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Add MPU6050dmp example code

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Brendan Haines 2014-12-10 11:08:24 -07:00
parent a3460720a5
commit 6276473f88
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427
IMU/I2Cdev.cpp Normal file
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// I2Cdev library collection - Main I2C device class
// Abstracts bit and byte I2C R/W functions into a convenient class
// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
//
// Changelog:
// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
// 2011-10-03 - added automatic Arduino version detection for ease of use
// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default
// 2011-08-02 - added support for 16-bit registers
// - fixed incorrect Doxygen comments on some methods
// - added timeout value for read operations (thanks mem @ Arduino forums)
// 2011-07-30 - changed read/write function structures to return success or byte counts
// - made all methods static for multi-device memory savings
// 2011-07-28 - initial release
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <fcntl.h>
#include <unistd.h>
#include <string.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <linux/i2c-dev.h>
#include "I2Cdev.h"
/** Default constructor.
*/
I2Cdev::I2Cdev() {
}
/** Read a single bit from an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param bitNum Bit position to read (0-7)
* @param data Container for single bit value
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Status of read operation (true = success)
*/
int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
uint8_t b;
uint8_t count = readByte(devAddr, regAddr, &b, timeout);
*data = b & (1 << bitNum);
return count;
}
/** Read a single bit from a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param bitNum Bit position to read (0-15)
* @param data Container for single bit value
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Status of read operation (true = success)
*/
int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) {
uint16_t b;
uint8_t count = readWord(devAddr, regAddr, &b, timeout);
*data = b & (1 << bitNum);
return count;
}
/** Read multiple bits from an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param bitStart First bit position to read (0-7)
* @param length Number of bits to read (not more than 8)
* @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Status of read operation (true = success)
*/
int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) {
// 01101001 read byte
// 76543210 bit numbers
// xxx args: bitStart=4, length=3
// 010 masked
// -> 010 shifted
uint8_t count, b;
if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
b &= mask;
b >>= (bitStart - length + 1);
*data = b;
}
return count;
}
/** Read multiple bits from a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param bitStart First bit position to read (0-15)
* @param length Number of bits to read (not more than 16)
* @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
*/
int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) {
// 1101011001101001 read byte
// fedcba9876543210 bit numbers
// xxx args: bitStart=12, length=3
// 010 masked
// -> 010 shifted
uint8_t count;
uint16_t w;
if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
w &= mask;
w >>= (bitStart - length + 1);
*data = w;
}
return count;
}
/** Read single byte from an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param data Container for byte value read from device
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Status of read operation (true = success)
*/
int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
return readBytes(devAddr, regAddr, 1, data, timeout);
}
/** Read single word from a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param data Container for word value read from device
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Status of read operation (true = success)
*/
int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) {
return readWords(devAddr, regAddr, 1, data, timeout);
}
/** Read multiple bytes from an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr First register regAddr to read from
* @param length Number of bytes to read
* @param data Buffer to store read data in
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Number of bytes read (-1 indicates failure)
*/
int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) {
int8_t count = 0;
int fd = open("/dev/i2c-1", O_RDWR);
if (fd < 0) {
fprintf(stderr, "Failed to open device: %s\n", strerror(errno));
return(-1);
}
if (ioctl(fd, I2C_SLAVE, devAddr) < 0) {
fprintf(stderr, "Failed to select device: %s\n", strerror(errno));
close(fd);
return(-1);
}
if (write(fd, &regAddr, 1) != 1) {
fprintf(stderr, "Failed to write reg: %s\n", strerror(errno));
close(fd);
return(-1);
}
count = read(fd, data, length);
if (count < 0) {
fprintf(stderr, "Failed to read device(%d): %s\n", count, ::strerror(errno));
close(fd);
return(-1);
} else if (count != length) {
fprintf(stderr, "Short read from device, expected %d, got %d\n", length, count);
close(fd);
return(-1);
}
close(fd);
return count;
}
/** Read multiple words from a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr First register regAddr to read from
* @param length Number of words to read
* @param data Buffer to store read data in
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Number of words read (0 indicates failure)
*/
int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) {
int8_t count = 0;
printf("ReadWords() not implemented\n");
// Use readBytes() and potential byteswap
*data = 0; // keep the compiler quiet
return count;
}
/** write a single bit in an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to write to
* @param bitNum Bit position to write (0-7)
* @param value New bit value to write
* @return Status of operation (true = success)
*/
bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
uint8_t b;
readByte(devAddr, regAddr, &b);
b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
return writeByte(devAddr, regAddr, b);
}
/** write a single bit in a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to write to
* @param bitNum Bit position to write (0-15)
* @param value New bit value to write
* @return Status of operation (true = success)
*/
bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
uint16_t w;
readWord(devAddr, regAddr, &w);
w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
return writeWord(devAddr, regAddr, w);
}
/** Write multiple bits in an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to write to
* @param bitStart First bit position to write (0-7)
* @param length Number of bits to write (not more than 8)
* @param data Right-aligned value to write
* @return Status of operation (true = success)
*/
bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
// 010 value to write
// 76543210 bit numbers
// xxx args: bitStart=4, length=3
// 00011100 mask byte
// 10101111 original value (sample)
// 10100011 original & ~mask
// 10101011 masked | value
uint8_t b;
if (readByte(devAddr, regAddr, &b) != 0) {
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
data <<= (bitStart - length + 1); // shift data into correct position
data &= mask; // zero all non-important bits in data
b &= ~(mask); // zero all important bits in existing byte
b |= data; // combine data with existing byte
return writeByte(devAddr, regAddr, b);
} else {
return false;
}
}
/** Write multiple bits in a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to write to
* @param bitStart First bit position to write (0-15)
* @param length Number of bits to write (not more than 16)
* @param data Right-aligned value to write
* @return Status of operation (true = success)
*/
bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
// 010 value to write
// fedcba9876543210 bit numbers
// xxx args: bitStart=12, length=3
// 0001110000000000 mask byte
// 1010111110010110 original value (sample)
// 1010001110010110 original & ~mask
// 1010101110010110 masked | value
uint16_t w;
if (readWord(devAddr, regAddr, &w) != 0) {
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
data <<= (bitStart - length + 1); // shift data into correct position
data &= mask; // zero all non-important bits in data
w &= ~(mask); // zero all important bits in existing word
w |= data; // combine data with existing word
return writeWord(devAddr, regAddr, w);
} else {
return false;
}
}
/** Write single byte to an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register address to write to
* @param data New byte value to write
* @return Status of operation (true = success)
*/
bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
return writeBytes(devAddr, regAddr, 1, &data);
}
/** Write single word to a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register address to write to
* @param data New word value to write
* @return Status of operation (true = success)
*/
bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
return writeWords(devAddr, regAddr, 1, &data);
}
/** Write multiple bytes to an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr First register address to write to
* @param length Number of bytes to write
* @param data Buffer to copy new data from
* @return Status of operation (true = success)
*/
bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) {
int8_t count = 0;
uint8_t buf[128];
int fd;
if (length > 127) {
fprintf(stderr, "Byte write count (%d) > 127\n", length);
return(FALSE);
}
fd = open("/dev/i2c-1", O_RDWR);
if (fd < 0) {
fprintf(stderr, "Failed to open device: %s\n", strerror(errno));
return(FALSE);
}
if (ioctl(fd, I2C_SLAVE, devAddr) < 0) {
fprintf(stderr, "Failed to select device: %s\n", strerror(errno));
close(fd);
return(FALSE);
}
buf[0] = regAddr;
memcpy(buf+1,data,length);
count = write(fd, buf, length+1);
if (count < 0) {
fprintf(stderr, "Failed to write device(%d): %s\n", count, ::strerror(errno));
close(fd);
return(FALSE);
} else if (count != length+1) {
fprintf(stderr, "Short write to device, expected %d, got %d\n", length+1, count);
close(fd);
return(FALSE);
}
close(fd);
return TRUE;
}
/** Write multiple words to a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr First register address to write to
* @param length Number of words to write
* @param data Buffer to copy new data from
* @return Status of operation (true = success)
*/
bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data) {
int8_t count = 0;
uint8_t buf[128];
int i, fd;
// Should do potential byteswap and call writeBytes() really, but that
// messes with the callers buffer
if (length > 63) {
fprintf(stderr, "Word write count (%d) > 63\n", length);
return(FALSE);
}
fd = open("/dev/i2c-1", O_RDWR);
if (fd < 0) {
fprintf(stderr, "Failed to open device: %s\n", strerror(errno));
return(FALSE);
}
if (ioctl(fd, I2C_SLAVE, devAddr) < 0) {
fprintf(stderr, "Failed to select device: %s\n", strerror(errno));
close(fd);
return(FALSE);
}
buf[0] = regAddr;
for (i = 0; i < length; i++) {
buf[i*2+1] = data[i] >> 8;
buf[i*2+2] = data[i];
}
count = write(fd, buf, length*2+1);
if (count < 0) {
fprintf(stderr, "Failed to write device(%d): %s\n", count, ::strerror(errno));
close(fd);
return(FALSE);
} else if (count != length*2+1) {
fprintf(stderr, "Short write to device, expected %d, got %d\n", length+1, count);
close(fd);
return(FALSE);
}
close(fd);
return TRUE;
}
/** Default timeout value for read operations.
* Set this to 0 to disable timeout detection.
*/
uint16_t I2Cdev::readTimeout = 0;

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// I2Cdev library collection - Main I2C device class
// Abstracts bit and byte I2C R/W functions into a convenient class
// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
//
// Changelog:
// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
// 2011-10-03 - added automatic Arduino version detection for ease of use
// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default
// 2011-08-02 - added support for 16-bit registers
// - fixed incorrect Doxygen comments on some methods
// - added timeout value for read operations (thanks mem @ Arduino forums)
// 2011-07-30 - changed read/write function structures to return success or byte counts
// - made all methods static for multi-device memory savings
// 2011-07-28 - initial release
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <fcntl.h>
#include <unistd.h>
#include <string.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <linux/i2c-dev.h>
#include "I2Cdev.h"
/** Default constructor.
*/
I2Cdev::I2Cdev() {
}
/** Read a single bit from an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param bitNum Bit position to read (0-7)
* @param data Container for single bit value
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Status of read operation (true = success)
*/
int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
uint8_t b;
uint8_t count = readByte(devAddr, regAddr, &b, timeout);
*data = b & (1 << bitNum);
return count;
}
/** Read a single bit from a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param bitNum Bit position to read (0-15)
* @param data Container for single bit value
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Status of read operation (true = success)
*/
int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) {
uint16_t b;
uint8_t count = readWord(devAddr, regAddr, &b, timeout);
*data = b & (1 << bitNum);
return count;
}
/** Read multiple bits from an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param bitStart First bit position to read (0-7)
* @param length Number of bits to read (not more than 8)
* @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Status of read operation (true = success)
*/
int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) {
// 01101001 read byte
// 76543210 bit numbers
// xxx args: bitStart=4, length=3
// 010 masked
// -> 010 shifted
uint8_t count, b;
if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
b &= mask;
b >>= (bitStart - length + 1);
*data = b;
}
return count;
}
/** Read multiple bits from a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param bitStart First bit position to read (0-15)
* @param length Number of bits to read (not more than 16)
* @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
*/
int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) {
// 1101011001101001 read byte
// fedcba9876543210 bit numbers
// xxx args: bitStart=12, length=3
// 010 masked
// -> 010 shifted
uint8_t count;
uint16_t w;
if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
w &= mask;
w >>= (bitStart - length + 1);
*data = w;
}
return count;
}
/** Read single byte from an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param data Container for byte value read from device
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Status of read operation (true = success)
*/
int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
return readBytes(devAddr, regAddr, 1, data, timeout);
}
/** Read single word from a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param data Container for word value read from device
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Status of read operation (true = success)
*/
int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) {
return readWords(devAddr, regAddr, 1, data, timeout);
}
/** Read multiple bytes from an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr First register regAddr to read from
* @param length Number of bytes to read
* @param data Buffer to store read data in
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Number of bytes read (-1 indicates failure)
*/
int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) {
int8_t count = 0;
int fd = open("/dev/i2c-1", O_RDWR);
if (fd < 0) {
fprintf(stderr, "Failed to open device: %s\n", strerror(errno));
return(-1);
}
if (ioctl(fd, I2C_SLAVE, devAddr) < 0) {
fprintf(stderr, "Failed to select device: %s\n", strerror(errno));
close(fd);
return(-1);
}
if (write(fd, &regAddr, 1) != 1) {
fprintf(stderr, "Failed to write reg: %s\n", strerror(errno));
close(fd);
return(-1);
}
count = read(fd, data, length);
if (count < 0) {
fprintf(stderr, "Failed to read device(%d): %s\n", count, ::strerror(errno));
close(fd);
return(-1);
} else if (count != length) {
fprintf(stderr, "Short read from device, expected %d, got %d\n", length, count);
close(fd);
return(-1);
}
close(fd);
return count;
}
/** Read multiple words from a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr First register regAddr to read from
* @param length Number of words to read
* @param data Buffer to store read data in
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
* @return Number of words read (0 indicates failure)
*/
int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) {
int8_t count = 0;
printf("ReadWords() not implemented\n");
// Use readBytes() and potential byteswap
*data = 0; // keep the compiler quiet
return count;
}
/** write a single bit in an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to write to
* @param bitNum Bit position to write (0-7)
* @param value New bit value to write
* @return Status of operation (true = success)
*/
bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
uint8_t b;
readByte(devAddr, regAddr, &b);
b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
return writeByte(devAddr, regAddr, b);
}
/** write a single bit in a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to write to
* @param bitNum Bit position to write (0-15)
* @param value New bit value to write
* @return Status of operation (true = success)
*/
bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
uint16_t w;
readWord(devAddr, regAddr, &w);
w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
return writeWord(devAddr, regAddr, w);
}
/** Write multiple bits in an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to write to
* @param bitStart First bit position to write (0-7)
* @param length Number of bits to write (not more than 8)
* @param data Right-aligned value to write
* @return Status of operation (true = success)
*/
bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
// 010 value to write
// 76543210 bit numbers
// xxx args: bitStart=4, length=3
// 00011100 mask byte
// 10101111 original value (sample)
// 10100011 original & ~mask
// 10101011 masked | value
uint8_t b;
if (readByte(devAddr, regAddr, &b) != 0) {
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
data <<= (bitStart - length + 1); // shift data into correct position
data &= mask; // zero all non-important bits in data
b &= ~(mask); // zero all important bits in existing byte
b |= data; // combine data with existing byte
return writeByte(devAddr, regAddr, b);
} else {
return false;
}
}
/** Write multiple bits in a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register regAddr to write to
* @param bitStart First bit position to write (0-15)
* @param length Number of bits to write (not more than 16)
* @param data Right-aligned value to write
* @return Status of operation (true = success)
*/
bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
// 010 value to write
// fedcba9876543210 bit numbers
// xxx args: bitStart=12, length=3
// 0001110000000000 mask byte
// 1010111110010110 original value (sample)
// 1010001110010110 original & ~mask
// 1010101110010110 masked | value
uint16_t w;
if (readWord(devAddr, regAddr, &w) != 0) {
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
data <<= (bitStart - length + 1); // shift data into correct position
data &= mask; // zero all non-important bits in data
w &= ~(mask); // zero all important bits in existing word
w |= data; // combine data with existing word
return writeWord(devAddr, regAddr, w);
} else {
return false;
}
}
/** Write single byte to an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register address to write to
* @param data New byte value to write
* @return Status of operation (true = success)
*/
bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
return writeBytes(devAddr, regAddr, 1, &data);
}
/** Write single word to a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr Register address to write to
* @param data New word value to write
* @return Status of operation (true = success)
*/
bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
return writeWords(devAddr, regAddr, 1, &data);
}
/** Write multiple bytes to an 8-bit device register.
* @param devAddr I2C slave device address
* @param regAddr First register address to write to
* @param length Number of bytes to write
* @param data Buffer to copy new data from
* @return Status of operation (true = success)
*/
bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) {
int8_t count = 0;
uint8_t buf[128];
int fd;
if (length > 127) {
fprintf(stderr, "Byte write count (%d) > 127\n", length);
return(FALSE);
}
fd = open("/dev/i2c-1", O_RDWR);
if (fd < 0) {
fprintf(stderr, "Failed to open device: %s\n", strerror(errno));
return(FALSE);
}
if (ioctl(fd, I2C_SLAVE, devAddr) < 0) {
fprintf(stderr, "Failed to select device: %s\n", strerror(errno));
close(fd);
return(FALSE);
}
buf[0] = regAddr;
memcpy(buf+1,data,length);
count = write(fd, buf, length+1);
if (count < 0) {
fprintf(stderr, "Failed to write device(%d): %s\n", count, ::strerror(errno));
close(fd);
return(FALSE);
} else if (count != length+1) {
fprintf(stderr, "Short write to device, expected %d, got %d\n", length+1, count);
close(fd);
return(FALSE);
}
close(fd);
return TRUE;
}
/** Write multiple words to a 16-bit device register.
* @param devAddr I2C slave device address
* @param regAddr First register address to write to
* @param length Number of words to write
* @param data Buffer to copy new data from
* @return Status of operation (true = success)
*/
bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data) {
int8_t count = 0;
uint8_t buf[128];
int i, fd;
// Should do potential byteswap and call writeBytes() really, but that
// messes with the callers buffer
if (length > 63) {
fprintf(stderr, "Word write count (%d) > 63\n", length);
return(FALSE);
}
fd = open("/dev/i2c-1", O_RDWR);
if (fd < 0) {
fprintf(stderr, "Failed to open device: %s\n", strerror(errno));
return(FALSE);
}
if (ioctl(fd, I2C_SLAVE, devAddr) < 0) {
fprintf(stderr, "Failed to select device: %s\n", strerror(errno));
close(fd);
return(FALSE);
}
buf[0] = regAddr;
for (i = 0; i < length; i++) {
buf[i*2+1] = data[i] >> 8;
buf[i*2+2] = data[i];
}
count = write(fd, buf, length*2+1);
if (count < 0) {
fprintf(stderr, "Failed to write device(%d): %s\n", count, ::strerror(errno));
close(fd);
return(FALSE);
} else if (count != length*2+1) {
fprintf(stderr, "Short write to device, expected %d, got %d\n", length+1, count);
close(fd);
return(FALSE);
}
close(fd);
return TRUE;
}
/** Default timeout value for read operations.
* Set this to 0 to disable timeout detection.
*/
uint16_t I2Cdev::readTimeout = 0;

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// I2Cdev library collection - MPU6050 I2C device class
// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
// ... - ongoing debug release
// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/
#ifndef _MPU6050_H_
#define _MPU6050_H_
#include "I2Cdev.h"
//#include <avr/pgmspace.h>
#define pgm_read_byte(p) (*(uint8_t *)(p))
#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
#define MPU6050_RA_XA_OFFS_L_TC 0x07
#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
#define MPU6050_RA_YA_OFFS_L_TC 0x09
#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
#define MPU6050_RA_XG_OFFS_USRL 0x14
#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
#define MPU6050_RA_YG_OFFS_USRL 0x16
#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
#define MPU6050_RA_ZG_OFFS_USRL 0x18
#define MPU6050_RA_SMPLRT_DIV 0x19
#define MPU6050_RA_CONFIG 0x1A
#define MPU6050_RA_GYRO_CONFIG 0x1B
#define MPU6050_RA_ACCEL_CONFIG 0x1C
#define MPU6050_RA_FF_THR 0x1D
#define MPU6050_RA_FF_DUR 0x1E
#define MPU6050_RA_MOT_THR 0x1F
#define MPU6050_RA_MOT_DUR 0x20
#define MPU6050_RA_ZRMOT_THR 0x21
#define MPU6050_RA_ZRMOT_DUR 0x22
#define MPU6050_RA_FIFO_EN 0x23
#define MPU6050_RA_I2C_MST_CTRL 0x24
#define MPU6050_RA_I2C_SLV0_ADDR 0x25
#define MPU6050_RA_I2C_SLV0_REG 0x26
#define MPU6050_RA_I2C_SLV0_CTRL 0x27
#define MPU6050_RA_I2C_SLV1_ADDR 0x28
#define MPU6050_RA_I2C_SLV1_REG 0x29
#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
#define MPU6050_RA_I2C_SLV2_REG 0x2C
#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
#define MPU6050_RA_I2C_SLV3_REG 0x2F
#define MPU6050_RA_I2C_SLV3_CTRL 0x30
#define MPU6050_RA_I2C_SLV4_ADDR 0x31
#define MPU6050_RA_I2C_SLV4_REG 0x32
#define MPU6050_RA_I2C_SLV4_DO 0x33
#define MPU6050_RA_I2C_SLV4_CTRL 0x34
#define MPU6050_RA_I2C_SLV4_DI 0x35
#define MPU6050_RA_I2C_MST_STATUS 0x36
#define MPU6050_RA_INT_PIN_CFG 0x37
#define MPU6050_RA_INT_ENABLE 0x38
#define MPU6050_RA_DMP_INT_STATUS 0x39
#define MPU6050_RA_INT_STATUS 0x3A
#define MPU6050_RA_ACCEL_XOUT_H 0x3B
#define MPU6050_RA_ACCEL_XOUT_L 0x3C
#define MPU6050_RA_ACCEL_YOUT_H 0x3D
#define MPU6050_RA_ACCEL_YOUT_L 0x3E
#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
#define MPU6050_RA_ACCEL_ZOUT_L 0x40
#define MPU6050_RA_TEMP_OUT_H 0x41
#define MPU6050_RA_TEMP_OUT_L 0x42
#define MPU6050_RA_GYRO_XOUT_H 0x43
#define MPU6050_RA_GYRO_XOUT_L 0x44
#define MPU6050_RA_GYRO_YOUT_H 0x45
#define MPU6050_RA_GYRO_YOUT_L 0x46
#define MPU6050_RA_GYRO_ZOUT_H 0x47
#define MPU6050_RA_GYRO_ZOUT_L 0x48
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
#define MPU6050_RA_MOT_DETECT_STATUS 0x61
#define MPU6050_RA_I2C_SLV0_DO 0x63
#define MPU6050_RA_I2C_SLV1_DO 0x64
#define MPU6050_RA_I2C_SLV2_DO 0x65
#define MPU6050_RA_I2C_SLV3_DO 0x66
#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
#define MPU6050_RA_MOT_DETECT_CTRL 0x69
#define MPU6050_RA_USER_CTRL 0x6A
#define MPU6050_RA_PWR_MGMT_1 0x6B
#define MPU6050_RA_PWR_MGMT_2 0x6C
#define MPU6050_RA_BANK_SEL 0x6D
#define MPU6050_RA_MEM_START_ADDR 0x6E
#define MPU6050_RA_MEM_R_W 0x6F
#define MPU6050_RA_DMP_CFG_1 0x70
#define MPU6050_RA_DMP_CFG_2 0x71
#define MPU6050_RA_FIFO_COUNTH 0x72
#define MPU6050_RA_FIFO_COUNTL 0x73
#define MPU6050_RA_FIFO_R_W 0x74
#define MPU6050_RA_WHO_AM_I 0x75
#define MPU6050_TC_PWR_MODE_BIT 7
#define MPU6050_TC_OFFSET_BIT 6
#define MPU6050_TC_OFFSET_LENGTH 6
#define MPU6050_TC_OTP_BNK_VLD_BIT 0
#define MPU6050_VDDIO_LEVEL_VLOGIC 0
#define MPU6050_VDDIO_LEVEL_VDD 1
#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
#define MPU6050_CFG_DLPF_CFG_BIT 2
#define MPU6050_CFG_DLPF_CFG_LENGTH 3
#define MPU6050_EXT_SYNC_DISABLED 0x0
#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
#define MPU6050_DLPF_BW_256 0x00
#define MPU6050_DLPF_BW_188 0x01
#define MPU6050_DLPF_BW_98 0x02
#define MPU6050_DLPF_BW_42 0x03
#define MPU6050_DLPF_BW_20 0x04
#define MPU6050_DLPF_BW_10 0x05
#define MPU6050_DLPF_BW_5 0x06
#define MPU6050_GCONFIG_FS_SEL_BIT 4
#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
#define MPU6050_GYRO_FS_250 0x00
#define MPU6050_GYRO_FS_500 0x01
#define MPU6050_GYRO_FS_1000 0x02
#define MPU6050_GYRO_FS_2000 0x03
#define MPU6050_ACONFIG_XA_ST_BIT 7
#define MPU6050_ACONFIG_YA_ST_BIT 6
#define MPU6050_ACONFIG_ZA_ST_BIT 5
#define MPU6050_ACONFIG_AFS_SEL_BIT 4
#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
#define MPU6050_ACCEL_FS_2 0x00
#define MPU6050_ACCEL_FS_4 0x01
#define MPU6050_ACCEL_FS_8 0x02
#define MPU6050_ACCEL_FS_16 0x03
#define MPU6050_DHPF_RESET 0x00
#define MPU6050_DHPF_5 0x01
#define MPU6050_DHPF_2P5 0x02
#define MPU6050_DHPF_1P25 0x03
#define MPU6050_DHPF_0P63 0x04
#define MPU6050_DHPF_HOLD 0x07
#define MPU6050_TEMP_FIFO_EN_BIT 7
#define MPU6050_XG_FIFO_EN_BIT 6
#define MPU6050_YG_FIFO_EN_BIT 5
#define MPU6050_ZG_FIFO_EN_BIT 4
#define MPU6050_ACCEL_FIFO_EN_BIT 3
#define MPU6050_SLV2_FIFO_EN_BIT 2
#define MPU6050_SLV1_FIFO_EN_BIT 1
#define MPU6050_SLV0_FIFO_EN_BIT 0
#define MPU6050_MULT_MST_EN_BIT 7
#define MPU6050_WAIT_FOR_ES_BIT 6
#define MPU6050_SLV_3_FIFO_EN_BIT 5
#define MPU6050_I2C_MST_P_NSR_BIT 4
#define MPU6050_I2C_MST_CLK_BIT 3
#define MPU6050_I2C_MST_CLK_LENGTH 4
#define MPU6050_CLOCK_DIV_348 0x0
#define MPU6050_CLOCK_DIV_333 0x1
#define MPU6050_CLOCK_DIV_320 0x2
#define MPU6050_CLOCK_DIV_308 0x3
#define MPU6050_CLOCK_DIV_296 0x4
#define MPU6050_CLOCK_DIV_286 0x5
#define MPU6050_CLOCK_DIV_276 0x6
#define MPU6050_CLOCK_DIV_267 0x7
#define MPU6050_CLOCK_DIV_258 0x8
#define MPU6050_CLOCK_DIV_500 0x9
#define MPU6050_CLOCK_DIV_471 0xA
#define MPU6050_CLOCK_DIV_444 0xB
#define MPU6050_CLOCK_DIV_421 0xC
#define MPU6050_CLOCK_DIV_400 0xD
#define MPU6050_CLOCK_DIV_381 0xE
#define MPU6050_CLOCK_DIV_364 0xF
#define MPU6050_I2C_SLV_RW_BIT 7
#define MPU6050_I2C_SLV_ADDR_BIT 6
#define MPU6050_I2C_SLV_ADDR_LENGTH 7
#define MPU6050_I2C_SLV_EN_BIT 7
#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
#define MPU6050_I2C_SLV_REG_DIS_BIT 5
#define MPU6050_I2C_SLV_GRP_BIT 4
#define MPU6050_I2C_SLV_LEN_BIT 3
#define MPU6050_I2C_SLV_LEN_LENGTH 4
#define MPU6050_I2C_SLV4_RW_BIT 7
#define MPU6050_I2C_SLV4_ADDR_BIT 6
#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
#define MPU6050_I2C_SLV4_EN_BIT 7
#define MPU6050_I2C_SLV4_INT_EN_BIT 6
#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
#define MPU6050_MST_PASS_THROUGH_BIT 7
#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
#define MPU6050_MST_I2C_LOST_ARB_BIT 5
#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
#define MPU6050_MST_I2C_SLV0_NACK_BIT 0
#define MPU6050_INTCFG_INT_LEVEL_BIT 7
#define MPU6050_INTCFG_INT_OPEN_BIT 6
#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
#define MPU6050_INTCFG_CLKOUT_EN_BIT 0
#define MPU6050_INTMODE_ACTIVEHIGH 0x00
#define MPU6050_INTMODE_ACTIVELOW 0x01
#define MPU6050_INTDRV_PUSHPULL 0x00
#define MPU6050_INTDRV_OPENDRAIN 0x01
#define MPU6050_INTLATCH_50USPULSE 0x00
#define MPU6050_INTLATCH_WAITCLEAR 0x01
#define MPU6050_INTCLEAR_STATUSREAD 0x00
#define MPU6050_INTCLEAR_ANYREAD 0x01
#define MPU6050_INTERRUPT_FF_BIT 7
#define MPU6050_INTERRUPT_MOT_BIT 6
#define MPU6050_INTERRUPT_ZMOT_BIT 5
#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
#define MPU6050_INTERRUPT_DMP_INT_BIT 1
#define MPU6050_INTERRUPT_DATA_RDY_BIT 0
// TODO: figure out what these actually do
// UMPL source code is not very obivous
#define MPU6050_DMPINT_5_BIT 5
#define MPU6050_DMPINT_4_BIT 4
#define MPU6050_DMPINT_3_BIT 3
#define MPU6050_DMPINT_2_BIT 2
#define MPU6050_DMPINT_1_BIT 1
#define MPU6050_DMPINT_0_BIT 0
#define MPU6050_MOTION_MOT_XNEG_BIT 7
#define MPU6050_MOTION_MOT_XPOS_BIT 6
#define MPU6050_MOTION_MOT_YNEG_BIT 5
#define MPU6050_MOTION_MOT_YPOS_BIT 4
#define MPU6050_MOTION_MOT_ZNEG_BIT 3
#define MPU6050_MOTION_MOT_ZPOS_BIT 2
#define MPU6050_MOTION_MOT_ZRMOT_BIT 0
#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
#define MPU6050_PATHRESET_TEMP_RESET_BIT 0
#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
#define MPU6050_DETECT_FF_COUNT_BIT 3
#define MPU6050_DETECT_FF_COUNT_LENGTH 2
#define MPU6050_DETECT_MOT_COUNT_BIT 1
#define MPU6050_DETECT_MOT_COUNT_LENGTH 2
#define MPU6050_DETECT_DECREMENT_RESET 0x0
#define MPU6050_DETECT_DECREMENT_1 0x1
#define MPU6050_DETECT_DECREMENT_2 0x2
#define MPU6050_DETECT_DECREMENT_4 0x3
#define MPU6050_USERCTRL_DMP_EN_BIT 7
#define MPU6050_USERCTRL_FIFO_EN_BIT 6
#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
#define MPU6050_USERCTRL_DMP_RESET_BIT 3
#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
#define MPU6050_PWR1_DEVICE_RESET_BIT 7
#define MPU6050_PWR1_SLEEP_BIT 6
#define MPU6050_PWR1_CYCLE_BIT 5
#define MPU6050_PWR1_TEMP_DIS_BIT 3
#define MPU6050_PWR1_CLKSEL_BIT 2
#define MPU6050_PWR1_CLKSEL_LENGTH 3
#define MPU6050_CLOCK_INTERNAL 0x00
#define MPU6050_CLOCK_PLL_XGYRO 0x01
#define MPU6050_CLOCK_PLL_YGYRO 0x02
#define MPU6050_CLOCK_PLL_ZGYRO 0x03
#define MPU6050_CLOCK_PLL_EXT32K 0x04
#define MPU6050_CLOCK_PLL_EXT19M 0x05
#define MPU6050_CLOCK_KEEP_RESET 0x07
#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
#define MPU6050_PWR2_STBY_XA_BIT 5
#define MPU6050_PWR2_STBY_YA_BIT 4
#define MPU6050_PWR2_STBY_ZA_BIT 3
#define MPU6050_PWR2_STBY_XG_BIT 2
#define MPU6050_PWR2_STBY_YG_BIT 1
#define MPU6050_PWR2_STBY_ZG_BIT 0
#define MPU6050_WAKE_FREQ_1P25 0x0
#define MPU6050_WAKE_FREQ_2P5 0x1
#define MPU6050_WAKE_FREQ_5 0x2
#define MPU6050_WAKE_FREQ_10 0x3
#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
#define MPU6050_BANKSEL_MEM_SEL_BIT 4
#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
#define MPU6050_WHO_AM_I_BIT 6
#define MPU6050_WHO_AM_I_LENGTH 6
#define MPU6050_DMP_MEMORY_BANKS 8
#define MPU6050_DMP_MEMORY_BANK_SIZE 256
#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
// note: DMP code memory blocks defined at end of header file
class MPU6050 {
public:
MPU6050();
MPU6050(uint8_t address);
void initialize();
bool testConnection();
// AUX_VDDIO register
uint8_t getAuxVDDIOLevel();
void setAuxVDDIOLevel(uint8_t level);
// SMPLRT_DIV register
uint8_t getRate();
void setRate(uint8_t rate);
// CONFIG register
uint8_t getExternalFrameSync();
void setExternalFrameSync(uint8_t sync);
uint8_t getDLPFMode();
void setDLPFMode(uint8_t bandwidth);
// GYRO_CONFIG register
uint8_t getFullScaleGyroRange();
void setFullScaleGyroRange(uint8_t range);
// ACCEL_CONFIG register
bool getAccelXSelfTest();
void setAccelXSelfTest(bool enabled);
bool getAccelYSelfTest();
void setAccelYSelfTest(bool enabled);
bool getAccelZSelfTest();
void setAccelZSelfTest(bool enabled);
uint8_t getFullScaleAccelRange();
void setFullScaleAccelRange(uint8_t range);
uint8_t getDHPFMode();
void setDHPFMode(uint8_t mode);
// FF_THR register
uint8_t getFreefallDetectionThreshold();
void setFreefallDetectionThreshold(uint8_t threshold);
// FF_DUR register
uint8_t getFreefallDetectionDuration();
void setFreefallDetectionDuration(uint8_t duration);
// MOT_THR register
uint8_t getMotionDetectionThreshold();
void setMotionDetectionThreshold(uint8_t threshold);
// MOT_DUR register
uint8_t getMotionDetectionDuration();
void setMotionDetectionDuration(uint8_t duration);
// ZRMOT_THR register
uint8_t getZeroMotionDetectionThreshold();
void setZeroMotionDetectionThreshold(uint8_t threshold);
// ZRMOT_DUR register
uint8_t getZeroMotionDetectionDuration();
void setZeroMotionDetectionDuration(uint8_t duration);
// FIFO_EN register
bool getTempFIFOEnabled();
void setTempFIFOEnabled(bool enabled);
bool getXGyroFIFOEnabled();
void setXGyroFIFOEnabled(bool enabled);
bool getYGyroFIFOEnabled();
void setYGyroFIFOEnabled(bool enabled);
bool getZGyroFIFOEnabled();
void setZGyroFIFOEnabled(bool enabled);
bool getAccelFIFOEnabled();
void setAccelFIFOEnabled(bool enabled);
bool getSlave2FIFOEnabled();
void setSlave2FIFOEnabled(bool enabled);
bool getSlave1FIFOEnabled();
void setSlave1FIFOEnabled(bool enabled);
bool getSlave0FIFOEnabled();
void setSlave0FIFOEnabled(bool enabled);
// I2C_MST_CTRL register
bool getMultiMasterEnabled();
void setMultiMasterEnabled(bool enabled);
bool getWaitForExternalSensorEnabled();
void setWaitForExternalSensorEnabled(bool enabled);
bool getSlave3FIFOEnabled();
void setSlave3FIFOEnabled(bool enabled);
bool getSlaveReadWriteTransitionEnabled();
void setSlaveReadWriteTransitionEnabled(bool enabled);
uint8_t getMasterClockSpeed();
void setMasterClockSpeed(uint8_t speed);
// I2C_SLV* registers (Slave 0-3)
uint8_t getSlaveAddress(uint8_t num);
void setSlaveAddress(uint8_t num, uint8_t address);
uint8_t getSlaveRegister(uint8_t num);
void setSlaveRegister(uint8_t num, uint8_t reg);
bool getSlaveEnabled(uint8_t num);
void setSlaveEnabled(uint8_t num, bool enabled);
bool getSlaveWordByteSwap(uint8_t num);
void setSlaveWordByteSwap(uint8_t num, bool enabled);
bool getSlaveWriteMode(uint8_t num);
void setSlaveWriteMode(uint8_t num, bool mode);
bool getSlaveWordGroupOffset(uint8_t num);
void setSlaveWordGroupOffset(uint8_t num, bool enabled);
uint8_t getSlaveDataLength(uint8_t num);
void setSlaveDataLength(uint8_t num, uint8_t length);
// I2C_SLV* registers (Slave 4)
uint8_t getSlave4Address();
void setSlave4Address(uint8_t address);
uint8_t getSlave4Register();
void setSlave4Register(uint8_t reg);
void setSlave4OutputByte(uint8_t data);
bool getSlave4Enabled();
void setSlave4Enabled(bool enabled);
bool getSlave4InterruptEnabled();
void setSlave4InterruptEnabled(bool enabled);
bool getSlave4WriteMode();
void setSlave4WriteMode(bool mode);
uint8_t getSlave4MasterDelay();
void setSlave4MasterDelay(uint8_t delay);
uint8_t getSlate4InputByte();
// I2C_MST_STATUS register
bool getPassthroughStatus();
bool getSlave4IsDone();
bool getLostArbitration();
bool getSlave4Nack();
bool getSlave3Nack();
bool getSlave2Nack();
bool getSlave1Nack();
bool getSlave0Nack();
// INT_PIN_CFG register
bool getInterruptMode();
void setInterruptMode(bool mode);
bool getInterruptDrive();
void setInterruptDrive(bool drive);
bool getInterruptLatch();
void setInterruptLatch(bool latch);
bool getInterruptLatchClear();
void setInterruptLatchClear(bool clear);
bool getFSyncInterruptLevel();
void setFSyncInterruptLevel(bool level);
bool getFSyncInterruptEnabled();
void setFSyncInterruptEnabled(bool enabled);
bool getI2CBypassEnabled();
void setI2CBypassEnabled(bool enabled);
bool getClockOutputEnabled();
void setClockOutputEnabled(bool enabled);
// INT_ENABLE register
uint8_t getIntEnabled();
void setIntEnabled(uint8_t enabled);
bool getIntFreefallEnabled();
void setIntFreefallEnabled(bool enabled);
bool getIntMotionEnabled();
void setIntMotionEnabled(bool enabled);
bool getIntZeroMotionEnabled();
void setIntZeroMotionEnabled(bool enabled);
bool getIntFIFOBufferOverflowEnabled();
void setIntFIFOBufferOverflowEnabled(bool enabled);
bool getIntI2CMasterEnabled();
void setIntI2CMasterEnabled(bool enabled);
bool getIntDataReadyEnabled();
void setIntDataReadyEnabled(bool enabled);
// INT_STATUS register
uint8_t getIntStatus();
bool getIntFreefallStatus();
bool getIntMotionStatus();
bool getIntZeroMotionStatus();
bool getIntFIFOBufferOverflowStatus();
bool getIntI2CMasterStatus();
bool getIntDataReadyStatus();
// ACCEL_*OUT_* registers
void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz);
void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
int16_t getAccelerationX();
int16_t getAccelerationY();
int16_t getAccelerationZ();
// TEMP_OUT_* registers
int16_t getTemperature();
// GYRO_*OUT_* registers
void getRotation(int16_t* x, int16_t* y, int16_t* z);
int16_t getRotationX();
int16_t getRotationY();
int16_t getRotationZ();
// EXT_SENS_DATA_* registers
uint8_t getExternalSensorByte(int position);
uint16_t getExternalSensorWord(int position);
uint32_t getExternalSensorDWord(int position);
// MOT_DETECT_STATUS register
bool getXNegMotionDetected();
bool getXPosMotionDetected();
bool getYNegMotionDetected();
bool getYPosMotionDetected();
bool getZNegMotionDetected();
bool getZPosMotionDetected();
bool getZeroMotionDetected();
// I2C_SLV*_DO register
void setSlaveOutputByte(uint8_t num, uint8_t data);
// I2C_MST_DELAY_CTRL register
bool getExternalShadowDelayEnabled();
void setExternalShadowDelayEnabled(bool enabled);
bool getSlaveDelayEnabled(uint8_t num);
void setSlaveDelayEnabled(uint8_t num, bool enabled);
// SIGNAL_PATH_RESET register
void resetGyroscopePath();
void resetAccelerometerPath();
void resetTemperaturePath();
// MOT_DETECT_CTRL register
uint8_t getAccelerometerPowerOnDelay();
void setAccelerometerPowerOnDelay(uint8_t delay);
uint8_t getFreefallDetectionCounterDecrement();
void setFreefallDetectionCounterDecrement(uint8_t decrement);
uint8_t getMotionDetectionCounterDecrement();
void setMotionDetectionCounterDecrement(uint8_t decrement);
// USER_CTRL register
bool getFIFOEnabled();
void setFIFOEnabled(bool enabled);
bool getI2CMasterModeEnabled();
void setI2CMasterModeEnabled(bool enabled);
void switchSPIEnabled(bool enabled);
void resetFIFO();
void resetI2CMaster();
void resetSensors();
// PWR_MGMT_1 register
void reset();
bool getSleepEnabled();
void setSleepEnabled(bool enabled);
bool getWakeCycleEnabled();
void setWakeCycleEnabled(bool enabled);
bool getTempSensorEnabled();
void setTempSensorEnabled(bool enabled);
uint8_t getClockSource();
void setClockSource(uint8_t source);
// PWR_MGMT_2 register
uint8_t getWakeFrequency();
void setWakeFrequency(uint8_t frequency);
bool getStandbyXAccelEnabled();
void setStandbyXAccelEnabled(bool enabled);
bool getStandbyYAccelEnabled();
void setStandbyYAccelEnabled(bool enabled);
bool getStandbyZAccelEnabled();
void setStandbyZAccelEnabled(bool enabled);
bool getStandbyXGyroEnabled();
void setStandbyXGyroEnabled(bool enabled);
bool getStandbyYGyroEnabled();
void setStandbyYGyroEnabled(bool enabled);
bool getStandbyZGyroEnabled();
void setStandbyZGyroEnabled(bool enabled);
// FIFO_COUNT_* registers
uint16_t getFIFOCount();
// FIFO_R_W register
uint8_t getFIFOByte();
void setFIFOByte(uint8_t data);
void getFIFOBytes(uint8_t *data, uint8_t length);
// WHO_AM_I register
uint8_t getDeviceID();
void setDeviceID(uint8_t id);
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
// XG_OFFS_TC register
uint8_t getOTPBankValid();
void setOTPBankValid(bool enabled);
int8_t getXGyroOffset();
void setXGyroOffset(int8_t offset);
// YG_OFFS_TC register
int8_t getYGyroOffset();
void setYGyroOffset(int8_t offset);
// ZG_OFFS_TC register
int8_t getZGyroOffset();
void setZGyroOffset(int8_t offset);
// X_FINE_GAIN register
int8_t getXFineGain();
void setXFineGain(int8_t gain);
// Y_FINE_GAIN register
int8_t getYFineGain();
void setYFineGain(int8_t gain);
// Z_FINE_GAIN register
int8_t getZFineGain();
void setZFineGain(int8_t gain);
// XA_OFFS_* registers
int16_t getXAccelOffset();
void setXAccelOffset(int16_t offset);
// YA_OFFS_* register
int16_t getYAccelOffset();
void setYAccelOffset(int16_t offset);
// ZA_OFFS_* register
int16_t getZAccelOffset();
void setZAccelOffset(int16_t offset);
// XG_OFFS_USR* registers
int16_t getXGyroOffsetUser();
void setXGyroOffsetUser(int16_t offset);
// YG_OFFS_USR* register
int16_t getYGyroOffsetUser();
void setYGyroOffsetUser(int16_t offset);
// ZG_OFFS_USR* register
int16_t getZGyroOffsetUser();
void setZGyroOffsetUser(int16_t offset);
// INT_ENABLE register (DMP functions)
bool getIntPLLReadyEnabled();
void setIntPLLReadyEnabled(bool enabled);
bool getIntDMPEnabled();
void setIntDMPEnabled(bool enabled);
// DMP_INT_STATUS
bool getDMPInt5Status();
bool getDMPInt4Status();
bool getDMPInt3Status();
bool getDMPInt2Status();
bool getDMPInt1Status();
bool getDMPInt0Status();
// INT_STATUS register (DMP functions)
bool getIntPLLReadyStatus();
bool getIntDMPStatus();
// USER_CTRL register (DMP functions)
bool getDMPEnabled();
void setDMPEnabled(bool enabled);
void resetDMP();
// BANK_SEL register
void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
// MEM_START_ADDR register
void setMemoryStartAddress(uint8_t address);
// MEM_R_W register
uint8_t readMemoryByte();
void writeMemoryByte(uint8_t data);
void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false);
bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
// DMP_CFG_1 register
uint8_t getDMPConfig1();
void setDMPConfig1(uint8_t config);
// DMP_CFG_2 register
uint8_t getDMPConfig2();
void setDMPConfig2(uint8_t config);
// special methods for MotionApps 2.0 implementation
#ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
uint8_t *dmpPacketBuffer;
uint16_t dmpPacketSize;
uint8_t dmpInitialize();
bool dmpPacketAvailable();
uint8_t dmpSetFIFORate(uint8_t fifoRate);
uint8_t dmpGetFIFORate();
uint8_t dmpGetSampleStepSizeMS();
uint8_t dmpGetSampleFrequency();
int32_t dmpDecodeTemperature(int8_t tempReg);
// Register callbacks after a packet of FIFO data is processed
//uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
uint8_t dmpRunFIFORateProcesses();
// Setup FIFO for various output
uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
// Get Fixed Point data from FIFO
uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetEuler(float *data, Quaternion *q);
uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
// Get Floating Point data from FIFO
uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
uint8_t dmpInitFIFOParam();
uint8_t dmpCloseFIFO();
uint8_t dmpSetGyroDataSource(uint8_t source);
uint8_t dmpDecodeQuantizedAccel();
uint32_t dmpGetGyroSumOfSquare();
uint32_t dmpGetAccelSumOfSquare();
void dmpOverrideQuaternion(long *q);
uint16_t dmpGetFIFOPacketSize();
#endif
// special methods for MotionApps 4.1 implementation
#ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
uint8_t *dmpPacketBuffer;
uint16_t dmpPacketSize;
uint8_t dmpInitialize();
bool dmpPacketAvailable();
uint8_t dmpSetFIFORate(uint8_t fifoRate);
uint8_t dmpGetFIFORate();
uint8_t dmpGetSampleStepSizeMS();
uint8_t dmpGetSampleFrequency();
int32_t dmpDecodeTemperature(int8_t tempReg);
// Register callbacks after a packet of FIFO data is processed
//uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
uint8_t dmpRunFIFORateProcesses();
// Setup FIFO for various output
uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
// Get Fixed Point data from FIFO
uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0);
uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
uint8_t dmpGetEuler(float *data, Quaternion *q);
uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
// Get Floating Point data from FIFO
uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
uint8_t dmpInitFIFOParam();
uint8_t dmpCloseFIFO();
uint8_t dmpSetGyroDataSource(uint8_t source);
uint8_t dmpDecodeQuantizedAccel();
uint32_t dmpGetGyroSumOfSquare();
uint32_t dmpGetAccelSumOfSquare();
void dmpOverrideQuaternion(long *q);
uint16_t dmpGetFIFOPacketSize();
#endif
private:
uint8_t devAddr;
uint8_t buffer[14];
};
#endif /* _MPU6050_H_ */

709
IMU/MPU6050_6Axis_MotionApps20.h Normal file
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@ -0,0 +1,709 @@
// I2Cdev library collection - MPU6050 I2C device class, 6-axis MotionApps 2.0 implementation
// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
// 6/18/2012 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
// ... - ongoing debug release
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/
#ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
#define _MPU6050_6AXIS_MOTIONAPPS20_H_
#include "I2Cdev.h"
#include "helper_3dmath.h"
// MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board
#define MPU6050_INCLUDE_DMP_MOTIONAPPS20
#include "MPU6050.h"
//#include <avr/pgmspace.h>
/* Source is from the InvenSense MotionApps v2 demo code. Original source is
* unavailable, unless you happen to be amazing as decompiling binary by
* hand (in which case, please contact me, and I'm totally serious).
*
* Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
* DMP reverse-engineering he did to help make this bit of wizardry
* possible.
*/
// NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
// Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
// after moving string constants to flash memory storage using the F()
// compiler macro (Arduino IDE 1.0+ required).
//#define DEBUG
#ifdef DEBUG
#define DEBUG_PRINT(x) Serial.print(x)
#define DEBUG_PRINTF(x, y) Serial.print(x, y)
#define DEBUG_PRINTLN(x) Serial.println(x)
#define DEBUG_PRINTLNF(x, y) Serial.println(x, y)
#else
#define DEBUG_PRINT(x)
#define DEBUG_PRINTF(x, y)
#define DEBUG_PRINTLN(x)
#define DEBUG_PRINTLNF(x, y)
#endif
#define MPU6050_DMP_CODE_SIZE 1929 // dmpMemory[]
#define MPU6050_DMP_CONFIG_SIZE 192 // dmpConfig[]
#define MPU6050_DMP_UPDATES_SIZE 47 // dmpUpdates[]
/* ================================================================================================ *
| Default MotionApps v2.0 42-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 |
| |
| [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 |
* ================================================================================================ */
#define prog_uchar uint8_t
#define PROGMEM
// this block of memory gets written to the MPU on start-up, and it seems
// to be volatile memory, so it has to be done each time (it only takes ~1
// second though)
const prog_uchar dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
// bank 0, 256 bytes
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,
// bank 1, 256 bytes
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,
// bank 2, 256 bytes
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,
// bank 3, 256 bytes
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,
// bank 4, 256 bytes
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,
// bank 5, 256 bytes
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,
// bank 6, 256 bytes
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,
// bank 7, 138 bytes (remainder)
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 FIFO update rate: 0x09 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 the FIFO output at the desired rate. Handling FIFO overflow
// cleanly is also a good idea. thanks to Noah Zerkin for piecing this stuff
// together!
#ifndef DMP_FIFO_RATE
#define DMP_FIFO_RATE 1
#endif
const prog_uchar dmpConfig[MPU6050_DMP_CONFIG_SIZE] PROGMEM = {
// BANK OFFSET LENGTH [DATA]
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
// SPECIAL 0x01 = enable interrupts
0x00, 0x00, 0x00, 0x01, // SET INT_ENABLE at i=22, SPECIAL INSTRUCTION
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, DMP_FIFO_RATE // D_0_22 inv_set_fifo_rate
};
const prog_uchar dmpUpdates[MPU6050_DMP_UPDATES_SIZE] PROGMEM = {
0x01, 0xB2, 0x02, 0xFF, 0xFF,
0x01, 0x90, 0x04, 0x09, 0x23, 0xA1, 0x35,
0x01, 0x6A, 0x02, 0x06, 0x00,
0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
0x01, 0x62, 0x02, 0x00, 0x00,
0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00
};
uint8_t MPU6050::dmpInitialize() {
// reset device
DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
reset();
usleep(30000); // wait after reset
// enable sleep mode and wake cycle
/*Serial.println(F("Enabling sleep mode..."));
setSleepEnabled(true);
Serial.println(F("Enabling wake cycle..."));
setWakeCycleEnabled(true);*/
// disable sleep mode
DEBUG_PRINTLN(F("Disabling sleep mode..."));
setSleepEnabled(false);
// get MPU hardware revision
DEBUG_PRINTLN(F("Selecting user bank 16..."));
setMemoryBank(0x10, true, true);
DEBUG_PRINTLN(F("Selecting memory byte 6..."));
setMemoryStartAddress(0x06);
DEBUG_PRINTLN(F("Checking hardware revision..."));
uint8_t hwRevision __attribute__((__unused__)) = readMemoryByte();
DEBUG_PRINT(F("Revision @ user[16][6] = "));
DEBUG_PRINTLNF(hwRevision, HEX);
DEBUG_PRINTLN(F("Resetting memory bank selection to 0..."));
setMemoryBank(0, false, false);
// check OTP bank valid
DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
uint8_t otpValid __attribute__((__unused__)) = getOTPBankValid();
DEBUG_PRINT(F("OTP bank is "));
DEBUG_PRINTLN(otpValid ? F("valid!") : F("invalid!"));
// get X/Y/Z gyro offsets
DEBUG_PRINTLN(F("Reading gyro offset values..."));
int8_t xgOffset = getXGyroOffset();
int8_t ygOffset = getYGyroOffset();
int8_t zgOffset = getZGyroOffset();
DEBUG_PRINT(F("X gyro offset = "));
DEBUG_PRINTLN(xgOffset);
DEBUG_PRINT(F("Y gyro offset = "));
DEBUG_PRINTLN(ygOffset);
DEBUG_PRINT(F("Z gyro offset = "));
DEBUG_PRINTLN(zgOffset);
// setup weird slave stuff (?)
DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
setSlaveAddress(0, 0x7F);
DEBUG_PRINTLN(F("Disabling I2C Master mode..."));
setI2CMasterModeEnabled(false);
DEBUG_PRINTLN(F("Setting slave 0 address to 0x68 (self)..."));
setSlaveAddress(0, 0x68);
DEBUG_PRINTLN(F("Resetting I2C Master control..."));
resetI2CMaster();
usleep(20000);
// load DMP code into memory banks
DEBUG_PRINT(F("Writing DMP code to MPU memory banks ("));
DEBUG_PRINT(MPU6050_DMP_CODE_SIZE);
DEBUG_PRINTLN(F(" bytes)"));
if (writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) {
printf("Success! DMP code written and verified.\n");
// write DMP configuration
DEBUG_PRINT(F("Writing DMP configuration to MPU memory banks ("));
DEBUG_PRINT(MPU6050_DMP_CONFIG_SIZE);
DEBUG_PRINTLN(F(" bytes in config def)"));
if (writeProgDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) {
printf("Success! DMP configuration written and verified.\n");
DEBUG_PRINTLN(F("Setting clock source to Z Gyro..."));
setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
DEBUG_PRINTLN(F("Setting DMP and FIFO_OFLOW interrupts enabled..."));
setIntEnabled(0x12);
DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
setRate(4); // 1khz / (1 + 4) = 200 Hz
DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
DEBUG_PRINTLN(F("Setting DLPF bandwidth to 42Hz..."));
setDLPFMode(MPU6050_DLPF_BW_42);
DEBUG_PRINTLN(F("Setting gyro sensitivity to +/- 2000 deg/sec..."));
setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
DEBUG_PRINTLN(F("Setting DMP configuration bytes (function unknown)..."));
setDMPConfig1(0x03);
setDMPConfig2(0x00);
DEBUG_PRINTLN(F("Clearing OTP Bank flag..."));
setOTPBankValid(false);
DEBUG_PRINTLN(F("Setting X/Y/Z gyro offsets to previous values..."));
setXGyroOffset(xgOffset);
setYGyroOffset(ygOffset);
setZGyroOffset(zgOffset);
DEBUG_PRINTLN(F("Setting X/Y/Z gyro user offsets to zero..."));
setXGyroOffsetUser(0);
setYGyroOffsetUser(0);
setZGyroOffsetUser(0);
DEBUG_PRINTLN(F("Writing final memory update 1/7 (function unknown)..."));
uint8_t dmpUpdate[16], j;
uint16_t pos = 0;
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
DEBUG_PRINTLN(F("Writing final memory update 2/7 (function unknown)..."));
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
DEBUG_PRINTLN(F("Resetting FIFO..."));
resetFIFO();
DEBUG_PRINTLN(F("Reading FIFO count..."));
uint8_t fifoCount = getFIFOCount();
uint8_t fifoBuffer[128];
printf("Current FIFO count=%d\n", fifoCount);
DEBUG_PRINTLN(fifoCount);
if (fifoCount > 0)
getFIFOBytes(fifoBuffer, fifoCount);
DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
setMotionDetectionThreshold(2);
DEBUG_PRINTLN(F("Setting zero-motion detection threshold to 156..."));
setZeroMotionDetectionThreshold(156);
DEBUG_PRINTLN(F("Setting motion detection duration to 80..."));
setMotionDetectionDuration(80);
DEBUG_PRINTLN(F("Setting zero-motion detection duration to 0..."));
setZeroMotionDetectionDuration(0);
DEBUG_PRINTLN(F("Resetting FIFO..."));
resetFIFO();
DEBUG_PRINTLN(F("Enabling FIFO..."));
setFIFOEnabled(true);
DEBUG_PRINTLN(F("Enabling DMP..."));
setDMPEnabled(true);
DEBUG_PRINTLN(F("Resetting DMP..."));
resetDMP();
DEBUG_PRINTLN(F("Writing final memory update 3/7 (function unknown)..."));
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
DEBUG_PRINTLN(F("Writing final memory update 4/7 (function unknown)..."));
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
DEBUG_PRINTLN(F("Writing final memory update 5/7 (function unknown)..."));
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
printf("Waiting for FIFO count > 2...\n");
while ((fifoCount = getFIFOCount()) < 3);
printf("Current FIFO count=%d",fifoCount);
DEBUG_PRINTLN(fifoCount);
DEBUG_PRINTLN(F("Reading FIFO data..."));
getFIFOBytes(fifoBuffer, fifoCount);
DEBUG_PRINTLN(F("Reading interrupt status..."));
uint8_t mpuIntStatus __attribute__((__unused__)) = getIntStatus();
DEBUG_PRINT(F("Current interrupt status="));
DEBUG_PRINTLNF(mpuIntStatus, HEX);
DEBUG_PRINTLN(F("Reading final memory update 6/7 (function unknown)..."));
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
readMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
while ((fifoCount = getFIFOCount()) < 3);
DEBUG_PRINT(F("Current FIFO count="));
DEBUG_PRINTLN(fifoCount);
DEBUG_PRINTLN(F("Reading FIFO data..."));
getFIFOBytes(fifoBuffer, fifoCount);
DEBUG_PRINTLN(F("Reading interrupt status..."));
mpuIntStatus = getIntStatus();
DEBUG_PRINT(F("Current interrupt status="));
DEBUG_PRINTLNF(mpuIntStatus, HEX);
DEBUG_PRINTLN(F("Writing final memory update 7/7 (function unknown)..."));
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
DEBUG_PRINTLN(F("DMP is good to go! Finally."));
DEBUG_PRINTLN(F("Disabling DMP (you turn it on later)..."));
setDMPEnabled(false);
DEBUG_PRINTLN(F("Setting up internal 42-byte (default) DMP packet buffer..."));
dmpPacketSize = 42;
/*if ((dmpPacketBuffer = (uint8_t *)malloc(42)) == 0) {
return 3; // TODO: proper error code for no memory
}*/
DEBUG_PRINTLN(F("Resetting FIFO and clearing INT status one last time..."));
resetFIFO();
getIntStatus();
} else {
DEBUG_PRINTLN(F("ERROR! DMP configuration verification failed."));
return 2; // configuration block loading failed
}
} else {
DEBUG_PRINTLN(F("ERROR! DMP code verification failed."));
return 1; // main binary block loading failed
}
return 0; // success
}
bool MPU6050::dmpPacketAvailable() {
return getFIFOCount() >= dmpGetFIFOPacketSize();
}
// uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
// uint8_t MPU6050::dmpGetFIFORate();
// uint8_t MPU6050::dmpGetSampleStepSizeMS();
// uint8_t MPU6050::dmpGetSampleFrequency();
// int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);
//uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
//uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
//uint8_t MPU6050::dmpRunFIFORateProcesses();
// uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
uint8_t MPU6050::dmpGetAccel(int32_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
data[0] = ((packet[28] << 24) + (packet[29] << 16) + (packet[30] << 8) + packet[31]);
data[1] = ((packet[32] << 24) + (packet[33] << 16) + (packet[34] << 8) + packet[35]);
data[2] = ((packet[36] << 24) + (packet[37] << 16) + (packet[38] << 8) + packet[39]);
return 0;
}
uint8_t MPU6050::dmpGetAccel(int16_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
data[0] = (packet[28] << 8) + packet[29];
data[1] = (packet[32] << 8) + packet[33];
data[2] = (packet[36] << 8) + packet[37];
return 0;
}
uint8_t MPU6050::dmpGetAccel(VectorInt16 *v, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
v -> x = (packet[28] << 8) + packet[29];
v -> y = (packet[32] << 8) + packet[33];
v -> z = (packet[36] << 8) + packet[37];
return 0;
}
uint8_t MPU6050::dmpGetQuaternion(int32_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
data[0] = ((packet[0] << 24) + (packet[1] << 16) + (packet[2] << 8) + packet[3]);
data[1] = ((packet[4] << 24) + (packet[5] << 16) + (packet[6] << 8) + packet[7]);
data[2] = ((packet[8] << 24) + (packet[9] << 16) + (packet[10] << 8) + packet[11]);
data[3] = ((packet[12] << 24) + (packet[13] << 16) + (packet[14] << 8) + packet[15]);
return 0;
}
uint8_t MPU6050::dmpGetQuaternion(int16_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
data[0] = ((packet[0] << 8) + packet[1]);
data[1] = ((packet[4] << 8) + packet[5]);
data[2] = ((packet[8] << 8) + packet[9]);
data[3] = ((packet[12] << 8) + packet[13]);
return 0;
}
uint8_t MPU6050::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
int16_t qI[4];
uint8_t status = dmpGetQuaternion(qI, packet);
if (status == 0) {
q -> w = (float)qI[0] / 16384.0f;
q -> x = (float)qI[1] / 16384.0f;
q -> y = (float)qI[2] / 16384.0f;
q -> z = (float)qI[3] / 16384.0f;
return 0;
}
return status; // int16 return value, indicates error if this line is reached
}
// uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetGyro(int32_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
data[0] = ((packet[16] << 24) + (packet[17] << 16) + (packet[18] << 8) + packet[19]);
data[1] = ((packet[20] << 24) + (packet[21] << 16) + (packet[22] << 8) + packet[23]);
data[2] = ((packet[24] << 24) + (packet[25] << 16) + (packet[26] << 8) + packet[27]);
return 0;
}
uint8_t MPU6050::dmpGetGyro(int16_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
data[0] = (packet[16] << 8) + packet[17];
data[1] = (packet[20] << 8) + packet[21];
data[2] = (packet[24] << 8) + packet[25];
return 0;
}
// uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
// uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) {
// get rid of the gravity component (+1g = +4096 in standard DMP FIFO packet)
v -> x = vRaw -> x - gravity -> x*4096;
v -> y = vRaw -> y - gravity -> y*4096;
v -> z = vRaw -> z - gravity -> z*4096;
return 0;
}
// uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q) {
// rotate measured 3D acceleration vector into original state
// frame of reference based on orientation quaternion
memcpy(v, vReal, sizeof(VectorInt16));
v -> rotate(q);
return 0;
}
// uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
v -> z = q -> w*q -> w - q -> x*q -> x - q -> y*q -> y + q -> z*q -> z;
return 0;
}
// uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet);
// uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetEuler(float *data, Quaternion *q) {
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1); // psi
data[1] = -asin(2*q -> x*q -> z + 2*q -> w*q -> y); // theta
data[2] = atan2(2*q -> y*q -> z - 2*q -> w*q -> x, 2*q -> w*q -> w + 2*q -> z*q -> z - 1); // phi
return 0;
}
uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
// yaw: (about Z axis)
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
// pitch: (nose up/down, about Y axis)
data[1] = atan(gravity -> x / sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
// roll: (tilt left/right, about X axis)
data[2] = atan(gravity -> y / sqrt(gravity -> x*gravity -> x + gravity -> z*gravity -> z));
return 0;
}
// uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet);
uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char *dmpData) {
/*for (uint8_t k = 0; k < dmpPacketSize; k++) {
if (dmpData[k] < 0x10) Serial.print("0");
Serial.print(dmpData[k], HEX);
Serial.print(" ");
}
Serial.print("\n");*/
//Serial.println((uint16_t)dmpPacketBuffer);
return 0;
}
uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed) {
uint8_t status;
uint8_t buf[dmpPacketSize];
for (uint8_t i = 0; i < numPackets; i++) {
// read packet from FIFO
getFIFOBytes(buf, dmpPacketSize);
// process packet
if ((status = dmpProcessFIFOPacket(buf)) > 0) return status;
// increment external process count variable, if supplied
if (processed != 0) (*processed)++;
}
return 0;
}
// uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));
// uint8_t MPU6050::dmpInitFIFOParam();
// uint8_t MPU6050::dmpCloseFIFO();
// uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
// uint8_t MPU6050::dmpDecodeQuantizedAccel();
// uint32_t MPU6050::dmpGetGyroSumOfSquare();
// uint32_t MPU6050::dmpGetAccelSumOfSquare();
// void MPU6050::dmpOverrideQuaternion(long *q);
uint16_t MPU6050::dmpGetFIFOPacketSize() {
return dmpPacketSize;
}
#endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */

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#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "wiringPi.h"
#define INTERRUPT_PIN 7 // silkscreen: 4
#define LED_PIN 6 // silkscreen: 25
#define SWITCH_PIN // silkscreen:
MPU6050 mpu; // AD0 pin low
//MPU6050 mpu(0x69) // AD0 pin high
// MPU control/status vars
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
float sensorYaw;
int32_t
// ================================================================
// === INTERRUPT FUNCTION ===
// ================================================================
void dmpDataReady()
{
fifoCount = mpu.getFIFOCount();
if (fifoCount == 1024)
{
// reset so we can continue cleanly
mpu.resetFIFO();
printf("FIFO overflow!\n");
}
else if( fifoCount >= 42 )
{
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
int32_t[3] accel;
//float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
mpu.getFIFOBytes(fifoBuffer, packetSize);
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccelInWorld( , , &q );
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
printf("ypr %7.2f %7.2f %7.2f ", ypr[0] * 180/M_PI, ypr[1] * 180/M_PI, ypr[2] * 180/M_PI);
printf( "\n" );
sensorYaw = ypr[0] * 180/M_PI;
}
}
// ================================================================
// === INITIAL SETUP ===
// ================================================================
void setup()
{
// setup led as output
pinMode( LED_PIN, OUTPUT );
printf( "Setting up GPIO...\n" );
wiringPiSetup();
pinMode( INTERRUPT_PIN, INPUT );
printf("Initializing I2C devices...\n");
mpu.initialize();
printf("Testing device connections...\n");
printf(mpu.testConnection() ? "MPU6050 connection successful\n" : "MPU6050 connection failed\n");
printf("Initializing DMP...\n");
uint8_t devStatus = mpu.dmpInitialize();
if( devStatus == 0 )
{
printf("Enabling DMP...\n");
mpu.setDMPEnabled(true);
printf( "Enabling external interrupt on pin %d\n", INTERRUPT_PIN);
wiringPiISR( INTERRUPT_PIN, INT_EDGE_RISING, dmpDataReady );
printf("DMP ready!\n");
packetSize = mpu.dmpGetFIFOPacketSize();
}
else
{
printf("DMP Initialization failed (code %d)\n", devStatus);
}
}
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
int main( int argc, char* argv[] )
{
setup();
usleep(100000);
while(1)
{}
return 0;
}

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all: MPU6050dmp_tester
HDRS = helper_3dmath.h I2Cdev.h MPU6050_6Axis_MotionApps20.h MPU6050.h
CXXFLAGS = -DDMP_FIFO_RATE=9 -Wall
I2Cdev.o MPU6050.o MPU6050dmp_tester.o: $(HDRS)
MPU6050dmp_tester: I2Cdev.o MPU6050.o MPU6050dmp_tester.o
$(CXX) $^ -lm `pkg-config gtkmm-3.0 --cflags --libs` -lwiringPi -o $@
clean:
rm I2Cdev.o MPU6050.o MPU6050dmp.o MPU6050dmp_tester.o MPU6050dmp_tester

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IMU/helper_3dmath.h Normal file
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// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class, 3D math helper
// 6/5/2012 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
// 2012-06-05 - add 3D math helper file to DMP6 example sketch
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/
#ifndef _HELPER_3DMATH_H_
#define _HELPER_3DMATH_H_
class Quaternion {
public:
float w;
float x;
float y;
float z;
Quaternion() {
w = 1.0f;
x = 0.0f;
y = 0.0f;
z = 0.0f;
}
Quaternion(float nw, float nx, float ny, float nz) {
w = nw;
x = nx;
y = ny;
z = nz;
}
Quaternion getProduct(Quaternion q) {
// Quaternion multiplication is defined by:
// (Q1 * Q2).w = (w1w2 - x1x2 - y1y2 - z1z2)
// (Q1 * Q2).x = (w1x2 + x1w2 + y1z2 - z1y2)
// (Q1 * Q2).y = (w1y2 - x1z2 + y1w2 + z1x2)
// (Q1 * Q2).z = (w1z2 + x1y2 - y1x2 + z1w2
return Quaternion(
w*q.w - x*q.x - y*q.y - z*q.z, // new w
w*q.x + x*q.w + y*q.z - z*q.y, // new x
w*q.y - x*q.z + y*q.w + z*q.x, // new y
w*q.z + x*q.y - y*q.x + z*q.w); // new z
}
Quaternion getConjugate() {
return Quaternion(w, -x, -y, -z);
}
float getMagnitude() {
return sqrt(w*w + x*x + y*y + z*z);
}
void normalize() {
float m = getMagnitude();
w /= m;
x /= m;
y /= m;
z /= m;
}
Quaternion getNormalized() {
Quaternion r(w, x, y, z);
r.normalize();
return r;
}
};
class VectorInt16 {
public:
int16_t x;
int16_t y;
int16_t z;
VectorInt16() {
x = 0;
y = 0;
z = 0;
}
VectorInt16(int16_t nx, int16_t ny, int16_t nz) {
x = nx;
y = ny;
z = nz;
}
float getMagnitude() {
return sqrt(x*x + y*y + z*z);
}
void normalize() {
float m = getMagnitude();
x /= m;
y /= m;
z /= m;
}
VectorInt16 getNormalized() {
VectorInt16 r(x, y, z);
r.normalize();
return r;
}
void rotate(Quaternion *q) {
// http://www.cprogramming.com/tutorial/3d/quaternions.html
// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm
// http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation
// ^ or: http://webcache.googleusercontent.com/search?q=cache:xgJAp3bDNhQJ:content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation&hl=en&gl=us&strip=1
// P_out = q * P_in * conj(q)
// - P_out is the output vector
// - q is the orientation quaternion
// - P_in is the input vector (a*aReal)
// - conj(q) is the conjugate of the orientation quaternion (q=[w,x,y,z], q*=[w,-x,-y,-z])
Quaternion p(0, x, y, z);
// quaternion multiplication: q * p, stored back in p
p = q -> getProduct(p);
// quaternion multiplication: p * conj(q), stored back in p
p = p.getProduct(q -> getConjugate());
// p quaternion is now [0, x', y', z']
x = p.x;
y = p.y;
z = p.z;
}
VectorInt16 getRotated(Quaternion *q) {
VectorInt16 r(x, y, z);
r.rotate(q);
return r;
}
};
class VectorFloat {
public:
float x;
float y;
float z;
VectorFloat() {
x = 0;
y = 0;
z = 0;
}
VectorFloat(float nx, float ny, float nz) {
x = nx;
y = ny;
z = nz;
}
float getMagnitude() {
return sqrt(x*x + y*y + z*z);
}
void normalize() {
float m = getMagnitude();
x /= m;
y /= m;
z /= m;
}
VectorFloat getNormalized() {
VectorFloat r(x, y, z);
r.normalize();
return r;
}
void rotate(Quaternion *q) {
Quaternion p(0, x, y, z);
// quaternion multiplication: q * p, stored back in p
p = q -> getProduct(p);
// quaternion multiplication: p * conj(q), stored back in p
p = p.getProduct(q -> getConjugate());
// p quaternion is now [0, x', y', z']
x = p.x;
y = p.y;
z = p.z;
}
VectorFloat getRotated(Quaternion *q) {
VectorFloat r(x, y, z);
r.rotate(q);
return r;
}
};
#endif /* _HELPER_3DMATH_H_ */

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IMU/setup-i2c.sh Executable file
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#!/bin/bash
# This little script ensures that the kernel I2C drivers are loaded, and it
# changes permissions on /dev/i2c-0 so you can run the demos as a regular
# user
sudo modprobe i2c-dev
sudo modprobe i2c-bcm2708
sleep 0.1
sudo chmod 666 /dev/i2c-0