'''
Created on 25 sept. 2019

@author: David
'''
from math import atan2, atan, sqrt


# Register map based on Jeff Rowberg <jeff@rowberg.net> source code at
# https://github.com/jrowberg/i2cdevlib/blob/master/Arduino/MPU6050/MPU6050.h
MPU6050_ADDRESS_AD0_LOW       = 0x68 # address pin low (GND), default for InvenSense evaluation board
MPU6050_ADDRESS_AD0_HIGH      = 0x69 # address pin high (VCC)
MPU6050_DEFAULT_ADDRESS       = MPU6050_ADDRESS_AD0_LOW

MPU6050_RA_XG_OFFS_TC         = 0x00 # [7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
MPU6050_RA_YG_OFFS_TC         = 0x01 # [7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
MPU6050_RA_ZG_OFFS_TC         = 0x02 # [7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
MPU6050_RA_X_FINE_GAIN        = 0x03 # [7:0] X_FINE_GAIN
MPU6050_RA_Y_FINE_GAIN        = 0x04 # [7:0] Y_FINE_GAIN
MPU6050_RA_Z_FINE_GAIN        = 0x05 # [7:0] Z_FINE_GAIN
MPU6050_RA_XA_OFFS_H          = 0x06 # [15:0] XA_OFFS
MPU6050_RA_XA_OFFS_L_TC       = 0x07
MPU6050_RA_YA_OFFS_H          = 0x08 # [15:0] YA_OFFS
MPU6050_RA_YA_OFFS_L_TC       = 0x09
MPU6050_RA_ZA_OFFS_H          = 0x0A # [15:0] ZA_OFFS
MPU6050_RA_ZA_OFFS_L_TC       = 0x0B
MPU6050_RA_XG_OFFS_USRH       = 0x13 # [15:0] XG_OFFS_USR
MPU6050_RA_XG_OFFS_USRL       = 0x14
MPU6050_RA_YG_OFFS_USRH       = 0x15 # [15:0] YG_OFFS_USR
MPU6050_RA_YG_OFFS_USRL       = 0x16
MPU6050_RA_ZG_OFFS_USRH       = 0x17 # [15:0] ZG_OFFS_USR
MPU6050_RA_ZG_OFFS_USRL       = 0x18
MPU6050_RA_SMPLRT_DIV         = 0x19
MPU6050_RA_CONFIG             = 0x1A
MPU6050_RA_GYRO_CONFIG        = 0x1B
MPU6050_RA_ACCEL_CONFIG       = 0x1C
MPU6050_RA_FF_THR             = 0x1D
MPU6050_RA_FF_DUR             = 0x1E
MPU6050_RA_MOT_THR            = 0x1F
MPU6050_RA_MOT_DUR            = 0x20
MPU6050_RA_ZRMOT_THR          = 0x21
MPU6050_RA_ZRMOT_DUR          = 0x22
MPU6050_RA_FIFO_EN            = 0x23
MPU6050_RA_I2C_MST_CTRL       = 0x24
MPU6050_RA_I2C_SLV0_ADDR      = 0x25
MPU6050_RA_I2C_SLV0_REG       = 0x26
MPU6050_RA_I2C_SLV0_CTRL      = 0x27
MPU6050_RA_I2C_SLV1_ADDR      = 0x28
MPU6050_RA_I2C_SLV1_REG       = 0x29
MPU6050_RA_I2C_SLV1_CTRL      = 0x2A
MPU6050_RA_I2C_SLV2_ADDR      = 0x2B
MPU6050_RA_I2C_SLV2_REG       = 0x2C
MPU6050_RA_I2C_SLV2_CTRL      = 0x2D
MPU6050_RA_I2C_SLV3_ADDR      = 0x2E
MPU6050_RA_I2C_SLV3_REG       = 0x2F
MPU6050_RA_I2C_SLV3_CTRL      = 0x30
MPU6050_RA_I2C_SLV4_ADDR      = 0x31
MPU6050_RA_I2C_SLV4_REG       = 0x32
MPU6050_RA_I2C_SLV4_DO        = 0x33
MPU6050_RA_I2C_SLV4_CTRL      = 0x34
MPU6050_RA_I2C_SLV4_DI        = 0x35
MPU6050_RA_I2C_MST_STATUS     = 0x36
MPU6050_RA_INT_PIN_CFG        = 0x37
MPU6050_RA_INT_ENABLE         = 0x38
MPU6050_RA_DMP_INT_STATUS     = 0x39
MPU6050_RA_INT_STATUS         = 0x3A
MPU6050_RA_ACCEL_XOUT_H       = 0x3B
MPU6050_RA_ACCEL_XOUT_L       = 0x3C
MPU6050_RA_ACCEL_YOUT_H       = 0x3D
MPU6050_RA_ACCEL_YOUT_L       = 0x3E
MPU6050_RA_ACCEL_ZOUT_H       = 0x3F
MPU6050_RA_ACCEL_ZOUT_L       = 0x40
MPU6050_RA_TEMP_OUT_H         = 0x41
MPU6050_RA_TEMP_OUT_L         = 0x42
MPU6050_RA_GYRO_XOUT_H        = 0x43
MPU6050_RA_GYRO_XOUT_L        = 0x44
MPU6050_RA_GYRO_YOUT_H        = 0x45
MPU6050_RA_GYRO_YOUT_L        = 0x46
MPU6050_RA_GYRO_ZOUT_H        = 0x47
MPU6050_RA_GYRO_ZOUT_L        = 0x48
MPU6050_RA_EXT_SENS_DATA_00   = 0x49
MPU6050_RA_EXT_SENS_DATA_01   = 0x4A
MPU6050_RA_EXT_SENS_DATA_02   = 0x4B
MPU6050_RA_EXT_SENS_DATA_03   = 0x4C
MPU6050_RA_EXT_SENS_DATA_04   = 0x4D
MPU6050_RA_EXT_SENS_DATA_05   = 0x4E
MPU6050_RA_EXT_SENS_DATA_06   = 0x4F
MPU6050_RA_EXT_SENS_DATA_07   = 0x50
MPU6050_RA_EXT_SENS_DATA_08   = 0x51
MPU6050_RA_EXT_SENS_DATA_09   = 0x52
MPU6050_RA_EXT_SENS_DATA_10   = 0x53
MPU6050_RA_EXT_SENS_DATA_11   = 0x54
MPU6050_RA_EXT_SENS_DATA_12   = 0x55
MPU6050_RA_EXT_SENS_DATA_13   = 0x56
MPU6050_RA_EXT_SENS_DATA_14   = 0x57
MPU6050_RA_EXT_SENS_DATA_15   = 0x58
MPU6050_RA_EXT_SENS_DATA_16   = 0x59
MPU6050_RA_EXT_SENS_DATA_17   = 0x5A
MPU6050_RA_EXT_SENS_DATA_18   = 0x5B
MPU6050_RA_EXT_SENS_DATA_19   = 0x5C
MPU6050_RA_EXT_SENS_DATA_20   = 0x5D
MPU6050_RA_EXT_SENS_DATA_21   = 0x5E
MPU6050_RA_EXT_SENS_DATA_22   = 0x5F
MPU6050_RA_EXT_SENS_DATA_23   = 0x60
MPU6050_RA_MOT_DETECT_STATUS  = 0x61
MPU6050_RA_I2C_SLV0_DO        = 0x63
MPU6050_RA_I2C_SLV1_DO        = 0x64
MPU6050_RA_I2C_SLV2_DO        = 0x65
MPU6050_RA_I2C_SLV3_DO        = 0x66
MPU6050_RA_I2C_MST_DELAY_CTRL = 0x67
MPU6050_RA_SIGNAL_PATH_RESET  = 0x68
MPU6050_RA_MOT_DETECT_CTRL    = 0x69
MPU6050_RA_USER_CTRL          = 0x6A
MPU6050_RA_PWR_MGMT_1         = 0x6B
MPU6050_RA_PWR_MGMT_2         = 0x6C
MPU6050_RA_BANK_SEL           = 0x6D
MPU6050_RA_MEM_START_ADDR     = 0x6E
MPU6050_RA_MEM_R_W            = 0x6F
MPU6050_RA_DMP_CFG_1          = 0x70
MPU6050_RA_DMP_CFG_2          = 0x71
MPU6050_RA_FIFO_COUNTH        = 0x72
MPU6050_RA_FIFO_COUNTL        = 0x73
MPU6050_RA_FIFO_R_W           = 0x74
MPU6050_RA_WHO_AM_I           = 0x75  

MPU6050_TC_PWR_MODE_BIT    = 7
MPU6050_TC_OFFSET_BIT      = 6
MPU6050_TC_OFFSET_LENGTH   = 6
MPU6050_TC_OTP_BNK_VLD_BIT = 0

MPU6050_VDDIO_LEVEL_VLOGIC  = 0
MPU6050_VDDIO_LEVEL_VDD     = 1    

MPU6050_CFG_EXT_SYNC_SET_BIT    = 5
MPU6050_CFG_EXT_SYNC_SET_LENGTH = 3
MPU6050_CFG_DLPF_CFG_BIT    = 2
MPU6050_CFG_DLPF_CFG_LENGTH = 3

MPU6050_EXT_SYNC_DISABLED      = 0x0
MPU6050_EXT_SYNC_TEMP_OUT_L    = 0x1
MPU6050_EXT_SYNC_GYRO_XOUT_L   = 0x2
MPU6050_EXT_SYNC_GYRO_YOUT_L   = 0x3
MPU6050_EXT_SYNC_GYRO_ZOUT_L   = 0x4
MPU6050_EXT_SYNC_ACCEL_XOUT_L  = 0x5
MPU6050_EXT_SYNC_ACCEL_YOUT_L  = 0x6
MPU6050_EXT_SYNC_ACCEL_ZOUT_L  = 0x7

MPU6050_DLPF_BW_256        = 0x00
MPU6050_DLPF_BW_188        = 0x01
MPU6050_DLPF_BW_98         = 0x02
MPU6050_DLPF_BW_42         = 0x03
MPU6050_DLPF_BW_20         = 0x04
MPU6050_DLPF_BW_10         = 0x05
MPU6050_DLPF_BW_5          = 0x06

MPU6050_GCONFIG_FS_SEL_BIT     = 4
MPU6050_GCONFIG_FS_SEL_LENGTH  = 2

MPU6050_GYRO_FS_250        = 0x00
MPU6050_GYRO_FS_500        = 0x01
MPU6050_GYRO_FS_1000       = 0x02
MPU6050_GYRO_FS_2000       = 0x03

MPU6050_ACONFIG_XA_ST_BIT         =  7
MPU6050_ACONFIG_YA_ST_BIT         =  6
MPU6050_ACONFIG_ZA_ST_BIT         =  5
MPU6050_ACONFIG_AFS_SEL_BIT       =  4
MPU6050_ACONFIG_AFS_SEL_LENGTH    =  2
MPU6050_ACONFIG_ACCEL_HPF_BIT     =  2
MPU6050_ACONFIG_ACCEL_HPF_LENGTH  =  3

MPU6050_ACCEL_FS_2         = 0x00
MPU6050_ACCEL_FS_4         = 0x01
MPU6050_ACCEL_FS_8         = 0x02
MPU6050_ACCEL_FS_16        = 0x03

MPU6050_DHPF_RESET         = 0x00
MPU6050_DHPF_5             = 0x01
MPU6050_DHPF_2P5           = 0x02
MPU6050_DHPF_1P25          = 0x03
MPU6050_DHPF_0P63          = 0x04
MPU6050_DHPF_HOLD          = 0x07

MPU6050_TEMP_FIFO_EN_BIT   = 7
MPU6050_XG_FIFO_EN_BIT     = 6
MPU6050_YG_FIFO_EN_BIT     = 5
MPU6050_ZG_FIFO_EN_BIT     = 4
MPU6050_ACCEL_FIFO_EN_BIT  = 3
MPU6050_SLV2_FIFO_EN_BIT   = 2
MPU6050_SLV1_FIFO_EN_BIT   = 1
MPU6050_SLV0_FIFO_EN_BIT   = 0

MPU6050_MULT_MST_EN_BIT    = 7
MPU6050_WAIT_FOR_ES_BIT    = 6
MPU6050_SLV_3_FIFO_EN_BIT  = 5
MPU6050_I2C_MST_P_NSR_BIT  = 4
MPU6050_I2C_MST_CLK_BIT    = 3
MPU6050_I2C_MST_CLK_LENGTH = 4

MPU6050_CLOCK_DIV_348      = 0x0
MPU6050_CLOCK_DIV_333      = 0x1
MPU6050_CLOCK_DIV_320      = 0x2
MPU6050_CLOCK_DIV_308      = 0x3
MPU6050_CLOCK_DIV_296      = 0x4
MPU6050_CLOCK_DIV_286      = 0x5
MPU6050_CLOCK_DIV_276      = 0x6
MPU6050_CLOCK_DIV_267      = 0x7
MPU6050_CLOCK_DIV_258      = 0x8
MPU6050_CLOCK_DIV_500      = 0x9
MPU6050_CLOCK_DIV_471      = 0xA
MPU6050_CLOCK_DIV_444      = 0xB
MPU6050_CLOCK_DIV_421      = 0xC
MPU6050_CLOCK_DIV_400      = 0xD
MPU6050_CLOCK_DIV_381      = 0xE
MPU6050_CLOCK_DIV_364      = 0xF

MPU6050_I2C_SLV_RW_BIT     = 7
MPU6050_I2C_SLV_ADDR_BIT   = 6
MPU6050_I2C_SLV_ADDR_LENGTH = 7
MPU6050_I2C_SLV_EN_BIT      = 7
MPU6050_I2C_SLV_BYTE_SW_BIT = 6
MPU6050_I2C_SLV_REG_DIS_BIT = 5
MPU6050_I2C_SLV_GRP_BIT     = 4
MPU6050_I2C_SLV_LEN_BIT     = 3
MPU6050_I2C_SLV_LEN_LENGTH  = 4

MPU6050_I2C_SLV4_RW_BIT        = 7
MPU6050_I2C_SLV4_ADDR_BIT      = 6
MPU6050_I2C_SLV4_ADDR_LENGTH   = 7
MPU6050_I2C_SLV4_EN_BIT        = 7
MPU6050_I2C_SLV4_INT_EN_BIT    = 6
MPU6050_I2C_SLV4_REG_DIS_BIT   = 5
MPU6050_I2C_SLV4_MST_DLY_BIT   = 4
MPU6050_I2C_SLV4_MST_DLY_LENGTH = 5

MPU6050_MST_PASS_THROUGH_BIT   = 7
MPU6050_MST_I2C_SLV4_DONE_BIT  = 6
MPU6050_MST_I2C_LOST_ARB_BIT   = 5
MPU6050_MST_I2C_SLV4_NACK_BIT  = 4
MPU6050_MST_I2C_SLV3_NACK_BIT  = 3
MPU6050_MST_I2C_SLV2_NACK_BIT  = 2
MPU6050_MST_I2C_SLV1_NACK_BIT  = 1
MPU6050_MST_I2C_SLV0_NACK_BIT  = 0

MPU6050_INTCFG_INT_LEVEL_BIT       = 7
MPU6050_INTCFG_INT_OPEN_BIT        = 6
MPU6050_INTCFG_LATCH_INT_EN_BIT    = 5
MPU6050_INTCFG_INT_RD_CLEAR_BIT    = 4
MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT = 3
MPU6050_INTCFG_FSYNC_INT_EN_BIT    = 2
MPU6050_INTCFG_I2C_BYPASS_EN_BIT   = 1
MPU6050_INTCFG_CLKOUT_EN_BIT       = 0

MPU6050_INTMODE_ACTIVEHIGH = 0x00
MPU6050_INTMODE_ACTIVELOW  = 0x01

MPU6050_INTDRV_PUSHPULL    = 0x00
MPU6050_INTDRV_OPENDRAIN   = 0x01

MPU6050_INTLATCH_50USPULSE = 0x00
MPU6050_INTLATCH_WAITCLEAR = 0x01

MPU6050_INTCLEAR_STATUSREAD = 0x00
MPU6050_INTCLEAR_ANYREAD    = 0x01

MPU6050_INTERRUPT_FF_BIT           = 7
MPU6050_INTERRUPT_MOT_BIT          = 6
MPU6050_INTERRUPT_ZMOT_BIT         = 5
MPU6050_INTERRUPT_FIFO_OFLOW_BIT   = 4
MPU6050_INTERRUPT_I2C_MST_INT_BIT  = 3
MPU6050_INTERRUPT_PLL_RDY_INT_BIT  = 2
MPU6050_INTERRUPT_DMP_INT_BIT      = 1
MPU6050_INTERRUPT_DATA_RDY_BIT     = 0

# TODO: figure out what these actually do
# UMPL source code is not very obvious
MPU6050_DMPINT_5_BIT           = 5
MPU6050_DMPINT_4_BIT           = 4
MPU6050_DMPINT_3_BIT           = 3
MPU6050_DMPINT_2_BIT           = 2
MPU6050_DMPINT_1_BIT           = 1
MPU6050_DMPINT_0_BIT           = 0

MPU6050_MOTION_MOT_XNEG_BIT    = 7
MPU6050_MOTION_MOT_XPOS_BIT    = 6
MPU6050_MOTION_MOT_YNEG_BIT    = 5
MPU6050_MOTION_MOT_YPOS_BIT    = 4
MPU6050_MOTION_MOT_ZNEG_BIT    = 3
MPU6050_MOTION_MOT_ZPOS_BIT    = 2
MPU6050_MOTION_MOT_ZRMOT_BIT   = 0

MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT  = 7
MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT  = 4
MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT  = 3
MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT  = 2
MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT  = 1
MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT  = 0

MPU6050_PATHRESET_GYRO_RESET_BIT   = 2
MPU6050_PATHRESET_ACCEL_RESET_BIT  = 1
MPU6050_PATHRESET_TEMP_RESET_BIT   = 0

MPU6050_DETECT_ACCEL_ON_DELAY_BIT     = 5
MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH  = 2
MPU6050_DETECT_FF_COUNT_BIT           = 3
MPU6050_DETECT_FF_COUNT_LENGTH        = 2
MPU6050_DETECT_MOT_COUNT_BIT          = 1
MPU6050_DETECT_MOT_COUNT_LENGTH       = 2

MPU6050_DETECT_DECREMENT_RESET = 0x0
MPU6050_DETECT_DECREMENT_1     = 0x1
MPU6050_DETECT_DECREMENT_2     = 0x2
MPU6050_DETECT_DECREMENT_4     = 0x3

MPU6050_USERCTRL_DMP_EN_BIT            = 7
MPU6050_USERCTRL_FIFO_EN_BIT           = 6
MPU6050_USERCTRL_I2C_MST_EN_BIT        = 5
MPU6050_USERCTRL_I2C_IF_DIS_BIT        = 4
MPU6050_USERCTRL_DMP_RESET_BIT         = 3
MPU6050_USERCTRL_FIFO_RESET_BIT        = 2
MPU6050_USERCTRL_I2C_MST_RESET_BIT     = 1
MPU6050_USERCTRL_SIG_COND_RESET_BIT    = 0

MPU6050_PWR1_DEVICE_RESET_BIT  = 7
MPU6050_PWR1_SLEEP_BIT         = 6
MPU6050_PWR1_CYCLE_BIT         = 5
MPU6050_PWR1_TEMP_DIS_BIT      = 3
MPU6050_PWR1_CLKSEL_BIT        = 2
MPU6050_PWR1_CLKSEL_LENGTH     = 3

MPU6050_CLOCK_INTERNAL        =  0x00
MPU6050_CLOCK_PLL_XGYRO       =  0x01
MPU6050_CLOCK_PLL_YGYRO       =  0x02
MPU6050_CLOCK_PLL_ZGYRO       =  0x03
MPU6050_CLOCK_PLL_EXT32K      =  0x04
MPU6050_CLOCK_PLL_EXT19M      =  0x05
MPU6050_CLOCK_KEEP_RESET      =  0x07

MPU6050_PWR2_LP_WAKE_CTRL_BIT     = 7
MPU6050_PWR2_LP_WAKE_CTRL_LENGTH  = 2
MPU6050_PWR2_STBY_XA_BIT          = 5
MPU6050_PWR2_STBY_YA_BIT          = 4
MPU6050_PWR2_STBY_ZA_BIT          = 3
MPU6050_PWR2_STBY_XG_BIT          = 2
MPU6050_PWR2_STBY_YG_BIT          = 1
MPU6050_PWR2_STBY_ZG_BIT          = 0

MPU6050_WAKE_FREQ_1P25     = 0x0
MPU6050_WAKE_FREQ_2P5      = 0x1
MPU6050_WAKE_FREQ_5        = 0x2
MPU6050_WAKE_FREQ_10       = 0x3

MPU6050_BANKSEL_PRFTCH_EN_BIT      = 6
MPU6050_BANKSEL_CFG_USER_BANK_BIT  = 5
MPU6050_BANKSEL_MEM_SEL_BIT        = 4
MPU6050_BANKSEL_MEM_SEL_LENGTH     = 5

MPU6050_BANKSEL_PRFTCH_EN_BIT = 6
MPU6050_BANKSEL_CFG_USER_BANK_BIT = 5
MPU6050_BANKSEL_MEM_SEL_BIT   = 4
MPU6050_BANKSEL_MEM_SEL_LENGTH = 5    

MPU6050_WHO_AM_I_BIT          = 6
MPU6050_WHO_AM_I_LENGTH       = 6    

# DMP

MPU6050_DMP_MEMORY_BANKS      = 8
MPU6050_DMP_MEMORY_BANK_SIZE  = 256
MPU6050_DMP_MEMORY_CHUNK_SIZE = 16

MPU6050_DMP_CODE_SIZE         = 1929    # dmpMemory[]
MPU6050_DMP_CONFIG_SIZE       = 192     # dmpConfig[]
MPU6050_DMP_UPDATES_SIZE      = 47      # dmpUpdates[]
# ====================================================================================================
# | Default MotionApps v2.0 42-byte FIFO packet structure:                                           |
# |                                                                                                  |
# | [QUAT W][      ][QUAT X][      ][QUAT Y][      ][QUAT Z][      ][GYRO X][      ][GYRO Y][      ] |
# |   0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17  18  19  20  21  22  23  |
# |                                                                                                  |
# | [GYRO Z][      ][ACC X ][      ][ACC Y ][      ][ACC Z ][      ][      ]                         |
# |  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38  39  40  41                          |
# ====================================================================================================    

# this block of memory gets written to the MPU on start-up, and it seems
# to be volatile memory, so it has to be done each time (it only takes ~1 second though)
DMP_MEMORY = bytes([
    # bank 0, 256 bytes
    0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
    0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
    0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
    0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
    0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
    0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
    0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
    0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10])
DMP_MEMORY += bytes([
    # bank 1, 256 bytes
    0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
    0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
    0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
    0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
    0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0])
DMP_MEMORY += bytes([
    # bank 2, 256 bytes
    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00])
DMP_MEMORY += bytes([
    # bank 3, 256 bytes
    0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
    0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
    0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
    0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
    0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
    0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
    0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
    0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C,
    0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
    0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
    0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
    0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
    0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
    0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
    0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
    0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86])
DMP_MEMORY += bytes([
    # bank 4, 256 bytes
    0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
    0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
    0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
    0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
    0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
    0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
    0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
    0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
    0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
    0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
    0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
    0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
    0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
    0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
    0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
    0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87])
DMP_MEMORY += bytes([
    # bank 5, 256 bytes
    0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
    0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
    0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
    0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
    0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
    0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
    0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
    0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
    0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
    0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
    0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
    0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
    0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
    0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
    0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
    0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68])
DMP_MEMORY += bytes([
    # bank 6, 256 bytes
    0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
    0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
    0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
    0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
    0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
    0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
    0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
    0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
    0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
    0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
    0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
    0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
    0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
    0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
    0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
    0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79])
DMP_MEMORY += bytes([
    # bank 7, 137 bytes (remainder)
    0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
    0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
    0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
    0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
    0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
    0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
    0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3,
    0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC,
    0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF])

DMP_CONFIG = bytes([
    # BANK    OFFSET  LENGTH  [DATA]
    0x03,   0x7B,   0x03,   0x4C, 0xCD, 0x6C,         # FCFG_1 inv_set_gyro_calibration
    0x03,   0xAB,   0x03,   0x36, 0x56, 0x76,         # FCFG_3 inv_set_gyro_calibration
    0x00,   0x68,   0x04,   0x02, 0xCB, 0x47, 0xA2,   # D_0_104 inv_set_gyro_calibration
    0x02,   0x18,   0x04,   0x00, 0x05, 0x8B, 0xC1,   # D_0_24 inv_set_gyro_calibration
    0x01,   0x0C,   0x04,   0x00, 0x00, 0x00, 0x00,   # D_1_152 inv_set_accel_calibration
    0x03,   0x7F,   0x06,   0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, # FCFG_2 inv_set_accel_calibration
    0x03,   0x89,   0x03,   0x26, 0x46, 0x66,         # FCFG_7 inv_set_accel_calibration
    0x00,   0x6C,   0x02,   0x20, 0x00,               # D_0_108 inv_set_accel_calibration
    0x02,   0x40,   0x04,   0x00, 0x00, 0x00, 0x00,   # CPASS_MTX_00 inv_set_compass_calibration
    0x02,   0x44,   0x04,   0x00, 0x00, 0x00, 0x00,   # CPASS_MTX_01
    0x02,   0x48,   0x04,   0x00, 0x00, 0x00, 0x00,   # CPASS_MTX_02
    0x02,   0x4C,   0x04,   0x00, 0x00, 0x00, 0x00,   # CPASS_MTX_10
    0x02,   0x50,   0x04,   0x00, 0x00, 0x00, 0x00,   # CPASS_MTX_11
    0x02,   0x54,   0x04,   0x00, 0x00, 0x00, 0x00,   # CPASS_MTX_12
    0x02,   0x58,   0x04,   0x00, 0x00, 0x00, 0x00,   # CPASS_MTX_20
    0x02,   0x5C,   0x04,   0x00, 0x00, 0x00, 0x00,   # CPASS_MTX_21
    0x02,   0xBC,   0x04,   0x00, 0x00, 0x00, 0x00,   # CPASS_MTX_22
    0x01,   0xEC,   0x04,   0x00, 0x00, 0x40, 0x00,   # D_1_236 inv_apply_endian_accel
    0x03,   0x7F,   0x06,   0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, # FCFG_2 inv_set_mpu_sensors
    0x04,   0x02,   0x03,   0x0D, 0x35, 0x5D,         # CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
    0x04,   0x09,   0x04,   0x87, 0x2D, 0x35, 0x3D,   # FCFG_5 inv_set_bias_update
    0x00,   0xA3,   0x01,   0x00,                     # D_0_163 inv_set_dead_zone
    # SPECIAL 0x01 = enable interrupts
    0x00,   0x00,   0x00,   0x01, # SET INT_ENABLE at i=22, SPECIAL INSTRUCTION
    0x07,   0x86,   0x01,   0xFE,                     # CFG_6 inv_set_fifo_interupt
    0x07,   0x41,   0x05,   0xF1, 0x20, 0x28, 0x30, 0x38, # CFG_8 inv_send_quaternion
    0x07,   0x7E,   0x01,   0x30,                     # CFG_16 inv_set_footer
    0x07,   0x46,   0x01,   0x9A,                     # CFG_GYRO_SOURCE inv_send_gyro
    0x07,   0x47,   0x04,   0xF1, 0x28, 0x30, 0x38,   # CFG_9 inv_send_gyro -> inv_construct3_fifo
    0x07,   0x6C,   0x04,   0xF1, 0x28, 0x30, 0x38,   # CFG_12 inv_send_accel -> inv_construct3_fifo
    #0x02,   0x16,   0x02,   0x00, 0x05                # D_0_22 inv_set_fifo_rate
    0x02,   0x16,   0x02,   0x00, 0x03
    
    # This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
    # 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
    # DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))

    # It is important to make sure the host processor can keep up with reading and processing
    # the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.    
    ])

DMP_UPDATES = bytes([
    0x01,   0xB2,   0x02,   0xFF, 0xFF,
    0x01,   0x90,   0x04,   0x09, 0x23, 0xA1, 0x35,
    0x01,   0x6A,   0x02,   0x06, 0x00,
    0x01,   0x60,   0x08,   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00,   0x60,   0x04,   0x40, 0x00, 0x00, 0x00,
    0x01,   0x62,   0x02,   0x00, 0x00,
    0x00,   0x60,   0x04,   0x00, 0x40, 0x00, 0x00])

# Setting up internal 42-byte (default) DMP packet buffer
DMP_PACKET_SIZE = 42


def dmpGetQuaternion(packet):
    # We are dealing with signed bytes
    if packet[0] > 127:
        packet[0] -= 256

    if packet[4] > 127:
        packet[4] -= 256
        
    if packet[8] > 127:
        packet[8] -= 256            
      
    if packet[12] > 127:
        packet[12] -= 256          

    data = {
        'w' : ((packet[0] << 8) + packet[1]) / 16384.0,  
        'x' : ((packet[4] << 8) + packet[5]) / 16384.0,
        'y' : ((packet[8] << 8) + packet[9]) / 16384.0,
        'z' : ((packet[12] << 8) + packet[13]) / 16384.0}        
    
    return data


def dmpGetGravity(q):

        data = {
            'x' : 2.0 * (q['x'] * q['z'] - q['w'] * q['y']),
            'y' : 2.0 * (q['w'] * q['x'] + q['y'] * q['z']),
            'z' : q['w'] * q['w'] - q['x'] * q['x'] - q['y'] * q['y'] + q['z'] * q['z']}
        
        return data 


def dmpGetYawPitchRoll(q, g):
        data = {
            # yaw: (about Z axis)
            'yaw' : -atan2(2.0*q['x']*q['y']-2.0*q['w']*q['z'], 2.0*q['w']*q['w']+2.0*q['x']*q['x']-1.0),
            # roll: (nose up/down, about Y axis)
            'roll' : -atan(g['x'] / sqrt(g['y']*g['y']+g['z']*g['z'])),
            # pitch: (tilt left/right, about X axis)
            'pitch' : atan(g['y'] / sqrt(g['x']*g['x']+g['z']*g['z']))}
            
        return data 
