/**
* Start the device through address with offset's informed
* @param address
* @param xGyroOffset
* @param yGyroOffset
* @param zGyroOffset
* @return boolean
*/
bool MPU6050::dmpStartDevice(uint8_t address, int xGyroOffset, int yGyroOffset, int zGyroOffset) {
setAddress(address);
initialize();
setXGyroOffset(xGyroOffset);
setYGyroOffset(yGyroOffset);
setZGyroOffset(zGyroOffset);
if (testConnection())
{
// load and configure the DMP
if (dmpInitialize() == 0)
{
// turn on the DMP, now that it's ready
setDMPEnabled(true);
dmpStatus = getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
dmpReady = true;
// get expected DMP packet size for later comparison
dmpPacketSize = dmpGetFIFOPacketSize();
timeReset();
resetFIFO();
return true;
}
}
return false;
}
void CurieIMUClass::setGyroOffset(int axis, int offset)
{
if (axis == X_AXIS) {
setXGyroOffset(axis);
} else if (axis == Y_AXIS) {
setYGyroOffset(axis);
} else if (axis == Z_AXIS) {
setZGyroOffset(axis);
}
}
void CurieIMUClass::setGyroOffset(int axis, float offset)
{
int bmiOffset = offset / 0.061;
if (bmiOffset < -512) {
bmiOffset = -512;
} else if (bmiOffset > 511) {
bmiOffset = 511;
}
if (axis == X_AXIS) {
setXGyroOffset(bmiOffset);
} else if (axis == Y_AXIS) {
setYGyroOffset(bmiOffset);
} else if (axis == Z_AXIS) {
setZGyroOffset(bmiOffset);
}
setGyroOffsetEnabled(true);
}
