MPU6050 library

include/input_mapper.h

@@ -32,7 +32,8 @@ namespace InputMapper
 
     bool mapButton(HardwareButtons button, bool value);
 
-    void mapGyro(int32_t x, int32_t y, int32_t z);
+    bool gyroEnabled();
+    void mapGyro(int16_t x, int16_t y, int16_t z);
 
     void sendReport();
 }

src/input_mapper.cpp

@@ -329,9 +329,15 @@ namespace InputMapper
         return res;
     }
 
-    void mapGyro(int32_t x, int32_t y, int32_t z)
+    bool gyroEnabled()
     {
-        device.joystick(1, x, y);
+        // how do I map this?
+        return tjoystick_right.getTouching() > TouchControl::CT_NONE;
+    }
+
+    void mapGyro(int16_t x, int16_t y, int16_t z)
+    {
+        //device.joystick(1, x, y);
     }
 
     void sendReport()

src/main.cpp

@@ -1,7 +1,8 @@
 #include <Arduino.h>
 
-#include "Wire.h"
-const uint8_t MPU_addr = 0x68;
+#include <MPU6050.h>
+
+MPU6050 mpu;
 
 #include "trackpad.h"
 #include "input_mapper.h"
@@ -59,11 +60,21 @@ void setup()
     trackpad_maxX = trackpad[0].getMaxX();
     trackpad_maxY = trackpad[0].getMaxY();
     
-    Wire.begin();
-    Wire.beginTransmission(MPU_addr);
-    Wire.write(0x6B);  // PWR_MGMT_1 register
-    Wire.write(0);     // set to zero (wakes up the MPU-6050)
-    Wire.endTransmission(true);
+    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
+        Wire.begin();
+    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
+        Fastwire::setup(400, true);
+    #endif
+
+    mpu.initialize();
+    Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
+
+    /*
+    mpu.setXGyroOffset(0);
+    mpu.setYGyroOffset(0);
+    mpu.setZGyroOffset(0);
+    */
+    mpu.CalibrateGyro();
 
     InputMapper::begin();
 
@@ -139,18 +150,13 @@ void loop()
         }
     }
 
-    int16_t data[7];
-    Wire.beginTransmission(MPU_addr);
-    Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
-    Wire.endTransmission(false);
-    Wire.requestFrom(MPU_addr, 14, true); // request a total of 14 registers
-    for (byte i = 0; i < 7; i++) {
-        data[i] = Wire.read() << 8 | Wire.read();
+    if (InputMapper::gyroEnabled())
+    {
+        int16_t x, y, z;
+        mpu.getRotation(&x, &y, &z);
+        InputMapper::mapGyro(x, y, z);
     }
 
-    //InputMapper::mapAccel(data[0], data[1], data[2]);
-    InputMapper::mapGyro(data[4], data[5], data[6]);
-
     InputMapper::update(micros());
 
     InputMapper::sendReport();