dmp-initialize-mbot

C++ implementation

#pragma XOD error_raise enable
#pragma XOD require "https://github.com/GreyGnome/PinChangeInt"

#include <PinChangeInt.h>

volatile bool mpuInterrupt = false;

void dmpDataReady() {
    mpuInterrupt = true;
}

node {

    int8_t devStatus; // return status after each device operation (0 = success, !0 = error)

    void evaluate(Context ctx) {
        auto mpu = getValue<input_DEV>(ctx);

        if (isSettingUp())
            emitValue<output_DEVU0027>(ctx, mpu);

        if (!isInputDirty<input_DO>(ctx))
            return;

        const uint8_t INTERRUPT_PIN = getValue<input_INT>(ctx);
        devStatus = mpu->dmpInitialize();

        if (devStatus == 0) {
           mpu->setDMPEnabled(true);

           PCintPort::attachInterrupt(INTERRUPT_PIN, dmpDataReady, RISING);

            mpuIntStatus = mpu->getIntStatus();
            dmpReady = true;
            packetSize = mpu->dmpGetFIFOPacketSize();
        } else {
            raiseError(ctx);
            return;
        }
        emitValue<output_DONE>(ctx, 1);
    }
}