167c8d8 170 0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
pHysiX 6:2dc23167c8d8 171 0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
pHysiX 6:2dc23167c8d8 172 0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
pHysiX 6:2dc23167c8d8 173 0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
pHysiX 6:2dc23167c8d8 174 0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
pHysiX 6:2dc23167c8d8 175 0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
pHysiX 6:2dc23167c8d8 176
pHysiX 6:2dc23167c8d8 177 // bank 4, 256 bytes
pHysiX 6:2dc23167c8d8 178 0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
pHysiX 6:2dc23167c8d8 179 0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
pHysiX 6:2dc23167c8d8 180 0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
pHysiX 6:2dc23167c8d8 181 0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
pHysiX 6:2dc23167c8d8 182 0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
pHysiX 6:2dc23167c8d8 183 0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
pHysiX 6:2dc23167c8d8 184 0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
pHysiX 6:2dc23167c8d8 185 0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
pHysiX 6:2dc23167c8d8 186 0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
pHysiX 6:2dc23167c8d8 187 0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 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, 0x93, 0xA3, 0x4D,
pHysiX 6:2dc23167c8d8 190 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
pHysiX 6:2dc23167c8d8 191 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
pHysiX 6:2dc23167c8d8 192 0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
pHysiX 6:2dc23167c8d8 193 0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
pHysiX 6:2dc23167c8d8 194
pHysiX 6:2dc23167c8d8 195 // bank 5, 256 bytes
pHysiX 6:2dc23167c8d8 196 0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
pHysiX 6:2dc23167c8d8 197 0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
pHysiX 6:2dc23167c8d8 198 0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
pHysiX 6:2dc23167c8d8 199 0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
pHysiX 6:2dc23167c8d8 200 0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
pHysiX 6:2dc23167c8d8 201 0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
pHysiX 6:2dc23167c8d8 202 0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
pHysiX 6:2dc23167c8d8 203 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
pHysiX 6:2dc23167c8d8 204 0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
pHysiX 6:2dc23167c8d8 205 0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
pHysiX 6:2dc23167c8d8 206 0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
pHysiX 6:2dc23167c8d8 207 0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
pHysiX 6:2dc23167c8d8 208 0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
pHysiX 6:2dc23167c8d8 209 0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
pHysiX 6:2dc23167c8d8 210 0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
pHysiX 6:2dc23167c8d8 211 0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,
pHysiX 6:2dc23167c8d8 212
pHysiX 6:2dc23167c8d8 213 // bank 6, 256 bytes
pHysiX 6:2dc23167c8d8 214 0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
pHysiX 6:2dc23167c8d8 215 0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
pHysiX 6:2dc23167c8d8 216 0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
pHysiX 6:2dc23167c8d8 217 0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
pHysiX 6:2dc23167c8d8 218 0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
pHysiX 6:2dc23167c8d8 219 0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
pHysiX 6:2dc23167c8d8 220 0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
pHysiX 6:2dc23167c8d8 221 0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
pHysiX 6:2dc23167c8d8 222 0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
pHysiX 6:2dc23167c8d8 223 0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
pHysiX 6:2dc23167c8d8 224 0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
pHysiX 6:2dc23167c8d8 225 0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
pHysiX 6:2dc23167c8d8 226 0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
pHysiX 6:2dc23167c8d8 227 0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
pHysiX 6:2dc23167c8d8 228 0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
pHysiX 6:2dc23167c8d8 229 0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,
pHysiX 6:2dc23167c8d8 230
pHysiX 6:2dc23167c8d8 231 // bank 7, 138 bytes (remainder)
pHysiX 6:2dc23167c8d8 232 0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
pHysiX 6:2dc23167c8d8 233 0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
pHysiX 6:2dc23167c8d8 234 0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
pHysiX 6:2dc23167c8d8 235 0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
pHysiX 6:2dc23167c8d8 236 0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
pHysiX 6:2dc23167c8d8 237 0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
pHysiX 6:2dc23167c8d8 238 0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3,
pHysiX 6:2dc23167c8d8 239 0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC,
pHysiX 6:2dc23167c8d8 240 0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
pHysiX 6:2dc23167c8d8 241 };
pHysiX 6:2dc23167c8d8 242
pHysiX 6:2dc23167c8d8 243 // thanks to Noah Zerkin for piecing this stuff together!
pHysiX 6:2dc23167c8d8 244 const unsigned char dmpConfig[MPU6050_DMP_CONFIG_SIZE] PROGMEM = {
pHysiX 6:2dc23167c8d8 245 // BANK OFFSET LENGTH [DATA]
pHysiX 6:2dc23167c8d8 246 0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C, // FCFG_1 inv_set_gyro_calibration
pHysiX 6:2dc23167c8d8 247 0x03, 0xAB, 0x03, 0x36, 0x56, 0x76, // FCFG_3 inv_set_gyro_calibration
pHysiX 6:2dc23167c8d8 248 0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2, // D_0_104 inv_set_gyro_calibration
pHysiX 6:2dc23167c8d8 249 0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1, // D_0_24 inv_set_gyro_calibration
pHysiX 6:2dc23167c8d8 250 0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // D_1_152 inv_set_accel_calibration
pHysiX 6:2dc23167c8d8 251 0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_accel_calibration
pHysiX 6:2dc23167c8d8 252 0x03, 0x89, 0x03, 0x26, 0x46, 0x66, // FCFG_7 inv_set_accel_calibration
pHysiX 6:2dc23167c8d8 253 0x00, 0x6C, 0x02, 0x20, 0x00, // D_0_108 inv_set_accel_calibration
pHysiX 6:2dc23167c8d8 254 0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_00 inv_set_compass_calibration
pHysiX 6:2dc23167c8d8 255 0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_01
pHysiX 6:2dc23167c8d8 256 0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02
pHysiX 6:2dc23167c8d8 257 0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_10
pHysiX 6:2dc23167c8d8 258 0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_11
pHysiX 6:2dc23167c8d8 259 0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_12
pHysiX 6:2dc23167c8d8 260 0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_20
pHysiX 6:2dc23167c8d8 261 0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_21
pHysiX 6:2dc23167c8d8 262 0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_22
pHysiX 6:2dc23167c8d8 263 0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00, // D_1_236 inv_apply_endian_accel
pHysiX 6:2dc23167c8d8 264 0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors
pHysiX 6:2dc23167c8d8 265 0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
pHysiX 6:2dc23167c8d8 266 0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D, // FCFG_5 inv_set_bias_update
pHysiX 6:2dc23167c8d8 267 0x00, 0xA3, 0x01, 0x00, // D_0_163 inv_set_dead_zone
pHysiX 6:2dc23167c8d8 268 // SPECIAL 0x01 = enable interrupts
pHysiX 6:2dc23167c8d8 269 0x00, 0x00, 0x00, 0x01, // SET INT_ENABLE at i=22, SPECIAL INSTRUCTION
pHysiX 6:2dc23167c8d8 270 0x07, 0x86, 0x01, 0xFE, // CFG_6 inv_set_fifo_interupt
pHysiX 6:2dc23167c8d8 271 0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion
pHysiX 6:2dc23167c8d8 272 0x07, 0x7E, 0x01, 0x30, // CFG_16 inv_set_footer
pHysiX 6:2dc23167c8d8 273 0x07, 0x46, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro
pHysiX 6:2dc23167c8d8 274 0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo
pHysiX 6:2dc23167c8d8 275 0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo
pHysiX 10:500c00d7b667 276 0x02, 0x16, 0x02, 0x00, IMU_FIFO_RATE_DIVIDER // D_0_22 inv_set_fifo_rate
pHysiX 6:2dc23167c8d8 277
pHysiX 6:2dc23167c8d8 278 // This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
pHysiX 6:2dc23167c8d8 279 // 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
pHysiX 6:2dc23167c8d8 280 // DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
pHysiX 6:2dc23167c8d8 281
pHysiX 6:2dc23167c8d8 282 // It is important to make sure the host processor can keep up with reading and processing
pHysiX 6:2dc23167c8d8 283 // the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.
pHysiX 6:2dc23167c8d8 284 };
pHysiX 6:2dc23167c8d8 285
pHysiX 6:2dc23167c8d8 286 const unsigned char dmpUpdates[MPU6050_DMP_UPDATES_SIZE] PROGMEM = {
pHysiX 6:2dc23167c8d8 287 0x01, 0xB2, 0x02, 0xFF, 0xFF,
pHysiX 6:2dc23167c8d8 288 0x01, 0x90, 0x04, 0x09, 0x23, 0xA1, 0x35,
pHysiX 6:2dc23167c8d8 289 0x01, 0x6A, 0x02, 0x06, 0x00,
pHysiX 6:2dc23167c8d8 290 0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 291 0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 292 0x01, 0x62, 0x02, 0x00, 0x00,
pHysiX 6:2dc23167c8d8 293 0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00
pHysiX 6:2dc23167c8d8 294 };
pHysiX 6:2dc23167c8d8 295
pHysiX 6:2dc23167c8d8 296 /* See MPU6050 under MotionApps 2.0 Section */
pHysiX 6:2dc23167c8d8 297
pHysiX 6:2dc23167c8d8 298 // uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
pHysiX 6:2dc23167c8d8 299 // uint8_t MPU6050::dmpGetFIFORate();
pHysiX 6:2dc23167c8d8 300 // uint8_t MPU6050::dmpGetSampleStepSizeMS();
pHysiX 6:2dc23167c8d8 301 // uint8_t MPU6050::dmpGetSampleFrequency();
pHysiX 6:2dc23167c8d8 302 // int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);
pHysiX 6:2dc23167c8d8 303
pHysiX 6:2dc23167c8d8 304 //uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
pHysiX 6:2dc23167c8d8 305 //uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
pHysiX 6:2dc23167c8d8 306 //uint8_t MPU6050::dmpRunFIFORateProcesses();
pHysiX 6:2dc23167c8d8 307
pHysiX 6:2dc23167c8d8 308 // uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 309 // uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 310 // uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 311 // uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 312 // uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 313 // uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 314 // uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 315 // uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 316 // uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 317 // uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 318 // uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 319 // uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
pHysiX 6:2dc23167c8d8 320
pHysiX 6:2dc23167c8d8 321 // uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 322 // uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 323
pHysiX 6:2dc23167c8d8 324 // uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
pHysiX 6:2dc23167c8d8 325 // uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 326
pHysiX 6:2dc23167c8d8 327 // uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 328
pHysiX 6:2dc23167c8d8 329 // uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 330 // uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 331 // uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 332 // uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 333 // uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 334
pHysiX 6:2dc23167c8d8 335 // uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 336 // uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 337 // uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 338 // uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 339
pHysiX 6:2dc23167c8d8 340 // uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 341 // uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet);
pHysiX 6:2dc23167c8d8 342
pHysiX 6:2dc23167c8d8 343 // uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));
pHysiX 6:2dc23167c8d8 344 // uint8_t MPU6050::dmpInitFIFOParam();
pHysiX 6:2dc23167c8d8 345 // uint8_t MPU6050::dmpCloseFIFO();
pHysiX 6:2dc23167c8d8 346 // uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
pHysiX 6:2dc23167c8d8 347 // uint8_t MPU6050::dmpDecodeQuantizedAccel();
pHysiX 6:2dc23167c8d8 348 // uint32_t MPU6050::dmpGetGyroSumOfSquare();
pHysiX 6:2dc23167c8d8 349 // uint32_t MPU6050::dmpGetAccelSumOfSquare();
pHysiX 6:2dc23167c8d8 350 // void MPU6050::dmpOverrideQuaternion(long *q);
pHysiX 6:2dc23167c8d8 351
pHysiX 6:2dc23167c8d8 352
pHysiX 6:2dc23167c8d8 353 #endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */