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PaulZCPaulZC
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Update DMP examples
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2 files changed

+20
-20
lines changed

2 files changed

+20
-20
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‎Firmware/Test Sketches/IMU_DMP_Quat6/IMU_DMP_Quat6.ino‎

Lines changed: 10 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -224,15 +224,15 @@ void setup() {
224224
// Configure the B2S Mounting Matrix
225225
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
226226
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
227-
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
228-
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
229-
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
230-
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
231-
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
232-
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
233-
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
234-
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
235-
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
227+
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
228+
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
229+
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
230+
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
231+
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
232+
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
233+
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
234+
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
235+
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
236236

237237
// Configure the DMP Gyro Scaling Factor
238238
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
@@ -262,7 +262,7 @@ void setup() {
262262
// Configure the Accel A Var: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
263263
const unsigned char accelAVar[4] = {0x0B, 0x6D, 0xB6, 0xDB}; // 56Hz
264264
//const unsigned char accelAVar[4] = {0x39, 0x99, 0x99, 0x9A}; // Value taken from InvenSense Nucleo example
265-
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAlphaVar[0]) == ICM_20948_Stat_Ok);
265+
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAVar[0]) == ICM_20948_Stat_Ok);
266266

267267
// Configure the Accel Cal Rate
268268
const unsigned char accelCalRate[4] = {0x00, 0x00}; // Value taken from InvenSense Nucleo example

‎Firmware/Test Sketches/IMU_DMP_Quat9/IMU_DMP_Quat9.ino‎

Lines changed: 10 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -224,15 +224,15 @@ void setup() {
224224
// Configure the B2S Mounting Matrix
225225
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
226226
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
227-
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
228-
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
229-
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
230-
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
231-
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
232-
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
233-
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
234-
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
235-
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
227+
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
228+
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
229+
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
230+
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
231+
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
232+
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
233+
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
234+
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
235+
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
236236

237237
// Configure the DMP Gyro Scaling Factor
238238
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
@@ -262,7 +262,7 @@ void setup() {
262262
// Configure the Accel A Var: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
263263
const unsigned char accelAVar[4] = {0x0B, 0x6D, 0xB6, 0xDB}; // 56Hz
264264
//const unsigned char accelAVar[4] = {0x39, 0x99, 0x99, 0x9A}; // Value taken from InvenSense Nucleo example
265-
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAlphaVar[0]) == ICM_20948_Stat_Ok);
265+
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAVar[0]) == ICM_20948_Stat_Ok);
266266

267267
// Configure the Accel Cal Rate
268268
const unsigned char accelCalRate[4] = {0x00, 0x00}; // Value taken from InvenSense Nucleo example

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