0,0 → 1,485 |
/* |
MPU6050 lib 0x02 |
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copyright (c) Davide Gironi, 2012 |
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Released under GPLv3. |
Please refer to LICENSE file for licensing information. |
*/ |
|
/* |
* This file contains all the functions needed to process 6-axis orientation by the internal chip processor |
*/ |
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//to enable get roll, pitch and yaw function we include the math function |
//if some error appears we must add -lm and -lc to C linker, the linker line should become somethink like this |
//${COMMAND} -lm ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS} -lc |
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#include "mpu6050.h" |
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#if MPU6050_GETATTITUDE == 2 |
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#include <avr/io.h> |
#include <avr/pgmspace.h> |
#include <avr/interrupt.h> |
#include <util/delay.h> |
#include <math.h> //include libm |
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#define MPU6050_DMP_CODE_SIZE 1929 |
#define MPU6050_DMP_CONFIG_SIZE 192 |
#define MPU6050_DMP_UPDATES_SIZE 47 |
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volatile uint8_t mpu6050_mpuInterrupt = 0; |
uint8_t *dmpPacketBuffer; |
uint16_t mpu6050_fifoCount = 0; |
uint8_t mpu6050_mpuIntStatus = 0; |
uint8_t mpu6050_fifoBuffer[64]; |
|
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/* ================================================================================================ * |
| 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 mpu6050_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, |
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// 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 |
}; |
|
const unsigned char mpu6050_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, 0x09 // 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 mpu6050_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 |
}; |
|
/* |
* initialize mpu6050 dmp |
*/ |
uint8_t mpu6050_dmpInitialize() { |
//setup interrupt |
MPU6050_DMP_INT0SETUP; |
|
//reset |
mpu6050_writeBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, 1); |
_delay_ms(30);//wait after reset |
|
//disable sleep mode |
mpu6050_setSleepDisabled(); |
|
//set memorybank to 0 |
mpu6050_setMemoryBank(0, 0, 0); |
|
//get X/Y/Z gyro offsets |
int8_t xgOffset = mpu6050_getXGyroOffset(); |
int8_t ygOffset = mpu6050_getYGyroOffset(); |
int8_t zgOffset = mpu6050_getZGyroOffset(); |
|
//setting slave 0 address to 0x7F |
mpu6050_writeByte(MPU6050_RA_I2C_SLV0_ADDR + 0*3, 0x7F); |
//disabling I2C Master mode |
mpu6050_writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, 0); |
//setting slave 0 address to 0x68 (self) |
mpu6050_writeByte(MPU6050_RA_I2C_SLV0_ADDR + 0*3, 0x68); |
//resetting I2C Master control |
mpu6050_writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, 1); |
_delay_ms(20); |
|
//load DMP code into memory banks |
if (mpu6050_writeMemoryBlock(mpu6050_dmpMemory, MPU6050_DMP_CODE_SIZE, 0, 0, 1, 1) == 1) { |
if (mpu6050_writeDMPConfigurationSet(mpu6050_dmpConfig, MPU6050_DMP_CONFIG_SIZE, 1)) { |
|
//set clock source |
mpu6050_writeBits(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, MPU6050_CLOCK_PLL_ZGYRO); |
|
//set DMP and FIFO_OFLOW interrupts enabled |
mpu6050_writeByte(MPU6050_RA_INT_ENABLE, 0x12); |
|
//set sample rate |
mpu6050_writeByte(MPU6050_RA_SMPLRT_DIV, 4); // 1khz / (1 + 4) = 200 Hz |
|
//set external frame sync to TEMP_OUT_L[0] |
mpu6050_writeBits(MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, MPU6050_EXT_SYNC_TEMP_OUT_L); |
|
//set DLPF bandwidth to 42Hz |
mpu6050_writeBits(MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, MPU6050_DLPF_BW_42); |
|
//set gyro sensitivity to +/- 2000 deg/sec |
mpu6050_writeBits(MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, MPU6050_GYRO_FS_2000); |
|
//set DMP configuration bytes (function unknown) |
mpu6050_writeByte(MPU6050_RA_DMP_CFG_1, 0x03); |
mpu6050_writeByte(MPU6050_RA_DMP_CFG_2, 0x00); |
|
//clear OTP Bank flag |
mpu6050_writeBit(MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, 0); |
|
//set X/Y/Z gyro offsets to previous values |
//xgOffset = 0; |
//ygOffset = 0; |
zgOffset = 90; |
|
mpu6050_setXGyroOffset(xgOffset); |
mpu6050_setYGyroOffset(ygOffset); |
mpu6050_setZGyroOffset(zgOffset); |
|
//set X/Y/Z gyro user offsets to zero |
mpu6050_writeWords(MPU6050_RA_XG_OFFS_USRH, 1, 0); |
mpu6050_writeWords(MPU6050_RA_YG_OFFS_USRH, 1, 0); |
mpu6050_writeWords(MPU6050_RA_ZG_OFFS_USRH, 1, 0); |
|
//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(&mpu6050_dmpUpdates[pos]); |
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], 1, 0); |
|
//writing final memory update 2/7 (function unknown) |
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&mpu6050_dmpUpdates[pos]); |
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], 1, 0); |
|
//reset FIFO |
mpu6050_writeBits(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, 1, 1); |
|
//reading FIFO count |
uint8_t fifoCount = mpu6050_getFIFOCount(); |
uint8_t fifoBuffer[128]; |
|
//current FIFO count |
mpu6050_readBytes(MPU6050_RA_FIFO_R_W, fifoCount, fifoBuffer); |
|
//setting motion detection threshold to 2 |
mpu6050_writeByte(MPU6050_RA_MOT_THR, 2); |
|
//setting zero-motion detection threshold to 156 |
mpu6050_writeByte(MPU6050_RA_ZRMOT_THR, 156); |
|
//setting motion detection duration to 80 |
mpu6050_writeByte(MPU6050_RA_MOT_DUR, 80); |
|
//setting zero-motion detection duration to 0 |
mpu6050_writeByte(MPU6050_RA_ZRMOT_DUR, 0); |
|
//reset FIFO |
mpu6050_writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, 1); |
|
//enabling FIFO |
mpu6050_writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, 1); |
|
//enabling DMP |
mpu6050_dmpEnable(); |
|
//resetting DMP |
mpu6050_writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, 1); |
|
//waiting for FIFO count > 2 |
while ((fifoCount = mpu6050_getFIFOCount()) < 3); |
|
//writing final memory update 3/7 (function unknown) |
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&mpu6050_dmpUpdates[pos]); |
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], 1, 0); |
|
//writing final memory update 4/7 (function unknown) |
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&mpu6050_dmpUpdates[pos]); |
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], 1, 0); |
|
//writing final memory update 5/7 (function unknown) |
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&mpu6050_dmpUpdates[pos]); |
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], 1, 0); |
|
//reading FIFO data...")); |
mpu6050_getFIFOBytes(fifoBuffer, fifoCount); |
|
//reading final memory update 6/7 (function unknown) |
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&mpu6050_dmpUpdates[pos]); |
mpu6050_readMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]); |
|
//waiting for FIFO count > 2 |
while ((fifoCount = mpu6050_getFIFOCount()) < 3); |
|
//reading FIFO data |
mpu6050_getFIFOBytes(fifoBuffer, fifoCount); |
|
//writing final memory update 7/7 (function unknown) |
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&mpu6050_dmpUpdates[pos]); |
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], 1, 0); |
|
//disabling DMP (you turn it on later) |
mpu6050_dmpDisable(); |
|
//resetting FIFO and clearing INT status one last time |
mpu6050_writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, 1); |
} else { |
return 2; // configuration block loading failed |
} |
} else { |
return 1; // main binary block loading failed |
} |
return 0; // success |
} |
|
/* |
* enable dmp |
*/ |
void mpu6050_dmpEnable() { |
MPU6050_DMP_INT0ENABLE; |
mpu6050_writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, 1); |
} |
|
/* |
* disable dmp |
*/ |
void mpu6050_dmpDisable() { |
MPU6050_DMP_INT0DISABLE; |
mpu6050_writeBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, 0); |
} |
|
/* |
* get quaternion from packet |
*/ |
void mpu6050_getQuaternion(const uint8_t* packet, double *qw, double *qx, double *qy, double *qz) { |
if (packet == 0) packet = dmpPacketBuffer; |
*qw = (double)((packet[0] << 8) + packet[1]) / 16384.0f; |
*qx = (double)((packet[4] << 8) + packet[5]) / 16384.0f; |
*qy = (double)((packet[8] << 8) + packet[9]) / 16384.0f; |
*qz = (double)((packet[12] << 8) + packet[13]) / 16384.0f; |
} |
|
/* |
* get euler angles |
* aerospace sequence, to obtain sensor attitude: |
* 1. rotate around sensor Z plane by yaw |
* 2. rotate around sensor Y plane by pitch |
* 3. rotate around sensor X plane by roll |
*/ |
void mpu6050_getRollPitchYaw(double qw, double qx, double qy, double qz, double *roll, double *pitch, double *yaw) { |
*yaw = atan2(2*qx*qy - 2*qw*qz, 2*qw*qw + 2*qx*qx - 1); |
*pitch = -asin(2*qx*qz + 2*qw*qy); |
*roll = atan2(2*qy*qz - 2*qw*qx, 2*qw*qw + 2*qz*qz - 1); |
} |
|
/* |
* get quaternion and wait |
*/ |
uint8_t mpu6050_getQuaternionWait(double *qw, double *qx, double *qy, double *qz) { |
while (!mpu6050_mpuInterrupt && mpu6050_fifoCount < MPU6050_DMP_dmpPacketSize); |
//reset interrupt |
mpu6050_mpuInterrupt = 0; |
|
//check for overflow |
mpu6050_mpuIntStatus = mpu6050_getIntStatus(); |
mpu6050_fifoCount = mpu6050_getFIFOCount(); |
if ((mpu6050_mpuIntStatus & 0x10) || mpu6050_fifoCount == 1024) { |
//reset |
mpu6050_resetFIFO(); |
} else if (mpu6050_mpuIntStatus & 0x02) { |
//wait for correct available data length, should be a VERY short wait |
while (mpu6050_fifoCount < MPU6050_DMP_dmpPacketSize) |
mpu6050_fifoCount = mpu6050_getFIFOCount(); |
//read a packet from FIFO |
mpu6050_getFIFOBytes(mpu6050_fifoBuffer, MPU6050_DMP_dmpPacketSize); |
mpu6050_fifoCount -= MPU6050_DMP_dmpPacketSize; |
//get quaternion |
mpu6050_getQuaternion(mpu6050_fifoBuffer, qw, qx, qy, qz); |
return 1; |
} |
|
return 0; |
} |
|
/* |
* on interrupt set data availabe |
*/ |
ISR (INT0_vect) { |
mpu6050_mpuInterrupt = 1; |
} |
|
#endif |
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