File content as of revision 9:4221c5b3f49b:

//#include "MPU6050_DMP6.h"

// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file

//#include "ArduinoSerial.h"

/* =========================================================================
NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
depends on the MPU-6050's INT pin being connected to the Arduino's
external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
digital I/O pin 2.
* ========================================================================= */

// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION

// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_EULER

// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL

// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL

// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
//#define OUTPUT_READABLE_WORLDACCEL

// uncomment "OUTPUT_TEAPOT" if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_TEAPOT

#ifndef M_PI
#define M_PI 3.14159265358979
#endif

namespace MPU6050DMP6 {

// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high


// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
//float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };

DigitalOut led1(LED1);
InterruptIn checkpin(p29);
//ArduinoSerial arduinoSerial;


// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady()
{
    mpuInterrupt = true;
}



// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================

void setup()
{
    // initialize arduinoSerial communication
    // (115200 chosen because it is required for Teapot Demo output, but it's
    // really up to you depending on your project)
//    arduinoSerial.begin(115200);

    // initialize device
//    arduinoSerial.println(F("Initializing I2C devices..."));
    mpu.initialize();

    // verify connection
//    arduinoSerial.println(F("Testing device connections..."));
//    arduinoSerial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

    // wait for ready
    // arduinoSerial.println(F("\nSend any character to begin DMP programming and demo: "));
    // while (arduinoSerial.available() && arduinoSerial.read()); // empty buffer
    // while (!arduinoSerial.available());                 // wait for data
    // while (arduinoSerial.available() && arduinoSerial.read()); // empty buffer again

    // load and configure the DMP
//    arduinoSerial.println(F("Initializing DMP..."));
    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
    //    arduinoSerial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
//        arduinoSerial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
        checkpin.rise(&dmpDataReady);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
//        arduinoSerial.println(F("DMP ready! Waiting for first interrupt..."));
        dmpReady = true;

        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
        // ERROR!
        // 1 = initial memory load failed
        // 2 = DMP configuration updates failed
        // (if it's going to break, usually the code will be 1)
//        arduinoSerial.print(F("DMP Initialization failed (code "));
//        arduinoSerial.print(devStatus);
//        arduinoSerial.println(F(")"));
    }

}



// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void getYPR()
{
    // if programming failed, don't try to do anything
    if (!dmpReady) return;

    // wait for MPU interrupt or extra packet(s) available
    while (!mpuInterrupt && fifoCount < packetSize) {
        // other program behavior stuff here
        // .
        // .
        // .
        // if you are really paranoid you can frequently test in between other
        // stuff to see if mpuInterrupt is true, and if so, "break;" from the
        // while() loop to immediately process the MPU data
        // .
        // .
        // .
    }

    // reset interrupt flag and get INT_STATUS byte
    mpuInterrupt = false;
    mpuIntStatus = mpu.getIntStatus();

    // get current FIFO count
    fifoCount = mpu.getFIFOCount();

    // check for overflow (this should never happen unless our code is too inefficient)
    if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();
//        arduinoSerial.println(F("FIFO overflow!"));

        // otherwise, check for DMP data ready interrupt (this should happen frequently)
    } else if (mpuIntStatus & 0x02) {
        // wait for correct available data length, should be a VERY short wait
        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

        // read a packet from FIFO
        mpu.getFIFOBytes(fifoBuffer, packetSize);

        // track FIFO count here in case there is > 1 packet available
        // (this lets us immediately read more without waiting for an interrupt)
        fifoCount -= packetSize;

#ifdef OUTPUT_READABLE_QUATERNION
        // display quaternion values in easy matrix form: w x y z
        mpu.dmpGetQuaternion(&q, fifoBuffer);
//        arduinoSerial.print("quat\t");
//        arduinoSerial.print(q.w);
//        arduinoSerial.print("\t");
//        arduinoSerial.print(q.x);
//        arduinoSerial.print("\t");
//        arduinoSerial.print(q.y);
//        arduinoSerial.print("\t");
//        arduinoSerial.println(q.z);
#endif

#ifdef OUTPUT_READABLE_EULER
        // display Euler angles in degrees
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetEuler(euler, &q);
//        arduinoSerial.print("euler\t");
//        arduinoSerial.print(euler[0] * 180/M_PI);
//        arduinoSerial.print("\t");
//        arduinoSerial.print(euler[1] * 180/M_PI);
//        arduinoSerial.print("\t");
//        arduinoSerial.println(euler[2] * 180/M_PI);
#endif

#ifdef OUTPUT_READABLE_YAWPITCHROLL
        // display Euler angles in degrees
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
//        arduinoSerial.print("ypr\t");
//        arduinoSerial.print(ypr[0] * 180/M_PI);
//        arduinoSerial.print("\t");
//        arduinoSerial.print(ypr[1] * 180/M_PI);
//        arduinoSerial.print("\t");
//        arduinoSerial.println(ypr[2] * 180/M_PI);
#endif

#ifdef OUTPUT_READABLE_REALACCEL
        // display real acceleration, adjusted to remove gravity
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetAccel(&aa, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
//        arduinoSerial.print("areal\t");
//        arduinoSerial.print(aaReal.x);
//        arduinoSerial.print("\t");
//        arduinoSerial.print(aaReal.y);
//        arduinoSerial.print("\t");
//        arduinoSerial.println(aaReal.z);
#endif

#ifdef OUTPUT_READABLE_WORLDACCEL 
        // display initial world-frame acceleration, adjusted to remove gravity
        // and rotated based on known orientation from quaternion
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetAccel(&aa, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
        mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
//        arduinoSerial.print("aworld\t");
//        arduinoSerial.print(aaWorld.x);
//        arduinoSerial.print("\t");
//        arduinoSerial.print(aaWorld.y);
//        arduinoSerial.print("\t");
//        arduinoSerial.println(aaWorld.z);
#endif

#ifdef OUTPUT_TEAPOT
        // display quaternion values in InvenSense Teapot demo format:
        teapotPacket[2] = fifoBuffer[0];
        teapotPacket[3] = fifoBuffer[1];
        teapotPacket[4] = fifoBuffer[4];
        teapotPacket[5] = fifoBuffer[5];
        teapotPacket[6] = fifoBuffer[8];
        teapotPacket[7] = fifoBuffer[9];
        teapotPacket[8] = fifoBuffer[12];
        teapotPacket[9] = fifoBuffer[13];
//        arduinoSerial.write(teapotPacket, 14);
        teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif

        // blink LED to indicate activity
        if( led1 == 0 ) led1 = 0;
        else led1 = 1;
    }
}

};