901 lines
31 KiB
Arduino
901 lines
31 KiB
Arduino
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#include <Wire.h>
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#include <avr/interrupt.h>
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#include <avr/pgmspace.h>
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#define MPU_ADDR 0x68
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#define MEM_START_ADDR 0x6E
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#define MEM_R_W 0x6F
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#define NODE_NUMBER 1
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#include <SPI.h> //Call SPI library so you can communicate with the nRF24L01+
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#include <nRF24L01.h> //nRF2401 libarary found at https://github.com/tmrh20/RF24/
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#include <RF24.h> //nRF2401 libarary found at https://github.com/tmrh20/RF24/
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const int pinCE = 3; //This pin is used to set the nRF24 to standby (0) or active mode (1)
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const int pinCSN = 10; //This pin is used to tell the nRF24 whether the SPI communication is a command or message to send out
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byte counter = 1; //used to count the packets sent
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bool done = false; //used to know when to stop sending packets
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RF24 wirelessSPI(pinCE, pinCSN); // Create your nRF24 object or wireless SPI connection
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#if NODE_NUMBER == 1
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const uint64_t wAddress = 0xB00B1E50D6LL; // Pipe to write or transmit on
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const uint64_t rAddress = 0xB00B1E50B5LL; //pipe to recive data on
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#endif
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#if NODE_NUMBER == 2
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const uint64_t wAddress = 0xB00B1E50D2LL; // Pipe to write or transmit on
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const uint64_t rAddress = 0xB00B1E50B1LL; //pipe to recive data on
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#endif
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#if NODE_NUMBER == 3
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const uint64_t wAddress = 0xB00B1E50A6LL;
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const uint64_t rAddress = 0xB00B1E50A8LL;
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#endif
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#if NODE_NUMBER == 4
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const uint64_t wAddress = 0xB00B1E50A0LL;
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const uint64_t rAddress = 0xB00B1E50A1LL;
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#endif
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// Variable to read the sensor
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long lastRead = 0;
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byte processed_packet[8];
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byte received_packet[50];
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byte temp = 0;
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byte fifoCountL = 0;
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byte fifoCountL2 = 0;
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//byte packetCount = 0x00;
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boolean longPacket = false;
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boolean firstPacket = true;
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// Variable for bluetooth transmission
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unsigned char tx_data[4];
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unsigned char rx_data;
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int flag_calibration = 0;
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// Variable for Quaternion an Euler calculation
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float q[4]; // QUaternion received
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float q2[4];
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float hq[4]; // Quaternion Qualibration reference
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float Euler[3]; // The three Euler angle calculated from Quaternion
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unsigned const char dmpMem[8][16][16] PROGMEM = {
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{
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{0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00},
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{0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01},
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{0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01},
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{0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00},
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{0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00},
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{0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82},
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{0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00},
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{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0},
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{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC},
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{0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4},
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{0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10}
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},
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{
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{0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8},
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{0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7},
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{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C},
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{0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C},
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{0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0}
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},
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{
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00},
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{0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
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{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
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},
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{
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{0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F},
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{0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2},
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{0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF},
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{0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C},
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{0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1},
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{0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01},
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{0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80},
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{0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C},
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{0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80},
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{0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E},
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{0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9},
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{0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24},
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{0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0},
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{0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86},
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{0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1},
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{0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86}
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},
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{
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{0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA},
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{0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C},
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{0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8},
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{0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3},
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{0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84},
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{0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5},
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{0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3},
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{0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1},
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{0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5},
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{0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D},
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{0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
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{0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D},
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{0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
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{0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A},
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{0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8},
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{0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87}
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},
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{
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{0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8},
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{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...)
|
||
|
|
|
||
|
|
static byte 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
|
||
|
|
};
|
||
|
|
|
||
|
|
void setup() {
|
||
|
|
|
||
|
|
Serial.begin(9600); //start serial to communicate process
|
||
|
|
wirelessSPI.begin(); //Start the nRF24 module
|
||
|
|
wirelessSPI.openWritingPipe(wAddress); //open writing or transmit pipe
|
||
|
|
wirelessSPI.openReadingPipe(1, rAddress); //open reading or recieve pipe
|
||
|
|
wirelessSPI.stopListening(); //go into transmit mode
|
||
|
|
|
||
|
|
Wire.begin();
|
||
|
|
delay(1);
|
||
|
|
check_MPU();
|
||
|
|
//Serial.println("MPU-6050 6-Axis");
|
||
|
|
|
||
|
|
regWrite(0x6B, 0xC0);
|
||
|
|
regWrite(0x6C, 0x00);
|
||
|
|
delay(10);
|
||
|
|
|
||
|
|
//regWrite(0x6B, 0x70);
|
||
|
|
regWrite(0x6B, 0x00);
|
||
|
|
regWrite(0x6D, 0x70);
|
||
|
|
regWrite(0x6E, 0x06);
|
||
|
|
temp = regRead(0x6F);
|
||
|
|
//Serial.print("Bank 1, Reg 6 = ");
|
||
|
|
//Serial.println(temp, HEX);
|
||
|
|
|
||
|
|
// temp = regRead(0x6B);
|
||
|
|
// Serial.println(temp, HEX);
|
||
|
|
|
||
|
|
regWrite(0x6D, 0x00);
|
||
|
|
|
||
|
|
temp = regRead(0x00);
|
||
|
|
//Serial.println(temp, HEX);
|
||
|
|
temp = regRead(0x01);
|
||
|
|
//Serial.println(temp, HEX);
|
||
|
|
temp = regRead(0x02);
|
||
|
|
//Serial.println(temp, HEX);
|
||
|
|
temp = regRead(0x6A);
|
||
|
|
//Serial.println(temp, HEX);
|
||
|
|
|
||
|
|
regWrite(0x37, 0x32);
|
||
|
|
|
||
|
|
temp = regRead(0x6B);
|
||
|
|
//Serial.println(temp, HEX);
|
||
|
|
delay(5);
|
||
|
|
// regWrite(0x25, 0x68); //Set Slave 0 to self
|
||
|
|
//
|
||
|
|
// regWrite(0x6A, 0x02);
|
||
|
|
|
||
|
|
mem_init();
|
||
|
|
delay(20);
|
||
|
|
}
|
||
|
|
|
||
|
|
void loop() {
|
||
|
|
// =========================================================
|
||
|
|
// This part is from the DOF sensor exemple
|
||
|
|
|
||
|
|
if (millis() >= lastRead + 1) {
|
||
|
|
lastRead = millis();
|
||
|
|
|
||
|
|
int toto = fifoReady();
|
||
|
|
if ( toto == 1) {
|
||
|
|
getPacket();
|
||
|
|
temp = regRead(0x3A);
|
||
|
|
if (firstPacket) {
|
||
|
|
delay(1);
|
||
|
|
bank_sel(0x00);
|
||
|
|
regWrite(0x6E, 0x60);
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(0x6F);
|
||
|
|
Wire.write(0x04); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
|
||
|
|
// Wire.write(0x00); Wire.write(0x80); Wire.write(0x00); Wire.write(0x00);
|
||
|
|
Wire.endTransmission();
|
||
|
|
bank_sel(1);
|
||
|
|
regWrite(0x6E, 0x62);
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(0x6F);
|
||
|
|
Wire.endTransmission();
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.requestFrom(MPU_ADDR, 2);
|
||
|
|
temp = Wire.read();
|
||
|
|
temp = Wire.read();
|
||
|
|
firstPacket = false;
|
||
|
|
|
||
|
|
fifoReady();
|
||
|
|
}
|
||
|
|
// resetFifo();
|
||
|
|
|
||
|
|
// =====================================================
|
||
|
|
// If the fifo count is good, enter the function to transform Quaternions to
|
||
|
|
// Euler, send the Bluetooth data, and read Bluetooth for recalibration.
|
||
|
|
if (fifoCountL == 42) {
|
||
|
|
processQuat();
|
||
|
|
sendQuat();
|
||
|
|
if (flag_calibration == 1) { // use home quaternion
|
||
|
|
//Serial.println("HQ Activate");
|
||
|
|
quatProd(hq, q);
|
||
|
|
quaternionToEuler(q2, Euler);
|
||
|
|
print_data(); // use the print data for debugging purposes is you have a Serial port
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
quaternionToEuler(q, Euler);
|
||
|
|
}
|
||
|
|
|
||
|
|
pack_data(); // Function to pack and store the data into tx_data[] for Bluetooth
|
||
|
|
if (!wirelessSPI.write( &tx_data, 4 )) {
|
||
|
|
Serial.println("Guess delivery failed");
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
Serial.println("Success sending guess: ");
|
||
|
|
}
|
||
|
|
|
||
|
|
// ================================================================
|
||
|
|
// This part read shortly the bluetooth in case a recalibration message is send from the central
|
||
|
|
wirelessSPI.startListening();
|
||
|
|
rx_data = '0';
|
||
|
|
for (int i = 0; i < 10; i++) {
|
||
|
|
if (!wirelessSPI.available()) {
|
||
|
|
delayMicroseconds(100);
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
wirelessSPI.read( &rx_data, 1); //read value
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if (rx_data == '1') {
|
||
|
|
Serial.println("Calibration OK");
|
||
|
|
quatConjugate(q); // store the Quaternions into reference Quaternion hq[]
|
||
|
|
flag_calibration = 1; // Flag to use the qualibration
|
||
|
|
}
|
||
|
|
wirelessSPI.stopListening(); //go back to transmit mode
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
delay(10);
|
||
|
|
}
|
||
|
|
|
||
|
|
void pack_data() {
|
||
|
|
|
||
|
|
int tmp0 = Euler[0] * 100;
|
||
|
|
int tmp1 = Euler[1] * 100;
|
||
|
|
int tmp2 = Euler[2] * 100;
|
||
|
|
|
||
|
|
tmp0 = map(tmp0, -320, 320, 0, 255);
|
||
|
|
tmp1 = map(tmp1, -320, 320, 0, 255);
|
||
|
|
tmp2 = map(tmp2, -320, 320, 0, 255);
|
||
|
|
tx_data[0] = tmp0;
|
||
|
|
tx_data[1] = tmp1;
|
||
|
|
tx_data[2] = tmp2;
|
||
|
|
// tx_data[3] is empty. So we can add the buttons action in this byte
|
||
|
|
}
|
||
|
|
|
||
|
|
void print_data() {
|
||
|
|
Serial.print(" HQ : ");
|
||
|
|
Serial.print(hq[0], 3);
|
||
|
|
Serial.print(" --- ");
|
||
|
|
Serial.print(hq[1], 3);
|
||
|
|
Serial.print(" --- ");
|
||
|
|
Serial.print(hq[2], 3);
|
||
|
|
Serial.print(" --- ");
|
||
|
|
Serial.print(hq[3], 3);
|
||
|
|
Serial.print(" Q : ");
|
||
|
|
Serial.print(q[0], 3);
|
||
|
|
Serial.print(" --- ");
|
||
|
|
Serial.print(q[1], 3);
|
||
|
|
Serial.print(" --- ");
|
||
|
|
Serial.print(q[2], 3);
|
||
|
|
Serial.print(" --- ");
|
||
|
|
Serial.print(q[3], 3);
|
||
|
|
Serial.print(" Euler : ");
|
||
|
|
Serial.print(Euler[0], 3);
|
||
|
|
Serial.print(" --- ");
|
||
|
|
Serial.print(Euler[1], 3);
|
||
|
|
Serial.print(" --- ");
|
||
|
|
Serial.print(Euler[2], 3);
|
||
|
|
Serial.println();
|
||
|
|
}
|
||
|
|
|
||
|
|
void check_MPU() {
|
||
|
|
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(0x75);
|
||
|
|
Wire.endTransmission();
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.requestFrom(MPU_ADDR, 1);
|
||
|
|
byte aByte = Wire.read();
|
||
|
|
// Wire.endTransmission();
|
||
|
|
// while(Wire.available() == 0){
|
||
|
|
// }
|
||
|
|
// byte temp = Wire.read();
|
||
|
|
// Serial.println(temp);
|
||
|
|
if (aByte == 0x68) {
|
||
|
|
//Serial.println("Found MPU6050");
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
Serial.println("Didn't find MPU6050");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void processQuat() {
|
||
|
|
processed_packet[0] = received_packet[0];
|
||
|
|
processed_packet[1] = received_packet[1];
|
||
|
|
processed_packet[2] = received_packet[4];
|
||
|
|
processed_packet[3] = received_packet[5];
|
||
|
|
processed_packet[4] = received_packet[8];
|
||
|
|
processed_packet[5] = received_packet[9];
|
||
|
|
processed_packet[6] = received_packet[12];
|
||
|
|
processed_packet[7] = received_packet[13];
|
||
|
|
}
|
||
|
|
|
||
|
|
void sendQuat() {
|
||
|
|
|
||
|
|
// following conversion adapted from Invensense's TeaPot example
|
||
|
|
q[0] = (long) ((((unsigned long) processed_packet[0]) << 8) + ((unsigned long) processed_packet[1]));
|
||
|
|
q[1] = (long) ((((unsigned long) processed_packet[2]) << 8) + ((unsigned long) processed_packet[3]));
|
||
|
|
q[2] = (long) ((((unsigned long) processed_packet[4]) << 8) + ((unsigned long) processed_packet[5]));
|
||
|
|
q[3] = (long) ((((unsigned long) processed_packet[6]) << 8) + ((unsigned long) processed_packet[7]));
|
||
|
|
for (int i = 0; i < 4; i++ ) {
|
||
|
|
if ( q[i] > 32767 ) {
|
||
|
|
q[i] -= 65536;
|
||
|
|
}
|
||
|
|
q[i] = ((float) q[i]) / 16384.0f;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void quaternionToEuler(float q[4], float euler[3]) {
|
||
|
|
euler[0] = atan2(2 * q[1] * q[2] - 2 * q[0] * q[3], 2 * q[0] * q[0] + 2 * q[1] * q[1] - 1); // psi
|
||
|
|
euler[1] = -asin(2 * q[1] * q[3] + 2 * q[0] * q[2]); // theta
|
||
|
|
euler[2] = atan2(2 * q[2] * q[3] - 2 * q[0] * q[1], 2 * q[0] * q[0] + 2 * q[3] * q[3] - 1); // phi
|
||
|
|
}
|
||
|
|
|
||
|
|
void quatProd(float a[4], float b[4]) {
|
||
|
|
|
||
|
|
q2[0] = a[0] * b[0] - a[1] * b[1] - a[2] * b[2] - a[3] * b[3];
|
||
|
|
q2[1] = a[0] * b[1] + a[1] * b[0] + a[2] * b[3] - a[3] * b[2];
|
||
|
|
q2[2] = a[0] * b[2] - a[1] * b[3] + a[2] * b[0] + a[3] * b[1];
|
||
|
|
q2[3] = a[0] * b[3] + a[1] * b[2] - a[2] * b[1] + a[3] * b[0];
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
void quatConjugate(float quat[]) {
|
||
|
|
|
||
|
|
hq[0] = quat[0];
|
||
|
|
hq[1] = -quat[1];
|
||
|
|
hq[2] = -quat[2];
|
||
|
|
hq[3] = -quat[3];
|
||
|
|
|
||
|
|
//return conj;
|
||
|
|
}
|
||
|
|
|
||
|
|
void bank_sel(byte bank) {
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(0x6D);
|
||
|
|
Wire.write(bank);
|
||
|
|
Wire.endTransmission();
|
||
|
|
}
|
||
|
|
|
||
|
|
void dmp_init() {
|
||
|
|
|
||
|
|
for (int i = 0; i < 7; i++) {
|
||
|
|
bank_sel(i);
|
||
|
|
for (byte j = 0; j < 16; j++) {
|
||
|
|
|
||
|
|
byte start_addy = j * 0x10;
|
||
|
|
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(MEM_START_ADDR);
|
||
|
|
Wire.write(start_addy);
|
||
|
|
Wire.endTransmission();
|
||
|
|
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(MEM_R_W);
|
||
|
|
for (int k = 0; k < 16; k++) {
|
||
|
|
unsigned char byteToSend = pgm_read_byte(&(dmpMem[i][j][k]));
|
||
|
|
Wire.write((byte) byteToSend);
|
||
|
|
}
|
||
|
|
Wire.endTransmission();
|
||
|
|
}
|
||
|
|
|
||
|
|
// Wire.beginTransmission(MPU_ADDR);
|
||
|
|
// Wire.write(MEM_R_W);
|
||
|
|
// Wire.endTransmission();
|
||
|
|
// Wire.requestFrom(MPU_ADDR, 16);
|
||
|
|
// byte echoback[16];
|
||
|
|
// for(int j = 0; j < 16; j++){
|
||
|
|
// echoback[j] = Wire.read();
|
||
|
|
// }
|
||
|
|
// for(int j = 0; j < 16; j++){
|
||
|
|
// Serial.print(echoback[j], HEX);
|
||
|
|
// }
|
||
|
|
}
|
||
|
|
|
||
|
|
bank_sel(7);
|
||
|
|
|
||
|
|
for (byte j = 0; j < 8; j++) {
|
||
|
|
|
||
|
|
byte start_addy = j * 0x10;
|
||
|
|
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(MEM_START_ADDR);
|
||
|
|
Wire.write(start_addy);
|
||
|
|
Wire.endTransmission();
|
||
|
|
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(MEM_R_W);
|
||
|
|
for (int k = 0; k < 16; k++) {
|
||
|
|
unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][j][k]));
|
||
|
|
Wire.write((byte) byteToSend);
|
||
|
|
}
|
||
|
|
Wire.endTransmission();
|
||
|
|
}
|
||
|
|
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(MEM_START_ADDR);
|
||
|
|
Wire.write(0x80);
|
||
|
|
Wire.endTransmission();
|
||
|
|
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(MEM_R_W);
|
||
|
|
for (int k = 0; k < 9; k++) {
|
||
|
|
unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][8][k]));
|
||
|
|
Wire.write((byte) byteToSend);
|
||
|
|
}
|
||
|
|
Wire.endTransmission();
|
||
|
|
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(MEM_R_W);
|
||
|
|
Wire.endTransmission();
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.requestFrom(MPU_ADDR, 9);
|
||
|
|
// Wire.endTransmission();
|
||
|
|
byte incoming[9];
|
||
|
|
for (int i = 0; i < 9; i++) {
|
||
|
|
incoming[i] = Wire.read();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void mem_init() {
|
||
|
|
|
||
|
|
dmp_init();
|
||
|
|
|
||
|
|
for (byte i = 0; i < 22; i++) {
|
||
|
|
bank_sel(dmp_updates[i][0]);
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(MEM_START_ADDR);
|
||
|
|
Wire.write(dmp_updates[i][1]);
|
||
|
|
Wire.endTransmission();
|
||
|
|
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(MEM_R_W);
|
||
|
|
for (byte j = 0; j < dmp_updates[i][2]; j++) {
|
||
|
|
Wire.write(dmp_updates[i][j + 3]);
|
||
|
|
}
|
||
|
|
Wire.endTransmission();
|
||
|
|
}
|
||
|
|
|
||
|
|
regWrite(0x38, 0x32);
|
||
|
|
|
||
|
|
for (byte i = 22; i < 29; i++) {
|
||
|
|
bank_sel(dmp_updates[i][0]);
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(MEM_START_ADDR);
|
||
|
|
Wire.write(dmp_updates[i][1]);
|
||
|
|
Wire.endTransmission();
|
||
|
|
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(MEM_R_W);
|
||
|
|
for (byte j = 0; j < dmp_updates[i][2]; j++) {
|
||
|
|
Wire.write(dmp_updates[i][j + 3]);
|
||
|
|
}
|
||
|
|
Wire.endTransmission();
|
||
|
|
}
|
||
|
|
|
||
|
|
temp = regRead(0x6B);
|
||
|
|
//Serial.println(temp, HEX);
|
||
|
|
temp = regRead(0x6C);
|
||
|
|
//Serial.println(temp, HEX);
|
||
|
|
|
||
|
|
regWrite(0x38, 0x02);
|
||
|
|
regWrite(0x6B, 0x03);
|
||
|
|
// regWrite(0x6B, 0x70);
|
||
|
|
// regWrite(0x38, 0x38);
|
||
|
|
// regWrite(0x6B, 0x73);
|
||
|
|
regWrite(0x19, 0x04);
|
||
|
|
regWrite(0x1B, 0x18);
|
||
|
|
regWrite(0x1A, 0x0B);
|
||
|
|
regWrite(0x70, 0x03);
|
||
|
|
regWrite(0x71, 0x00);
|
||
|
|
regWrite(0x00, 0x00);
|
||
|
|
regWrite(0x01, 0x00);
|
||
|
|
regWrite(0x02, 0x00);
|
||
|
|
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(0x13);
|
||
|
|
for (byte i = 0; i < 6; i++) {
|
||
|
|
Wire.write(0x00);
|
||
|
|
}
|
||
|
|
Wire.endTransmission();
|
||
|
|
|
||
|
|
// regWrite(0x24, 0x00);
|
||
|
|
|
||
|
|
bank_sel(0x01);
|
||
|
|
regWrite(0x6E, 0xB2);
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(0x6F);
|
||
|
|
Wire.write(0xFF); Wire.write(0xFF);
|
||
|
|
Wire.endTransmission();
|
||
|
|
|
||
|
|
bank_sel(0x01);
|
||
|
|
regWrite(0x6E, 0x90);
|
||
|
|
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(0x6F);
|
||
|
|
Wire.write(0x09); Wire.write(0x23); Wire.write(0xA1); Wire.write(0x35);
|
||
|
|
Wire.endTransmission();
|
||
|
|
|
||
|
|
temp = regRead(0x6A);
|
||
|
|
|
||
|
|
regWrite(0x6A, 0x04);
|
||
|
|
|
||
|
|
//Insert FIFO count read?
|
||
|
|
fifoReady();
|
||
|
|
|
||
|
|
regWrite(0x6A, 0x00);
|
||
|
|
regWrite(0x6B, 0x03);
|
||
|
|
|
||
|
|
delay(2);
|
||
|
|
|
||
|
|
temp = regRead(0x6C);
|
||
|
|
// Serial.println(temp, HEX);
|
||
|
|
regWrite(0x6C, 0x00);
|
||
|
|
temp = regRead(0x1C);
|
||
|
|
// Serial.println(temp, HEX);
|
||
|
|
regWrite(0x1C, 0x00);
|
||
|
|
delay(2);
|
||
|
|
temp = regRead(0x6B);
|
||
|
|
// Serial.println(temp, HEX);
|
||
|
|
regWrite(0x1F, 0x02);
|
||
|
|
regWrite(0x21, 0x9C);
|
||
|
|
regWrite(0x20, 0x50);
|
||
|
|
regWrite(0x22, 0x00);
|
||
|
|
regWrite(0x6A, 0x04);
|
||
|
|
regWrite(0x6A, 0x00);
|
||
|
|
regWrite(0x6A, 0xC8);
|
||
|
|
|
||
|
|
bank_sel(0x01);
|
||
|
|
regWrite(0x6E, 0x6A);
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(0x6F);
|
||
|
|
Wire.write(0x06); Wire.write(0x00);
|
||
|
|
Wire.endTransmission();
|
||
|
|
|
||
|
|
bank_sel(0x01);
|
||
|
|
regWrite(0x6E, 0x60);
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(0x6F);
|
||
|
|
for (byte i = 0; i < 8; i++) {
|
||
|
|
Wire.write(0x00);
|
||
|
|
}
|
||
|
|
Wire.endTransmission();
|
||
|
|
|
||
|
|
// bank_sel(0x01);
|
||
|
|
// regWrite(0x6E, 0x60);
|
||
|
|
// Wire.beginTransmission(MPU_ADDR);
|
||
|
|
// Wire.write(0x6F);
|
||
|
|
// Wire.write(0x04); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
|
||
|
|
// Wire.endTransmission();
|
||
|
|
|
||
|
|
bank_sel(0x00);
|
||
|
|
regWrite(0x6E, 0x60);
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(0x6F);
|
||
|
|
Wire.write(0x40); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
|
||
|
|
Wire.endTransmission();
|
||
|
|
|
||
|
|
//resetFifo();
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
void regWrite(byte addy, byte regUpdate) {
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(addy);
|
||
|
|
Wire.write(regUpdate);
|
||
|
|
Wire.endTransmission();
|
||
|
|
}
|
||
|
|
|
||
|
|
byte regRead(byte addy) {
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(addy);
|
||
|
|
Wire.endTransmission();
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.requestFrom(MPU_ADDR, 1);
|
||
|
|
// Wire.endTransmission();
|
||
|
|
while (!Wire.available()) {
|
||
|
|
}
|
||
|
|
byte incoming = Wire.read();
|
||
|
|
return incoming;
|
||
|
|
}
|
||
|
|
|
||
|
|
void getPacket() {
|
||
|
|
if (fifoCountL > 32) {
|
||
|
|
fifoCountL2 = fifoCountL - 32;
|
||
|
|
longPacket = true;
|
||
|
|
}
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(0x74);
|
||
|
|
Wire.endTransmission();
|
||
|
|
// Wire.requestFrom(MPU_ADDR, 42);
|
||
|
|
// for(byte i = 0; i < fifoCountL; i++){
|
||
|
|
if (longPacket) {
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.requestFrom(MPU_ADDR, 32);
|
||
|
|
for (byte i = 0; i < 32; i++) {
|
||
|
|
received_packet[i] = Wire.read();
|
||
|
|
}
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(0x74);
|
||
|
|
Wire.endTransmission();
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.requestFrom(MPU_ADDR, (unsigned int)fifoCountL2);
|
||
|
|
for (byte i = 32; i < fifoCountL; i++) {
|
||
|
|
received_packet[i] = Wire.read();
|
||
|
|
}
|
||
|
|
longPacket = false;
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.requestFrom(MPU_ADDR, (unsigned int)fifoCountL);
|
||
|
|
for (byte i = 0; i < fifoCountL; i++) {
|
||
|
|
received_packet[i] = Wire.read();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
byte read_interrupt() {
|
||
|
|
byte int_status = regRead(0x3A);
|
||
|
|
return int_status;
|
||
|
|
}
|
||
|
|
|
||
|
|
boolean fifoReady() {
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.write(0x72);
|
||
|
|
Wire.endTransmission();
|
||
|
|
Wire.beginTransmission(MPU_ADDR);
|
||
|
|
Wire.requestFrom(MPU_ADDR, 2);
|
||
|
|
// Wire.endTransmission();
|
||
|
|
byte fifoCountH = Wire.read();
|
||
|
|
fifoCountL = Wire.read();
|
||
|
|
//Serial.print("fifoCount :");
|
||
|
|
//Serial.println(fifoCountL, DEC);
|
||
|
|
if (fifoCountL == 42 || fifoCountL == 44) {
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
else if (fifoCountL != 0) {
|
||
|
|
resetFifo();
|
||
|
|
}
|
||
|
|
|
||
|
|
// else if(fifoCountL == 42){
|
||
|
|
// getPacket();
|
||
|
|
// bank_sel(0);
|
||
|
|
// regWrite(0x6E, 0x60);
|
||
|
|
// Wire.beginTransmission(MPU_ADDR);
|
||
|
|
// Wire.write(0x40); Wire.write(0x00); Wire.write (0x00); Wire.write(0x00);
|
||
|
|
// Wire.endTransmission();
|
||
|
|
// resetFifo();
|
||
|
|
// }
|
||
|
|
|
||
|
|
// if(Wire.read() == 0x2C){
|
||
|
|
// return 1;
|
||
|
|
// }
|
||
|
|
else return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
void resetFifo() {
|
||
|
|
byte ctrl = regRead(0x6A);
|
||
|
|
ctrl |= 0b00000100;
|
||
|
|
regWrite(0x6A, ctrl);
|
||
|
|
}
|
||
|
|
|