Version uplifts to reflect new releases built against the 6.12 motion…

… driver updates

EDTracker2_6050/EDTracker2_6050/EDTracker2_6050.ino

@@ -2,7 +2,7 @@
 //  Head Tracker Sketch
 //
 
-char* const PROGMEM infoString = "EDTrackerII V2.20.9";
+char* const PROGMEM infoString = "EDTrackerII V2.21.0";
 
 //
 // Changelog:
@@ -34,10 +34,11 @@ char* const PROGMEM infoString = "EDTrackerII V2.20.9";
 //                      Some tidying up while at it
 // 2016-01-30 2.20.9    Version uplift only to reflect re-build with new hardware package, that
 //                      removes the keyboard/mouse aspects from the HID descriptor.
+// 2018-01-28 2.21.0    Version uplift - compiled with motion driver 6.12; no functional changes
 /* ============================================
 EDTracker device code is placed under the MIT License
 
-Copyright (c) 2014-2016 Rob James, Dan Howell
+Copyright (c) 2014-2018 Rob James, Dan Howell
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
@@ -883,7 +884,7 @@ void loadBiases() {
   //dmp_set_accel_bias(aBias);
 
   mpu_set_gyro_bias_reg(gBias);
-  mpu_set_accel_bias_6050_reg(aBias, true);
+  mpu_set_accel_bias_6050_reg(aBias);
 
   return ;
 }

EDTracker2_9150/EDTracker2_9150/EDTracker2_9150.ino

@@ -1,7 +1,7 @@
 //
 //  Head Tracker Sketch
 //
-const char  infoString []   = "EDTrackerMag V4.0.5";
+const char  infoString []   = "EDTrackerMag V4.1.0";
 
 // Changelog:
 //            Release
@@ -19,10 +19,12 @@ const char  infoString []   = "EDTrackerMag V4.0.5";
 //                              Some tidying up while at it
 // 2016-01-30 4.0.5     DH      Removed superfluous debug code, added compiler
 //                              warnings for people choosing wrong hardware
+// 2017-02-09           DH      Re-factor angle vars so name doesn't conflict with AVR tools definition of PI
+// 2018-01-27 4.1.0     DMH     Version uplift - compiled with motion driver 6.12; no functional changes
 /* ============================================
 EDTracker device code is placed under the MIT License
 
-Copyright (c) 2014-2016 Rob James, Dan Howell
+Copyright (c) 2014-2018 Rob James, Dan Howell
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
@@ -74,9 +76,9 @@ extern "C" {
 #include <inv_mpu_dmp_motion_driver.h>
 }
 
-// In raw reading values from the MPU...
-#define PI    32768.0
-#define TWOPI 65536.0
+// In raw reading values from the MPU, these values correspond to 90 and 180 degrees
+#define DEG90  32768.0
+#define DEG180 65536.0
 
 // Array indices of pitch, yaw and roll
 #define PITCH 1
@@ -783,10 +785,10 @@ void blink()
 ********************************************************************************************************/
 float wrap(float angle)
 {
-  if (angle > PI)
-    angle -= (TWOPI);
-  if (angle < -PI)
-    angle += (TWOPI);
+  if (angle > DEG90)
+    angle -= (DEG180);
+  if (angle < -DEG90)
+    angle += (DEG180);
   return angle;
 }
 

EDTracker2_9250/EDTracker2_9250/EDTracker2_9250.ino

@@ -1,7 +1,7 @@
 //
 //  Head Tracker Sketch
 //
-const char  infoString []   = "EDTrackerMag V4.0.5";
+const char  infoString []   = "EDTrackerMag V4.1.0";
 
 // Changelog:
 //            Release
@@ -19,10 +19,13 @@ const char  infoString []   = "EDTrackerMag V4.0.5";
 // 2016-01-27 4.0.4   DH      Non-functional code format change to allow compile on IDE 1.6.7
 // 2016-01-30 4.0.5   DH      Removed superfluous debug code, fixed mag scaling for 9250, added compiler
 //                            warnings for people choosing wrong hardware
+// 2017-01-27 4.1.0   DH      Version uplift - compiled with motion driver 6.12; no functional changes
+//                            Will hopefully address "stuck in auto bias forever" issue for some users
+//                            Big thanks to sir-maniac for his contribution ;)
 /* ============================================
 EDTracker device code is placed under the MIT License
 
-Copyright (c) 2014-2016 Rob James, Dan Howell
+Copyright (c) 2014-2018 Rob James, Dan Howell
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
@@ -73,9 +76,9 @@ extern "C" {
 #include <inv_mpu_dmp_motion_driver.h>
 }
 
-// In raw reading values from the MPU...
-#define PI    32768.0
-#define TWOPI 65536.0
+// In raw reading values from the MPU, these values correspond to 90 and 180 degrees
+#define DEG90  32768.0
+#define DEG180 65536.0
 
 // Array indices of pitch, yaw and roll
 #define PITCH 1
@@ -780,10 +783,10 @@ void blink()
 ********************************************************************************************************/
 float wrap(float angle)
 {
-  if (angle > PI)
-    angle -= (TWOPI);
-  if (angle < -PI)
-    angle += (TWOPI);
+  if (angle > DEG90)
+    angle -= (DEG180);
+  if (angle < -DEG90)
+    angle += (DEG180);
   return angle;
 }
 

README.md

@@ -32,7 +32,7 @@ Once built, you will need the EDTracker GUI software to calibrate and monitor -
 this is available in binary form only at this stage, via
 http://http://www.edtracker.org.uk/index.php/downloads.
 
-Tested/verified with Arduino IDE 1.6.4 and 1.6.7
+Tested/verified with Arduino IDE 1.8.5
 
 Love and manly hugs!
 The EDTracker Team...