Ian Hua
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.
Fork of
MPU6050
by 
Shundo Kishi
Diff: MPU/inc/MPU6050_6Axis_MotionApps20.h
- Revision:
- 10:500c00d7b667
- Parent:
- 7:4619a083f289
- Child:
- 12:b46e84d27a32
diff -r 924f9e2b03c1 -r 500c00d7b667 MPU/inc/MPU6050_6Axis_MotionApps20.h
--- a/MPU/inc/MPU6050_6Axis_MotionApps20.h Wed Apr 30 12:22:44 2014 +0000
+++ b/MPU/inc/MPU6050_6Axis_MotionApps20.h Wed Apr 30 13:47:30 2014 +0000
@@ -1,3 +1,5 @@
+#include "tasks.h"
+
#ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
#define _MPU6050_6AXIS_MOTIONAPPS20_H_
@@ -271,7 +273,7 @@
0x07, 0x46, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro
0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo
0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo
- 0x02, 0x16, 0x02, 0x00, 0x01 // D_0_22 inv_set_fifo_rate
+ 0x02, 0x16, 0x02, 0x00, IMU_FIFO_RATE_DIVIDER // D_0_22 inv_set_fifo_rate
// This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
// 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.