dmpInitialize

ElectronicCats · Dec 18, 2023 · 24c7b16 · 24c7b16
1 parent 9a7033a
commit 24c7b16
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Showing 4 changed files with 4 additions and 4 deletions.
diff --git a/src/MPU6050_6Axis_MotionApps20.cpp b/src/MPU6050_6Axis_MotionApps20.cpp
@@ -269,7 +269,7 @@ static const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
 #endif
 
 // I Simplified this:
-uint8_t MPU6050_6Axis_MotionApps20::dmpInitialize() {
+uint8_t dmpInitialize(uint8_t rateDivisor = MPU6050_DMP_FIFO_RATE_DIVISOR, uint8_t mpuAddr = 0x68){
 	// reset device
 	DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
 	reset();

diff --git a/src/MPU6050_6Axis_MotionApps20.h b/src/MPU6050_6Axis_MotionApps20.h
@@ -47,7 +47,7 @@ class MPU6050_6Axis_MotionApps20 : public MPU6050_Base {
     public:
         MPU6050_6Axis_MotionApps20(uint8_t address=MPU6050_DEFAULT_ADDRESS, void *wireObj=0) : MPU6050_Base(address, wireObj) { }
 
-        uint8_t dmpInitialize();
+        uint8_t dmpInitialize(uint8_t rateDivisor = MPU6050_DMP_FIFO_RATE_DIVISOR, uint8_t mpuAddr = 0x68);
         bool dmpPacketAvailable();
 
         uint8_t dmpSetFIFORate(uint8_t fifoRate);

diff --git a/src/MPU6050_9Axis_MotionApps41.cpp b/src/MPU6050_9Axis_MotionApps41.cpp
@@ -334,7 +334,7 @@ const unsigned char dmpUpdates[MPU6050_DMP_UPDATES_SIZE] PROGMEM = {
     0x00,   0x60,   0x04,   0x00, 0x40, 0x00, 0x00
 };
 
-uint8_t MPU6050_9Axis_MotionApps41::dmpInitialize() {
+uint8_t dmpInitialize(uint8_t rateDivisor = MPU6050_DMP_FIFO_RATE_DIVISOR, uint8_t mpuAddr = 0x68){
     // reset device
     DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
     reset();

diff --git a/src/MPU6050_9Axis_MotionApps41.h b/src/MPU6050_9Axis_MotionApps41.h
@@ -47,7 +47,7 @@ class MPU6050_9Axis_MotionApps41 : public MPU6050_Base {
     public:
         MPU6050_9Axis_MotionApps41(uint8_t address=MPU6050_DEFAULT_ADDRESS, void *wireObj=0) : MPU6050_Base(address, wireObj) { }
 
-        uint8_t dmpInitialize();
+        uint8_t dmpInitialize(uint8_t rateDivisor = MPU6050_DMP_FIFO_RATE_DIVISOR, uint8_t mpuAddr = 0x68);
         bool dmpPacketAvailable();
 
         uint8_t dmpSetFIFORate(uint8_t fifoRate);