Updating the examples

examples/MCU_Powercycle_DMP6/MCU_Powercycle_DMP6.ino

@@ -1,118 +1,113 @@
-// This sample code shows how to use dmpSetFIFOPacketSize() so as not to waste time
-// initializaing the MPU6050 when the MCU has been reset or powercycled but the MPU6050 has not.
-// Instead we just need to set the FIFOPacketSize, since this is the only setting needed
-// that was stored in the MCU RAM.
+/*
+  MCU Powercycle DMP6
 
-// This example code was written for the LGT8F328. In this example the LGT8F328 goes into
-// a deep sleep for 1 second which erases its ram and thus causes the MCU to restart on wakeup.
-// The code is based off a simplication of example code "MPU6050_DMP6".
+  Understand the use of function dmpSetFIFOPacketSize() so the MPU6050 initiates faster
+  when the MCU has been reset or powercycled but MPU6050 has not.
 
-// Code and comments related to demonstrating how to use dmpSetFIFOPacketSize() are preceded
-// by a line of asterisks (***************************************************************).
+  This example is designed for the LGT8F328. The MCU will enter deep sleep for 1 second, erasing
+  the RAM, causing the MCU to restart on wakeup. 
+
+  Find the full MPU6050 library documentation here:
+  https://github.com/ElectronicCats/mpu6050/wiki
+
+  created 19 Sep 2023
+  by John Harrison
+*/
 
 #include "I2Cdev.h"
 #include "MPU6050_6Axis_MotionApps20.h"
-#include <lgt_LowPower.h>
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
-#include "Wire.h"
-#endif
+#include <lgt_LowPower.h> //Library needed to enter sleep mode, use the one for your board
 
+/* MPU6050 default I2C address is 0x68*/
 MPU6050 mpu;
-
-// MPU control/status vars
-uint8_t devStatus;       // return status after each device operation (0 = success, !0 = error)
-uint16_t packetSize;     // expected DMP packet size (default is 42 bytes)
-uint8_t fifoBuffer[42];  // FIFO storage buffer
-
-// orientation/motion vars
-Quaternion q;         // [w, x, y, z]         quaternion container
-VectorFloat gravity;  // [x, y, z]            gravity vector
-float ypr[3];         // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
+//MPU6050 mpu(0x69); //Use for AD0 high
+//MPU6050 mpu(0x68, &Wire1); //Use for AD0 low, but 2nd Wire (TWI/I2C) object.
+
+/*---MPU6050 Control/Status Variables---*/
+uint8_t devStatus;       // Return status after each device operation (0 = success, !0 = error)
+uint16_t packetSize;     // Expected DMP packet size (default is 42 bytes)
+uint8_t FIFOBuffer[42];  // FIFO storage buffer
+
+/*---Orientation/Motion Variables---*/
+Quaternion q;         // [w, x, y, z]         Quaternion container
+VectorFloat gravity;  // [x, y, z]            Gravity vector
+float ypr[3];         // [yaw, pitch, roll]   Yaw/Pitch/Roll container and gravity vector
 uint32_t startTime;
 
-// ================================================================
-// ===                      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
-
+  #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
+    Wire.begin();
+    Wire.setClock(400000);  // 400kHz I2C clock. Comment on this line if having compilation difficulties
+  #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
+    Fastwire::setup(400, true);
+  #endif
   Serial.begin(115200);
   Serial.println(F("Starting setup"));
 
-  // ***************************************************************
-  // if MotionDetectionDuration is not the default value (0) but is instead a value we have set previously (1)
-  // then we know that the mpu6050 has not been reset or powercycled only the MCU has been, so we don't need
-  // to waste time reininitializing the mpu6050. Instead we just have to set the MCU to know the packet size
-  // since this value was only retained previously in the MCU RAM:
+  /*
+  If MotionDetectionDuration is not 0 (default value) and instead a value we defined (1), then is know 
+  that the mpu6050 has not been reset or power-cycled only the MCU has been.
+  We just have to set the MCU to know the packet size since this value was only retained previously in 
+  the MCU RAM.
+  */
   if (mpu.getMotionDetectionDuration() == 1) {
     Serial.println("Skipping MPU6050 initialization");
     mpu.dmpSetFIFOPacketSize(42);
     return;
   }
 
-  // ***************************************************************
-  // if we got here then the MPU6050 has been power cycled or reset so we have to do a full initialization
+  /* Full initialization if the MPU6050 was powercycled */
   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"));
+  /*Verify connection*/
+  Serial.println(F("Testing MPU6050 connection..."));
+  if(mpu.testConnection() == false){
+    Serial.println("MPU6050 connection failed");
+    while(true);
+  }
+  else {
+    Serial.println("MPU6050 connection successful");
+  }
 
-  // load and configure the DMP
+  /* Initializate and configure the DMP*/
   Serial.println(F("Initializing DMP..."));
   devStatus = mpu.dmpInitialize();
 
-  // make sure it worked (returns 0 if so)
+  /* Making sure it worked (returns 0 if so) */ 
   if (devStatus == 0) {
-    // Calibration Time: generate offsets and calibrate our MPU6050
-    mpu.CalibrateAccel(6);
+    mpu.CalibrateAccel(6);  // Calibration Time: generate offsets and calibrate our MPU6050
     mpu.CalibrateGyro(6);
-    Serial.println(F("Enabling DMP..."));
+    Serial.println(F("Enabling DMP..."));   //Turning ON DMP
     mpu.setDMPEnabled(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 "));
+    packetSize = mpu.dmpGetFIFOPacketSize(); // Get expected DMP packet size for later comparison
+  } 
+  else {
+    Serial.print(F("DMP Initialization failed (code ")); //Print the error code
     Serial.print(devStatus);
     Serial.println(F(")"));
+    // 1 = initial memory load failed
+    // 2 = DMP configuration updates failed
   }
 
-  // ***************************************************************
-  // set MotionDetectionDuration to a value other than the default (0).
-  // Note that we could set any value other than default in the MPU6050
-  // and test for that instead of MotionDetectionDuration. We chose
-  // MotionDetectionDuration to set in this example only as an example
-  // of how to test for reset/powerup on the MPU6050.
+  /*
+  Setting MotionDetectionDuration to a value other than the default (0).
+  Note that we could set any value other than default and test for that 
+  instead of MotionDetectionDuration. We chose MotionDetectionDuration 
+  to set in this example only as an example of how to test for reset/powerup 
+  on the MPU6050.
+  */
   mpu.setMotionDetectionDuration(1);
-
   startTime = millis();
 }
 
-
-
-// ================================================================
-// ===                    MAIN PROGRAM LOOP                     ===
-// ================================================================
-
 void loop() {
-  if ((millis() - startTime) < 5000) { // show YPR values for 5 seconds
-    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {  // Get the Latest packet
-      // display Euler angles in degrees
-      mpu.dmpGetQuaternion(&q, fifoBuffer);
+  if ((millis() - startTime) < 5000) { // Print YPR values for 5 seconds
+    if (mpu.dmpGetCurrentFIFOPacket(FIFOBuffer)) {  // Get the Latest packet
+      /* Display Euler angles in degrees */
+      mpu.dmpGetQuaternion(&q, FIFOBuffer);
       mpu.dmpGetGravity(&gravity, &q);
       mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
       Serial.print("ypr\t");
@@ -122,13 +117,14 @@ void loop() {
       Serial.print("\t");
       Serial.println(ypr[2] * 180 / M_PI);
     }
-  } else {
-    // ***************************************************************
-    // 5 seconds have passed
-    // put the MCU into a deep sleep for 1 second. All RAM is lost
-    // however the MPU6050 will continue to operate.
-    Serial.println("going to sleep for 1 Sec.");
-    delay(100); // give the MCU a chance to print the above message
-    LowPower.deepSleep2(SLEEP_1S);
+  }
+  else {
+    /*
+    5 seconds have passed, put the MCU into a deep sleep for 1 second. 
+    All RAM is erased however the MPU6050 will continue to operate.
+    */
+    Serial.println("Going to sleep for 1 Sec.");
+    delay(100);         // Give the MCU a chance to print the above message
+    LowPower.deepSleep2(SLEEP_1S); //Function from low power library to enter deep sleep
   }
 }