Hello everyone,
I am currently working on porting the InvenSense motion driver 6.12 to nrf52.
I am using MPU9250 and nrf52840 pdk.
I've managed to set up the DMP and MPL, but I got stuck when I trying to read data from DMP FIFO.
I am instructed to call function dmp_read_fifo whenever a data ready interrupt is detected. I connected pin INT of MPU to P1.08 of nrf52840pdk.
Here is how I set up the interrupt:
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#define ARDUINO_7_PIN NRF_GPIO_PIN_MAP(1, 8)
#define PIN_IN ARDUINO_7_PIN
static void pin_in_read(nrf_drv_gpiote_pin_t pin, nrf_gpiote_polarity_t action)
{
hal.new_gyro = 1; //set data ready indicator
}
static void GPIO_setup()
{
uint32_t err_code = nrf_drv_gpiote_init();
APP_ERROR_CHECK(err_code);
nrf_drv_gpiote_in_config_t in_config = GPIOTE_CONFIG_IN_SENSE_TOGGLE(true);
in_config.pull = NRF_GPIO_PIN_PULLUP;
err_code = nrf_drv_gpiote_in_init(PIN_IN, &in_config, pin_in_read);
APP_ERROR_CHECK(err_code);
}
However hal.new_gyro is never set. Does anyone meet the same problem?
My project can be found here.
Thanks in advance.