uint8_t mpu6050_dmpInitialize() {
// reset device
DEBUG_PRINTLN("\r\nResetting MPU6050...\r\n");
mpu6050_reset();
Delay(30); // wait after reset
// disable sleep mode
DEBUG_PRINTLN("Disabling sleep mode...\r\n");
mpu6050_setSleepEnabled(false);
// get MPU hardware revision
DEBUG_PRINTLN("Selecting user bank 16...\r\n");
mpu6050_setMemoryBank(0x10, true, true);
DEBUG_PRINTLN("Selecting memory byte 6...\r\n");
mpu6050_setMemoryStartAddress(0x06);
DEBUG_PRINTLN("Checking hardware revision...\r\n");
uint8_t hwRevision = mpu6050_readMemoryByte();
DEBUG_PRINTLN("Revision @ user[16][6] = 0x%0x\r\n", hwRevision);
DEBUG_PRINTLN("Resetting memory bank selection to 0...\r\n");
mpu6050_setMemoryBank(0, false, false);
// check OTP bank valid
DEBUG_PRINTLN("Reading OTP bank valid flag...\r\n");
uint8_t otpValid = mpu6050_getOTPBankValid();
DEBUG_PRINTLN("OTP bank is %s\r\n", otpValid ? "valid!" : "invalid!");
// get X/Y/Z gyro offsets
DEBUG_PRINTLN("Reading gyro offset values...");
int8_t xgOffset = mpu6050_getXGyroOffsetTC();
int8_t ygOffset = mpu6050_getYGyroOffsetTC();
int8_t zgOffset = mpu6050_getZGyroOffsetTC();
DEBUG_PRINTLN("X gyro offset = %d\r\n", xgOffset);
DEBUG_PRINTLN("Y gyro offset = %d\r\n", ygOffset);
DEBUG_PRINTLN("Z gyro offset = %d\r\n", zgOffset);
// i2c_read_byte(&mpu6050, MPU6050_RA_USER_CTRL, buffer); // ?
DEBUG_PRINTLN("Enabling interrupt latch, clear on any read, AUX bypass enabled\r\n");
i2c_write_byte(&mpu6050, MPU6050_RA_INT_PIN_CFG, 0x32);
/* hmc5883l setting */
// i2c_write_byte(&hmc5883l, HMC5883L_RA_CONFIG_A, 0x70);
hmc5883l_initialize();
// load DMP code into memory banks
DEBUG_PRINTLN("Writing DMP code to MPU memory banks\r\n");
if (mpu6050_writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE, 0, 0, false)) {
DEBUG_PRINTLN("Success! DMP code written and verified.\r\n");
DEBUG_PRINTLN("Configuring DMP and related settings...\r\n");
// write DMP configuration
DEBUG_PRINT("Writing DMP configuration to MPU memory banks\r\n");
if (mpu6050_writeProgDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) {
DEBUG_PRINTLN("Success! DMP configuration written and verified.\r\n");
DEBUG_PRINTLN("Setting DMP and FIFO_OFLOW interrupts enabled...\r\n");
mpu6050_setIntEnabled(0x12);
DEBUG_PRINTLN("Setting sample rate to 200Hz...\r\n");
mpu6050_setRate(4); // 1khz / (1 + 4) = 200 Hz
DEBUG_PRINTLN("Setting clock source to Z Gyro...\r\n");
mpu6050_setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
DEBUG_PRINTLN("Setting DLPF bandwidth to 42Hz...\r\n");
mpu6050_setDLPFMode(MPU6050_DLPF_BW_42);
DEBUG_PRINTLN("Setting external frame sync to TEMP_OUT_L[0]...\r\n");
mpu6050_setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
DEBUG_PRINTLN("Setting gyro sensitivity to +/- 2000 deg/sec...\r\n");
mpu6050_setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
DEBUG_PRINTLN("Setting DMP configuration bytes (function unknown)...\r\n");
mpu6050_setDMPConfig1(0x03);
mpu6050_setDMPConfig2(0x00);
DEBUG_PRINTLN("Clearing OTP Bank flag...\r\n");
mpu6050_setOTPBankValid(false);
DEBUG_PRINTLN("Setting X/Y/Z gyro offsets to previous values...\r\n");
mpu6050_setXGyroOffsetTC(xgOffset);
mpu6050_setYGyroOffsetTC(ygOffset);
mpu6050_setZGyroOffsetTC(zgOffset);
DEBUG_PRINTLN("Setting X/Y/Z gyro user offsets to zero...\r\n");
/*
mpu6050_setXGyroOffset(0);
mpu6050_setYGyroOffset(0);
mpu6050_setZGyroOffset(0);
*/
// mpu6050_setXGyroOffset(220);
// mpu6050_setYGyroOffset(76);
// mpu6050_setZGyroOffset(-85);
// mpu6050_setZAccelOffset(700);
DEBUG_PRINTLN("Writing final memory update 1/19 (function unknown)...\r\n");
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]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Writing final memory update 2/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Resetting FIFO...\r\n");
mpu6050_resetFIFO();
DEBUG_PRINTLN("Reading FIFO count...\r\n");
uint8_t fifoCount = mpu6050_getFIFOCount();
DEBUG_PRINT("Current FIFO count=\r\n");
DEBUG_PRINTLN(fifoCount);
uint8_t fifoBuffer[128];
// mpu6050_getFIFOBytes(fifoBuffer, fifoCount);
DEBUG_PRINTLN("Writing final memory update 3/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Writing final memory update 4/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Disabling all standby flags...\r\n");
i2c_write_byte(&mpu6050, MPU6050_RA_PWR_MGMT_2, 0x00);
DEBUG_PRINTLN("Setting accelerometer sensitivity to +/- 2g...\r\n");
i2c_write_byte(&mpu6050, MPU6050_RA_ACCEL_CONFIG, 0x00);
DEBUG_PRINTLN("Setting motion detection threshold to 2...\r\n");
mpu6050_setMotionDetectionThreshold(2);
DEBUG_PRINTLN("Setting zero-motion detection threshold to 156...\r\n");
mpu6050_setZeroMotionDetectionThreshold(156);
DEBUG_PRINTLN("Setting motion detection duration to 80...\r\n");
mpu6050_setMotionDetectionDuration(80);
DEBUG_PRINTLN("Setting zero-motion detection duration to 0...\r\n");
mpu6050_setZeroMotionDetectionDuration(0);
DEBUG_PRINTLN("Setting AK8975 to single measurement mode...\r\n");
// to do
//mag -> setMode(1);
#if 1
/* set hmc5883l */
// i2c_write_byte(&mpu6050, MPU6050_RA_I2C_MST_CTRL, 0x40);
/* slave1 for read */
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV0_ADDR, HMC5883L_ADDRESS | I2C_READ);
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV0_REG, HMC5883L_RA_DATAX_H);
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV0_CTRL, 0x86);
/* slave1 for write */
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV2_ADDR, HMC5883L_ADDRESS);
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV2_REG, HMC5883L_RA_MODE);
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV2_DO, HMC5883L_MODE_SINGLE);
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV2_CTRL, 0x81);
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV4_CTRL, 0x18);
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_MST_DELAY_CTRL, 0x05);
#endif
#if 0
// setup AK8975 (0x0E) as Slave 0 in read mode
DEBUG_PRINTLN("Setting up AK8975 read slave 0...\r\n");
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV0_ADDR, 0x1E);
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV0_REG, 0x01);
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV0_CTRL, 0xDA);
// setup AK8975 (0x0E) as Slave 2 in write mode
DEBUG_PRINTLN("Setting up AK8975 write slave 2...\r\n");
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV2_ADDR, 0x0E);
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV2_REG, 0x0A);
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV2_CTRL, 0x81);
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV2_DO, 0x01);
// setup I2C timing/delay control
DEBUG_PRINTLN("Setting up slave access delay...\r\n");
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_SLV4_CTRL, 0x18);
i2c_write_byte(&mpu6050, MPU6050_RA_I2C_MST_DELAY_CTRL, 0x05);
#endif
// enable interrupts
DEBUG_PRINTLN("Enabling default interrupt behavior/no bypass...\r\n");
i2c_write_byte(&mpu6050, MPU6050_RA_INT_PIN_CFG, 0x00);
// enable I2C master mode and reset DMP/FIFO
DEBUG_PRINTLN("Enabling I2C master mode...\r\n");
i2c_write_byte(&mpu6050, MPU6050_RA_USER_CTRL, 0x20);
DEBUG_PRINTLN("Resetting FIFO...\r\n");
i2c_write_byte(&mpu6050, MPU6050_RA_USER_CTRL, 0x24);
DEBUG_PRINTLN("Rewriting I2C master mode enabled because...I don't know\r\n");
i2c_write_byte(&mpu6050, MPU6050_RA_USER_CTRL, 0x20);
DEBUG_PRINTLN("Enabling and resetting DMP/FIFO...\r\n");
i2c_write_byte(&mpu6050, MPU6050_RA_USER_CTRL, 0xE8);
DEBUG_PRINTLN("Writing final memory update 5/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Writing final memory update 6/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Writing final memory update 7/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Writing final memory update 8/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Writing final memory update 9/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Writing final memory update 10/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Writing final memory update 11/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Reading final memory update 12/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_readMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
#ifdef DEBUG
DEBUG_PRINT("Read bytes: ");
for (j = 0; j < 4; j++) {
DEBUG_PRINTF("0x%02x ", dmpUpdate[3 + j]);
}
DEBUG_PRINTLN("\r\n");
#endif
DEBUG_PRINTLN("Writing final memory update 13/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Writing final memory update 14/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Writing final memory update 15/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Writing final memory update 16/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Writing final memory update 17/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Waiting for FIFO count >= 46...\r\n");
while ((fifoCount = mpu6050_getFIFOCount()) < 46);
DEBUG_PRINTLN("Reading FIFO...\r\n");
mpu6050_getFIFOBytes(fifoBuffer, min(fifoCount, 128)); // safeguard only 128 bytes
DEBUG_PRINTLN("Reading interrupt status...\r\n");
mpu6050_getIntStatus();
DEBUG_PRINTLN("Writing final memory update 18/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Waiting for FIFO count >= 48...\r\n");
while ((fifoCount = mpu6050_getFIFOCount()) < 48);
DEBUG_PRINTLN("Reading FIFO...");
mpu6050_getFIFOBytes(fifoBuffer, min(fifoCount, 128)); // safeguard only 128 bytes
DEBUG_PRINTLN("Reading interrupt status...\r\n");
mpu6050_getIntStatus();
DEBUG_PRINTLN("Waiting for FIFO count >= 48...\r\n");
while ((fifoCount = mpu6050_getFIFOCount()) < 48);
DEBUG_PRINTLN("Reading FIFO...\r\n");
mpu6050_getFIFOBytes(fifoBuffer, min(fifoCount, 128)); // safeguard only 128 bytes
DEBUG_PRINTLN("Reading interrupt status...\r\n");
mpu6050_getIntStatus();
DEBUG_PRINTLN("Writing final memory update 19/19 (function unknown)...\r\n");
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
mpu6050_writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1], true);
DEBUG_PRINTLN("Disabling DMP (you turn it on later)...\r\n");
mpu6050_setDMPEnabled(false);
DEBUG_PRINTLN("Setting up internal 48-byte (default) DMP packet buffer...\r\n");
dmpPacketSize = 48;
/*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...\r\n");
mpu6050_resetFIFO();
mpu6050_getIntStatus();
} else {
DEBUG_PRINTLN("ERROR! DMP configuration verification failed.\r\n");
return 2; // configuration block loading failed
}
} else {
DEBUG_PRINTLN("ERROR! DMP code verification failed.\r\n");
return 1; // main binary block loading failed
}
return 0; // success
}
/*
* 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
}
/*
* write a dmp configuration set
*/
unsigned char mpu6050_writeDMPConfigurationSet(char address, const unsigned char *data, unsigned short dataSize, unsigned char useProgMem) {
unsigned char progBuffer[8];
unsigned char *pProgBuffer;
pProgBuffer = &progBuffer[0];
unsigned char success, special;
unsigned short i, j;
//if (useProgMem) {
// progBuffer = (unsigned char *)malloc(8); // assume 8-byte blocks, realloc later if necessary
//}
// config set data is a long string of blocks with the following structure:
// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
unsigned char bank, offset, length;
for (i = 0; i < dataSize;) {
if (useProgMem) {
bank = data[i++];
offset = data[i++];
length = data[i++];
} else {
bank = *data; data++; i++;
offset = *data; data++; i++;
length = *data; data++; i++;
}
// write data or perform special action
if (length > 0) {
// regular block of data to write
if (useProgMem) {
//if (sizeof(progBuffer) < length) progBuffer = (unsigned char *)realloc(progBuffer, length);
for (j = 0; j < length; j++) progBuffer[j] = 1; //pgm_read_byte(data + i + j);
} else {
for (j = 0; j < length; j++) {
progBuffer[j] = *data;
data++;
}
}
success = mpu6050_writeMemoryBlock(address, pProgBuffer, length, bank, offset, 0, 0);
i += length;
} else {
// special instruction
// NOTE: this kind of behavior (what and when to do certain things)
// is totally undocumented. This code is in here based on observed
// behavior only, and exactly why (or even whether) it has to be here
// is anybody's guess for now.
if (useProgMem) {
special = 1; //pgm_read_byte(data + i++);
} else {
special = *data; data++; i++;
}
if (special == 0x01) {
// enable DMP-related interrupts
//write_bit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, 1); //setIntZeroMotionEnabled
//write_bit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, 1); //setIntFIFOBufferOverflowEnabled
//write_bit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, 1); //setIntDMPEnabled
unsigned char temp = 0x32;
i2cWrite(address, MPU6050_INT_ENABLE, &temp, 1); // single operation
success = 1;
} else {
// unknown special command
success = 0;
}
}
if (!success) {
//if (useProgMem) free(progBuffer);
return 0; // uh oh
}
}
//if (useProgMem) free(progBuffer);
return 1;
}
