| Breakout pin | Pic32mxpin | Fubarino silk name |
|---|---|---|
| INT | RC4 | Pin 20/A12 |
| SDA | RB9 | Pin 26 |
| SCL | RB8 | Pin 25 |
Serial Tx - Uart2 pins - RB0 - Connect to serial converter for now.
Initial code to get quaternion output from DMP. Outputs quaternion values
as hexadecimal strings like q: 1d7b8d3f ff686626 ff8e7e00 38ccc5a4.
The format for each part is big-endian long which python struct can read as
struct.unpack('>l', "ff686626".split[j].decode('hex'))[0]Can divide all parts by 1073741824.0(1<<30), or normalize quaternion before use.
The function send_packet is not used, but it sends raw gyro, accel readings fine when configured.
There is a test.py application in desktop/, which draws a cube rotating
cube according to quaternion output it recieved from serial port.
Compiler is gcc version 4.5.2 MPLAB XC32 Compiler v1.20 (Microchip Technology). Have
FOOTSENSE_TARGET_PIC32 and MPU9150 in global preprocessor defines.