diff --git a/sparkcore/MPU6050_6Axis_MotionApps20.h b/sparkcore/MPU6050_6Axis_MotionApps20.h new file mode 100644 index 0000000..9dc67fc --- /dev/null +++ b/sparkcore/MPU6050_6Axis_MotionApps20.h @@ -0,0 +1,741 @@ +// 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) +// 5/20/2013 by Jeff Rowberg +// 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_ + +// MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board +#define MPU6050_INCLUDE_DMP_MOTIONAPPS20 + +#include "application.h" +#include "helper_3dmath.h" +#include "MPU6050.h" +//#include "I2Cdev.h" + + + +// Tom Carpenter's conditional PROGMEM code +// http://forum.arduino.cc/index.php?topic=129407.0 +/* + // Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen + #ifndef __PGMSPACE_H_ + #define __PGMSPACE_H_ 1 + #include + + #define PROGMEM + #define PGM_P const char * + #define PSTR(str) (str) + #define F(x) x + + typedef void prog_void; + typedef char prog_char; + typedef unsigned char prog_uchar; + typedef int8_t prog_int8_t; + typedef uint8_t prog_uint8_t; + typedef int16_t prog_int16_t; + typedef uint16_t prog_uint16_t; + typedef int32_t prog_int32_t; + typedef uint32_t prog_uint32_t; + + #define strcpy_P(dest, src) strcpy((dest), (src)) + #define strcat_P(dest, src) strcat((dest), (src)) + #define strcmp_P(a, b) strcmp((a), (b)) + + #define pgm_read_byte(addr) (*(const unsigned char *)(addr)) + #define pgm_read_word(addr) (*(const unsigned short *)(addr)) + #define pgm_read_dword(addr) (*(const unsigned long *)(addr)) + #define pgm_read_float(addr) (*(const float *)(addr)) + + #define pgm_read_byte_near(addr) pgm_read_byte(addr) + #define pgm_read_word_near(addr) pgm_read_word(addr) + #define pgm_read_dword_near(addr) pgm_read_dword(addr) + #define pgm_read_float_near(addr) pgm_read_float(addr) + #define pgm_read_byte_far(addr) pgm_read_byte(addr) + #define pgm_read_word_far(addr) pgm_read_word(addr) + #define pgm_read_dword_far(addr) pgm_read_dword(addr) + #define pgm_read_float_far(addr) pgm_read_float(addr) + #endif +*/ + +/* 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 | + * ================================================================================================ */ + +// 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 unsigned char 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 +}; + +// thanks to Noah Zerkin for piecing this stuff together! +const unsigned char 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, 0x01 // D_0_22 inv_set_fifo_rate + + // This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz, + // 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data. + // 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. +}; + +const unsigned char 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("\n\nResetting MPU6050..."); + reset(); + delay(30); // wait after reset + + // enable sleep mode and wake cycle + /*Serial.println("Enabling sleep mode..."); + setSleepEnabled(true); + Serial.println("Enabling wake cycle..."); + setWakeCycleEnabled(true);*/ + + // disable sleep mode + DEBUG_PRINTLN("Disabling sleep mode..."); + setSleepEnabled(false); + + // get MPU hardware revision + DEBUG_PRINTLN("Selecting user bank 16..."); + setMemoryBank(0x10, true, true); + DEBUG_PRINTLN("Selecting memory byte 6..."); + setMemoryStartAddress(0x06); + DEBUG_PRINTLN("Checking hardware revision..."); + uint8_t hwRevision = readMemoryByte(); + DEBUG_PRINT("Revision @ user[16][6] = "); + DEBUG_PRINTLNF(hwRevision, HEX); + DEBUG_PRINTLN("Resetting memory bank selection to 0..."); + setMemoryBank(0, false, false); + + // check OTP bank valid + DEBUG_PRINTLN("Reading OTP bank valid flag..."); + uint8_t otpValid = getOTPBankValid(); + DEBUG_PRINT("OTP bank is "); + DEBUG_PRINTLN(otpValid ? "valid!" : "invalid!"); + + // get X/Y/Z gyro offsets + DEBUG_PRINTLN("Reading gyro offset TC values..."); + int8_t xgOffsetTC = getXGyroOffsetTC(); + int8_t ygOffsetTC = getYGyroOffsetTC(); + int8_t zgOffsetTC = getZGyroOffsetTC(); + DEBUG_PRINT("X gyro offset = "); + DEBUG_PRINTLN(xgOffsetTC); + DEBUG_PRINT("Y gyro offset = "); + DEBUG_PRINTLN(ygOffsetTC); + DEBUG_PRINT("Z gyro offset = "); + DEBUG_PRINTLN(zgOffsetTC); + + // setup weird slave stuff (?) + DEBUG_PRINTLN("Setting slave 0 address to 0x7F..."); + setSlaveAddress(0, 0x7F); + DEBUG_PRINTLN("Disabling I2C Master mode..."); + setI2CMasterModeEnabled(false); + DEBUG_PRINTLN("Setting slave 0 address to 0x68 (self)..."); + setSlaveAddress(0, 0x68); + DEBUG_PRINTLN("Resetting I2C Master control..."); + resetI2CMaster(); + delay(20); + + // load DMP code into memory banks + DEBUG_PRINT("Writing DMP code to MPU memory banks ("); + DEBUG_PRINT(MPU6050_DMP_CODE_SIZE); + DEBUG_PRINTLN(" bytes)"); + if (writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) { + DEBUG_PRINTLN("Success! DMP code written and verified."); + + // write DMP configuration + DEBUG_PRINT("Writing DMP configuration to MPU memory banks ("); + DEBUG_PRINT(MPU6050_DMP_CONFIG_SIZE); + DEBUG_PRINTLN(" bytes in config def)"); + if (writeProgDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) { + DEBUG_PRINTLN("Success! DMP configuration written and verified."); + + DEBUG_PRINTLN("Setting clock source to Z Gyro..."); + setClockSource(MPU6050_CLOCK_PLL_ZGYRO); + + DEBUG_PRINTLN("Setting DMP and FIFO_OFLOW interrupts enabled..."); + setIntEnabled(0x12); + + DEBUG_PRINTLN("Setting sample rate to 200Hz..."); + setRate(4); // 1khz / (1 + 4) = 200 Hz + + DEBUG_PRINTLN("Setting external frame sync to TEMP_OUT_L[0]..."); + setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L); + + DEBUG_PRINTLN("Setting DLPF bandwidth to 42Hz..."); + setDLPFMode(MPU6050_DLPF_BW_42); + + DEBUG_PRINTLN("Setting gyro sensitivity to +/- 2000 deg/sec..."); + setFullScaleGyroRange(MPU6050_GYRO_FS_2000); + + DEBUG_PRINTLN("Setting DMP configuration bytes (function unknown)..."); + setDMPConfig1(0x03); + setDMPConfig2(0x00); + + DEBUG_PRINTLN("Clearing OTP Bank flag..."); + setOTPBankValid(false); + + DEBUG_PRINTLN("Setting X/Y/Z gyro offset TCs to previous values..."); + setXGyroOffsetTC(xgOffsetTC); + setYGyroOffsetTC(ygOffsetTC); + setZGyroOffsetTC(zgOffsetTC); + + //DEBUG_PRINTLN("Setting X/Y/Z gyro user offsets to zero..."); + //setXGyroOffset(0); + //setYGyroOffset(0); + //setZGyroOffset(0); + + DEBUG_PRINTLN("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("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("Resetting FIFO..."); + resetFIFO(); + + DEBUG_PRINTLN("Reading FIFO count..."); + uint16_t fifoCount = getFIFOCount(); + uint8_t fifoBuffer[128]; + + DEBUG_PRINT("Current FIFO count="); + DEBUG_PRINTLN(fifoCount); + getFIFOBytes(fifoBuffer, fifoCount); + + DEBUG_PRINTLN("Setting motion detection threshold to 2..."); + setMotionDetectionThreshold(2); + + DEBUG_PRINTLN("Setting zero-motion detection threshold to 156..."); + setZeroMotionDetectionThreshold(156); + + DEBUG_PRINTLN("Setting motion detection duration to 80..."); + setMotionDetectionDuration(80); + + DEBUG_PRINTLN("Setting zero-motion detection duration to 0..."); + setZeroMotionDetectionDuration(0); + + DEBUG_PRINTLN("Resetting FIFO..."); + resetFIFO(); + + DEBUG_PRINTLN("Enabling FIFO..."); + setFIFOEnabled(true); + + DEBUG_PRINTLN("Enabling DMP..."); + setDMPEnabled(true); + + DEBUG_PRINTLN("Resetting DMP..."); + resetDMP(); + + DEBUG_PRINTLN("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("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("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]); + + DEBUG_PRINTLN("Waiting for FIFO count > 2..."); + while ((fifoCount = getFIFOCount()) < 3); + + DEBUG_PRINT("Current FIFO count="); + DEBUG_PRINTLN(fifoCount); + DEBUG_PRINTLN("Reading FIFO data..."); + getFIFOBytes(fifoBuffer, fifoCount); + + DEBUG_PRINTLN("Reading interrupt status..."); + uint8_t mpuIntStatus = getIntStatus(); + + DEBUG_PRINT("Current interrupt status="); + DEBUG_PRINTLNF(mpuIntStatus, HEX); + + DEBUG_PRINTLN("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("Waiting for FIFO count > 2..."); + while ((fifoCount = getFIFOCount()) < 3); + + DEBUG_PRINT("Current FIFO count="); + DEBUG_PRINTLN(fifoCount); + + DEBUG_PRINTLN("Reading FIFO data..."); + getFIFOBytes(fifoBuffer, fifoCount); + + DEBUG_PRINTLN("Reading interrupt status..."); + mpuIntStatus = getIntStatus(); + + DEBUG_PRINT("Current interrupt status="); + DEBUG_PRINTLNF(mpuIntStatus, HEX); + + DEBUG_PRINTLN("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("DMP is good to go! Finally."); + + DEBUG_PRINTLN("Disabling DMP (you turn it on later)..."); + setDMPEnabled(false); + + DEBUG_PRINTLN("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("Resetting FIFO and clearing INT status one last time..."); + resetFIFO(); + getIntStatus(); + } else { + DEBUG_PRINTLN("ERROR! DMP configuration verification failed."); + return 2; // configuration block loading failed + } + } else { + DEBUG_PRINTLN("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 = +8192 in standard DMP FIFO packet, sensitivity is 2g) + v -> x = vRaw -> x - gravity -> x*8192; + v -> y = vRaw -> y - gravity -> y*8192; + v -> z = vRaw -> z - gravity -> z*8192; + 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_ */ diff --git a/sparkcore/MPU6050_dmp.cpp b/sparkcore/MPU6050_dmp.cpp new file mode 100644 index 0000000..945079d --- /dev/null +++ b/sparkcore/MPU6050_dmp.cpp @@ -0,0 +1,362 @@ +// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) +// 6/21/2012 by Jeff Rowberg +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// 2013-05-08 - added seamless Fastwire support +// - added note about gyro calibration +// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error +// 2012-06-20 - improved FIFO overflow handling and simplified read process +// 2012-06-19 - completely rearranged DMP initialization code and simplification +// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly +// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING +// 2012-06-05 - add gravity-compensated initial reference frame acceleration output +// - add 3D math helper file to DMP6 example sketch +// - add Euler output and Yaw/Pitch/Roll output formats +// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee) +// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250 +// 2012-05-30 - basic DMP initialization working + +/* ============================================ +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. +=============================================== +*/ + +// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files +// for both classes must be in the include path of your project +//#include "I2Cdev.h" +#define MPU6050_INCLUDE_DMP_MOTIONAPPS20 +#include "MPU6050_6Axis_MotionApps20.h" + + +// class default I2C address is 0x68 +// specific I2C addresses may be passed as a parameter here +// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board) +// AD0 high = 0x69 +MPU6050 mpu; +//MPU6050 mpu(0x69); // <-- use for AD0 high + +/* ========================================================================= + NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch + depends on the MPU-6050's INT pin being connected to the Arduino's + external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is + digital I/O pin 2. + * ========================================================================= */ + +/* ========================================================================= + NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error + when using Serial.write(buf, len). The Teapot output uses this method. + The solution requires a modification to the Arduino USBAPI.h file, which + is fortunately simple, but annoying. This will be fixed in the next IDE + release. For more info, see these links: + + http://arduino.cc/forum/index.php/topic,109987.0.html + http://code.google.com/p/arduino/issues/detail?id=958 + * ========================================================================= */ + + + +// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual +// quaternion components in a [w, x, y, z] format (not best for parsing +// on a remote host such as Processing or something though) +//#define OUTPUT_READABLE_QUATERNION + +// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles +// (in degrees) calculated from the quaternions coming from the FIFO. +// Note that Euler angles suffer from gimbal lock (for more info, see +// http://en.wikipedia.org/wiki/Gimbal_lock) +//#define OUTPUT_READABLE_EULER + +// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/ +// pitch/roll angles (in degrees) calculated from the quaternions coming +// from the FIFO. Note this also requires gravity vector calculations. +// Also note that yaw/pitch/roll angles suffer from gimbal lock (for +// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock) +#define OUTPUT_READABLE_YAWPITCHROLL + +// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration +// components with gravity removed. This acceleration reference frame is +// not compensated for orientation, so +X is always +X according to the +// sensor, just without the effects of gravity. If you want acceleration +// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead. +//#define OUTPUT_READABLE_REALACCEL + +// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration +// components with gravity removed and adjusted for the world frame of +// reference (yaw is relative to initial orientation, since no magnetometer +// is present in this case). Could be quite handy in some cases. +//#define OUTPUT_READABLE_WORLDACCEL + +// uncomment "OUTPUT_TEAPOT" if you want output that matches the +// format used for the InvenSense teapot demo +//#define OUTPUT_TEAPOT + +#define LED_PIN D7 +bool blinkState = false; + + +// MPU control/status vars +bool dmpReady = false; // set true if DMP init was successful +uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU +uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) +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 + +// 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 +float euler[3]; // [psi, theta, phi] Euler angle container +float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector + +// packet structure for InvenSense teapot demo +uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; + + + +// ================================================================ +// === INTERRUPT DETECTION ROUTINE === +// ================================================================ + +volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high +void dmpDataReady() { + mpuInterrupt = true; +} + + + +// ================================================================ +// === INITIAL SETUP === +// ================================================================ + +void mpu_dmp_setup() { + // join I2C bus (I2Cdev library doesn't do this automatically) + Wire.begin(); + //TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz) + + // initialize serial communication + // (115200 chosen because it is required for Teapot Demo output, but it's + // really up to you depending on your project) +// Serial.begin(115200); + Serial.begin(38400); + while (!Serial.available()) ; // wait for Leonardo enumeration, others continue immediately + + // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio + // Pro Mini running at 3.3v, cannot handle this baud rate reliably due to + // the baud timing being too misaligned with processor ticks. You must use + // 38400 or slower in these cases, or use some kind of external separate + // crystal solution for the UART timer. + + // initialize device + Serial.println("Initializing I2C devices..."); + mpu.initialize(); + + // verify connection + Serial.println("Testing device connections..."); + Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed"); + + // wait for ready + Serial.println("\nSend any character to begin DMP programming and demo: "); + while (Serial.available() && Serial.read()); // empty buffer + while (!Serial.available()); // wait for data + while (Serial.available() && Serial.read()); // empty buffer again + + // load and configure the DMP + Serial.println("Initializing DMP..."); + devStatus = mpu.dmpInitialize(); + + // supply your own gyro offsets here, scaled for min sensitivity + mpu.setXGyroOffset(220); + mpu.setYGyroOffset(76); + mpu.setZGyroOffset(-85); + mpu.setZAccelOffset(1788); // 1688 factory default for my test chip + + // make sure it worked (returns 0 if so) + if (devStatus == 0) { + // turn on the DMP, now that it's ready + Serial.println("Enabling DMP..."); + mpu.setDMPEnabled(true); + + // enable Arduino interrupt detection + Serial.println("Enabling interrupt detection (Arduino external interrupt 0)..."); + attachInterrupt(A0, dmpDataReady, RISING); + mpuIntStatus = mpu.getIntStatus(); + + // set our DMP Ready flag so the main loop() function knows it's okay to use it + Serial.println("DMP ready! Waiting for first interrupt..."); + dmpReady = true; + + // get expected DMP packet size for later comparison + packetSize = mpu.dmpGetFIFOPacketSize(); + } else { + // ERROR! + // 1 = initial memory load failed + // 2 = DMP configuration updates failed + // (if it's going to break, usually the code will be 1) + Serial.print("DMP Initialization failed (code "); + Serial.print(devStatus); + Serial.println(")"); + } + + // configure LED for output + pinMode(LED_PIN, OUTPUT); +} + + + +// ================================================================ +// === MAIN PROGRAM LOOP === +// ================================================================ + +void mpu_dmp_loop() { + // if programming failed, don't try to do anything + if (!dmpReady) return; + + // wait for MPU interrupt or extra packet(s) available + while (!mpuInterrupt && fifoCount < packetSize) { + // other program behavior stuff here + // . + // . + // . + // if you are really paranoid you can frequently test in between other + // stuff to see if mpuInterrupt is true, and if so, "break;" from the + // while() loop to immediately process the MPU data + // . + // . + // . + } + + // reset interrupt flag and get INT_STATUS byte + mpuInterrupt = false; + mpuIntStatus = mpu.getIntStatus(); + + // get current FIFO count + fifoCount = mpu.getFIFOCount(); + + // check for overflow (this should never happen unless our code is too inefficient) + if ((mpuIntStatus & 0x10) || fifoCount == 1024) { + // reset so we can continue cleanly + mpu.resetFIFO(); + Serial.println("FIFO overflow!"); + + // otherwise, check for DMP data ready interrupt (this should happen frequently) + } else if (mpuIntStatus & 0x02) { + // wait for correct available data length, should be a VERY short wait + while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); + + // read a packet from FIFO + mpu.getFIFOBytes(fifoBuffer, packetSize); + + // track FIFO count here in case there is > 1 packet available + // (this lets us immediately read more without waiting for an interrupt) + fifoCount -= packetSize; + + #ifdef OUTPUT_READABLE_QUATERNION + // display quaternion values in easy matrix form: w x y z + mpu.dmpGetQuaternion(&q, fifoBuffer); + Serial.print("quat\t"); + Serial.print(q.w); + Serial.print("\t"); + Serial.print(q.x); + Serial.print("\t"); + Serial.print(q.y); + Serial.print("\t"); + Serial.println(q.z); + #endif + + #ifdef OUTPUT_READABLE_EULER + // display Euler angles in degrees + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetEuler(euler, &q); + Serial.print("euler\t"); + Serial.print(euler[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(euler[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(euler[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_YAWPITCHROLL + // display Euler angles in degrees + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); + Serial.print("ypr\t"); + Serial.print(ypr[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(ypr[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(ypr[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_REALACCEL + // display real acceleration, adjusted to remove gravity + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetAccel(&aa, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); + Serial.print("areal\t"); + Serial.print(aaReal.x); + Serial.print("\t"); + Serial.print(aaReal.y); + Serial.print("\t"); + Serial.println(aaReal.z); + #endif + + #ifdef OUTPUT_READABLE_WORLDACCEL + // display initial world-frame acceleration, adjusted to remove gravity + // and rotated based on known orientation from quaternion + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetAccel(&aa, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); + mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); + Serial.print("aworld\t"); + Serial.print(aaWorld.x); + Serial.print("\t"); + Serial.print(aaWorld.y); + Serial.print("\t"); + Serial.println(aaWorld.z); + #endif + + #ifdef OUTPUT_TEAPOT + // display quaternion values in InvenSense Teapot demo format: + teapotPacket[2] = fifoBuffer[0]; + teapotPacket[3] = fifoBuffer[1]; + teapotPacket[4] = fifoBuffer[4]; + teapotPacket[5] = fifoBuffer[5]; + teapotPacket[6] = fifoBuffer[8]; + teapotPacket[7] = fifoBuffer[9]; + teapotPacket[8] = fifoBuffer[12]; + teapotPacket[9] = fifoBuffer[13]; + Serial.write(teapotPacket, 14); + teapotPacket[11]++; // packetCount, loops at 0xFF on purpose + #endif + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); + } +} diff --git a/sparkcore/MPU6050_raw.cpp b/sparkcore/MPU6050_raw.cpp new file mode 100644 index 0000000..05aa105 --- /dev/null +++ b/sparkcore/MPU6050_raw.cpp @@ -0,0 +1,143 @@ +// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class +// 10/7/2011 by Jeff Rowberg +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// 2013-05-08 - added multiple output formats +// - added seamless Fastwire support +// 2011-10-07 - initial release + +/* ============================================ +I2Cdev device library code is placed under the MIT license +Copyright (c) 2011 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 "MPU6050.h" +#include "I2Cdev.h" + +// class default I2C address is 0x68 +// specific I2C addresses may be passed as a parameter here +// AD0 low = 0x68 (default for InvenSense evaluation board) +// AD0 high = 0x69 +MPU6050 accelgyro; +//MPU6050 accelgyro(0x69); // <-- use for AD0 high + +int16_t ax, ay, az; +int16_t gx, gy, gz; + + + +// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated +// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read, +// not so easy to parse, and slow(er) over UART. +#define OUTPUT_READABLE_ACCELGYRO + +// uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit +// binary, one right after the other. This is very fast (as fast as possible +// without compression or data loss), and easy to parse, but impossible to read +// for a human. +//#define OUTPUT_BINARY_ACCELGYRO + + +#define LED_PIN D7 +bool blinkState = false; + +// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files +// for both classes must be in the include path of your project + +void mpu_raw_setup() { + // join I2C bus (I2Cdev library doesn't do this automatically) + Wire.begin(); + + + // initialize serial communication + // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but + // it's really up to you depending on your project) + Serial.begin(38400); + + // initialize device + Serial.println("Initializing I2C devices..."); + accelgyro.initialize(); + + // verify connection + Serial.println("Testing device connections..."); + Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed"); + + // use the code below to change accel/gyro offset values + /* + Serial.println("Updating internal sensor offsets..."); + // -76 -2359 1688 0 0 0 + Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76 + Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359 + Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688 + Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0 + Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0 + Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0 + Serial.print("\n"); + accelgyro.setXGyroOffset(220); + accelgyro.setYGyroOffset(76); + accelgyro.setZGyroOffset(-85); + Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76 + Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359 + Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688 + Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0 + Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0 + Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0 + Serial.print("\n"); + */ + + // configure Arduino LED for + pinMode(LED_PIN, OUTPUT); +} + +void mpu_raw_loop() { + // read raw accel/gyro measurements from device + accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); + + // these methods (and a few others) are also available + //accelgyro.getAcceleration(&ax, &ay, &az); + //accelgyro.getRotation(&gx, &gy, &gz); + + #ifdef OUTPUT_READABLE_ACCELGYRO + // display tab-separated accel/gyro x/y/z values + Serial.print("a/g:\t"); + Serial.print(ax); Serial.print("\t"); + Serial.print(ay); Serial.print("\t"); + Serial.print(az); Serial.print("\t"); + Serial.print(gx); Serial.print("\t"); + Serial.print(gy); Serial.print("\t"); + Serial.println(gz); + #endif + + #ifdef OUTPUT_BINARY_ACCELGYRO + Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF)); + Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF)); + Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF)); + Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF)); + Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF)); + Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF)); + #endif + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); +} diff --git a/sparkcore/helper_3dmath.h b/sparkcore/helper_3dmath.h new file mode 100644 index 0000000..b8f20d4 --- /dev/null +++ b/sparkcore/helper_3dmath.h @@ -0,0 +1,218 @@ +// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class, 3D math helper +// 6/5/2012 by Jeff Rowberg +// 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_ + +#include + +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_ */ diff --git a/sparkcore/mpu.h b/sparkcore/mpu.h new file mode 100644 index 0000000..18250d1 --- /dev/null +++ b/sparkcore/mpu.h @@ -0,0 +1,10 @@ +// MPU test routines. +// +// skylar - rather than two programs, I've renamed the test routines +// so we can call and run them as necessary. + + +void mpu_raw_setup(); +void mpu_raw_loop(); +void mpu_dmp_setup(); +void mpu_dmp_loop(); \ No newline at end of file diff --git a/sparkcore/mpu_test.ino b/sparkcore/mpu_test.ino new file mode 100644 index 0000000..a939d2b --- /dev/null +++ b/sparkcore/mpu_test.ino @@ -0,0 +1,9 @@ +#include "mpu.h" + +void setup() { + mpu_dmp_setup(); +} + +void loop() { + mpu_dmp_loop(); +} \ No newline at end of file diff --git a/sparkcore/raw-read-test.ino b/sparkcore/raw-read-test.ino deleted file mode 100644 index c1cb1e3..0000000 --- a/sparkcore/raw-read-test.ino +++ /dev/null @@ -1,85 +0,0 @@ -// This #include statement was automatically added by the Spark IDE. -#include "I2Cdev.h" - -// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class -// 10/7/2011 by Jeff Rowberg -// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib -// -// Changelog: -// 2013-05-08 - added multiple output formats -// - added seamless Fastwire support -// 2011-10-07 - initial release - -/* ============================================ -I2Cdev device library code is placed under the MIT license -Copyright (c) 2011 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. -=============================================== -*/ - -// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files -// for both classes must be in the include path of your project -#include "MPU6050.h" - -// class default I2C address is 0x68 -// specific I2C addresses may be passed as a parameter here -// AD0 low = 0x68 (default for InvenSense evaluation board) -// AD0 high = 0x69 -MPU6050 accelgyro; -//MPU6050 accelgyro(0x69); // <-- use for AD0 high - -int16_t ax, ay, az; -int16_t gx, gy, gz; - -// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated -// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read, -// not so easy to parse, and slow(er) over UART. -#define OUTPUT_READABLE_ACCELGYRO - -// Setup logging stuff -unsigned long lastTime = 0UL; -char publishString[40]; - -void setup() { - // join I2C bus (I2Cdev library doesn't do this automatically) - Wire.begin(); - - // initialize device - Spark.publish("i2cdata", "Initializing I2C devices..."); - accelgyro.initialize(); - - // verify connection - Spark.publish("i2cdata", "Testing device connections..."); - Spark.publish("i2cdata", accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed"); -} - -void loop() { - unsigned long now = millis(); - - // read raw accel/gyro measurements from device - accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); - - if (now-lastTime>5000UL) { - lastTime = now; - - sprintf(publishString, "%u:%u:%u - %u:%u:%u", ax, ay, az, gx, gy, gz); - Spark.publish("i2cdata", publishString); - } -}