Dave Lu
/
FYDP
IMU and knee angle. No servo yet
Fork of FYDP_Final2 by
IMU/MPU6051_6Axis_MotionApps20.cpp@11:425dff6a4af9, 2015-03-25 (annotated)
- Committer:
- tntmarket
- Date:
- Wed Mar 25 18:11:09 2015 +0000
- Revision:
- 11:425dff6a4af9
- Parent:
- 6:b3baf0fe5b73
Working
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
majik | 0:21019d94ad33 | 1 | // I2Cdev library collection - MPU6050 I2C device class, 6-axis MotionApps 2.0 implementation |
majik | 0:21019d94ad33 | 2 | // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) |
majik | 0:21019d94ad33 | 3 | // 5/20/2013 by Jeff Rowberg <jeff@rowberg.net> |
majik | 0:21019d94ad33 | 4 | // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib |
majik | 0:21019d94ad33 | 5 | // |
majik | 0:21019d94ad33 | 6 | // Changelog: |
majik | 0:21019d94ad33 | 7 | // ... - ongoing debug release |
majik | 0:21019d94ad33 | 8 | |
majik | 0:21019d94ad33 | 9 | /* ============================================ |
majik | 0:21019d94ad33 | 10 | I2Cdev device library code is placed under the MIT license |
majik | 0:21019d94ad33 | 11 | Copyright (c) 2012 Jeff Rowberg |
majik | 0:21019d94ad33 | 12 | |
majik | 0:21019d94ad33 | 13 | Permission is hereby granted, free of charge, to any person obtaining a copy |
majik | 0:21019d94ad33 | 14 | of this software and associated documentation files (the "Software"), to deal |
majik | 0:21019d94ad33 | 15 | in the Software without restriction, including without limitation the rights |
majik | 0:21019d94ad33 | 16 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
majik | 0:21019d94ad33 | 17 | copies of the Software, and to permit persons to whom the Software is |
majik | 0:21019d94ad33 | 18 | furnished to do so, subject to the following conditions: |
majik | 0:21019d94ad33 | 19 | |
majik | 0:21019d94ad33 | 20 | The above copyright notice and this permission notice shall be included in |
majik | 0:21019d94ad33 | 21 | all copies or substantial portions of the Software. |
majik | 0:21019d94ad33 | 22 | |
majik | 0:21019d94ad33 | 23 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
majik | 0:21019d94ad33 | 24 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
majik | 0:21019d94ad33 | 25 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
majik | 0:21019d94ad33 | 26 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
majik | 0:21019d94ad33 | 27 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
majik | 0:21019d94ad33 | 28 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
majik | 0:21019d94ad33 | 29 | THE SOFTWARE. |
majik | 0:21019d94ad33 | 30 | =============================================== |
majik | 0:21019d94ad33 | 31 | */ |
majik | 0:21019d94ad33 | 32 | |
majik | 0:21019d94ad33 | 33 | #include "MPU6051_6Axis_MotionApps20.h" |
majik | 0:21019d94ad33 | 34 | |
majik | 0:21019d94ad33 | 35 | uint8_t MPU6051::dmpInitialize() |
majik | 0:21019d94ad33 | 36 | { |
majik | 0:21019d94ad33 | 37 | // reset device |
majik | 0:21019d94ad33 | 38 | wait_ms(50); |
majik | 0:21019d94ad33 | 39 | reset(); |
majik | 0:21019d94ad33 | 40 | wait_ms(30); |
majik | 0:21019d94ad33 | 41 | |
majik | 0:21019d94ad33 | 42 | // enable sleep mode and wake cycle |
majik | 0:21019d94ad33 | 43 | /*Serial.println(F("Enabling sleep mode...")); |
majik | 0:21019d94ad33 | 44 | setSleepEnabled(true); |
majik | 0:21019d94ad33 | 45 | Serial.println(F("Enabling wake cycle...")); |
majik | 0:21019d94ad33 | 46 | setWakeCycleEnabled(true);*/ |
majik | 0:21019d94ad33 | 47 | |
majik | 0:21019d94ad33 | 48 | // disable sleep mode |
majik | 0:21019d94ad33 | 49 | //DEBUG_PRINT("Disabling sleep mode...\n"); |
majik | 0:21019d94ad33 | 50 | setSleepEnabled(false); |
majik | 0:21019d94ad33 | 51 | |
majik | 0:21019d94ad33 | 52 | // get MPU hardware revision |
majik | 0:21019d94ad33 | 53 | //DEBUG_PRINT("Selecting user bank 16...\n"); |
majik | 0:21019d94ad33 | 54 | setMemoryBank(0x10, true, true); |
majik | 0:21019d94ad33 | 55 | //DEBUG_PRINT("Selecting memory byte 6...\n"); |
majik | 0:21019d94ad33 | 56 | setMemoryStartAddress(0x06); |
majik | 0:21019d94ad33 | 57 | //DEBUG_PRINT("Checking hardware revision...\n"); |
majik | 0:21019d94ad33 | 58 | uint8_t hwRevision = readMemoryByte(); |
majik | 0:21019d94ad33 | 59 | //DEBUG_PRINT("Revision @ user[16][6] = "); |
majik | 0:21019d94ad33 | 60 | //DEBUG_PRINTF("%x\n",hwRevision); |
majik | 0:21019d94ad33 | 61 | //DEBUG_PRINT("Resetting memory bank selection to 0...\n"); |
majik | 0:21019d94ad33 | 62 | setMemoryBank(0, false, false); |
majik | 0:21019d94ad33 | 63 | |
majik | 0:21019d94ad33 | 64 | // check OTP bank valid |
majik | 0:21019d94ad33 | 65 | //DEBUG_PRINT("Reading OTP bank valid flag...\n"); |
majik | 0:21019d94ad33 | 66 | uint8_t otpValid = getOTPBankValid(); |
majik | 0:21019d94ad33 | 67 | |
majik | 0:21019d94ad33 | 68 | //DEBUG_PRINT("OTP bank is "); |
majik | 0:21019d94ad33 | 69 | if(otpValid); //DEBUG_PRINT("valid!\n"); |
majik | 0:21019d94ad33 | 70 | else; //DEBUG_PRINT("invalid!\n"); |
majik | 0:21019d94ad33 | 71 | |
majik | 0:21019d94ad33 | 72 | // get X/Y/Z gyro offsets |
majik | 0:21019d94ad33 | 73 | /* |
majik | 0:21019d94ad33 | 74 | DEBUG_PRINT("\nReading gyro offset TC values...\n"); |
majik | 0:21019d94ad33 | 75 | int8_t xgOffsetTC = mpu.getXGyroOffsetTC(); |
majik | 0:21019d94ad33 | 76 | int8_t ygOffsetTC = getYGyroOffsetTC(); |
majik | 0:21019d94ad33 | 77 | int8_t zgOffsetTC = getZGyroOffsetTC(); |
majik | 0:21019d94ad33 | 78 | DEBUG_PRINTF("X gyro offset = %u\n",xgOffset); |
majik | 0:21019d94ad33 | 79 | DEBUG_PRINTF("Y gyro offset = %u\n",ygOffset); |
majik | 0:21019d94ad33 | 80 | DEBUG_PRINTF("Z gyro offset = %u\n",zgOffset); |
majik | 0:21019d94ad33 | 81 | */ |
majik | 0:21019d94ad33 | 82 | // setup weird slave stuff (?) |
majik | 0:21019d94ad33 | 83 | //DEBUG_PRINT("Setting slave 0 address to 0x7F...\n"); |
majik | 0:21019d94ad33 | 84 | setSlaveAddress(0, 0x7F); |
majik | 0:21019d94ad33 | 85 | |
majik | 0:21019d94ad33 | 86 | //DEBUG_PRINT("Disabling I2C Master mode..."); |
majik | 0:21019d94ad33 | 87 | setI2CMasterModeEnabled(false); |
majik | 0:21019d94ad33 | 88 | //DEBUG_PRINT("Setting slave 0 address to 0x68 (self)..."); |
majik | 0:21019d94ad33 | 89 | setSlaveAddress(0, 0x68); |
majik | 0:21019d94ad33 | 90 | //DEBUG_PRINT("Resetting I2C Master control...\n"); |
majik | 0:21019d94ad33 | 91 | resetI2CMaster(); |
majik | 0:21019d94ad33 | 92 | |
majik | 0:21019d94ad33 | 93 | wait_ms(20); |
majik | 0:21019d94ad33 | 94 | |
majik | 0:21019d94ad33 | 95 | // load DMP code into memory banks |
majik | 0:21019d94ad33 | 96 | //DEBUG_PRINT("Writing DMP code to MPU memory banks ("); |
majik | 0:21019d94ad33 | 97 | //DEBUG_PRINTF("%u",MPU6050_DMP_CODE_SIZE); |
majik | 0:21019d94ad33 | 98 | //DEBUG_PRINT(" bytes)\n"); |
majik | 0:21019d94ad33 | 99 | if (writeProgMemoryBlock(dmpMemory2, MPU6050_DMP_CODE_SIZE)) { |
majik | 0:21019d94ad33 | 100 | //DEBUG_PRINT("Success! DMP code written and verified.\n"); |
majik | 0:21019d94ad33 | 101 | |
majik | 0:21019d94ad33 | 102 | // write DMP configuration |
majik | 0:21019d94ad33 | 103 | //DEBUG_PRINT("Writing DMP configuration to MPU memory banks ("); |
majik | 0:21019d94ad33 | 104 | //DEBUG_PRINTF("%u",MPU6050_DMP_CONFIG_SIZE); |
majik | 0:21019d94ad33 | 105 | //DEBUG_PRINT(" bytes in config def)\n"); |
majik | 0:21019d94ad33 | 106 | if (writeProgDMPConfigurationSet(dmpConfig2, MPU6050_DMP_CONFIG_SIZE)) { |
majik | 0:21019d94ad33 | 107 | //DEBUG_PRINT("Success! DMP configuration written and verified.\n"); |
majik | 0:21019d94ad33 | 108 | |
majik | 0:21019d94ad33 | 109 | //DEBUG_PRINT("Setting clock source to Z Gyro...\n"); |
majik | 0:21019d94ad33 | 110 | setClockSource(MPU6050_CLOCK_PLL_ZGYRO); |
majik | 0:21019d94ad33 | 111 | |
majik | 0:21019d94ad33 | 112 | //DEBUG_PRINT("Setting DMP and FIFO_OFLOW interrupts enabled...\n"); |
majik | 0:21019d94ad33 | 113 | setIntEnabled(0x12); |
majik | 0:21019d94ad33 | 114 | |
majik | 0:21019d94ad33 | 115 | //DEBUG_PRINT("Setting sample rate to 200Hz..."); |
majik | 0:21019d94ad33 | 116 | setRate(4); // 1khz / (1 + 4) = 200 Hz |
majik | 0:21019d94ad33 | 117 | |
majik | 0:21019d94ad33 | 118 | //DEBUG_PRINT("Setting external frame sync to TEMP_OUT_L[0]...\n"); |
majik | 0:21019d94ad33 | 119 | setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L); |
majik | 0:21019d94ad33 | 120 | |
majik | 0:21019d94ad33 | 121 | //DEBUG_PRINT("Setting DLPF bandwidth to 42Hz...\n"); |
majik | 0:21019d94ad33 | 122 | setDLPFMode(MPU6050_DLPF_BW_42); |
majik | 0:21019d94ad33 | 123 | |
majik | 0:21019d94ad33 | 124 | //DEBUG_PRINT("Setting gyro sensitivity to +/- 2000 deg/sec...\n"); |
majik | 0:21019d94ad33 | 125 | setFullScaleGyroRange(MPU6050_GYRO_FS_2000); |
majik | 0:21019d94ad33 | 126 | |
majik | 0:21019d94ad33 | 127 | //DEBUG_PRINT("Setting DMP configuration bytes (function unknown)...\n"); |
majik | 0:21019d94ad33 | 128 | setDMPConfig1(0x03); |
majik | 0:21019d94ad33 | 129 | setDMPConfig2(0x00); |
majik | 0:21019d94ad33 | 130 | |
majik | 0:21019d94ad33 | 131 | //DEBUG_PRINT("Clearing OTP Bank flag..."); |
majik | 0:21019d94ad33 | 132 | setOTPBankValid(false); |
majik | 0:21019d94ad33 | 133 | |
majik | 0:21019d94ad33 | 134 | //DEBUG_PRINT("Setting X/Y/Z gyro offset TCs to previous values...\n"); |
majik | 0:21019d94ad33 | 135 | //setXGyroOffsetTC(xgOffsetTC); |
majik | 0:21019d94ad33 | 136 | //setYGyroOffsetTC(ygOffsetTC); |
majik | 0:21019d94ad33 | 137 | //setZGyroOffsetTC(zgOffsetTC); |
majik | 0:21019d94ad33 | 138 | |
majik | 0:21019d94ad33 | 139 | //DEBUG_PRINTLN(F("Setting X/Y/Z gyro user offsets to zero...")); |
majik | 0:21019d94ad33 | 140 | //setXGyroOffset(0); |
majik | 0:21019d94ad33 | 141 | //setYGyroOffset(0); |
majik | 0:21019d94ad33 | 142 | //setZGyroOffset(0); |
majik | 0:21019d94ad33 | 143 | |
majik | 0:21019d94ad33 | 144 | //DEBUG_PRINT("Writing final memory update 1/7 (function unknown)...\n"); |
majik | 0:21019d94ad33 | 145 | uint8_t dmpUpdate[16], j; |
majik | 0:21019d94ad33 | 146 | uint16_t pos = 0; |
majik | 0:21019d94ad33 | 147 | for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates2[pos]); |
majik | 0:21019d94ad33 | 148 | writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]); |
majik | 0:21019d94ad33 | 149 | |
majik | 0:21019d94ad33 | 150 | //DEBUG_PRINT("Writing final memory update 2/7 (function unknown)...\n"); |
majik | 0:21019d94ad33 | 151 | for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates2[pos]); |
majik | 0:21019d94ad33 | 152 | writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]); |
majik | 0:21019d94ad33 | 153 | |
majik | 0:21019d94ad33 | 154 | //DEBUG_PRINT("Resetting FIFO...\n"); |
majik | 0:21019d94ad33 | 155 | resetFIFO(); |
majik | 0:21019d94ad33 | 156 | |
majik | 0:21019d94ad33 | 157 | //DEBUG_PRINT("Reading FIFO count...\n"); |
majik | 0:21019d94ad33 | 158 | uint16_t fifoCount = getFIFOCount(); |
majik | 0:21019d94ad33 | 159 | uint8_t fifoBuffer[128]; |
majik | 0:21019d94ad33 | 160 | |
majik | 0:21019d94ad33 | 161 | //DEBUG_PRINT("Current FIFO count="); |
majik | 0:21019d94ad33 | 162 | //DEBUG_PRINTF("%u\n",fifoCount); |
majik | 0:21019d94ad33 | 163 | getFIFOBytes(fifoBuffer, fifoCount); |
majik | 0:21019d94ad33 | 164 | |
majik | 0:21019d94ad33 | 165 | //DEBUG_PRINT("Setting motion detection threshold to 2...\n"); |
majik | 0:21019d94ad33 | 166 | setMotionDetectionThreshold(2); |
majik | 0:21019d94ad33 | 167 | |
majik | 0:21019d94ad33 | 168 | //DEBUG_PRINT("Setting zero-motion detection threshold to 156...\n"); |
majik | 0:21019d94ad33 | 169 | setZeroMotionDetectionThreshold(156); |
majik | 0:21019d94ad33 | 170 | |
majik | 0:21019d94ad33 | 171 | //DEBUG_PRINT("Setting motion detection duration to 80..."); |
majik | 0:21019d94ad33 | 172 | setMotionDetectionDuration(80); |
majik | 0:21019d94ad33 | 173 | |
majik | 0:21019d94ad33 | 174 | //DEBUG_PRINT("Setting zero-motion detection duration to 0..."); |
majik | 0:21019d94ad33 | 175 | setZeroMotionDetectionDuration(0); |
majik | 0:21019d94ad33 | 176 | |
majik | 0:21019d94ad33 | 177 | //DEBUG_PRINT("Resetting FIFO...\n"); |
majik | 0:21019d94ad33 | 178 | resetFIFO(); |
majik | 0:21019d94ad33 | 179 | |
majik | 0:21019d94ad33 | 180 | //DEBUG_PRINT("Enabling FIFO...\n"); |
majik | 0:21019d94ad33 | 181 | setFIFOEnabled(true); |
majik | 0:21019d94ad33 | 182 | |
majik | 0:21019d94ad33 | 183 | //DEBUG_PRINT("Enabling DMP...\n"); |
majik | 0:21019d94ad33 | 184 | setDMPEnabled(true); |
majik | 0:21019d94ad33 | 185 | |
majik | 0:21019d94ad33 | 186 | //DEBUG_PRINT("Resetting DMP...\n"); |
majik | 0:21019d94ad33 | 187 | resetDMP(); |
majik | 0:21019d94ad33 | 188 | |
majik | 0:21019d94ad33 | 189 | //DEBUG_PRINT("Writing final memory update 3/7 (function unknown)...\n"); |
majik | 0:21019d94ad33 | 190 | for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates2[pos]); |
majik | 0:21019d94ad33 | 191 | writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]); |
majik | 0:21019d94ad33 | 192 | |
majik | 0:21019d94ad33 | 193 | //DEBUG_PRINT("Writing final memory update 4/7 (function unknown)...\n"); |
majik | 0:21019d94ad33 | 194 | for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates2[pos]); |
majik | 0:21019d94ad33 | 195 | writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]); |
majik | 0:21019d94ad33 | 196 | |
majik | 0:21019d94ad33 | 197 | //DEBUG_PRINT("Writing final memory update 5/7 (function unknown)...\n"); |
majik | 0:21019d94ad33 | 198 | for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates2[pos]); |
majik | 0:21019d94ad33 | 199 | writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]); |
majik | 0:21019d94ad33 | 200 | |
majik | 0:21019d94ad33 | 201 | //DEBUG_PRINT("Waiting for FIFO count > 2...\n"); |
majik | 0:21019d94ad33 | 202 | while ((fifoCount = getFIFOCount()) < 3); |
majik | 0:21019d94ad33 | 203 | |
majik | 0:21019d94ad33 | 204 | //DEBUG_PRINT("Current FIFO count="); |
majik | 0:21019d94ad33 | 205 | //DEBUG_PRINTF("%u\n",fifoCount); |
majik | 0:21019d94ad33 | 206 | //DEBUG_PRINT("Reading FIFO data...\n"); |
majik | 0:21019d94ad33 | 207 | getFIFOBytes(fifoBuffer, fifoCount); |
majik | 0:21019d94ad33 | 208 | |
majik | 0:21019d94ad33 | 209 | //DEBUG_PRINT("Reading interrupt status...\n"); |
majik | 0:21019d94ad33 | 210 | uint8_t mpuIntStatus = getIntStatus(); |
majik | 0:21019d94ad33 | 211 | |
majik | 0:21019d94ad33 | 212 | //DEBUG_PRINT("Current interrupt status="); |
majik | 0:21019d94ad33 | 213 | //DEBUG_PRINTF("%x\n",mpuIntStatus); |
majik | 0:21019d94ad33 | 214 | |
majik | 0:21019d94ad33 | 215 | //DEBUG_PRINT("Reading final memory update 6/7 (function unknown)...\n"); |
majik | 0:21019d94ad33 | 216 | for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates2[pos]); |
majik | 0:21019d94ad33 | 217 | readMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]); |
majik | 0:21019d94ad33 | 218 | |
majik | 0:21019d94ad33 | 219 | //DEBUG_PRINT("Waiting for FIFO count > 2...\n"); |
majik | 0:21019d94ad33 | 220 | while ((fifoCount = getFIFOCount()) < 3); |
majik | 0:21019d94ad33 | 221 | |
majik | 0:21019d94ad33 | 222 | //DEBUG_PRINT("Current FIFO count="); |
majik | 0:21019d94ad33 | 223 | //DEBUG_PRINTF("%u\n",fifoCount); |
majik | 0:21019d94ad33 | 224 | |
majik | 0:21019d94ad33 | 225 | //DEBUG_PRINT("Reading FIFO data...\n"); |
majik | 0:21019d94ad33 | 226 | getFIFOBytes(fifoBuffer, fifoCount); |
majik | 0:21019d94ad33 | 227 | |
majik | 0:21019d94ad33 | 228 | //DEBUG_PRINT("Reading interrupt status...\n"); |
majik | 0:21019d94ad33 | 229 | mpuIntStatus = getIntStatus(); |
majik | 0:21019d94ad33 | 230 | |
majik | 0:21019d94ad33 | 231 | //DEBUG_PRINT("Current interrupt status="); |
majik | 0:21019d94ad33 | 232 | //DEBUG_PRINTF("%x\n",mpuIntStatus); |
majik | 0:21019d94ad33 | 233 | |
majik | 0:21019d94ad33 | 234 | //DEBUG_PRINT("Writing final memory update 7/7 (function unknown)..."); |
majik | 0:21019d94ad33 | 235 | for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates2[pos]); |
majik | 0:21019d94ad33 | 236 | writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]); |
majik | 0:21019d94ad33 | 237 | |
majik | 0:21019d94ad33 | 238 | //DEBUG_PRINT("DMP is good to go! Finally.\n"); |
majik | 0:21019d94ad33 | 239 | |
majik | 0:21019d94ad33 | 240 | //DEBUG_PRINT("Disabling DMP (you turn it on later)...\n"); |
majik | 0:21019d94ad33 | 241 | setDMPEnabled(false); |
majik | 0:21019d94ad33 | 242 | |
majik | 0:21019d94ad33 | 243 | //DEBUG_PRINT("Setting up internal 42-byte (default) DMP packet buffer...\n"); |
majik | 0:21019d94ad33 | 244 | dmpPacketSize = 42; |
majik | 0:21019d94ad33 | 245 | /*if ((dmpPacketBuffer = (uint8_t *)malloc(42)) == 0) { |
majik | 0:21019d94ad33 | 246 | return 3; // TODO: proper error code for no memory |
majik | 0:21019d94ad33 | 247 | }*/ |
majik | 0:21019d94ad33 | 248 | |
majik | 0:21019d94ad33 | 249 | //DEBUG_PRINT("Resetting FIFO and clearing INT status one last time...\n"); |
majik | 0:21019d94ad33 | 250 | resetFIFO(); |
majik | 0:21019d94ad33 | 251 | getIntStatus(); |
majik | 0:21019d94ad33 | 252 | } else { |
majik | 0:21019d94ad33 | 253 | //DEBUG_PRINT("ERROR! DMP configuration verification failed.\n"); |
majik | 0:21019d94ad33 | 254 | return 2; // configuration block loading failed |
majik | 0:21019d94ad33 | 255 | } |
majik | 0:21019d94ad33 | 256 | } else { |
majik | 0:21019d94ad33 | 257 | //DEBUG_PRINT("ERROR! DMP code verification failed."); |
majik | 0:21019d94ad33 | 258 | return 1; // main binary block loading failed |
majik | 0:21019d94ad33 | 259 | } |
majik | 0:21019d94ad33 | 260 | return 0; // success |
majik | 0:21019d94ad33 | 261 | } |
majik | 0:21019d94ad33 | 262 | |
majik | 0:21019d94ad33 | 263 | bool MPU6051::dmpPacketAvailable() |
majik | 0:21019d94ad33 | 264 | { |
majik | 0:21019d94ad33 | 265 | return getFIFOCount() >= dmpGetFIFOPacketSize(); |
majik | 0:21019d94ad33 | 266 | } |
majik | 0:21019d94ad33 | 267 | |
majik | 0:21019d94ad33 | 268 | // uint8_t MPU6051::dmpSetFIFORate(uint8_t fifoRate); |
majik | 0:21019d94ad33 | 269 | // uint8_t MPU6051::dmpGetFIFORate(); |
majik | 0:21019d94ad33 | 270 | // uint8_t MPU6051::dmpGetSampleStepSizeMS(); |
majik | 0:21019d94ad33 | 271 | // uint8_t MPU6051::dmpGetSampleFrequency(); |
majik | 0:21019d94ad33 | 272 | // int32_t MPU6051::dmpDecodeTemperature(int8_t tempReg); |
majik | 0:21019d94ad33 | 273 | |
majik | 0:21019d94ad33 | 274 | //uint8_t MPU6051::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); |
majik | 0:21019d94ad33 | 275 | //uint8_t MPU6051::dmpUnregisterFIFORateProcess(inv_obj_func func); |
majik | 0:21019d94ad33 | 276 | //uint8_t MPU6051::dmpRunFIFORateProcesses(); |
majik | 0:21019d94ad33 | 277 | |
majik | 0:21019d94ad33 | 278 | // uint8_t MPU6051::dmpSendQuaternion(uint_fast16_t accuracy); |
majik | 0:21019d94ad33 | 279 | // uint8_t MPU6051::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); |
majik | 0:21019d94ad33 | 280 | // uint8_t MPU6051::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); |
majik | 0:21019d94ad33 | 281 | // uint8_t MPU6051::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); |
majik | 0:21019d94ad33 | 282 | // uint8_t MPU6051::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); |
majik | 0:21019d94ad33 | 283 | // uint8_t MPU6051::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); |
majik | 0:21019d94ad33 | 284 | // uint8_t MPU6051::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); |
majik | 0:21019d94ad33 | 285 | // uint8_t MPU6051::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); |
majik | 0:21019d94ad33 | 286 | // uint8_t MPU6051::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); |
majik | 0:21019d94ad33 | 287 | // uint8_t MPU6051::dmpSendPacketNumber(uint_fast16_t accuracy); |
majik | 0:21019d94ad33 | 288 | // uint8_t MPU6051::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); |
majik | 0:21019d94ad33 | 289 | // uint8_t MPU6051::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); |
majik | 0:21019d94ad33 | 290 | |
majik | 0:21019d94ad33 | 291 | uint8_t MPU6051::dmpGetAccel(int32_t *data, const uint8_t* packet) |
majik | 0:21019d94ad33 | 292 | { |
majik | 0:21019d94ad33 | 293 | // TODO: accommodate different arrangements of sent data (ONLY default supported now) |
majik | 0:21019d94ad33 | 294 | if (packet == 0) packet = dmpPacketBuffer; |
majik | 0:21019d94ad33 | 295 | data[0] = ((packet[28] << 24) + (packet[29] << 16) + (packet[30] << 8) + packet[31]); |
majik | 0:21019d94ad33 | 296 | data[1] = ((packet[32] << 24) + (packet[33] << 16) + (packet[34] << 8) + packet[35]); |
majik | 0:21019d94ad33 | 297 | data[2] = ((packet[36] << 24) + (packet[37] << 16) + (packet[38] << 8) + packet[39]); |
majik | 0:21019d94ad33 | 298 | return 0; |
majik | 0:21019d94ad33 | 299 | } |
majik | 0:21019d94ad33 | 300 | uint8_t MPU6051::dmpGetAccel(int16_t *data, const uint8_t* packet) |
majik | 0:21019d94ad33 | 301 | { |
majik | 0:21019d94ad33 | 302 | // TODO: accommodate different arrangements of sent data (ONLY default supported now) |
majik | 0:21019d94ad33 | 303 | if (packet == 0) packet = dmpPacketBuffer; |
majik | 0:21019d94ad33 | 304 | data[0] = (packet[28] << 8) + packet[29]; |
majik | 0:21019d94ad33 | 305 | data[1] = (packet[32] << 8) + packet[33]; |
majik | 0:21019d94ad33 | 306 | data[2] = (packet[36] << 8) + packet[37]; |
majik | 0:21019d94ad33 | 307 | return 0; |
majik | 0:21019d94ad33 | 308 | } |
majik | 0:21019d94ad33 | 309 | uint8_t MPU6051::dmpGetAccel(VectorInt16 *v, const uint8_t* packet) |
majik | 0:21019d94ad33 | 310 | { |
majik | 0:21019d94ad33 | 311 | // TODO: accommodate different arrangements of sent data (ONLY default supported now) |
majik | 0:21019d94ad33 | 312 | if (packet == 0) packet = dmpPacketBuffer; |
majik | 0:21019d94ad33 | 313 | v -> x = (packet[28] << 8) + packet[29]; |
majik | 0:21019d94ad33 | 314 | v -> y = (packet[32] << 8) + packet[33]; |
majik | 0:21019d94ad33 | 315 | v -> z = (packet[36] << 8) + packet[37]; |
majik | 0:21019d94ad33 | 316 | return 0; |
majik | 0:21019d94ad33 | 317 | } |
majik | 0:21019d94ad33 | 318 | uint8_t MPU6051::dmpGetQuaternion(int32_t *data, const uint8_t* packet) |
majik | 0:21019d94ad33 | 319 | { |
majik | 0:21019d94ad33 | 320 | // TODO: accommodate different arrangements of sent data (ONLY default supported now) |
majik | 0:21019d94ad33 | 321 | if (packet == 0) packet = dmpPacketBuffer; |
majik | 0:21019d94ad33 | 322 | data[0] = ((packet[0] << 24) + (packet[1] << 16) + (packet[2] << 8) + packet[3]); |
majik | 0:21019d94ad33 | 323 | data[1] = ((packet[4] << 24) + (packet[5] << 16) + (packet[6] << 8) + packet[7]); |
majik | 0:21019d94ad33 | 324 | data[2] = ((packet[8] << 24) + (packet[9] << 16) + (packet[10] << 8) + packet[11]); |
majik | 0:21019d94ad33 | 325 | data[3] = ((packet[12] << 24) + (packet[13] << 16) + (packet[14] << 8) + packet[15]); |
majik | 0:21019d94ad33 | 326 | return 0; |
majik | 0:21019d94ad33 | 327 | } |
majik | 0:21019d94ad33 | 328 | uint8_t MPU6051::dmpGetQuaternion(int16_t *data, const uint8_t* packet) |
majik | 0:21019d94ad33 | 329 | { |
majik | 0:21019d94ad33 | 330 | // TODO: accommodate different arrangements of sent data (ONLY default supported now) |
majik | 0:21019d94ad33 | 331 | if (packet == 0) packet = dmpPacketBuffer; |
majik | 0:21019d94ad33 | 332 | data[0] = ((packet[0] << 8) + packet[1]); |
majik | 0:21019d94ad33 | 333 | data[1] = ((packet[4] << 8) + packet[5]); |
majik | 0:21019d94ad33 | 334 | data[2] = ((packet[8] << 8) + packet[9]); |
majik | 0:21019d94ad33 | 335 | data[3] = ((packet[12] << 8) + packet[13]); |
majik | 0:21019d94ad33 | 336 | return 0; |
majik | 0:21019d94ad33 | 337 | } |
majik | 0:21019d94ad33 | 338 | uint8_t MPU6051::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) |
majik | 0:21019d94ad33 | 339 | { |
majik | 0:21019d94ad33 | 340 | // TODO: accommodate different arrangements of sent data (ONLY default supported now) |
majik | 0:21019d94ad33 | 341 | int16_t qI[4]; |
majik | 0:21019d94ad33 | 342 | uint8_t status = dmpGetQuaternion(qI, packet); |
majik | 0:21019d94ad33 | 343 | if (status == 0) { |
majik | 0:21019d94ad33 | 344 | q -> w = (float)qI[0] / 16384.0f; |
majik | 0:21019d94ad33 | 345 | q -> x = (float)qI[1] / 16384.0f; |
majik | 0:21019d94ad33 | 346 | q -> y = (float)qI[2] / 16384.0f; |
majik | 0:21019d94ad33 | 347 | q -> z = (float)qI[3] / 16384.0f; |
majik | 0:21019d94ad33 | 348 | return 0; |
majik | 0:21019d94ad33 | 349 | } |
majik | 0:21019d94ad33 | 350 | return status; // int16 return value, indicates error if this line is reached |
majik | 0:21019d94ad33 | 351 | } |
majik | 0:21019d94ad33 | 352 | // uint8_t MPU6051::dmpGet6AxisQuaternion(long *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 353 | // uint8_t MPU6051::dmpGetRelativeQuaternion(long *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 354 | uint8_t MPU6051::dmpGetGyro(int32_t *data, const uint8_t* packet) |
majik | 0:21019d94ad33 | 355 | { |
majik | 0:21019d94ad33 | 356 | // TODO: accommodate different arrangements of sent data (ONLY default supported now) |
majik | 0:21019d94ad33 | 357 | if (packet == 0) packet = dmpPacketBuffer; |
majik | 0:21019d94ad33 | 358 | data[0] = ((packet[16] << 24) + (packet[17] << 16) + (packet[18] << 8) + packet[19]); |
majik | 0:21019d94ad33 | 359 | data[1] = ((packet[20] << 24) + (packet[21] << 16) + (packet[22] << 8) + packet[23]); |
majik | 0:21019d94ad33 | 360 | data[2] = ((packet[24] << 24) + (packet[25] << 16) + (packet[26] << 8) + packet[27]); |
majik | 0:21019d94ad33 | 361 | return 0; |
majik | 0:21019d94ad33 | 362 | } |
majik | 0:21019d94ad33 | 363 | uint8_t MPU6051::dmpGetGyro(int16_t *data, const uint8_t* packet) |
majik | 0:21019d94ad33 | 364 | { |
majik | 0:21019d94ad33 | 365 | // TODO: accommodate different arrangements of sent data (ONLY default supported now) |
majik | 0:21019d94ad33 | 366 | if (packet == 0) packet = dmpPacketBuffer; |
majik | 0:21019d94ad33 | 367 | data[0] = (packet[16] << 8) + packet[17]; |
majik | 0:21019d94ad33 | 368 | data[1] = (packet[20] << 8) + packet[21]; |
majik | 0:21019d94ad33 | 369 | data[2] = (packet[24] << 8) + packet[25]; |
majik | 0:21019d94ad33 | 370 | return 0; |
majik | 0:21019d94ad33 | 371 | } |
majik | 0:21019d94ad33 | 372 | // uint8_t MPU6051::dmpSetLinearAccelFilterCoefficient(float coef); |
majik | 0:21019d94ad33 | 373 | // uint8_t MPU6051::dmpGetLinearAccel(long *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 374 | uint8_t MPU6051::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) |
majik | 0:21019d94ad33 | 375 | { |
majik | 0:21019d94ad33 | 376 | // get rid of the gravity component (+1g = +8192 in standard DMP FIFO packet, sensitivity is 2g) |
majik | 0:21019d94ad33 | 377 | v -> x = vRaw -> x - gravity -> x*8192; |
majik | 0:21019d94ad33 | 378 | v -> y = vRaw -> y - gravity -> y*8192; |
majik | 0:21019d94ad33 | 379 | v -> z = vRaw -> z - gravity -> z*8192; |
majik | 0:21019d94ad33 | 380 | return 0; |
majik | 0:21019d94ad33 | 381 | } |
majik | 0:21019d94ad33 | 382 | // uint8_t MPU6051::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 383 | uint8_t MPU6051::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q) |
majik | 0:21019d94ad33 | 384 | { |
majik | 0:21019d94ad33 | 385 | // rotate measured 3D acceleration vector into original state |
majik | 0:21019d94ad33 | 386 | // frame of reference based on orientation quaternion |
majik | 0:21019d94ad33 | 387 | memcpy(v, vReal, sizeof(VectorInt16)); |
majik | 0:21019d94ad33 | 388 | v -> rotate(q); |
majik | 0:21019d94ad33 | 389 | return 0; |
majik | 0:21019d94ad33 | 390 | } |
majik | 0:21019d94ad33 | 391 | // uint8_t MPU6051::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 392 | // uint8_t MPU6051::dmpGetGyroSensor(long *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 393 | // uint8_t MPU6051::dmpGetControlData(long *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 394 | // uint8_t MPU6051::dmpGetTemperature(long *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 395 | // uint8_t MPU6051::dmpGetGravity(long *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 396 | uint8_t MPU6051::dmpGetGravity(VectorFloat *v, Quaternion *q) |
majik | 0:21019d94ad33 | 397 | { |
majik | 0:21019d94ad33 | 398 | v -> x = 2 * (q -> x*q -> z - q -> w*q -> y); |
majik | 0:21019d94ad33 | 399 | v -> y = 2 * (q -> w*q -> x + q -> y*q -> z); |
majik | 0:21019d94ad33 | 400 | v -> z = q -> w*q -> w - q -> x*q -> x - q -> y*q -> y + q -> z*q -> z; |
majik | 0:21019d94ad33 | 401 | return 0; |
majik | 0:21019d94ad33 | 402 | } |
majik | 0:21019d94ad33 | 403 | // uint8_t MPU6051::dmpGetUnquantizedAccel(long *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 404 | // uint8_t MPU6051::dmpGetQuantizedAccel(long *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 405 | // uint8_t MPU6051::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet); |
majik | 0:21019d94ad33 | 406 | // uint8_t MPU6051::dmpGetEIS(long *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 407 | |
majik | 0:21019d94ad33 | 408 | uint8_t MPU6051::dmpGetEuler(float *data, Quaternion *q) |
majik | 0:21019d94ad33 | 409 | { |
majik | 0:21019d94ad33 | 410 | data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1); // psi |
majik | 0:21019d94ad33 | 411 | data[1] = -asin(2*q -> x*q -> z + 2*q -> w*q -> y); // theta |
majik | 0:21019d94ad33 | 412 | data[2] = atan2(2*q -> y*q -> z - 2*q -> w*q -> x, 2*q -> w*q -> w + 2*q -> z*q -> z - 1); // phi |
majik | 0:21019d94ad33 | 413 | return 0; |
majik | 0:21019d94ad33 | 414 | } |
majik | 0:21019d94ad33 | 415 | |
majik | 0:21019d94ad33 | 416 | uint8_t MPU6051::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) |
majik | 0:21019d94ad33 | 417 | { |
majik | 0:21019d94ad33 | 418 | // yaw: (about Z axis) |
majik | 0:21019d94ad33 | 419 | data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1); |
majik | 0:21019d94ad33 | 420 | // pitch: (nose up/down, about Y axis) |
majik | 0:21019d94ad33 | 421 | data[1] = atan(gravity -> x / sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z)); |
majik | 0:21019d94ad33 | 422 | // roll: (tilt left/right, about X axis) |
majik | 0:21019d94ad33 | 423 | data[2] = atan(gravity -> y / sqrt(gravity -> x*gravity -> x + gravity -> z*gravity -> z)); |
majik | 0:21019d94ad33 | 424 | return 0; |
majik | 0:21019d94ad33 | 425 | } |
majik | 0:21019d94ad33 | 426 | |
majik | 0:21019d94ad33 | 427 | // uint8_t MPU6051::dmpGetAccelFloat(float *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 428 | // uint8_t MPU6051::dmpGetQuaternionFloat(float *data, const uint8_t* packet); |
majik | 0:21019d94ad33 | 429 | |
majik | 0:21019d94ad33 | 430 | uint8_t MPU6051::dmpProcessFIFOPacket(const unsigned char *dmpData) |
majik | 0:21019d94ad33 | 431 | { |
majik | 0:21019d94ad33 | 432 | /*for (uint8_t k = 0; k < dmpPacketSize; k++) { |
majik | 0:21019d94ad33 | 433 | if (dmpData[k] < 0x10) Serial.print("0"); |
majik | 0:21019d94ad33 | 434 | Serial.print(dmpData[k], HEX); |
majik | 0:21019d94ad33 | 435 | Serial.print(" "); |
majik | 0:21019d94ad33 | 436 | } |
majik | 0:21019d94ad33 | 437 | Serial.print("\n");*/ |
majik | 0:21019d94ad33 | 438 | //Serial.println((uint16_t)dmpPacketBuffer); |
majik | 0:21019d94ad33 | 439 | return 0; |
majik | 0:21019d94ad33 | 440 | } |
majik | 0:21019d94ad33 | 441 | uint8_t MPU6051::dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed) |
majik | 0:21019d94ad33 | 442 | { |
majik | 0:21019d94ad33 | 443 | uint8_t status; |
majik | 0:21019d94ad33 | 444 | uint8_t buf[dmpPacketSize]; |
majik | 0:21019d94ad33 | 445 | for (uint8_t i = 0; i < numPackets; i++) { |
majik | 0:21019d94ad33 | 446 | // read packet from FIFO |
majik | 0:21019d94ad33 | 447 | getFIFOBytes(buf, dmpPacketSize); |
majik | 0:21019d94ad33 | 448 | |
majik | 0:21019d94ad33 | 449 | // process packet |
majik | 0:21019d94ad33 | 450 | if ((status = dmpProcessFIFOPacket(buf)) > 0) return status; |
majik | 0:21019d94ad33 | 451 | |
majik | 0:21019d94ad33 | 452 | // increment external process count variable, if supplied |
majik | 0:21019d94ad33 | 453 | if (processed != 0) *processed++; |
majik | 0:21019d94ad33 | 454 | } |
majik | 0:21019d94ad33 | 455 | return 0; |
majik | 0:21019d94ad33 | 456 | } |
majik | 0:21019d94ad33 | 457 | |
majik | 0:21019d94ad33 | 458 | // uint8_t MPU6051::dmpSetFIFOProcessedCallback(void (*func) (void)); |
majik | 0:21019d94ad33 | 459 | |
majik | 0:21019d94ad33 | 460 | // uint8_t MPU6051::dmpInitFIFOParam(); |
majik | 0:21019d94ad33 | 461 | // uint8_t MPU6051::dmpCloseFIFO(); |
majik | 0:21019d94ad33 | 462 | // uint8_t MPU6051::dmpSetGyroDataSource(uint_fast8_t source); |
majik | 0:21019d94ad33 | 463 | // uint8_t MPU6051::dmpDecodeQuantizedAccel(); |
majik | 0:21019d94ad33 | 464 | // uint32_t MPU6051::dmpGetGyroSumOfSquare(); |
majik | 0:21019d94ad33 | 465 | // uint32_t MPU6051::dmpGetAccelSumOfSquare(); |
majik | 0:21019d94ad33 | 466 | // void MPU6051::dmpOverrideQuaternion(long *q); |
majik | 0:21019d94ad33 | 467 | uint16_t MPU6051::dmpGetFIFOPacketSize() |
majik | 0:21019d94ad33 | 468 | { |
majik | 0:21019d94ad33 | 469 | return dmpPacketSize; |
majik | 0:21019d94ad33 | 470 | } |