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drv_mpu6050.c
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drv_mpu6050.c
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#include "board.h"
// MPU6050, Standard address 0x68
// MPU_INT on PB13 on rev4 hardware
#define MPU6050_ADDRESS 0x68
// Experimental DMP support
// #define MPU6050_DMP
#define DMP_MEM_START_ADDR 0x6E
#define DMP_MEM_R_W 0x6F
#define INV_MAX_NUM_ACCEL_SAMPLES (8)
#define DMP_REF_QUATERNION (0)
#define DMP_REF_GYROS (DMP_REF_QUATERNION + 4) // 4
#define DMP_REF_CONTROL (DMP_REF_GYROS + 3) // 7
#define DMP_REF_RAW (DMP_REF_CONTROL + 4) // 11
#define DMP_REF_RAW_EXTERNAL (DMP_REF_RAW + 8) // 19
#define DMP_REF_ACCEL (DMP_REF_RAW_EXTERNAL + 6) // 25
#define DMP_REF_QUANT_ACCEL (DMP_REF_ACCEL + 3) // 28
#define DMP_REF_QUATERNION_6AXIS (DMP_REF_QUANT_ACCEL + INV_MAX_NUM_ACCEL_SAMPLES) // 36
#define DMP_REF_EIS (DMP_REF_QUATERNION_6AXIS + 4) // 40
#define DMP_REF_DMP_PACKET (DMP_REF_EIS + 3) // 43
#define DMP_REF_GARBAGE (DMP_REF_DMP_PACKET + 1) // 44
#define DMP_REF_LAST (DMP_REF_GARBAGE + 1) // 45
#define MPU_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
#define MPU_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
#define MPU_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
#define MPU_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
#define MPU_RA_XA_OFFS_L_TC 0x07
#define MPU_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
#define MPU_RA_YA_OFFS_L_TC 0x09
#define MPU_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
#define MPU_RA_ZA_OFFS_L_TC 0x0B
#define MPU_RA_PRODUCT_ID 0x0C // Product ID Register
#define MPU_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
#define MPU_RA_XG_OFFS_USRL 0x14
#define MPU_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
#define MPU_RA_YG_OFFS_USRL 0x16
#define MPU_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
#define MPU_RA_ZG_OFFS_USRL 0x18
#define MPU_RA_SMPLRT_DIV 0x19
#define MPU_RA_CONFIG 0x1A
#define MPU_RA_GYRO_CONFIG 0x1B
#define MPU_RA_ACCEL_CONFIG 0x1C
#define MPU_RA_FF_THR 0x1D
#define MPU_RA_FF_DUR 0x1E
#define MPU_RA_MOT_THR 0x1F
#define MPU_RA_MOT_DUR 0x20
#define MPU_RA_ZRMOT_THR 0x21
#define MPU_RA_ZRMOT_DUR 0x22
#define MPU_RA_FIFO_EN 0x23
#define MPU_RA_I2C_MST_CTRL 0x24
#define MPU_RA_I2C_SLV0_ADDR 0x25
#define MPU_RA_I2C_SLV0_REG 0x26
#define MPU_RA_I2C_SLV0_CTRL 0x27
#define MPU_RA_I2C_SLV1_ADDR 0x28
#define MPU_RA_I2C_SLV1_REG 0x29
#define MPU_RA_I2C_SLV1_CTRL 0x2A
#define MPU_RA_I2C_SLV2_ADDR 0x2B
#define MPU_RA_I2C_SLV2_REG 0x2C
#define MPU_RA_I2C_SLV2_CTRL 0x2D
#define MPU_RA_I2C_SLV3_ADDR 0x2E
#define MPU_RA_I2C_SLV3_REG 0x2F
#define MPU_RA_I2C_SLV3_CTRL 0x30
#define MPU_RA_I2C_SLV4_ADDR 0x31
#define MPU_RA_I2C_SLV4_REG 0x32
#define MPU_RA_I2C_SLV4_DO 0x33
#define MPU_RA_I2C_SLV4_CTRL 0x34
#define MPU_RA_I2C_SLV4_DI 0x35
#define MPU_RA_I2C_MST_STATUS 0x36
#define MPU_RA_INT_PIN_CFG 0x37
#define MPU_RA_INT_ENABLE 0x38
#define MPU_RA_DMP_INT_STATUS 0x39
#define MPU_RA_INT_STATUS 0x3A
#define MPU_RA_ACCEL_XOUT_H 0x3B
#define MPU_RA_ACCEL_XOUT_L 0x3C
#define MPU_RA_ACCEL_YOUT_H 0x3D
#define MPU_RA_ACCEL_YOUT_L 0x3E
#define MPU_RA_ACCEL_ZOUT_H 0x3F
#define MPU_RA_ACCEL_ZOUT_L 0x40
#define MPU_RA_TEMP_OUT_H 0x41
#define MPU_RA_TEMP_OUT_L 0x42
#define MPU_RA_GYRO_XOUT_H 0x43
#define MPU_RA_GYRO_XOUT_L 0x44
#define MPU_RA_GYRO_YOUT_H 0x45
#define MPU_RA_GYRO_YOUT_L 0x46
#define MPU_RA_GYRO_ZOUT_H 0x47
#define MPU_RA_GYRO_ZOUT_L 0x48
#define MPU_RA_EXT_SENS_DATA_00 0x49
#define MPU_RA_MOT_DETECT_STATUS 0x61
#define MPU_RA_I2C_SLV0_DO 0x63
#define MPU_RA_I2C_SLV1_DO 0x64
#define MPU_RA_I2C_SLV2_DO 0x65
#define MPU_RA_I2C_SLV3_DO 0x66
#define MPU_RA_I2C_MST_DELAY_CTRL 0x67
#define MPU_RA_SIGNAL_PATH_RESET 0x68
#define MPU_RA_MOT_DETECT_CTRL 0x69
#define MPU_RA_USER_CTRL 0x6A
#define MPU_RA_PWR_MGMT_1 0x6B
#define MPU_RA_PWR_MGMT_2 0x6C
#define MPU_RA_BANK_SEL 0x6D
#define MPU_RA_MEM_START_ADDR 0x6E
#define MPU_RA_MEM_R_W 0x6F
#define MPU_RA_DMP_CFG_1 0x70
#define MPU_RA_DMP_CFG_2 0x71
#define MPU_RA_FIFO_COUNTH 0x72
#define MPU_RA_FIFO_COUNTL 0x73
#define MPU_RA_FIFO_R_W 0x74
#define MPU_RA_WHO_AM_I 0x75
#define MPU6050_SMPLRT_DIV 0 //8000Hz
// #define MPU6050_DLPF_CFG 0 // 256Hz
#define MPU6050_DLPF_CFG 3 // 42Hz
#define MPU6000ES_REV_C4 0x14
#define MPU6000ES_REV_C5 0x15
#define MPU6000ES_REV_D6 0x16
#define MPU6000ES_REV_D7 0x17
#define MPU6000ES_REV_D8 0x18
#define MPU6000_REV_C4 0x54
#define MPU6000_REV_C5 0x55
#define MPU6000_REV_D6 0x56
#define MPU6000_REV_D7 0x57
#define MPU6000_REV_D8 0x58
#define MPU6000_REV_D9 0x59
static void mpu6050AccInit(void);
static void mpu6050AccRead(int16_t * accData);
static void mpu6050AccAlign(int16_t * accData);
static void mpu6050GyroInit(void);
static void mpu6050GyroRead(int16_t * gyroData);
static void mpu6050GyroAlign(int16_t * gyroData);
#ifdef MPU6050_DMP
static void mpu6050DmpInit(void);
float dmpdata[2];
int16_t dmpGyroData[3];
#endif
extern uint16_t acc_1G;
uint8_t mpuProductID = 0;
bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale)
{
bool ack;
uint8_t sig;
delay(35); // datasheet page 13 says 30ms. other stuff could have been running meanwhile. but we'll be safe
ack = i2cRead(MPU6050_ADDRESS, MPU_RA_WHO_AM_I, 1, &sig);
if (!ack)
return false;
// So like, MPU6xxx has a "WHO_AM_I" register, that is used to verify the identity of the device.
// The contents of WHO_AM_I are the upper 6 bits of the MPU-60X0’s 7-bit I2C address.
// The least significant bit of the MPU-60X0’s I2C address is determined by the value of the AD0 pin. (we know that already).
// But here's the best part: The value of the AD0 pin is not reflected in this register.
sig &= 0x7e;
if (sig != MPU6050_ADDRESS)
return false;
// get chip revision + fake it if needed
if (scale)
mpuProductID = MPU6000_REV_C5; // no, seriously? why don't you make the chip ID list public.
else
i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &mpuProductID);
acc->init = mpu6050AccInit;
acc->read = mpu6050AccRead;
acc->align = mpu6050AccAlign;
gyro->init = mpu6050GyroInit;
gyro->read = mpu6050GyroRead;
gyro->align = mpu6050GyroAlign;
#ifdef MPU6050_DMP
mpu6050DmpInit();
#endif
return true;
}
static void mpu6050AccInit(void)
{
acc_1G = 1023;
}
static void mpu6050AccRead(int16_t * accData)
{
uint8_t buf[6];
#ifndef MPU6050_DMP
i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_XOUT_H, 6, buf);
accData[0] = (buf[0] << 8) | buf[1];
accData[1] = (buf[2] << 8) | buf[3];
accData[2] = (buf[4] << 8) | buf[5];
#else
accData[0] = accData[1] = accData[2] = 0;
#endif
}
static void mpu6050AccAlign(int16_t * accData)
{
int16_t temp[2];
temp[0] = accData[0];
temp[1] = accData[1];
// official direction is RPY
accData[0] = temp[1] / 8;
accData[1] = -temp[0] / 8;
accData[2] = accData[2] / 8;
}
static void mpu6050GyroInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
// PB13 - MPU_INT output on rev4 hardware
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOB, &GPIO_InitStructure);
#ifndef MPU6050_DMP
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
delay(5);
i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
i2cWrite(MPU6050_ADDRESS, MPU_RA_CONFIG, MPU6050_DLPF_CFG); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
i2cWrite(MPU6050_ADDRESS, MPU_RA_GYRO_CONFIG, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
// ACC Init stuff. Moved into gyro init because the reset above would screw up accel config. Oops.
// Product ID detection code from eosBandi (or rather, DIYClones). This doesn't cover product ID for MPU6050 as far as I can tell
if ((mpuProductID == MPU6000ES_REV_C4) || (mpuProductID == MPU6000ES_REV_C5) || (mpuProductID == MPU6000_REV_C4) || (mpuProductID == MPU6000_REV_C5)) {
// Accel scale 8g (4096 LSB/g)
// Rev C has different scaling than rev D
i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 1 << 3);
} else {
i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 2 << 3);
}
#endif
}
static void mpu6050GyroRead(int16_t * gyroData)
{
uint8_t buf[6];
#ifndef MPU6050_DMP
i2cRead(MPU6050_ADDRESS, MPU_RA_GYRO_XOUT_H, 6, buf);
gyroData[0] = (buf[0] << 8) | buf[1];
gyroData[1] = (buf[2] << 8) | buf[3];
gyroData[2] = (buf[4] << 8) | buf[5];
#else
gyroData[0] = dmpGyroData[0];
gyroData[1] = dmpGyroData[1];
gyroData[2] = dmpGyroData[2];
#endif
}
static void mpu6050GyroAlign(int16_t * gyroData)
{
// official direction is RPY
gyroData[0] = gyroData[0] / 4;
gyroData[1] = gyroData[1] / 4;
gyroData[2] = -gyroData[2] / 4;
}
#ifdef MPU6050_DMP
//This 3D array contains the default DMP memory bank binary that gets loaded during initialization.
//In the Invensense UC3-A3 firmware this is uploaded in 128 byte tranmissions, but the Arduino Wire
//library only supports 32 byte transmissions, including the register address to which you're writing,
//so I broke it up into 16 byte transmission payloads which are sent in the dmp_init() function below.
//
//This was reconstructed from observed I2C traffic generated by the UC3-A3 demo code, and not extracted
//directly from that code. That is true of all transmissions in this sketch, and any documentation has
//been added after the fact by referencing the Invensense code.
const unsigned char dmpMem[8][16][16] = {
{
{0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00},
{0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01},
{0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01},
{0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00},
{0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00},
{0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82},
{0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00},
{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0},
{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC},
{0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4},
{0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10}
},
{
{0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00},
{0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8},
{0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7},
{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C},
{0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C},
{0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0}
},
{
{0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00},
{0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
},
{
{0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F},
{0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2},
{0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF},
{0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C},
{0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1},
{0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01},
{0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80},
{0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C},
{0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80},
{0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E},
{0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9},
{0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24},
{0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0},
{0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86},
{0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1},
{0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86}
},
{
{0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA},
{0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C},
{0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8},
{0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3},
{0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84},
{0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5},
{0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3},
{0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1},
{0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5},
{0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D},
{0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
{0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D},
{0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
{0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A},
{0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8},
{0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87}
},
{
{0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8},
{0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68},
{0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D},
{0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94},
{0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA},
{0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56},
{0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9},
{0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA},
{0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A},
{0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60},
{0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97},
{0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04},
{0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78},
{0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79},
{0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68},
{0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68}
},
{
{0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04},
{0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66},
{0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31},
{0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60},
{0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76},
{0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56},
{0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD},
{0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91},
{0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8},
{0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE},
{0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9},
{0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD},
{0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E},
{0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8},
{0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89},
{0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79}
},
{
{0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8},
{0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA},
{0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB},
{0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3},
{0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3},
{0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3},
{0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3},
{0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC},
{0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF}
}
};
//DMP update transmissions (Bank, Start Address, Update Length, Update Data...)
const uint8_t dmp_updates[29][9] = {
{0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C}, //FCFG_1 inv_set_gyro_calibration
{0x03, 0xAB, 0x03, 0x36, 0x56, 0x76}, //FCFG_3 inv_set_gyro_calibration
{0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2}, //D_0_104 inv_set_gyro_calibration
{0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1}, //D_0_24 inv_set_gyro_calibration
{0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00}, //D_1_152 inv_set_accel_calibration
{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
{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, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D}, //FCFG_5 inv_set_bias_update
{0x00, 0xA3, 0x01, 0x00}, //D_0_163 inv_set_dead_zone
//SET INT_ENABLE at i=22
{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, 0x00}, //D_0_22 inv_set_fifo_rate
};
static long dmp_lastRead = 0;
static uint8_t dmp_processed_packet[8];
static uint8_t dmp_received_packet[50];
static uint8_t dmp_temp = 0;
uint8_t dmp_fifoCountL = 0;
static uint8_t dmp_fifoCountL2 = 0;
static uint8_t dmp_packetCount = 0x00;
static bool dmp_longPacket = false;
static bool dmp_firstPacket = true;
static void mpu6050DmpMemInit(void);
static void mpu6050DmpBankSelect(uint8_t bank);
static bool mpu6050DmpFifoReady(void);
static void mpu6050DmpGetPacket(void);
static void mpu6050DmpProcessQuat(void);
void mpu6050DmpResetFifo(void);
static void mpu6050DmpInit(void)
{
uint8_t temp = 0;
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0xC0); // device reset
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_2, 0x00);
delay(10);
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x00);
i2cWrite(MPU6050_ADDRESS, MPU_RA_BANK_SEL, 0x70);
i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x06);
i2cRead(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 1, &temp);
i2cWrite(MPU6050_ADDRESS, MPU_RA_BANK_SEL, 0x00);
/*
dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_XG_OFFS_TC);
dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_YG_OFFS_TC);
dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_ZG_OFFS_TC);
dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_USER_CTRL);
*/
i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_PIN_CFG, 0x32); // I2C bypass enabled, latch int enabled, int read clear
i2cRead(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 1, &temp);
delay(5);
mpu6050DmpMemInit();
}
void mpu6050DmpLoop(void)
{
uint8_t temp;
uint8_t buf[2];
if (mpu6050DmpFifoReady()) {
LED1_ON;
mpu6050DmpGetPacket();
i2cRead(MPU6050_ADDRESS, MPU_RA_INT_STATUS, 1, &temp);
if (dmp_firstPacket) {
delay(1);
mpu6050DmpBankSelect(0x00);
mpu6050DmpBankSelect(0x00); // bank
i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x60);
i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 4, "\x04\x00\x00\x00"); // data
mpu6050DmpBankSelect(0x01);
i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x62);
i2cRead(MPU6050_ADDRESS, DMP_MEM_R_W, 2, buf);
dmp_firstPacket = false;
mpu6050DmpFifoReady();
}
if (dmp_fifoCountL == 42) {
mpu6050DmpProcessQuat();
}
LED1_OFF;
}
}
#define dmp_quatTake32(a, b) (((a)[4*(b)+0]<<8) | ((a)[4*(b)+1]<<0))
extern int16_t angle[2];
static void mpu6050DmpProcessQuat(void)
{
float quat0, quat1, quat2, quat3;
int32_t quatl0, quatl1, quatl2, quatl3;
quatl0 = dmp_quatTake32(dmp_received_packet, 0);
quatl1 = dmp_quatTake32(dmp_received_packet, 1);
quatl2 = dmp_quatTake32(dmp_received_packet, 2);
quatl3 = dmp_quatTake32(dmp_received_packet, 3);
if (quatl0 > 32767)
quatl0 -= 65536;
if (quatl1 > 32767)
quatl1 -= 65536;
if (quatl2 > 32767)
quatl2 -= 65536;
if (quatl3 > 32767)
quatl3 -= 65536;
quat0 = ((float) quatl0) / 16384.0f;
quat1 = ((float) quatl1) / 16384.0f;
quat2 = ((float) quatl2) / 16384.0f;
quat3 = ((float) quatl3) / 16384.0f;
dmpdata[0] = atan2f(2 * ((quat0 * quat1) + (quat2 * quat3)), 1.0 - (2 * ((quat1 * quat1) + (quat2 * quat2)))) * (180.0f / M_PI);
dmpdata[1] = asinf(2 * ((quat0 * quat2) - (quat3 * quat1))) * (180.0f / M_PI);
angle[0] = dmpdata[0] * 10;
angle[1] = dmpdata[1] * 10;
dmpGyroData[0] = ((dmp_received_packet[4 * 4 + 0] << 8) | (dmp_received_packet[4 * 4 + 1] << 0));
dmpGyroData[1] = ((dmp_received_packet[4 * 5 + 0] << 8) | (dmp_received_packet[4 * 5 + 1] << 0));
dmpGyroData[2] = ((dmp_received_packet[4 * 6 + 0] << 8) | (dmp_received_packet[4 * 6 + 1] << 0));
}
void mpu6050DmpResetFifo(void)
{
uint8_t ctrl;
i2cRead(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 1, &ctrl);
ctrl |= 0x04;
i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, ctrl);
}
static void mpu6050DmpGetPacket(void)
{
if (dmp_fifoCountL > 32) {
dmp_fifoCountL2 = dmp_fifoCountL - 32;
dmp_longPacket = true;
}
if (dmp_longPacket) {
i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_R_W, 32, dmp_received_packet);
i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_R_W, dmp_fifoCountL, dmp_received_packet + 32);
dmp_longPacket = false;
} else {
i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_R_W, dmp_fifoCountL, dmp_received_packet);
}
}
uint16_t dmpFifoLevel = 0;
static bool mpu6050DmpFifoReady(void)
{
uint8_t buf[2];
i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_COUNTH, 2, buf);
dmp_fifoCountL = buf[1];
dmpFifoLevel = buf[0] << 8 | buf[1];
if (dmp_fifoCountL == 42 || dmp_fifoCountL == 44)
return true;
else {
// lame hack to empty out fifo, as dmpResetFifo doesn't actually seem to do it...
if (dmpFifoLevel > 100) {
// clear out fifo
uint8_t crap[16];
do {
i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_R_W, dmpFifoLevel > 16 ? 16 : dmpFifoLevel, crap);
i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_COUNTH, 2, buf);
dmpFifoLevel = buf[0] << 8 | buf[1];
} while (dmpFifoLevel);
}
}
return false;
}
static void mpu6050DmpBankSelect(uint8_t bank)
{
i2cWrite(MPU6050_ADDRESS, MPU_RA_BANK_SEL, bank);
}
static void mpu6050DmpBankInit(void)
{
uint8_t i, j;
uint8_t incoming[9];
for (i = 0; i < 7; i++) {
mpu6050DmpBankSelect(i);
for (j = 0; j < 16; j++) {
uint8_t start_addy = j * 0x10;
i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, start_addy);
i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, 16, (uint8_t *) & dmpMem[i][j][0]);
}
}
mpu6050DmpBankSelect(7);
for (j = 0; j < 8; j++) {
uint8_t start_addy = j * 0x10;
i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, start_addy);
i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, 16, (uint8_t *) & dmpMem[7][j][0]);
}
i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, 0x80);
i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, 9, (uint8_t *) & dmpMem[7][8][0]);
i2cRead(MPU6050_ADDRESS, DMP_MEM_R_W, 8, incoming);
}
static void mpu6050DmpMemInit(void)
{
uint8_t i;
uint8_t temp;
mpu6050DmpBankInit();
// Bank, Start Address, Update Length, Update Data...
for (i = 0; i < 22; i++) {
mpu6050DmpBankSelect(dmp_updates[i][0]); // bank
i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, dmp_updates[i][1]); // address
i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, dmp_updates[i][2], (uint8_t *)&dmp_updates[i][3]); // data
}
i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_ENABLE, 0x32);
for (i = 22; i < 29; i++) {
mpu6050DmpBankSelect(dmp_updates[i][0]); // bank
i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, dmp_updates[i][1]); // address
i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, dmp_updates[i][2], (uint8_t *)&dmp_updates[i][3]); // data
}
/*
dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_PWR_MGMT_1);
dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_PWR_MGMT_2);
*/
i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_ENABLE, 0x02); // ??
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03); // CLKSEL = PLL w Z ref
i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, 0x04);
i2cWrite(MPU6050_ADDRESS, MPU_RA_GYRO_CONFIG, 0x18); // full scale 2000 deg/s
i2cWrite(MPU6050_ADDRESS, MPU_RA_CONFIG, 0x0B); // ext_sync_set=temp_out_L, accel DLPF 44Hz, gyro DLPF 42Hz
i2cWrite(MPU6050_ADDRESS, MPU_RA_DMP_CFG_1, 0x03);
i2cWrite(MPU6050_ADDRESS, MPU_RA_DMP_CFG_2, 0x00);
i2cWrite(MPU6050_ADDRESS, MPU_RA_XG_OFFS_TC, 0x00);
i2cWrite(MPU6050_ADDRESS, MPU_RA_YG_OFFS_TC, 0x00);
i2cWrite(MPU6050_ADDRESS, MPU_RA_ZG_OFFS_TC, 0x00);
// clear offsets
i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_XG_OFFS_USRH, 6, "\x00\x00\x00\x00\x00\x00"); // data
mpu6050DmpBankSelect(0x01); // bank
i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0xB2);
i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 2, "\xFF\xFF"); // data
mpu6050DmpBankSelect(0x01); // bank
i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x90);
i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 4, "\x09\x23\xA1\x35"); // data
i2cRead(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 1, &temp);
i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0x04); // fifo reset
// Insert FIFO count read?
mpu6050DmpFifoReady();
i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0x00); // ?? I think this enables a lot of stuff but disables fifo
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03); // CLKSEL = PLL w Z ref
delay(2);
i2cRead(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_2, 1, &temp);
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_2, 0x00);
i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 1, &temp);
i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 0x00); // full scale range +/- 2g
delay(2);
i2cRead(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 1, &temp);
i2cWrite(MPU6050_ADDRESS, MPU_RA_MOT_THR, 0x02);
i2cWrite(MPU6050_ADDRESS, MPU_RA_ZRMOT_THR, 0x9C);
i2cWrite(MPU6050_ADDRESS, MPU_RA_MOT_DUR, 0x50);
i2cWrite(MPU6050_ADDRESS, MPU_RA_ZRMOT_DUR, 0x00);
i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0x04); // fifo reset
i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0x00);
i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0xC8); // fifo enable
mpu6050DmpBankSelect(0x01); // bank
i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x6A);
i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 2, "\x06\x00"); // data
mpu6050DmpBankSelect(0x01); // bank
i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x60);
i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 8, "\x00\x00\x00\x00\x00\x00\x00\x00"); // data
mpu6050DmpBankSelect(0x00); // bank
i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x60);
i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 4, "\x40\x00\x00\x00"); // data
}
#else /* MPU6050_DMP */
void mpu6050DmpLoop(void)
{
}
void mpu6050DmpResetFifo(void)
{
}
#endif /* MPU6050_DMP */