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

Diff: MPU/inc/MPU6050_6Axis_MotionApps20.h

Revision:
10:500c00d7b667
Parent:
7:4619a083f289
Child:
12:b46e84d27a32
--- 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.