Chengwei Zhang / MPU6050-DMP

Reduced FIFO packet size (18 bytes Optimized DMP initialization (less memory)

Dependents:   MPU6050-DMP_test_JJ

Fork of MPU6050-DMP-Ian by Ian Hua

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_ */