I2Cdev之MPU6050_6Axis_MotionApps20.h_motionapps v2.0

MPU6050_6Axis_MotionApps20.h

#ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
#define _MPU6050_6AXIS_MOTIONAPPS20_H_

#include "I2Cdev.h"
#include "helper_3dmath.h"

// MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board
#define MPU6050_INCLUDE_DMP_MOTIONAPPS20

#include "MPU6050.h"

// Tom Carpenter's conditional PROGMEM code
// http://forum.arduino.cc/index.php?topic=129407.0
#ifdef __AVR__
    #include <avr/pgmspace.h>
#else
    // Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
    #ifndef __PGMSPACE_H_
        #define __PGMSPACE_H_ 1
        #include <inttypes.h>

        #define PROGMEM
        #define PGM_P  const char *
        #define PSTR(str) (str)
        #define F(x) x

        typedef void prog_void;
        typedef char prog_char;
        typedef unsigned char prog_uchar;
        typedef int8_t prog_int8_t;
        typedef uint8_t prog_uint8_t;
        typedef int16_t prog_int16_t;
        typedef uint16_t prog_uint16_t;
        typedef int32_t prog_int32_t;
        typedef uint32_t prog_uint32_t;
        
        #define strcpy_P(dest, src) strcpy((dest), (src))
        #define strcat_P(dest, src) strcat((dest), (src))
        #define strcmp_P(a, b) strcmp((a), (b))
        
        #define pgm_read_byte(addr) (*(const unsigned char *)(addr))
        #define pgm_read_word(addr) (*(const unsigned short *)(addr))
        #define pgm_read_dword(addr) (*(const unsigned long *)(addr))
        #define pgm_read_float(addr) (*(const float *)(addr))
        
        #define pgm_read_byte_near(addr) pgm_read_byte(addr)
        #define pgm_read_word_near(addr) pgm_read_word(addr)
        #define pgm_read_dword_near(addr) pgm_read_dword(addr)
        #define pgm_read_float_near(addr) pgm_read_float(addr)
        #define pgm_read_byte_far(addr) pgm_read_byte(addr)
        #define pgm_read_word_far(addr) pgm_read_word(addr)
        #define pgm_read_dword_far(addr) pgm_read_dword(addr)
        #define pgm_read_float_far(addr) pgm_read_float(addr)
    #endif
#endif

/* Source is from the InvenSense MotionApps v2 demo code. Original source is
 * unavailable, unless you happen to be amazing as decompiling binary by
 * hand (in which case, please contact me, and I'm totally serious).
 *
 * Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
 * DMP reverse-engineering he did to help make this bit of wizardry
 * possible.
 */

// NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
// Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
// after moving string constants to flash memory storage using the F()
// compiler macro (Arduino IDE 1.0+ required).

//#define DEBUG
#ifdef DEBUG
    #define DEBUG_PRINT(x) Serial.print(x)
    #define DEBUG_PRINTF(x, y) Serial.print(x, y)
    #define DEBUG_PRINTLN(x) Serial.println(x)
    #define DEBUG_PRINTLNF(x, y) Serial.println(x, y)
#else
    #define DEBUG_PRINT(x)
    #define DEBUG_PRINTF(x, y)
    #define DEBUG_PRINTLN(x)
    #define DEBUG_PRINTLNF(x, y)
#endif

#define MPU6050_DMP_CODE_SIZE       1929    // dmpMemory[]
#define MPU6050_DMP_CONFIG_SIZE     192     // dmpConfig[]
#define MPU6050_DMP_UPDATES_SIZE    47      // dmpUpdates[]

/* ================================================================================================ *
 | Default MotionApps v2.0 42-byte FIFO packet structure:                                           |
 |                                                                                                  |
 | [QUAT W][      ][QUAT X][      ][QUAT Y][      ][QUAT Z][      ][GYRO X][      ][GYRO Y][      ] |
 |   0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17  18  19  20  21  22  23  |
 |                                                                                                  |
 | [GYRO Z][      ][ACC X ][      ][ACC Y ][      ][ACC Z ][      ][      ]                         |
 |  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38  39  40  41                          |
 * ================================================================================================ */

// this block of memory gets written to the MPU on start-up, and it seems
// to be volatile memory, so it has to be done each time (it only takes ~1
// second though)

// I Only Changed this by applying all the configuration data and capturing it before startup:
// *** this is a capture of the DMP Firmware after all the messy changes were made so we can just load it
const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
	/* bank # 0 */
	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, 0x40, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCB, 0x47, 0xA2, 0x20, 0x00, 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,
	/* bank # 1 */
	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, 0x00, 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,
	0x09, 0x23, 0xA1, 0x35, 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, 0xFF, 0xFF, 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, 0x40, 0x00,
	0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
	/* bank # 2 */
	0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x01, 0x00, 0x05, 0x8B, 0xC1, 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,
	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, 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, 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, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	/* bank # 3 */
	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, 0x4C, 0xCD, 0x6C, 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,
	/* bank # 4 */
	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,
	/* bank # 5 */
	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,
	/* bank # 6 */
	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,
	/* bank # 7 */
	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, 0x20, 0x28, 0x30, 0x38, 0x9A, 0xF1, 0x28, 0x30, 0x38, 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, 0x28, 0x30, 0x38,
	0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0x30, 0xDC,
	0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xFE, 0xD8, 0xFF,

};

#ifndef MPU6050_DMP_FIFO_RATE_DIVISOR 
#define MPU6050_DMP_FIFO_RATE_DIVISOR 0x01 // The New instance of the Firmware has this as the default
#endif

// I Simplified this:
uint8_t MPU6050::dmpInitialize() {
	// reset device
	DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
	reset();
	delay(30); // wait after reset

	// enable sleep mode and wake cycle
	/*Serial.println(F("Enabling sleep mode..."));
	setSleepEnabled(true);
	Serial.println(F("Enabling wake cycle..."));
	setWakeCycleEnabled(true);*/

	// disable sleep mode
	setSleepEnabled(false);

	// get MPU hardware revision
	setMemoryBank(0x10, true, true);
	setMemoryStartAddress(0x06);
	Serial.println(F("Checking hardware revision..."));
	Serial.print(F("Revision @ user[16][6] = "));
	Serial.println(readMemoryByte(), HEX);
	Serial.println(F("Resetting memory bank selection to 0..."));
	setMemoryBank(0, false, false);

	// check OTP bank valid
	DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
	DEBUG_PRINT(F("OTP bank is "));
	DEBUG_PRINTLN(getOTPBankValid() ? F("valid!") : F("invalid!"));

	// setup weird slave stuff (?)
	DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
	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("Resetting I2C Master control..."));
	resetI2CMaster();
	delay(20);
	DEBUG_PRINTLN(F("Setting clock source to Z Gyro..."));
	setClockSource(MPU6050_CLOCK_PLL_ZGYRO);

	DEBUG_PRINTLN(F("Setting DMP and FIFO_OFLOW interrupts enabled..."));
	setIntEnabled(1<<MPU6050_INTERRUPT_FIFO_OFLOW_BIT|1<<MPU6050_INTERRUPT_DMP_INT_BIT);

	DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
	setRate(4); // 1khz / (1 + 4) = 200 Hz

	DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
	setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);

	DEBUG_PRINTLN(F("Setting DLPF bandwidth to 42Hz..."));
	setDLPFMode(MPU6050_DLPF_BW_42);

	DEBUG_PRINTLN(F("Setting gyro sensitivity to +/- 2000 deg/sec..."));
	setFullScaleGyroRange(MPU6050_GYRO_FS_2000);

	// load DMP code into memory banks
	DEBUG_PRINT(F("Writing DMP code to MPU memory banks ("));
	DEBUG_PRINT(MPU6050_DMP_CODE_SIZE);
	DEBUG_PRINTLN(F(" bytes)"));
	if (!writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) return 1; // Failed
	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};
	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
	setDMPConfig1(0x03);
	//write start address LSB into register
	setDMPConfig2(0x00);

	DEBUG_PRINTLN(F("Clearing OTP Bank flag..."));
	setOTPBankValid(false);

	DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
	setMotionDetectionThreshold(2);

	DEBUG_PRINTLN(F("Setting zero-motion detection threshold to 156..."));
	setZeroMotionDetectionThreshold(156);

	DEBUG_PRINTLN(F("Setting motion detection duration to 80..."));
	setMotionDetectionDuration(80);

	DEBUG_PRINTLN(F("Setting zero-motion detection duration to 0..."));
	setZeroMotionDetectionDuration(0);
	DEBUG_PRINTLN(F("Enabling FIFO..."));
	setFIFOEnabled(true);

	DEBUG_PRINTLN(F("Resetting DMP..."));
	resetDMP();

	DEBUG_PRINTLN(F("DMP is good to go! Finally."));

	DEBUG_PRINTLN(F("Disabling DMP (you turn it on later)..."));
	setDMPEnabled(false);

	DEBUG_PRINTLN(F("Setting up internal 42-byte (default) DMP packet buffer..."));
	dmpPacketSize = 42;

	DEBUG_PRINTLN(F("Resetting FIFO and clearing INT status one last time..."));
	resetFIFO();
	getIntStatus();

	return 0; // success
}
// Nothing else changed

bool MPU6050::dmpPacketAvailable() {
    return getFIFOCount() >= dmpGetFIFOPacketSize();
}

// uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
// uint8_t MPU6050::dmpGetFIFORate();
// uint8_t MPU6050::dmpGetSampleStepSizeMS();
// uint8_t MPU6050::dmpGetSampleFrequency();
// int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);

//uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
//uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
//uint8_t MPU6050::dmpRunFIFORateProcesses();

// uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
// uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);

uint8_t MPU6050::dmpGetAccel(int32_t *data, const uint8_t* packet) {
    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
    if (packet == 0) packet = dmpPacketBuffer;
    data[0] = (((uint32_t)packet[28] << 24) | ((uint32_t)packet[29] << 16) | ((uint32_t)packet[30] << 8) | packet[31]);
    data[1] = (((uint32_t)packet[32] << 24) | ((uint32_t)packet[33] << 16) | ((uint32_t)packet[34] << 8) | packet[35]);
    data[2] = (((uint32_t)packet[36] << 24) | ((uint32_t)packet[37] << 16) | ((uint32_t)packet[38] << 8) | packet[39]);
    return 0;
}
uint8_t MPU6050::dmpGetAccel(int16_t *data, const uint8_t* packet) {
    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
    if (packet == 0) packet = dmpPacketBuffer;
    data[0] = (packet[28] << 8) | packet[29];
    data[1] = (packet[32] << 8) | packet[33];
    data[2] = (packet[36] << 8) | packet[37];
    return 0;
}
uint8_t MPU6050::dmpGetAccel(VectorInt16 *v, const uint8_t* packet) {
    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
    if (packet == 0) packet = dmpPacketBuffer;
    v -> x = (packet[28] << 8) | packet[29];
    v -> y = (packet[32] << 8) | packet[33];
    v -> z = (packet[36] << 8) | packet[37];
    return 0;
}
uint8_t MPU6050::dmpGetQuaternion(int32_t *data, const uint8_t* packet) {
    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
    if (packet == 0) packet = dmpPacketBuffer;
    data[0] = (((uint32_t)packet[0] << 24) | ((uint32_t)packet[1] << 16) | ((uint32_t)packet[2] << 8) | packet[3]);
    data[1] = (((uint32_t)packet[4] << 24) | ((uint32_t)packet[5] << 16) | ((uint32_t)packet[6] << 8) | packet[7]);
    data[2] = (((uint32_t)packet[8] << 24) | ((uint32_t)packet[9] << 16) | ((uint32_t)packet[10] << 8) | packet[11]);
    data[3] = (((uint32_t)packet[12] << 24) | ((uint32_t)packet[13] << 16) | ((uint32_t)packet[14] << 8) | packet[15]);
    return 0;
}
uint8_t MPU6050::dmpGetQuaternion(int16_t *data, const uint8_t* packet) {
    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
    if (packet == 0) packet = dmpPacketBuffer;
    data[0] = ((packet[0] << 8) | packet[1]);
    data[1] = ((packet[4] << 8) | packet[5]);
    data[2] = ((packet[8] << 8) | packet[9]);
    data[3] = ((packet[12] << 8) | packet[13]);
    return 0;
}
uint8_t MPU6050::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) {
    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
    int16_t qI[4];
    uint8_t status = dmpGetQuaternion(qI, packet);
    if (status == 0) {
        q -> w = (float)qI[0] / 16384.0f;
        q -> x = (float)qI[1] / 16384.0f;
        q -> y = (float)qI[2] / 16384.0f;
        q -> z = (float)qI[3] / 16384.0f;
        return 0;
    }
    return status; // int16 return value, indicates error if this line is reached
}
// uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetGyro(int32_t *data, const uint8_t* packet) {
    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
    if (packet == 0) packet = dmpPacketBuffer;
    data[0] = (((uint32_t)packet[16] << 24) | ((uint32_t)packet[17] << 16) | ((uint32_t)packet[18] << 8) | packet[19]);
    data[1] = (((uint32_t)packet[20] << 24) | ((uint32_t)packet[21] << 16) | ((uint32_t)packet[22] << 8) | packet[23]);
    data[2] = (((uint32_t)packet[24] << 24) | ((uint32_t)packet[25] << 16) | ((uint32_t)packet[26] << 8) | packet[27]);
    return 0;
}
uint8_t MPU6050::dmpGetGyro(int16_t *data, const uint8_t* packet) {
    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
    if (packet == 0) packet = dmpPacketBuffer;
    data[0] = (packet[16] << 8) | packet[17];
    data[1] = (packet[20] << 8) | packet[21];
    data[2] = (packet[24] << 8) | packet[25];
    return 0;
}
uint8_t MPU6050::dmpGetGyro(VectorInt16 *v, const uint8_t* packet) {
    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
    if (packet == 0) packet = dmpPacketBuffer;
    v -> x = (packet[16] << 8) | packet[17];
    v -> y = (packet[20] << 8) | packet[21];
    v -> z = (packet[24] << 8) | packet[25];
    return 0;
}
// uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
// uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) {
    // get rid of the gravity component (+1g = +8192 in standard DMP FIFO packet, sensitivity is 2g)
    v -> x = vRaw -> x - gravity -> x*8192;
    v -> y = vRaw -> y - gravity -> y*8192;
    v -> z = vRaw -> z - gravity -> z*8192;
    return 0;
}
// uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q) {
    // rotate measured 3D acceleration vector into original state
    // frame of reference based on orientation quaternion
    memcpy(v, vReal, sizeof(VectorInt16));
    v -> rotate(q);
    return 0;
}
// uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetGravity(int16_t *data, const uint8_t* packet) {
    /* +1g corresponds to +8192, sensitivity is 2g. */
    int16_t qI[4];
    uint8_t status = dmpGetQuaternion(qI, packet);
    data[0] = ((int32_t)qI[1] * qI[3] - (int32_t)qI[0] * qI[2]) / 16384;
    data[1] = ((int32_t)qI[0] * qI[1] + (int32_t)qI[2] * qI[3]) / 16384;
    data[2] = ((int32_t)qI[0] * qI[0] - (int32_t)qI[1] * qI[1]
	       - (int32_t)qI[2] * qI[2] + (int32_t)qI[3] * qI[3]) / (2 * 16384);
    return status;
}

uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
    v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
    v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
    v -> z = q -> w*q -> w - q -> x*q -> x - q -> y*q -> y + q -> z*q -> z;
    return 0;
}
// uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet);
// uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet);

uint8_t MPU6050::dmpGetEuler(float *data, Quaternion *q) {
    data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);   // psi
    data[1] = -asin(2*q -> x*q -> z + 2*q -> w*q -> y);                              // theta
    data[2] = atan2(2*q -> y*q -> z - 2*q -> w*q -> x, 2*q -> w*q -> w + 2*q -> z*q -> z - 1);   // phi
    return 0;
}

#ifdef USE_OLD_DMPGETYAWPITCHROLL
uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
    // yaw: (about Z axis)
    data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
    // pitch: (nose up/down, about Y axis)
    data[1] = atan(gravity -> x / sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
    // roll: (tilt left/right, about X axis)
    data[2] = atan(gravity -> y / sqrt(gravity -> x*gravity -> x + gravity -> z*gravity -> z));
    return 0;
}
#else 
uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
    // yaw: (about Z axis)
    data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
    // pitch: (nose up/down, about Y axis)
    data[1] = atan2(gravity -> x , sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
    // roll: (tilt left/right, about X axis)
    data[2] = atan2(gravity -> y , gravity -> z);
    if (gravity -> z < 0) {
        if(data[1] > 0) {
            data[1] = PI - data[1]; 
        } else { 
            data[1] = -PI - data[1];
        }
    }
    return 0;
}
#endif

// uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet);

uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char *dmpData) {
    /*for (uint8_t k = 0; k < dmpPacketSize; k++) {
        if (dmpData[k] < 0x10) Serial.print("0");
        Serial.print(dmpData[k], HEX);
        Serial.print(" ");
    }
    Serial.print("\n");*/
    //Serial.println((uint16_t)dmpPacketBuffer);
    return 0;
}
uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed) {
    uint8_t status;
    uint8_t buf[dmpPacketSize];
    for (uint8_t i = 0; i < numPackets; i++) {
        // read packet from FIFO
        getFIFOBytes(buf, dmpPacketSize);

        // process packet
        if ((status = dmpProcessFIFOPacket(buf)) > 0) return status;
        
        // increment external process count variable, if supplied
        if (processed != 0) (*processed)++;
    }
    return 0;
}

// uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));

// uint8_t MPU6050::dmpInitFIFOParam();
// uint8_t MPU6050::dmpCloseFIFO();
// uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
// uint8_t MPU6050::dmpDecodeQuantizedAccel();
// uint32_t MPU6050::dmpGetGyroSumOfSquare();
// uint32_t MPU6050::dmpGetAccelSumOfSquare();
// void MPU6050::dmpOverrideQuaternion(long *q);
uint16_t MPU6050::dmpGetFIFOPacketSize() {
    return dmpPacketSize;
}

#endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */
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MPU6050_DMP6.ino

// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
//      2019-07-08 - Added Auto Calibration and offset generator
//		   - and altered FIFO retrieval sequence to avoid using blocking code
//      2016-04-18 - Eliminated a potential infinite loop
//      2013-05-08 - added seamless Fastwire support
//                 - added note about gyro calibration
//      2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error
//      2012-06-20 - improved FIFO overflow handling and simplified read process
//      2012-06-19 - completely rearranged DMP initialization code and simplification
//      2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly
//      2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING
//      2012-06-05 - add gravity-compensated initial reference frame acceleration output
//                 - add 3D math helper file to DMP6 example sketch
//                 - add Euler output and Yaw/Pitch/Roll output formats
//      2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)
//      2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250
//      2012-05-30 - basic DMP initialization working

/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/

// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif

// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high

/* =========================================================================
   NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
   depends on the MPU-6050's INT pin being connected to the Arduino's
   external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
   digital I/O pin 2.
 * ========================================================================= */

/* =========================================================================
   NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
   when using Serial.write(buf, len). The Teapot output uses this method.
   The solution requires a modification to the Arduino USBAPI.h file, which
   is fortunately simple, but annoying. This will be fixed in the next IDE
   release. For more info, see these links:
   http://arduino.cc/forum/index.php/topic,109987.0.html
   http://code.google.com/p/arduino/issues/detail?id=958
 * ========================================================================= */



// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION

// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_EULER

// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL

// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL

// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
//#define OUTPUT_READABLE_WORLDACCEL

// uncomment "OUTPUT_TEAPOT" if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_TEAPOT



#define INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;

// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };



// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
    mpuInterrupt = true;
}



// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================

void setup() {
    // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    // initialize serial communication
    // (115200 chosen because it is required for Teapot Demo output, but it's
    // really up to you depending on your project)
    Serial.begin(115200);
    while (!Serial); // wait for Leonardo enumeration, others continue immediately

    // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
    // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
    // the baud timing being too misaligned with processor ticks. You must use
    // 38400 or slower in these cases, or use some kind of external separate
    // crystal solution for the UART timer.

    // initialize device
    Serial.println(F("Initializing I2C devices..."));
    mpu.initialize();
    pinMode(INTERRUPT_PIN, INPUT);

    // verify connection
    Serial.println(F("Testing device connections..."));
    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

    // wait for ready
    Serial.println(F("\nSend any character to begin DMP programming and demo: "));
    while (Serial.available() && Serial.read()); // empty buffer
    while (!Serial.available());                 // wait for data
    while (Serial.available() && Serial.read()); // empty buffer again

    // load and configure the DMP
    Serial.println(F("Initializing DMP..."));
    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // Calibration Time: generate offsets and calibrate our MPU6050
        mpu.CalibrateAccel(6);
        mpu.CalibrateGyro(6);
        mpu.PrintActiveOffsets();
        // turn on the DMP, now that it's ready
        Serial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
        Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
        Serial.println(F(")..."));
        attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        Serial.println(F("DMP ready! Waiting for first interrupt..."));
        dmpReady = true;

        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
        // ERROR!
        // 1 = initial memory load failed
        // 2 = DMP configuration updates failed
        // (if it's going to break, usually the code will be 1)
        Serial.print(F("DMP Initialization failed (code "));
        Serial.print(devStatus);
        Serial.println(F(")"));
    }

    // configure LED for output
    pinMode(LED_PIN, OUTPUT);
}



// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void loop() {
    // if programming failed, don't try to do anything
    if (!dmpReady) return;

    // wait for MPU interrupt or extra packet(s) available
    while (!mpuInterrupt && fifoCount < packetSize) {
        if (mpuInterrupt && fifoCount < packetSize) {
          // try to get out of the infinite loop 
          fifoCount = mpu.getFIFOCount();
        }  
        // other program behavior stuff here
        // .
        // .
        // .
        // if you are really paranoid you can frequently test in between other
        // stuff to see if mpuInterrupt is true, and if so, "break;" from the
        // while() loop to immediately process the MPU data
        // .
        // .
        // .
    }

    // reset interrupt flag and get INT_STATUS byte
    mpuInterrupt = false;
    mpuIntStatus = mpu.getIntStatus();

    // get current FIFO count
    fifoCount = mpu.getFIFOCount();
	if(fifoCount < packetSize){
	        //Lets go back and wait for another interrupt. We shouldn't be here, we got an interrupt from another event
			// This is blocking so don't do it   while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
	}
    // check for overflow (this should never happen unless our code is too inefficient)
    else if ((mpuIntStatus & _BV(MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();
      //  fifoCount = mpu.getFIFOCount();  // will be zero after reset no need to ask
        Serial.println(F("FIFO overflow!"));

    // otherwise, check for DMP data ready interrupt (this should happen frequently)
    } else if (mpuIntStatus & _BV(MPU6050_INTERRUPT_DMP_INT_BIT)) {

        // read a packet from FIFO
	while(fifoCount >= packetSize){ // Lets catch up to NOW, someone is using the dreaded delay()!
		mpu.getFIFOBytes(fifoBuffer, packetSize);
		// track FIFO count here in case there is > 1 packet available
		// (this lets us immediately read more without waiting for an interrupt)
		fifoCount -= packetSize;
	}
        #ifdef OUTPUT_READABLE_QUATERNION
            // display quaternion values in easy matrix form: w x y z
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            Serial.print("quat\t");
            Serial.print(q.w);
            Serial.print("\t");
            Serial.print(q.x);
            Serial.print("\t");
            Serial.print(q.y);
            Serial.print("\t");
            Serial.println(q.z);
        #endif

        #ifdef OUTPUT_READABLE_EULER
            // display Euler angles in degrees
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetEuler(euler, &q);
            Serial.print("euler\t");
            Serial.print(euler[0] * 180/M_PI);
            Serial.print("\t");
            Serial.print(euler[1] * 180/M_PI);
            Serial.print("\t");
            Serial.println(euler[2] * 180/M_PI);
        #endif

        #ifdef OUTPUT_READABLE_YAWPITCHROLL
            // display Euler angles in degrees
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
            Serial.print("ypr\t");
            Serial.print(ypr[0] * 180/M_PI);
            Serial.print("\t");
            Serial.print(ypr[1] * 180/M_PI);
            Serial.print("\t");
            Serial.println(ypr[2] * 180/M_PI);
        #endif

        #ifdef OUTPUT_READABLE_REALACCEL
            // display real acceleration, adjusted to remove gravity
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetAccel(&aa, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
            Serial.print("areal\t");
            Serial.print(aaReal.x);
            Serial.print("\t");
            Serial.print(aaReal.y);
            Serial.print("\t");
            Serial.println(aaReal.z);
        #endif

        #ifdef OUTPUT_READABLE_WORLDACCEL
            // display initial world-frame acceleration, adjusted to remove gravity
            // and rotated based on known orientation from quaternion
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetAccel(&aa, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
            mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
            Serial.print("aworld\t");
            Serial.print(aaWorld.x);
            Serial.print("\t");
            Serial.print(aaWorld.y);
            Serial.print("\t");
            Serial.println(aaWorld.z);
        #endif
    
        #ifdef OUTPUT_TEAPOT
            // display quaternion values in InvenSense Teapot demo format:
            teapotPacket[2] = fifoBuffer[0];
            teapotPacket[3] = fifoBuffer[1];
            teapotPacket[4] = fifoBuffer[4];
            teapotPacket[5] = fifoBuffer[5];
            teapotPacket[6] = fifoBuffer[8];
            teapotPacket[7] = fifoBuffer[9];
            teapotPacket[8] = fifoBuffer[12];
            teapotPacket[9] = fifoBuffer[13];
            Serial.write(teapotPacket, 14);
            teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
        #endif

        // blink LED to indicate activity
        blinkState = !blinkState;
        digitalWrite(LED_PIN, blinkState);
    }
}
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