DMP and arduino program size

[yoavp10]

Hi guys,

 

Im using the MPU6050 for a quadcopter project that I'm building. The MCU I'm using is an Arduino Nano (which is like an Uno for this matter). However I have some issue using the library,

 

The issue is not a normal "something is wrong", the library seems to work great so far (Jeff - you did a really amazing work!), but when I compile it, using the DMP of course, it's simply too large - around 15,000 bytes, which is about half of the user available memory (30,720). I've tried to optimize it, use less functions, played and edited a bit your library to minimize the assembly size - but i couldn't make it really smaller (i saved maybe 500 bytes, which is good but not enough). I didn't say - but this is when I get only the yaw-pitch-roll data, if I want the accelerations it needs about 17,500 bytes.

 

Right now I have 2 options:

1. Find a way to make the code smaller in terms of assembly size. This is by far my preferred way - I know for sure that libraries that i need will work.

2. Switch to another MCU - probably Teensy 2.0++. I understand that most of the Arduino libraries, including the i2c devlib, works on it, but i prefer keep using the nano unless I won't have another option.

 

Can you give me some advice? is it possible to make the code any smaller, or I should order a teensy?

 

Thanks a lot for your help!

 

Yoav