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Set fifo rate and mpu addr #69

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merged 5 commits into from
Dec 13, 2023
Merged

Set fifo rate and mpu addr #69

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46e1a3d
set FIFO rate, MPU addr in dmpInitialize
Dec 8, 2023
4ef1b76
Merge branch 'master' into setFIFORateAndMPUAddr
Dec 11, 2023
8a6108c
Merge branch 'addSetFIFOPacketSize' into setFIFORateAndMPUAddr
Dec 12, 2023
bd8f451
add dmpInitialize changes for PU6050_6Axis_MotionApps_V6_12.h
Dec 13, 2023
2a9b931
use rateDivisor parameter in MotionApps_V6_12.h dmpInitialize
Dec 13, 2023
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2 changes: 1 addition & 1 deletion src/MPU6050.h
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Original file line number Diff line number Diff line change
Expand Up @@ -972,7 +972,7 @@ class MPU6050 {
// special methods for MotionApps 2.0 implementation
#ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20

uint8_t dmpInitialize();
uint8_t dmpInitialize(uint8_t rateDivisor, uint8_t mpuAddr);
bool dmpPacketAvailable();

uint8_t dmpSetFIFORate(uint8_t fifoRate);
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8 changes: 4 additions & 4 deletions src/MPU6050_6Axis_MotionApps20.h
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Expand Up @@ -275,7 +275,7 @@ const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
#endif

// I Simplified this:
uint8_t MPU6050::dmpInitialize() {
uint8_t MPU6050::dmpInitialize(uint8_t rateDivisor = MPU6050_DMP_FIFO_RATE_DIVISOR, uint8_t mpuAddr = 0x68) {
// reset device
DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
reset();
Expand Down Expand Up @@ -309,8 +309,8 @@ uint8_t MPU6050::dmpInitialize() {
setSlaveAddress(0, 0x7F);
DEBUG_PRINTLN(F("Disabling I2C Master mode..."));
setI2CMasterModeEnabled(false);
DEBUG_PRINTLN(F("Setting slave 0 address to 0x68 (self)..."));
setSlaveAddress(0, 0x68);
DEBUG_PRINTLN(F("Setting slave 0 address to self..."));
setSlaveAddress(0, mpuAddr);
DEBUG_PRINTLN(F("Resetting I2C Master control..."));
resetI2CMaster();
delay(20);
Expand Down Expand Up @@ -340,7 +340,7 @@ uint8_t MPU6050::dmpInitialize() {
DEBUG_PRINTLN(F("Success! DMP code written and verified."));

// Set the FIFO Rate Divisor int the DMP Firmware Memory
unsigned char dmpUpdate[] = {0x00, MPU6050_DMP_FIFO_RATE_DIVISOR};
unsigned char dmpUpdate[] = {0x00, rateDivisor};
writeMemoryBlock(dmpUpdate, 0x02, 0x02, 0x16); // Lets write the dmpUpdate data to the Firmware image, we have 2 bytes to write in bank 0x02 with the Offset 0x16

//write start address MSB into register
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4 changes: 2 additions & 2 deletions src/MPU6050_6Axis_MotionApps_V6_12.h
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Expand Up @@ -351,7 +351,7 @@ const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {

// this is the most basic initialization I can create. with the intent that we access the register bytes as few times as needed to get the job done.
// for detailed descriptins of all registers and there purpose google "MPU-6000/MPU-6050 Register Map and Descriptions"
uint8_t MPU6050::dmpInitialize() { // Lets get it over with fast Write everything once and set it up necely
uint8_t MPU6050::dmpInitialize(uint8_t rateDivisor = 0x04, uint8_t mpuAddr = 0x68) { // Lets get it over with fast Write everything once and set it up necely
uint8_t val;
uint16_t ival;
// Reset procedure per instructions in the "MPU-6000/MPU-6050 Register Map and Descriptions" page 41
Expand All @@ -365,7 +365,7 @@ uint8_t MPU6050::dmpInitialize() { // Lets get it over with fast Write everythin
I2Cdev::writeBytes(devAddr,0x1C, 1, &(val = 0x00)); // 0000 0000 ACCEL_CONFIG: 0 = Accel Full Scale Select: 2g
I2Cdev::writeBytes(devAddr,0x37, 1, &(val = 0x80)); // 1001 0000 INT_PIN_CFG: ACTL The logic level for int pin is active low. and interrupt status bits are cleared on any read
I2Cdev::writeBytes(devAddr,0x6B, 1, &(val = 0x01)); // 0000 0001 PWR_MGMT_1: Clock Source Select PLL_X_gyro
I2Cdev::writeBytes(devAddr,0x19, 1, &(val = 0x04)); // 0000 0100 SMPLRT_DIV: Divides the internal sample rate 400Hz ( Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV))
I2Cdev::writeBytes(devAddr,0x19, 1, &(val = rateDivisor)); // 0000 0100 SMPLRT_DIV: Divides the internal sample rate 400Hz ( Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV))
I2Cdev::writeBytes(devAddr,0x1A, 1, &(val = 0x01)); // 0000 0001 CONFIG: Digital Low Pass Filter (DLPF) Configuration 188HZ //Im betting this will be the beat
if (!writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) return 1; // Loads the DMP image into the MPU6050 Memory // Should Never Fail
I2Cdev::writeWords(devAddr, 0x70, 1, &(ival = 0x0400)); // DMP Program Start Address
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