dmp ready waiting for interrupt no inturrupt

Projects Programming
3

second half if needed

void loop() {

    

    // if failed
    if (!dmpReady1 || !dmpReady2 ) return;

       // wait for MPU interrupt
   while (!mpuInterrupt1 && fifoCount1 < packetSize1 && !mpuInterrupt2 && fifoCount2 < packetSize2) {
        // other program behavior stuff here
        // .
        // .
        // .
        // if you are really paranoid you can frequently test in between other
        // stuff to see if mpuInterrupt is true, and if so, "break;" from the
        // while() loop to immediately process the MPU data
        // .
        // .
        // .
    }

    mpuInterrupt1 = false;     // indicates whether MPU interrupt pin has gone high
    mpuInterrupt2 = false;     // indicates whether MPU interrupt pin has gone high
    mpuIntStatus1 = mpu1.getIntStatus();
    mpuIntStatus2 = mpu2.getIntStatus();    

    fifoCount1 = mpu1.getFIFOCount();
    fifoCount2 = mpu2.getFIFOCount();

    // check for FIFO overflow 
    if ((mpuIntStatus1 & 0x10) || fifoCount1 == 1024) {
        // reset so we can continue cleanly
        mpu1.resetFIFO();
        Serial.println(F("Malfunction"));

    // else check for DMP data ready interrupt
    } else if (mpuIntStatus1 & 0x02) {
        // wait for corrrect data length
        while (fifoCount1 < packetSize1) fifoCount1 = mpu1.getFIFOCount();

        // read a packet from FIFO
        mpu1.getFIFOBytes(fifoBuffer1, packetSize1);
        
        // track FIFO count here in case there is > 1 packet available bypassing interrupt
        fifoCount1 -= packetSize1;

             #ifdef OUTPUT_READABLE_YAWPITCHROLL
            // display Euler angles in degrees
            mpu1.dmpGetQuaternion(&q1, fifoBuffer1);
            mpu1.dmpGetGravity(&gravity1, &q1);
            mpu1.dmpGetYawPitchRoll(ypr1, &q1, &gravity1);
            Serial.print("ypr1\t");
            Serial.print(ypr1[0] * 180/M_PI);
            Serial.print("\t");
            Serial.print(ypr1[1] * 180/M_PI);
            Serial.print("\t");
            Serial.println(ypr1[2] * 180/M_PI);
            myservo1.write(180-(90+ ypr1[2] * -180/M_PI));
        #endif
    }
    
    if ((mpuIntStatus2 & 0x10) || fifoCount2 == 1024) {
        // reset so we can continue cleanly
        mpu2.resetFIFO();
        Serial.println(F("Malfunction on 2"));

    // else check for DMP data ready interrupt
    } else if (mpuIntStatus2 & 0x02) {
        // wait for correct available leangth
        while (fifoCount2 < packetSize2) fifoCount2 = mpu2.getFIFOCount();

        // read a packet from FIFO
        mpu2.getFIFOBytes(fifoBuffer2, packetSize2);
        
        // track FIFO count here in case there is > 1 packet available bypassing interrupt
        fifoCount2 -= packetSize2;

            // angles in degrees
            mpu2.dmpGetQuaternion(&q2, fifoBuffer2);
            mpu2.dmpGetGravity(&gravity2, &q2);
            mpu2.dmpGetYawPitchRoll(ypr2, &q2, &gravity2);
            Serial.print("ypr2\t");
            Serial.print(ypr2[0] * 180/M_PI);
            Serial.print("\t");
            Serial.print(ypr2[1] * 180/M_PI); 
            Serial.print("\t");
            Serial.println(ypr2[2] * 180/M_PI);
            myservo2.write(180-(90+ ypr2[2] * -180/M_PI));
    }
   

// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}