From fd9d9861690d19ca4cf7bce3e837ef34a5ec7a23 Mon Sep 17 00:00:00 2001 From: timecop Date: Sat, 24 Mar 2012 15:43:09 +0000 Subject: [PATCH] added printing detected sensors in 'status' in cli took out leftovers of old dynamic mixer binary protocol - now cli sets it. added some mpu6050 DMP stuff - all disabled by default, only for testing stuff. ignore it. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@128 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61 --- baseflight.uvopt | 122 +- baseflight.uvproj | 10 + obj/baseflight.hex | 5181 ++++++++++++++++++++++---------------------- src/cli.c | 23 +- src/config.c | 5 + src/drv_mpu6050.c | 636 +++++- src/drv_mpu6050.h | 1 + src/mw.c | 2 + src/mw.h | 1 + src/serial.c | 15 - 10 files changed, 3332 insertions(+), 2664 deletions(-) diff --git a/baseflight.uvopt b/baseflight.uvopt index a96357489..f06c5760b 100755 --- a/baseflight.uvopt +++ b/baseflight.uvopt @@ -73,7 +73,7 @@ 1 0 - 0 + 1 255 @@ -157,6 +157,23 @@ -UV0168AVR -O206 -S8 -C0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC72000000 -TP21 -TDS803D -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO11 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000 + + + 0 + 0 + 461 + 1 +
134248194
+ 0 + 0 + 0 + 0 + 1 + + + \\baseflight\src/drv_mpu6050.c\461 +
+
0 @@ -180,6 +197,27 @@ 1 rcData,0x0A + + 4 + 1 + incoming + + + 5 + 1 + dmpdata + + + + 6 + 1 + dmpdata + + + 7 + 1 + dmp_fifoCountL + @@ -279,7 +317,7 @@ 1 0 - 1 + 0 255 @@ -488,10 +526,10 @@ 1 0 0 - 0 + 37 0 - 1 - 1 + 523 + 523 0 .\src\cli.c cli.c @@ -502,10 +540,10 @@ 1 0 0 - 56 + 20 0 - 1 - 21 + 149 + 162 0 .\src\config.c config.c @@ -519,7 +557,7 @@ 0 0 50 - 56 + 62 0 .\src\imu.c imu.c @@ -530,10 +568,10 @@ 1 0 0 - 25 + 43 0 - 34 - 44 + 35 + 51 0 .\src\main.c main.c @@ -558,10 +596,10 @@ 1 0 0 - 12 + 21 0 - 39 - 50 + 560 + 587 0 .\src\mw.c mw.c @@ -586,10 +624,10 @@ 1 0 0 - 20 + 0 0 - 1 - 1 + 205 + 209 0 .\src\serial.c serial.c @@ -603,7 +641,7 @@ 18 0 1 - 7 + 20 0 .\src\board.h board.h @@ -616,12 +654,26 @@ 0 0 0 - 242 - 269 + 248 + 280 0 .\src\mw.h mw.h + + 1 + 0 + 1 + 0 + 0 + 1 + 0 + 35 + 71 + 0 + .\src\gps.c + gps.c + @@ -691,10 +743,10 @@ 1 0 0 - 0 + 27 0 - 0 - 0 + 167 + 167 0 .\src\drv_i2c.c drv_i2c.c @@ -717,7 +769,7 @@ 2 17 1 - 1 + 0 0 1 0 @@ -735,8 +787,8 @@ 0 0 0 - 0 - 0 + 37 + 43 0 .\src\drv_system.c drv_system.c @@ -773,12 +825,12 @@ 2 21 1 - 0 + 1 0 - 0 + 13 0 - 0 - 0 + 421 + 451 0 .\src\drv_mpu6050.c drv_mpu6050.c @@ -938,8 +990,8 @@ 0 32 0 - 269 - 291 + 0 + 0 0 .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_gpio.c stm32f10x_gpio.c @@ -966,8 +1018,8 @@ 0 0 0 - 0 - 0 + 133 + 133 0 .\src\baseflight_startups\startup_stm32f10x_md.s startup_stm32f10x_md.s diff --git a/baseflight.uvproj b/baseflight.uvproj index c135a1158..74169686d 100755 --- a/baseflight.uvproj +++ b/baseflight.uvproj @@ -436,6 +436,11 @@ 5 .\src\mw.h + + gps.c + 1 + .\src\gps.c + @@ -1054,6 +1059,11 @@ 5 .\src\mw.h + + gps.c + 1 + .\src\gps.c + diff --git a/obj/baseflight.hex b/obj/baseflight.hex index ef0a55efe..83c8b7f98 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,80 +1,80 @@ :020000040800F2 -:1000000050170020B9710008F9710008FB71000851 -:10001000FD710008FF710008017200080000000077 -:100020000000000000000000000000000372000853 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+:10A4C0004040041334081B4038041A3C0419211B73 +:10A4D0004034201A38041A3C0419391944011B3B32 +:10A4E000A24A7941380C0102030406070809020454 +:08A4F0000685291069144100E2 :04000005080000ED02 :00000001FF diff --git a/src/cli.c b/src/cli.c index 500be53da..70618117d 100644 --- a/src/cli.c +++ b/src/cli.c @@ -39,6 +39,11 @@ const char *featureNames[] = { NULL }; +// sync this with AvailableSensors enum from board.h +const char *sensorNames[] = { + "ACC", "BARO", "MAG", "SONAR", "GPS", NULL +}; + typedef struct { char *name; char *param; @@ -186,7 +191,7 @@ static void cliFeature(char *cmdline) uint8_t i; uint8_t len; uint32_t mask; - + len = strlen(cmdline); mask = featureMask(); @@ -424,6 +429,9 @@ static void cliSet(char *cmdline) static void cliStatus(char *cmdline) { char buf[16]; + uint8_t i; + uint32_t mask; + uartPrint("System Uptime: "); itoa(millis() / 1000, buf, 10); uartPrint(buf); @@ -434,6 +442,19 @@ static void cliStatus(char *cmdline) itoa(batteryCellCount, buf, 10); uartPrint(buf); uartPrint("S battery)\r\n"); + + mask = sensorsMask(); + + uartPrint("Detected sensors: "); + for (i = 0; ; i++) { + if (sensorNames[i] == NULL) + break; + if (mask & (1 << i)) + uartPrint((char *)sensorNames[i]); + uartWrite(' '); + } + uartPrint("\r\n"); + uartPrint("Cycle Time: "); itoa(cycleTime, buf, 10); uartPrint(buf); diff --git a/src/config.c b/src/config.c index 902cedb31..31071351d 100755 --- a/src/config.c +++ b/src/config.c @@ -159,6 +159,11 @@ void sensorsClear(uint32_t mask) enabledSensors &= ~(mask); } +uint32_t sensorsMask(void) +{ + return enabledSensors; +} + bool feature(uint32_t mask) { return cfg.enabledFeatures & mask; diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c index 6031b6300..4d6ba8754 100644 --- a/src/drv_mpu6050.c +++ b/src/drv_mpu6050.c @@ -2,32 +2,141 @@ // MPU6050, Standard address 0x68 #define MPU6050_ADDRESS 0x68 -#define MPU6050_WHO_AM_I 0x75 -#define MPU6050_SMPLRT_DIV 0 //8000Hz +// Experimental DMP support +// #define MPU6050_DMP + +#define DMP_MEM_START_ADDR 0x6E +#define DMP_MEM_R_W 0x6F + +#define INV_MAX_NUM_ACCEL_SAMPLES (8) +#define DMP_REF_QUATERNION (0) +#define DMP_REF_GYROS (DMP_REF_QUATERNION + 4) // 4 +#define DMP_REF_CONTROL (DMP_REF_GYROS + 3) // 7 +#define DMP_REF_RAW (DMP_REF_CONTROL + 4) // 11 +#define DMP_REF_RAW_EXTERNAL (DMP_REF_RAW + 8) // 19 +#define DMP_REF_ACCEL (DMP_REF_RAW_EXTERNAL + 6) // 25 +#define DMP_REF_QUANT_ACCEL (DMP_REF_ACCEL + 3) // 28 +#define DMP_REF_QUATERNION_6AXIS (DMP_REF_QUANT_ACCEL + INV_MAX_NUM_ACCEL_SAMPLES) // 36 +#define DMP_REF_EIS (DMP_REF_QUATERNION_6AXIS + 4) // 40 +#define DMP_REF_DMP_PACKET (DMP_REF_EIS + 3) // 43 +#define DMP_REF_GARBAGE (DMP_REF_DMP_PACKET + 1) // 44 +#define DMP_REF_LAST (DMP_REF_GARBAGE + 1) // 45 + +#define MPU_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN +#define MPU_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN +#define MPU_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN +#define MPU_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS +#define MPU_RA_XA_OFFS_L_TC 0x07 +#define MPU_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS +#define MPU_RA_YA_OFFS_L_TC 0x09 +#define MPU_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS +#define MPU_RA_ZA_OFFS_L_TC 0x0B +#define MPU_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR +#define MPU_RA_XG_OFFS_USRL 0x14 +#define MPU_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR +#define MPU_RA_YG_OFFS_USRL 0x16 +#define MPU_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR +#define MPU_RA_ZG_OFFS_USRL 0x18 +#define MPU_RA_SMPLRT_DIV 0x19 +#define MPU_RA_CONFIG 0x1A +#define MPU_RA_GYRO_CONFIG 0x1B +#define MPU_RA_ACCEL_CONFIG 0x1C +#define MPU_RA_FF_THR 0x1D +#define MPU_RA_FF_DUR 0x1E +#define MPU_RA_MOT_THR 0x1F +#define MPU_RA_MOT_DUR 0x20 +#define MPU_RA_ZRMOT_THR 0x21 +#define MPU_RA_ZRMOT_DUR 0x22 +#define MPU_RA_FIFO_EN 0x23 +#define MPU_RA_I2C_MST_CTRL 0x24 +#define MPU_RA_I2C_SLV0_ADDR 0x25 +#define MPU_RA_I2C_SLV0_REG 0x26 +#define MPU_RA_I2C_SLV0_CTRL 0x27 +#define MPU_RA_I2C_SLV1_ADDR 0x28 +#define MPU_RA_I2C_SLV1_REG 0x29 +#define MPU_RA_I2C_SLV1_CTRL 0x2A +#define MPU_RA_I2C_SLV2_ADDR 0x2B +#define MPU_RA_I2C_SLV2_REG 0x2C +#define MPU_RA_I2C_SLV2_CTRL 0x2D +#define MPU_RA_I2C_SLV3_ADDR 0x2E +#define MPU_RA_I2C_SLV3_REG 0x2F +#define MPU_RA_I2C_SLV3_CTRL 0x30 +#define MPU_RA_I2C_SLV4_ADDR 0x31 +#define MPU_RA_I2C_SLV4_REG 0x32 +#define MPU_RA_I2C_SLV4_DO 0x33 +#define MPU_RA_I2C_SLV4_CTRL 0x34 +#define MPU_RA_I2C_SLV4_DI 0x35 +#define MPU_RA_I2C_MST_STATUS 0x36 +#define MPU_RA_INT_PIN_CFG 0x37 +#define MPU_RA_INT_ENABLE 0x38 +#define MPU_RA_DMP_INT_STATUS 0x39 +#define MPU_RA_INT_STATUS 0x3A +#define MPU_RA_ACCEL_XOUT_H 0x3B +#define MPU_RA_ACCEL_XOUT_L 0x3C +#define MPU_RA_ACCEL_YOUT_H 0x3D +#define MPU_RA_ACCEL_YOUT_L 0x3E +#define MPU_RA_ACCEL_ZOUT_H 0x3F +#define MPU_RA_ACCEL_ZOUT_L 0x40 +#define MPU_RA_TEMP_OUT_H 0x41 +#define MPU_RA_TEMP_OUT_L 0x42 +#define MPU_RA_GYRO_XOUT_H 0x43 +#define MPU_RA_GYRO_XOUT_L 0x44 +#define MPU_RA_GYRO_YOUT_H 0x45 +#define MPU_RA_GYRO_YOUT_L 0x46 +#define MPU_RA_GYRO_ZOUT_H 0x47 +#define MPU_RA_GYRO_ZOUT_L 0x48 +#define MPU_RA_EXT_SENS_DATA_00 0x49 +#define MPU_RA_MOT_DETECT_STATUS 0x61 +#define MPU_RA_I2C_SLV0_DO 0x63 +#define MPU_RA_I2C_SLV1_DO 0x64 +#define MPU_RA_I2C_SLV2_DO 0x65 +#define MPU_RA_I2C_SLV3_DO 0x66 +#define MPU_RA_I2C_MST_DELAY_CTRL 0x67 +#define MPU_RA_SIGNAL_PATH_RESET 0x68 +#define MPU_RA_MOT_DETECT_CTRL 0x69 +#define MPU_RA_USER_CTRL 0x6A +#define MPU_RA_PWR_MGMT_1 0x6B +#define MPU_RA_PWR_MGMT_2 0x6C +#define MPU_RA_BANK_SEL 0x6D +#define MPU_RA_MEM_START_ADDR 0x6E +#define MPU_RA_MEM_R_W 0x6F +#define MPU_RA_DMP_CFG_1 0x70 +#define MPU_RA_DMP_CFG_2 0x71 +#define MPU_RA_FIFO_COUNTH 0x72 +#define MPU_RA_FIFO_COUNTL 0x73 +#define MPU_RA_FIFO_R_W 0x74 +#define MPU_RA_WHO_AM_I 0x75 + +#define MPU6050_SMPLRT_DIV 0 //8000Hz #define MPU6050_DLPF_CFG 0 -#define MPU6050_GYRO_OUT 0x43 -#define MPU6050_ACC_OUT 0x3B static void mpu6050AccInit(void); -static void mpu6050AccRead(int16_t *accData); -static void mpu6050AccAlign(int16_t *accData); +static void mpu6050AccRead(int16_t * accData); +static void mpu6050AccAlign(int16_t * accData); static void mpu6050GyroInit(void); -static void mpu6050GyroRead(int16_t *gyroData); -static void mpu6050GyroAlign(int16_t *gyroData); +static void mpu6050GyroRead(int16_t * gyroData); +static void mpu6050GyroAlign(int16_t * gyroData); + +#ifdef MPU6050_DMP +static void mpu6050DmpInit(void); +#endif extern uint16_t acc_1G; -bool mpu6050Detect(sensor_t *acc, sensor_t *gyro) +bool mpu6050Detect(sensor_t * acc, sensor_t * gyro) { bool ack; uint8_t sig; - delay(35); // datasheet page 13 says 30ms. other stuff could have been running meanwhile. but we'll be safe + delay(35); // datasheet page 13 says 30ms. other stuff could have been running meanwhile. but we'll be safe - ack = i2cRead(MPU6050_ADDRESS, MPU6050_WHO_AM_I, 1, &sig); + ack = i2cRead(MPU6050_ADDRESS, MPU_RA_WHO_AM_I, 1, &sig); if (!ack) return false; - + if (sig != MPU6050_ADDRESS) return false; @@ -38,29 +147,37 @@ bool mpu6050Detect(sensor_t *acc, sensor_t *gyro) gyro->read = mpu6050GyroRead; gyro->align = mpu6050GyroAlign; +#ifdef MPU6050_DMP + mpu6050DmpInit(); +#endif + return true; } static void mpu6050AccInit(void) { - i2cWrite(MPU6050_ADDRESS, 0x1C, 0x10); // ACCEL_CONFIG -- AFS_SEL=2 (Full Scale = +/-8G) ; ACCELL_HPF=0 //note something is wrong in the spec. +#ifndef MPU6050_DMP + i2cWrite(MPU6050_ADDRESS, 0x1C, 0x10); // ACCEL_CONFIG -- AFS_SEL=2 (Full Scale = +/-8G) ; ACCELL_HPF=0 //note something is wrong in the spec. +#endif // note: something seems to be wrong in the spec here. With AFS=2 1G = 4096 but according to my measurement: 1G=2048 (and 2048/8 = 256) // confirmed here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1080&start=10#p7480 // seems to be not a problem on MPU6000 lol acc_1G = 1023; } -static void mpu6050AccRead(int16_t *accData) +static void mpu6050AccRead(int16_t * accData) { uint8_t buf[6]; - - i2cRead(MPU6050_ADDRESS, MPU6050_ACC_OUT, 6, buf); + +#ifndef MPU6050_DMP + i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_XOUT_H, 6, buf); +#endif accData[0] = (buf[0] << 8) | buf[1]; accData[1] = (buf[2] << 8) | buf[3]; accData[2] = (buf[4] << 8) | buf[5]; } -static void mpu6050AccAlign(int16_t *accData) +static void mpu6050AccAlign(int16_t * accData) { int16_t temp[2]; temp[0] = accData[0]; @@ -74,27 +191,496 @@ static void mpu6050AccAlign(int16_t *accData) static void mpu6050GyroInit(void) { - i2cWrite(MPU6050_ADDRESS, 0x6B, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1 +#ifndef MPU6050_DMP + i2cWrite(MPU6050_ADDRESS, 0x6B, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1 delay(5); - i2cWrite(MPU6050_ADDRESS, 0x19, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) - i2cWrite(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz) - i2cWrite(MPU6050_ADDRESS, 0x6B, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference) - i2cWrite(MPU6050_ADDRESS, 0x1B, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec + i2cWrite(MPU6050_ADDRESS, 0x19, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) + i2cWrite(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz) + i2cWrite(MPU6050_ADDRESS, 0x6B, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference) + i2cWrite(MPU6050_ADDRESS, 0x1B, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec +#endif } -static void mpu6050GyroRead(int16_t *gyroData) +static void mpu6050GyroRead(int16_t * gyroData) { uint8_t buf[6]; - i2cRead(MPU6050_ADDRESS, MPU6050_GYRO_OUT, 6, buf); +#ifndef MPU6050_DMP + i2cRead(MPU6050_ADDRESS, MPU_RA_GYRO_XOUT_H, 6, buf); +#endif gyroData[0] = (buf[0] << 8) | buf[1]; gyroData[1] = (buf[2] << 8) | buf[3]; gyroData[2] = (buf[4] << 8) | buf[5]; } -static void mpu6050GyroAlign(int16_t *gyroData) +static void mpu6050GyroAlign(int16_t * gyroData) { // official direction is RPY gyroData[0] = gyroData[0] / 4; gyroData[1] = gyroData[1] / 4; gyroData[2] = -gyroData[2] / 4; } + +#ifdef MPU6050_DMP + +//This 3D array contains the default DMP memory bank binary that gets loaded during initialization. +//In the Invensense UC3-A3 firmware this is uploaded in 128 byte tranmissions, but the Arduino Wire +//library only supports 32 byte transmissions, including the register address to which you're writing, +//so I broke it up into 16 byte transmission payloads which are sent in the dmp_init() function below. +// +//This was reconstructed from observed I2C traffic generated by the UC3-A3 demo code, and not extracted +//directly from that code. That is true of all transmissions in this sketch, and any documentation has +//been added after the fact by referencing the Invensense code. + +const unsigned char dmpMem[8][16][16] = { + { + {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} + }, + { + {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} + }, + { + {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} + }, + { + {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} + }, + { + {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} + }, + { + {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} + }, + { + {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} + }, + { + {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} + } +}; + + +//DMP update transmissions (Bank, Start Address, Update Length, Update Data...) + +const uint8_t dmp_updates[29][9] = { + {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 + //SET INT_ENABLE at i=22 + {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, 0x0A}, //D_0_22 inv_set_fifo_rate +}; + + +static long dmp_lastRead = 0; +static uint8_t dmp_processed_packet[8]; +static uint8_t dmp_received_packet[50]; +static uint8_t dmp_temp = 0; +uint8_t dmp_fifoCountL = 0; +static uint8_t dmp_fifoCountL2 = 0; +static uint8_t dmp_packetCount = 0x00; +static bool dmp_longPacket = false; +static bool dmp_firstPacket = true; + +static void mpu6050DmpMemInit(void); +static void mpu6050DmpBankSelect(uint8_t bank); +static bool mpu6050DmpFifoReady(void); +static void mpu6050DmpGetPacket(void); +static void mpu6050DmpProcessQuat(void); +static void mpu6050DmpResetFifo(void); + +static void mpu6050DmpInit(void) +{ + uint8_t temp = 0; + + i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0xC0); // device reset + i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_2, 0x00); + delay(10); + + i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x00); + i2cWrite(MPU6050_ADDRESS, MPU_RA_BANK_SEL, 0x70); + i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x06); + i2cRead(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 1, &temp); + i2cWrite(MPU6050_ADDRESS, MPU_RA_BANK_SEL, 0x00); + + /* + dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_XG_OFFS_TC); + dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_YG_OFFS_TC); + dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_ZG_OFFS_TC); + dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_USER_CTRL); + */ + + i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_PIN_CFG, 0x32); // I2C bypass enabled, latch int enabled, int read clear + i2cRead(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 1, &temp); + delay(5); + + mpu6050DmpMemInit(); + delay(20); +} + +void mpu6050DmpLoop(void) +{ + uint8_t temp; + uint8_t buf[2]; + + if (mpu6050DmpFifoReady()) { + mpu6050DmpGetPacket(); + + i2cRead(MPU6050_ADDRESS, MPU_RA_INT_STATUS, 1, &temp); + if (dmp_firstPacket) { + delay(1); + mpu6050DmpBankSelect(0x00); + + mpu6050DmpBankSelect(0x00); // bank + i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x60); + i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 4, "\x04\x00\x00\x00"); // data + + mpu6050DmpBankSelect(0x01); + + i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x62); + i2cRead(MPU6050_ADDRESS, DMP_MEM_R_W, 2, buf); + dmp_firstPacket = false; + mpu6050DmpFifoReady(); + } + + if (dmp_fifoCountL == 42) { + mpu6050DmpProcessQuat(); + } + } +} + +double dmpdata[3]; + +static void mpu6050DmpProcessQuat(void) +{ + int32_t quatl0, quatl1, quatl2, quatl3; + double quat0, quat1, quat2, quat3; + double rot6, rot7, rot8; + +#define dmp_quatTake32(a, b) (((a)[4*(b)+3]<<24) | ((a)[4*(b)+2]<<16) | ((a)[4*(b)+1]<<8) | ((a)[4*(b)+0])) + quatl0 = dmp_quatTake32(dmp_received_packet, 0); + quatl1 = dmp_quatTake32(dmp_received_packet, 1); + quatl2 = dmp_quatTake32(dmp_received_packet, 2); + quatl3 = dmp_quatTake32(dmp_received_packet, 3); + quat0 = (double) quatl0 / 32768.0; + quat1 = (double) quatl1 / 32768.0; + quat2 = (double) quatl2 / 32768.0; + quat3 = (double) quatl3 / 32768.0; + + rot6 = (quat1 * quat3) - (quat2 * quat0); + rot7 = (quat2 * quat3) + (quat1 * quat0); + rot8 = (quat3 * quat3) + (quat0 * quat0) - 1.0; + + dmpdata[0] = atan2(rot7, rot8); + dmpdata[1] = atan2(rot8, rot6); + dmpdata[2] = ((dmp_received_packet[4 * 6 + 0] << 8) | (dmp_received_packet[4 * 6 + 1] << 0)); +} + +static void mpu6050DmpResetFifo(void) +{ + uint8_t ctrl; + + i2cRead(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 1, &ctrl); + ctrl |= 0x04; + i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, ctrl); +} + + +static void mpu6050DmpGetPacket(void) +{ + if (dmp_fifoCountL > 32) { + dmp_fifoCountL2 = dmp_fifoCountL - 32; + dmp_longPacket = true; + } + + if (dmp_longPacket) { + i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_R_W, 32, dmp_received_packet); + i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_R_W, dmp_fifoCountL, dmp_received_packet + 32); + dmp_longPacket = false; + } else { + i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_R_W, dmp_fifoCountL, dmp_received_packet); + } +} + +static bool mpu6050DmpFifoReady(void) +{ + uint8_t buf[2]; + + i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_COUNTH, 2, buf); + + dmp_fifoCountL = buf[1]; + + if (dmp_fifoCountL == 42 || dmp_fifoCountL == 44) + return true; + else + return false; +} + +static void mpu6050DmpBankSelect(uint8_t bank) +{ + i2cWrite(MPU6050_ADDRESS, MPU_RA_BANK_SEL, bank); +} + +static void mpu6050DmpBankInit(void) +{ + uint8_t i, j; + uint8_t incoming[9]; + + for (i = 0; i < 7; i++) { + mpu6050DmpBankSelect(i); + for (j = 0; j < 16; j++) { + uint8_t start_addy = j * 0x10; + + i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, start_addy); + i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, 16, (uint8_t *) & dmpMem[i][j][0]); + } + } + + mpu6050DmpBankSelect(7); + + for (j = 0; j < 8; j++) { + + uint8_t start_addy = j * 0x10; + + i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, start_addy); + i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, 16, (uint8_t *) & dmpMem[7][j][0]); + } + + i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, 0x80); + i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, 9, (uint8_t *) & dmpMem[7][8][0]); + + i2cRead(MPU6050_ADDRESS, DMP_MEM_R_W, 8, incoming); +} + + +static void mpu6050DmpMemInit(void) +{ + uint8_t i; + uint8_t temp; + + mpu6050DmpBankInit(); + + // Bank, Start Address, Update Length, Update Data... + for (i = 0; i < 22; i++) { + mpu6050DmpBankSelect(dmp_updates[i][0]); // bank + i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, dmp_updates[i][1]); // address + i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, dmp_updates[i][2], (uint8_t *)&dmp_updates[i][3]); // data + } + + i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_ENABLE, 0x32); + + for (i = 22; i < 29; i++) { + mpu6050DmpBankSelect(dmp_updates[i][0]); // bank + i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, dmp_updates[i][1]); // address + i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, dmp_updates[i][2], (uint8_t *)&dmp_updates[i][3]); // data + } + + /* + dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_PWR_MGMT_1); + dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_PWR_MGMT_2); + */ + + i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_ENABLE, 0x02); // ?? + i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03); // CLKSEL = PLL w Z ref + i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, 0x04); + i2cWrite(MPU6050_ADDRESS, MPU_RA_GYRO_CONFIG, 0x18); // full scale 2000 deg/s + i2cWrite(MPU6050_ADDRESS, MPU_RA_CONFIG, 0x0B); // ext_sync_set=temp_out_L, accel DLPF 44Hz, gyro DLPF 42Hz + i2cWrite(MPU6050_ADDRESS, MPU_RA_DMP_CFG_1, 0x03); + i2cWrite(MPU6050_ADDRESS, MPU_RA_DMP_CFG_2, 0x00); + i2cWrite(MPU6050_ADDRESS, MPU_RA_XG_OFFS_TC, 0x00); + i2cWrite(MPU6050_ADDRESS, MPU_RA_YG_OFFS_TC, 0x00); + i2cWrite(MPU6050_ADDRESS, MPU_RA_ZG_OFFS_TC, 0x00); + + // clear offsets + i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_XG_OFFS_USRH, 6, "\x00\x00\x00\x00\x00\x00"); // data + + mpu6050DmpBankSelect(0x01); // bank + i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0xB2); + i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 2, "\xFF\xFF"); // data + + mpu6050DmpBankSelect(0x01); // bank + i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x90); + i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 4, "\x09\x23\xA1\x35"); // data + + i2cRead(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 1, &temp); + + i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0x04); // fifo reset + + // Insert FIFO count read? + mpu6050DmpFifoReady(); + + i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0x00); // ?? I think this enables a lot of stuff but disables fifo + i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03); // CLKSEL = PLL w Z ref + delay(2); + + i2cRead(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_2, 1, &temp); + i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_2, 0x00); + i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 1, &temp); + + i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 0x00); // full scale range +/- 2g + delay(2); + i2cRead(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 1, &temp); + + i2cWrite(MPU6050_ADDRESS, MPU_RA_MOT_THR, 0x02); + i2cWrite(MPU6050_ADDRESS, MPU_RA_ZRMOT_THR, 0x9C); + i2cWrite(MPU6050_ADDRESS, MPU_RA_MOT_DUR, 0x50); + i2cWrite(MPU6050_ADDRESS, MPU_RA_ZRMOT_DUR, 0x00); + i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0x04); // fifo reset + i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0x00); + i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0xC8); // fifo enable + + mpu6050DmpBankSelect(0x01); // bank + i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x6A); + i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 2, "\x06\x00"); // data + + mpu6050DmpBankSelect(0x01); // bank + i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x60); + i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 8, "\x00\x00\x00\x00\x00\x00\x00\x00"); // data + + mpu6050DmpBankSelect(0x00); // bank + i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x60); + i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 4, "\x40\x00\x00\x00"); // data +} + +#else /* MPU6050_DMP */ +void mpu6050DmpLoop(void) +{ + +} +#endif /* MPU6050_DMP */ diff --git a/src/drv_mpu6050.h b/src/drv_mpu6050.h index ea3b1899d..f88e26d87 100644 --- a/src/drv_mpu6050.h +++ b/src/drv_mpu6050.h @@ -1,3 +1,4 @@ #pragma once bool mpu6050Detect(sensor_t *acc, sensor_t *gyro); +void mpu6050DmpLoop(void); diff --git a/src/mw.c b/src/mw.c index 49f08de1f..9bab82005 100755 --- a/src/mw.c +++ b/src/mw.c @@ -583,6 +583,8 @@ void loop(void) currentTime = micros(); cycleTime = currentTime - previousTime; previousTime = currentTime; + + mpu6050DmpLoop(); if (sensors(SENSOR_MAG)) { if (abs(rcCommand[YAW]) < 70 && magMode) { diff --git a/src/mw.h b/src/mw.h index baac8a55b..6d0cffa21 100755 --- a/src/mw.h +++ b/src/mw.h @@ -271,6 +271,7 @@ void checkFirstTime(bool reset); bool sensors(uint32_t mask); void sensorsSet(uint32_t mask); void sensorsClear(uint32_t mask); +uint32_t sensorsMask(void); bool feature(uint32_t mask); void featureSet(uint32_t mask); void featureClear(uint32_t mask); diff --git a/src/serial.c b/src/serial.c index b814b76fa..8e7febc56 100755 --- a/src/serial.c +++ b/src/serial.c @@ -224,21 +224,6 @@ void serialCom(void) case 'R': // reboot to bootloader (oops, apparently this w as used for other trash, fix later) systemReset(true); break; - - case 'X': // dynamic mixer - i = uartReadPoll(); - if (i > 64 && i < 64 + MULTITYPE_LAST) { - serialize8('O'); - serialize8('K'); - cfg.mixerConfiguration = i - '@'; // A..B..C.. index - writeParams(); - systemReset(false); - break; - } - serialize8('N'); - serialize8('G'); - break; - case 'W': //GUI write params to eeprom @ arduino // while (uartAvailable() < (7 + 3 * PIDITEMS + 2 * CHECKBOXITEMS)) { } for (i = 0; i < PIDITEMS; i++) {