void mpu6050_init(char address)
{
#if MPU6050_I2CINIT == 1
//init i2c
i2c_init();
delay_us(10);
#endif
//set clock source
// it is highly recommended that the device be configured to use one of the gyroscopes (or an external clock source)
// as the clock reference for improved stability
i2cWriteBits(address, MPU6050_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, MPU6050_CLOCK_PLL_XGYRO);
//set DLPF bandwidth to 42Hz
i2cWriteBits(address, MPU6050_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, MPU6050_DLPF_BW_42);
//Sets sample rate to 8000/1+7 = 1000Hz
unsigned char divider = SMPLRT_DIV;
i2cWrite(address, MPU6050_SMPLRT_DIV, ÷r, 1); //50Hz
//set gyro range
i2cWriteBits(address, MPU6050_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, MPU6050_GYRO_FS);
//set accel range
i2cWriteBits(address, MPU6050_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, MPU6050_ACCEL_FS);
//set sleep disabled
mpu6050_setSleepDisabled(address);
}
/*
* 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
}
