Chengwei Zhang
Reduced FIFO packet size (18 bytes Optimized DMP initialization (less memory)
Dependents: MPU6050-DMP_test_JJ
Fork of
MPU6050-DMP-Ian
by 
Ian Hua
Revision 15:4d3c598e3719, committed 2015-02-26
- Comitter:
- zcw607
- Date:
- Thu Feb 26 04:00:23 2015 +0000
- Parent:
- 14:86afc8447df9
- Commit message:
- Reduced FIFO packet size (18 bytes); Optimized DMP initialization (less memory)
Changed in this revision
diff -r 86afc8447df9 -r 4d3c598e3719 MPU/inc/MPU6050_6Axis_MotionApps20.h
--- a/MPU/inc/MPU6050_6Axis_MotionApps20.h Wed May 14 12:41:19 2014 +0000
+++ b/MPU/inc/MPU6050_6Axis_MotionApps20.h Thu Feb 26 04:00:23 2015 +0000
@@ -117,17 +117,18 @@
#endif
#define MPU6050_DMP_CODE_SIZE 1929 // dmpMemory[]
-#define MPU6050_DMP_CONFIG_SIZE 192 // dmpConfig[]
+#define MPU6050_DMP_CONFIG_SIZE 111 // dmpConfig[]
#define MPU6050_DMP_UPDATES_SIZE 47 // dmpUpdates[]
+/* ================================================================================================ *
-/* ================================================================================================ *
- | Default MotionApps v2.0 42-byte FIFO packet structure: |
+ | 18-byte FIFO packet structure: |
| |
- | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
- | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 |
+ | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][FOOTER] |
+
+ | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 |
| |
- | [GYRO Z][ ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
- | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 |
+
+
* ================================================================================================ */
// this block of memory gets written to the MPU on start-up, and it seems
@@ -283,18 +284,19 @@
0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_accel_calibration
0x03, 0x89, 0x03, 0x26, 0x46, 0x66, // FCFG_7 inv_set_accel_calibration
0x00, 0x6C, 0x02, 0x20, 0x00, // D_0_108 inv_set_accel_calibration
- 0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_00 inv_set_compass_calibration
- 0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_01
- 0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02
- 0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_10
- 0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_11
- 0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_12
- 0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_20
- 0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_21
- 0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_22
+ //0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_00 inv_set_compass_calibration
+ //0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_01
+ //0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02
+ //0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_10
+ //0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_11
+ //0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_12
+ //0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_20
+ //0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_21
+ //0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_22
0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00, // D_1_236 inv_apply_endian_accel
0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors
0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
+ //0x04, 0x02, 0x03, 0x98, 0x98, 0x98, // CFG_MOTION_BIAS inv_turn_off bias correction
0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D, // FCFG_5 inv_set_bias_update
0x00, 0xA3, 0x01, 0x00, // D_0_163 inv_set_dead_zone
// SPECIAL 0x01 = enable interrupts
@@ -302,13 +304,13 @@
0x07, 0x86, 0x01, 0xFE, // CFG_6 inv_set_fifo_interupt
0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion
0x07, 0x7E, 0x01, 0x30, // CFG_16 inv_set_footer
- 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, IMU_FIFO_RATE_DIVIDER // D_0_22 inv_set_fifo_rate
+ //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, 0x03 // D_0_22 inv_set_fifo_rate // Original 0x01
- // 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.
+
+
// DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
// It is important to make sure the host processor can keep up with reading and processing
diff -r 86afc8447df9 -r 4d3c598e3719 MPU/src/MPU6050_6Axis_MotionApps20.cpp
--- a/MPU/src/MPU6050_6Axis_MotionApps20.cpp Wed May 14 12:41:19 2014 +0000
+++ b/MPU/src/MPU6050_6Axis_MotionApps20.cpp Thu Feb 26 04:00:23 2015 +0000
@@ -240,8 +240,8 @@
//DEBUG_PRINT("Disabling DMP (you turn it on later)...\n");
setDMPEnabled(false);
- //DEBUG_PRINT("Setting up internal 42-byte (default) DMP packet buffer...\n");
- dmpPacketSize = 42;
+ //DEBUG_PRINT("Setting up internal 18-byte (default) DMP packet buffer...\n");
+ dmpPacketSize = 18; // original 42 bytes;
/*if ((dmpPacketBuffer = (uint8_t *)malloc(42)) == 0) {
return 3; // TODO: proper error code for no memory
}*/